Dexterous hand joint angle determination method and apparatus

Abstract

The embodiment of the application provides a dexterous hand joint angle determination method and device. The method comprises the following steps: acquiring a driving motor power output parameter of a target dexterous hand; determining a driving displacement amount of the target dexterous hand according to the driving motor power output parameter; determining a joint angle of the target dexterous hand according to the driving displacement amount and a first corresponding relationship. The first corresponding relationship is determined based on the geometric structure of the target dexterous hand, and is used to represent the correlation between the driving displacement amount and the joint angle of the target dexterous hand. The method of the embodiment determines the driving displacement amount, and determines the joint angle of the target dexterous hand based on the first corresponding relationship between the driving displacement amount and the joint angle of the target dexterous hand constructed through the geometric structure of the target dexterous hand, thereby improving the determination accuracy of the joint angle, and saving space without the need of installing additional sensors at the joint.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, and in particular to a method and device for determining the angle of a dexterous hand joint. Background Technology

[0002] Joint angles are key parameters for controlling dexterous hand movements.

[0003] In related technologies, angle sensors are typically placed at the joints of a dexterous hand to obtain the joint angle.

[0004] However, in the process of realizing this application, the inventors discovered at least the following problems in the related technologies: in the above-mentioned methods, setting up an angle sensor occupies a large space and has a complex structure. Summary of the Invention

[0005] This application provides a method and device for determining the angle of a dexterous hand joint, which saves space and simplifies the system structure.

[0006] In a first aspect, embodiments of this application provide a method for determining the angle of a dexterous hand joint, including:

[0007] Obtain the power output parameters of the drive motor of the target dexterous hand;

[0008] The driving displacement of the target dexterous hand is determined based on the power output parameters.

[0009] The joint angles of the target dexterous hand are determined based on the driving displacement and the first correspondence; the first correspondence is determined based on the geometry of the target dexterous hand; the first correspondence is used to characterize the relationship between the driving displacement and the joint angles of the target dexterous hand.

[0010] In one possible design, the method further includes:

[0011] Based on the geometry of the target dexterous hand, a first set of relationships between the driving displacement and the target angle is established; the geometry includes multiple nodes and the connections between the multiple nodes; the multiple nodes include an input node for the driving displacement and a root joint node, a first joint node, a second joint node, and a fingertip node connected in sequence; the target angle includes the first joint angle corresponding to the root joint node, the second joint angle corresponding to the first joint node, and the third joint angle corresponding to the second joint node.

[0012] The first correspondence is determined based on the first set of relational expressions.

[0013] In one possible design, the input nodes for the driving displacement are a first slider, a second slider, and a third slider; the plurality of nodes further include: a first auxiliary node, a second auxiliary node, and a third auxiliary node connected to the root joint node; a fourth auxiliary node and a fifth auxiliary node connected to the third auxiliary node; a sixth auxiliary node and a seventh auxiliary node connected to the first joint node; and an eighth auxiliary node connected to the second joint node; wherein the fourth auxiliary node is connected to the first slider, the fifth auxiliary node is connected to the second slider, and the second auxiliary node is connected to the third slider.

[0014] In one possible design, establishing a first set of relationships between the driving displacement and the target angle based on the geometry of the target dexterous hand includes:

[0015] A first coordinate system is established with the root joint node as the origin; the first coordinate system includes a first coordinate axis, a second coordinate axis, and a third coordinate axis; a first plane formed by the first coordinate axis and the third coordinate axis is perpendicular to a second plane; the second plane is the plane formed by the first coordinate axis and the second coordinate axis.

[0016] Using the first angle, the second angle, and the third angle as intermediate variables, establish a first set of relational expressions to characterize the relationship between the first joint angle, the second joint angle, the third joint angle, the first slider, the second slider, and the third slider;

[0017] Wherein, the first angle is the angle between the first line connecting the third auxiliary node and the root joint node and the first plane; the second angle is the angle between the second line connecting the projection point of the third auxiliary node on the first plane and the root joint node and the third coordinate axis; and the third angle is the angle between the third line connecting the first auxiliary node and the root joint node and the second coordinate axis.

[0018] In one possible design, the establishment of a first set of relational expressions, using the first angle, the second angle, and the third angle as intermediate variables, to characterize the relationship between the first joint angle, the second joint angle, the third joint angle, the first slider, the second slider, and the third slider, includes:

[0019] Establish a first relational expression to characterize the relationship between the coordinate values ​​of the third auxiliary node and the first and second angles;

[0020] Based on the first relation, a second relation is established to characterize the relationship between the coordinate values ​​of the fourth auxiliary node and the first and second angles;

[0021] Based on the first relation, a third relation is established to characterize the relationship between the coordinate values ​​of the fifth auxiliary node and the first and second angles;

[0022] Establish a fourth relation to characterize the relationship between the first joint angle and the first angle;

[0023] Establish a fifth relational expression to characterize the relationship between the second joint angle, the third angle, and the first joint angle;

[0024] Establish a sixth relational expression to characterize the relationship between the third joint angle and the third angle and the first joint angle;

[0025] Based on the second relation, a seventh relation is established to characterize the relationship between the first slider and the first angle and the second angle;

[0026] Based on the third relation, an eighth relation is established to characterize the relationship between the second slider and the first and second angles;

[0027] Establish a ninth relational expression to characterize the relationship between the third slider and the second and third angles;

[0028] The first set of relation expressions is determined based on the fourth, fifth, sixth, seventh, eighth, and ninth relation expressions.

[0029] In one possible design, the method further includes:

[0030] Based on the geometric structure of the target dexterous hand, a second set of relational expressions is established between the coordinate values ​​of the root joint node, the first joint node, the second joint node, the fingertip node, the first joint angle, the second joint angle, and the third joint angle.

[0031] The second correspondence is determined based on the second set of relational expressions.

[0032] In one possible design, the method further includes:

[0033] The position of the fingertip node of the target dexterous hand is determined based on the joint angle and the second correspondence; the second correspondence is determined based on the geometry of the target dexterous hand; the second correspondence is used to characterize the relationship between the position of the fingertip node of the target dexterous hand and the joint angle of the target dexterous hand.

[0034] In one possible design, the power output parameter is the number of revolutions of the lead screw driven by the drive motor.

[0035] In one possible design, the target dexterous hand is driven by either a linkage-slider drive or a tendon-cord drive.

[0036] Secondly, embodiments of this application provide a dexterous hand joint angle determination device, comprising:

[0037] The acquisition module is used to acquire the power output parameters of the drive motor of the target dexterous hand.

[0038] The first determining module is used to determine the driving displacement of the target dexterous hand based on the power output parameters.

[0039] The second determining module is used to determine the joint angles of the target dexterous hand based on the driving displacement and the first correspondence; the first correspondence is determined based on the geometry of the target dexterous hand; the first correspondence is used to characterize the relationship between the driving displacement and the joint angles of the target dexterous hand.

[0040] Thirdly, embodiments of this application provide a dexterous hand joint angle determination device, comprising: at least one processor and a memory;

[0041] The memory stores computer-executed instructions;

[0042] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method described in the first aspect above and various possible designs of the first aspect.

[0043] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in the first aspect and various possible designs of the first aspect.

[0044] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect and various possible designs of the first aspect.

[0045] This embodiment provides a method and apparatus for determining the joint angles of a dexterous hand. The method includes acquiring the power output parameters of the drive motor of the target dexterous hand, determining the driving displacement of the target dexterous hand based on the power output parameters, and determining the joint angles of the target dexterous hand based on the driving displacement and a first correspondence relationship. The first correspondence relationship is determined based on the geometry of the target dexterous hand and is used to characterize the correlation between the driving displacement and the joint angles of the target dexterous hand. This method, by determining the driving displacement and based on the first correspondence relationship between the driving displacement and the joint angles of the target dexterous hand constructed through the geometry of the target dexterous hand, improves the accuracy of joint angle determination. It eliminates the need for additional sensors at the joints, saving space and simplifying the system structure. This enables the dexterous hand to achieve high-precision, high-response-speed real-time angle feedback and motion control in complex, space-constrained environments. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0047] Figure 1 A schematic diagram illustrating an application scenario of the dexterity hand joint angle determination method provided in this application embodiment;

[0048] Figure 2 A flowchart illustrating the method for determining the angle of a dexterous hand joint provided in an embodiment of this application;

[0049] Figures 3a-3d A schematic diagram of the structure of a dexterous hand provided in an embodiment of this application;

[0050] Figure 4 A schematic diagram of the dexterous hand joint angle determination device provided in an embodiment of this application;

[0051] Figure 5 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application.

[0052] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments.

[0053] The meanings of the characters in the accompanying drawings are as follows:

[0054] J: First slider; K: Second slider; M: Third slider; O: Root joint node; O1: First joint node; O2: Second joint node; O3: Fingertip node; θ1: Supplementary angle of the first joint; θ2: Supplementary angle of the second joint; θ3: Third joint angle; D: First auxiliary node; E: Second auxiliary node; F: Third auxiliary node; G: Fourth auxiliary node; H: Fifth auxiliary node; B: Sixth auxiliary node; C: Seventh auxiliary node; A: Eighth auxiliary node; θ: First angle; Ψ: Second angle; θ0: Third angle. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] It should be noted that the method and device for determining the angle of dexterous hand joints provided in this application can be used in the field of humanoid robot technology, or in any field other than the field of humanoid robot technology. The application field of the method and device for determining the angle of dexterous hand joints provided in this application is not limited.

[0057] In the field of dexterous hand control, accurate measurement of joint angles is a key factor in achieving precise control and operation. First, dexterous hands are typically used for tasks requiring high precision, such as micromanipulation, complex assembly, and fine grasping. Accurate joint angle measurement is fundamental to precise motion control, ensuring that fingertips reach the expected position and perform the required movements. Second, joint angles are core parameters for kinematic and dynamic modeling. Accurate measurement of joint angles allows for better establishment of kinematic models of the fingers, thereby optimizing control algorithms and improving the response speed and stability of the dexterous hand. Third, in real-time control systems, real-time feedback of joint angles is crucial for achieving closed-loop control. By monitoring and adjusting joint angles in real time, the system can quickly respond to changes in the external environment, improving the adaptability and flexibility of the dexterous hand. In conclusion, accurate measurement of joint angles is of great significance in the control and application of dexterous hands, forming the basis for achieving efficient, precise, and safe operation.

[0058] In related technologies, angle sensors are typically used to measure the joint angles of a dexterous hand. However, due to the extremely limited space in a dexterous hand, traditional sensors are difficult to install directly on each finger joint, and the placement of additional sensors increases the system's size, complexity, and assembly difficulty, while also placing higher demands on real-time control performance.

[0059] To address the aforementioned technical problems, the inventors of this application have discovered that, overcoming the bottleneck of relying on joint angle sensors and the difficulty in arranging sensors within limited joint space, a method for determining the joint angles of a dexterous hand can be developed. Taking a dexterous hand with a linkage-slider structure as an example, the inherent geometric relationship of the linkage-slider structure can be utilized to derive a precise functional relationship between slider displacement and joint rotation angles through mechanical structural parameters. This converts the linear displacement of the slider along the guide rail into joint rotation angles, thus eliminating the need for additional sensors at the joints to obtain the joint angle information of the dexterous hand. This enables high-precision, high-response-speed real-time angle feedback and motion control of the dexterous hand in complex, space-constrained environments. Based on this, this application provides a method for determining the joint angles of a dexterous hand.

[0060] Figure 1 This is a schematic diagram illustrating an application scenario of the dexterous hand joint angle determination method provided in this application embodiment. Taking a dexterous hand structure as a link-slider as an example, as follows... Figure 1 As shown, the driving principle of the dexterous hand's fingers is that the motor drives the lead screw to rotate, the rotating lead screw drives the slider to move linearly, and the linearly moving slider drives the dexterous hand's linkage to move, causing the joint angle of the fingers to change, thereby enabling the dexterous hand to perform operations such as grasping.

[0061] In the specific implementation process, the controller of the dexterous hand can obtain the power output parameters of the drive motor of the target dexterous hand, determine the driving displacement of the target dexterous hand based on the power output parameters, and determine the joint angle of the target dexterous hand based on the driving displacement and a first correspondence relationship. The first correspondence relationship is determined based on the geometry of the target dexterous hand and is used to characterize the correlation between the driving displacement and the joint angle of the target dexterous hand. The method of this embodiment can improve the accuracy of joint angle determination by determining the driving displacement and determining the joint angle of the target dexterous hand based on the first correspondence relationship between the driving displacement and the joint angle of the target dexterous hand constructed through the geometry of the target dexterous hand. It eliminates the need to install additional sensors at the joints, saves space, simplifies the system structure, and enables the dexterous hand to achieve high-precision, high-response-speed real-time angle feedback and motion control in complex and space-constrained environments.

[0062] It should be noted that, Figure 1 The schematic diagram shown is merely an example. The method and scenario for determining the angle of the dexterous hand joint described in this application are intended to more clearly illustrate the technical solution of this application and do not constitute a limitation on the technical solution provided in this application. As those skilled in the art will know, with the evolution of the system and the emergence of new business scenarios, the technical solution provided in this application is also applicable to similar technical problems.

[0063] The technical solutions of this application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0064] Figure 2 This is a flowchart illustrating the method for determining the angle of a dexterous hand joint provided in an embodiment of this application. Figure 2 As shown, the method includes:

[0065] 201. Obtain the power output parameters of the drive motor of the target dexterous hand.

[0066] The executing entity in this embodiment can be a controller for a dexterous hand, a controller for a humanoid robot, or a humanoid robot.

[0067] Specifically, a motor encoder can be used to count the number of lead screw rotations. This number of rotations is used as a power output parameter, and the encoder-collected rotation count is transmitted to the dexterous hand's controller. The controller can then use this data to further calculate the drive displacement and, combined with the dexterous hand's geometry, determine the angles of each joint. For example, the motor encoder can be mounted on the output shaft of the drive motor, enabling real-time monitoring of the shaft's rotational motion. The encoder can be incremental or absolute. Incremental encoders count rotations by measuring relative position changes, while absolute encoders provide absolute position data. In the dexterous hand's drive system, the motor typically converts rotational motion into linear motion via a lead screw mechanism. The encoder counts the number of lead screw rotations by recording the number of rotations of the motor shaft. The number of lead screw rotations reflects the actual output motion of the motor.

[0068] In some embodiments, the power output parameter is the number of revolutions of the lead screw driven by the drive motor. The dexterous hand joint angle determination method provided in this application, by using the number of revolutions of the lead screw driven by the drive motor as the power output parameter, effectively simplifies the system's measurement and control process. Utilizing this direct mechanical feedback of the lead screw revolutions, linear displacement can be accurately converted into joint angles, reducing reliance on external angle sensors. This not only reduces the complexity and cost of the dexterous hand but also improves its real-time control capabilities and accuracy. By reducing the use of sensors, the system's size and weight are reduced, enhancing the dexterous hand's adaptability in confined spaces. Furthermore, the feedback mechanism based on mechanical motion improves the system's reliability and durability, enabling the dexterous hand to maintain stable performance in varying operating environments.

[0069] 202. Determine the driving displacement of the target dexterous hand based on the power output parameters.

[0070] Specifically, taking the lead screw rotation speed as the power output parameter as an example, after obtaining the lead screw rotation speed, the driving displacement can be calculated by combining it with the lead screw pitch. This displacement represents the linear performance of the motor's rotational motion in space and is the basis for subsequent calculations of the dexterous hand joint angles.

[0071] In some embodiments, the target dexterous hand is driven by either a linkage-slider drive or a tendon-wire drive. The dexterous hand joint angle determination method provided in this application, by employing either a linkage-slider drive or a tendon-wire drive, effectively improves the dexterity and precision of the dexterous hand. The linkage-slider drive utilizes the precise transmission of mechanical linkages to achieve stable and controllable motion, suitable for applications requiring high-precision positioning. The tendon-wire drive, on the other hand, simulates the working principle of biological tendons, providing more natural and gentle motion characteristics, suitable for complex and multi-degree-of-freedom operations. These two drive methods not only reduce the mechanical complexity of the dexterous hand but also reduce its space requirements, enabling the dexterous hand to operate flexibly in confined environments. Furthermore, these drive methods improve the system's durability and adaptability by reducing reliance on rigid structures, better responding to changing operating environments and task requirements.

[0072] 203. Determine the joint angles of the target dexterous hand based on the driving displacement and the first correspondence; the first correspondence is determined based on the geometry of the target dexterous hand; the first correspondence is used to characterize the relationship between the driving displacement and the joint angles of the target dexterous hand.

[0073] Specifically, after obtaining the driving displacement, the linear displacement can be converted into specific joint angles by combining it with a first correspondence established based on the dexterous hand's geometry. This first correspondence takes into account the mechanical design and kinematic characteristics of the dexterous hand, ensuring the accuracy of the conversion.

[0074] In some embodiments, the method may further include: establishing a first set of relational expressions between a driven displacement and a target angle based on the geometry of the target dexterous hand; the geometry includes multiple nodes and connections between the multiple nodes; the multiple nodes include an input node for the driven displacement and a root joint node, a first joint node, a second joint node, and a fingertip node connected in sequence; the target angle includes a first joint angle corresponding to the root joint node, a second joint angle corresponding to the first joint node, and a third joint angle corresponding to the second joint node; and determining a first correspondence relationship according to the first set of relational expressions.

[0075] Specifically, the first set of relational expressions can be determined as the first correspondence, or the first correspondence can be obtained after simplifying the first set of relational expressions. Alternatively, the joint angles corresponding to multiple driving displacements can be calculated based on the first set of relational expressions, and then this set of data can be used as the first correspondence. This embodiment does not limit this.

[0076] The method provided in this application significantly improves the motion control accuracy and flexibility of a dexterous hand by establishing a first set of relationships between the driven displacement and the target angle based on the geometry of the target dexterous hand. By refining the geometry of the dexterous hand into multiple nodes and the connections between them, the system can more accurately describe and simulate the kinematic characteristics of the dexterous hand. Specifically, a systematic motion model is established by defining the input node for the driven displacement and the root joint node, the first joint node, the second joint node, and the fingertip node connected in sequence. This model can accurately calculate the angles of each joint node, including the first joint angle of the root joint node, the second joint angle of the first joint node, and the third joint angle of the second joint node. This enables high-precision joint angle calculation based on geometric and kinematic relationships without relying on complex sensors, thereby improving the operational accuracy and adaptability of the dexterous hand and meeting diverse task requirements.

[0077] In some embodiments, the input nodes for the driving displacement are a first slider, a second slider, and a third slider; the multiple nodes also include: a first auxiliary node, a second auxiliary node, and a third auxiliary node connected to the root joint node; a fourth auxiliary node and a fifth auxiliary node connected to the third auxiliary node; a sixth auxiliary node and a seventh auxiliary node connected to the first joint node; and an eighth auxiliary node connected to the second joint node; wherein the fourth auxiliary node is connected to the first slider, the fifth auxiliary node is connected to the second slider, and the second auxiliary node is connected to the third slider. The dexterous hand joint angle determination method provided in this application significantly improves the dexterous hand's motion flexibility and control accuracy by introducing a first slider, a second slider, and a third slider as input nodes for the driving displacement into the geometric structure, and combining this with the connection of multiple auxiliary nodes. Based on this multi-node, multi-slider structure, the dexterous hand can perform precise motion adjustments in multiple degrees of freedom, thereby achieving more complex and refined hand movements. Through this structure, the dexterous hand can achieve high-precision joint angle calculations through geometric and kinematic relationships without adding additional sensors. This not only reduces the complexity and cost of the system but also improves the overall reliability and durability, enhancing the dexterous hand's adaptability and operational efficiency in different task environments.

[0078] In some embodiments, it is difficult to directly establish the relationship between the displacement of each slider and the joint angle. To facilitate calculation, an intermediate variable can be used. Since the connection between most nodes is of fixed length but the angle is variable, a specific angle can be selected as an intermediate variable. Specifically, based on the geometry of the target dexterous hand, establishing a first set of relationships between the driving displacement and the target angle can include: establishing a first coordinate system with the root joint node as the origin; the first coordinate system includes a first coordinate axis, a second coordinate axis, and a third coordinate axis; a first plane formed by the first and third coordinate axes is perpendicular to a second plane; the second plane is the plane formed by the first and second coordinate axes; using the first, second, and third angles as intermediate variables, establishing a first set of relationships to characterize the relationship between the first joint angle, the second joint angle, the third joint angle, the first slider, the second slider, and the third slider; wherein, the first angle is the angle between the first line connecting the third auxiliary node and the root joint node and the first plane; the second angle is the angle between the second line connecting the projection point of the third auxiliary node on the first plane and the root joint node and the third coordinate axis; the third angle is the angle between the third line connecting the first auxiliary node and the root joint node and the second coordinate axis. The dexterous hand joint angle determination method provided in this application, by introducing intermediate variables to establish a first set of relationships between the driving displacement and the target angle, can effectively simplify the complex calculation process. Specifically, by establishing a first coordinate system at the root joint node and using the first, second, and third angles as intermediate variables, the system can more intuitively describe and calculate the relationship between each joint angle and the slider displacement. By utilizing fixed-length node connections and varying angles, complex geometric relationships are cleverly transformed into easily manageable mathematical models. This allows the dexterous hand to achieve high-precision joint angle calculations without relying on complex sensors.

[0079] Considering that fingers can usually perform pitching or swinging movements, the plane that the fingers pass through when performing pitching movements is parallel to the second plane.

[0080] For example, such as Figure 3a As shown, the first slider is node J, the second slider is node K, and the third slider is node M. The root joint node is O, the first joint node is O1, the second joint node is O2, the fingertip node is O3, the first joint angle is π-θ1, the second joint angle is π-θ2, the third joint angle is θ3, the first auxiliary node is D, the second auxiliary node is E, the third auxiliary node is F, the fourth auxiliary node is G, the fifth auxiliary node is H, the sixth auxiliary node is B, the seventh auxiliary node is C, and the eighth auxiliary node is A. The first angle is θ, the second angle is Ψ, and the third angle is θ0.

[0081] in, Starting with the left half of OZ, Kneading noodles The included angle, .

[0082] Starting with the left half of OZ, Kneading noodles The included angle, .

[0083] Starting from the positive OZ direction, and positive direction angle, .

[0084] Starting from the negative OY direction, the angle between OO1 and the negative OY direction is... .

[0085] Starting from the negative OY direction, the angle between OD and the negative OY direction is... .

[0086] In the second coordinate system corresponding to O1, x1 is the angle between x1 and O1O2. .

[0087] In the third coordinate system corresponding to O2, x2 is the angle between x2 and O2O3. .

[0088] Let J be the x-axis component of the slider. .

[0089] Let K be the x-axis component. .

[0090] Let M be the x-axis component of the slider. .

[0091] In some embodiments, using the first angle, second angle, and third angle as intermediate variables, a first set of relational expressions is established to characterize the relationship between the first joint angle, the second joint angle, the third joint angle, the first slider, the second slider, and the third slider. This may include: establishing a first relational expression to characterize the relationship between the coordinate values ​​of the third auxiliary node, the first angle, and the second angle; based on the first relational expression, establishing a second relational expression to characterize the relationship between the coordinate values ​​of the fourth auxiliary node, the first angle, and the second angle; based on the first relational expression, establishing a third relational expression to characterize the relationship between the coordinate values ​​of the fifth auxiliary node, the first angle, and the second angle; and establishing a relational expression to characterize the relationship between the first joint angle and the first angle. The fourth relation is established; the fifth relation is established to characterize the relationship between the second joint angle, the third angle, and the first joint angle; the sixth relation is established to characterize the relationship between the third joint angle, the third angle, and the first joint angle; based on the second relation, the seventh relation is established to characterize the relationship between the first slider, the first angle, and the second angle; based on the third relation, the eighth relation is established to characterize the relationship between the second slider, the first angle, and the second angle; the ninth relation is established to characterize the relationship between the third slider, the second angle, and the third angle; and the first relation set is determined according to the fourth, fifth, sixth, seventh, eighth, and ninth relations.

[0092] Wherein, the movement of the slider is along the first coordinate axis of the first coordinate system (e.g., Figure 3b The movement is along the x-axis (in the coordinate system), therefore the seventh, eighth, and ninth relations are all relations corresponding to the coordinate values ​​of the slider on the x-axis. The coordinate values ​​of the third, fourth, and fifth auxiliary nodes include the coordinate values ​​of the first coordinate axis (x-axis), the second coordinate axis (y-axis), and the third coordinate axis (z-axis).

[0093] For example, such as Figure 3b As shown, for Kneading noodles The included angle, The angle representing the pitching motion of the fingers can be defined as the pitch angle. for and Angle between axes, The angle representing the left and right swing of the fingers can be defined as the yaw angle, increasing in the right-hand rule. According to the right-hand rule, both θ3 and θ2 are less than 0. When a positive angle is needed, the absolute value can be added.

[0094] y-axis component of node F satisfy Based on the law of sines, we can obtain the relation (1):

[0095] (1)

[0096] Based on equation (1) All of these conditions hold true, meaning that equation (1) satisfies all conditions. Therefore, equation (2) can be derived.

[0097] (2)

[0098] In equation (2), it is suitable , Therefore, the point can be calculated. and points about , The coordinates. Based on the geometric relationship between G, F, O and H, we can obtain (3):

[0099] (3)

[0100] Substituting ① into ② in equation (3) yields equation (4).

[0101] (4)

[0102] In equation (4), The coordinate expression is satisfied , The situation. Point. For point With point The midpoint of the equation is obtained by combining equation (4) to form equation (5).

[0103] (5)

[0104] Similarly, equation (5) is applicable to all cases. Based on the geometric relationship between G, F, and O, equation (6) can be obtained.

[0105] (6)

[0106] point for The midpoint of the point, therefore we can obtain equation (7):

[0107] (7)

[0108] In summary, the points can be... , , use , It is expressed as follows:

[0109] (8)

[0110] Where G is the first relation, F is the second relation, and H is the third relation.

[0111] Equation (8) is in , This holds true under the given conditions. The quantities that need to be measured are OF and GH.

[0112] like Figure 3c As shown, and The included angle of the axis is It can be determined based on the actual movement of the fingers. .

[0113] angle numerical values ​​and angles Related. Therefore, we can first determine... and The included angle of the axis, depending on the actual situation, is an acute angle, but there may be... The situation on both sides of the axis; then solve. Finally, verify whether the settlement result is suitable for all situations.

[0114] (9)

[0115] in, It is a fixed angle, which can be obtained from equation (10), and can be determined by combining the structure. The value is around 90°.

[0116] (10)

[0117] Therefore, we can obtain equation (11), which is the fourth relation:

[0118] (11)

[0119] The quantities that need to be measured are OO1, OF, and O1F.

[0120] like Figure 3d As shown, and The included angle of the axis is The angle between vector OO1 and vector O1O2 is It can be determined based on the actual movement of the fingers. .

[0121] angle numerical values ​​and angles , Related. Therefore, we can first determine... Then we can find out The vector dot product method can be used to obtain the result. Due to the structural design, it is possible to obtain Forever The left half of the axis.

[0122] First, we obtain equation (14):

[0123] (12)

[0124] Equation (12) is suitable ,because Unlike It will appear on the plane Right side.

[0125] Based on the design of the mechanical structure, it can be known that and Based on the Law of Cosines, we obtain equation (13).

[0126] (13)

[0127] Based on the sine theorem, we obtain equation (14).

[0128] (14)

[0129] Based on the Law of Cosines, we obtain equation (15).

[0130] (15)

[0131] Equation (16) is obtained from equations (14) and (15).

[0132] (16)

[0133] Then the final angle As can be seen from equation (17), Using negative values ​​and Equation (17) is the fifth relation.

[0134] (17)

[0135] The quantities that need to be measured are O1O2, O1B, O2B, O1D, BD, OD, and OO1.

[0136] like Figure 3a As shown, we can obtain equation (18).

[0137] (18)

[0138] Based on the Law of Cosines, we obtain equation (19).

[0139] (19)

[0140] Based on the law of sines, we obtain equation (20).

[0141] (20)

[0142] From the Law of Cosines, we get equation (21).

[0143] (twenty one)

[0144] Then equation (22) holds true.

[0145] (twenty two)

[0146] Then the final angle It can be represented by equation (23), from which we can see that here Using negative values ​​and Equation (23) is the sixth relation.

[0147] (twenty three)

[0148] The quantities that need to be measured are O2O3, O2A, O3A, O2C, AC, O1B, O2B, O1D, BD, OD, O1C, O1O, OC, O1C, and O1O2.

[0149] After determining the fourth, fifth, and sixth relations, the relationship between the joint angles and the intermediate variables (first angle, second angle, and third angle) can be obtained.

[0150] Furthermore, since the first, second, and third relations demonstrate the relationships between G, F, and H and the intermediate variables, the relationships between the sliders J, K, and M and G, F, and H can be used to determine the relationships between the sliders and the angles of each joint.

[0151] First, we can calculate the points. The coordinates. Can be based on a point. Coordinate calculation point The coordinates.

[0152] Specifically, based on the geometric structure, we can obtain equation (24).

[0153] (twenty four)

[0154] The coordinates of point E are given by equation (25).

[0155] (25)

[0156] Thus, points are obtained. ,point ,point The coordinates are given by equation (26).

[0157] (26)

[0158] Judging from the results, , , All are less than 0. Based on equations (26) and (8), the seventh, eighth and ninth relations can be obtained.

[0159] As long as the three sliders J, K, and M move continuously along the x-axis, the angles of the three joints should theoretically change. However, we need to consider whether there is a zero-space point, for example, where the three sliders move and exactly cancel each other out, leading to... If it remains unchanged, a mathematical or experimental proof can be provided for the sake of rigor.

[0160] (27)

[0161] Before proving, it is necessary to simplify the formula according to the actual length to make the proof concise and clear. The simplification process is as follows:

[0162] (28)

[0163] (29)

[0164] (30)

[0165] As can be seen from the above description, the dexterity hand joint angle determination method provided in this embodiment determines the joint angle of the target dexterity hand by determining the driving displacement and based on the first correspondence between the driving displacement constructed through the geometry of the target dexterity hand and the joint angle of the target dexterity hand. This can improve the accuracy of joint angle determination, eliminate the need to install additional sensors at the joints, save space, simplify the system structure, and enable the dexterity hand to achieve high-precision, high-response speed real-time angle feedback and motion control in complex spatially confined environments.

[0166] In some embodiments, the method further includes: determining the position of the fingertip node of the target dexterous hand based on joint angles and a second correspondence; the second correspondence is determined based on the geometry of the target dexterous hand; the second correspondence is used to characterize the relationship between the position of the fingertip node and the joint angles of the target dexterous hand. The dexterous hand joint angle determination method provided in this application, by combining the solved joint angles with the second correspondence established based on the dexterous hand geometry, can directly and accurately calculate the spatial position of the fingertip node. It can achieve mapping from joint space to fingertip Cartesian space without relying on additional end-effector sensors. Therefore, it can provide crucial end-effector position feedback information for high-precision grasping, obstacle avoidance, trajectory planning, and position-based force control of the dexterous hand, significantly improving the perception and control capabilities of the end-effector pose in operational tasks, while maintaining the lightweight and compact structure of the dexterous hand system.

[0167] Specifically, after obtaining the joint angles based on the first correspondence, the coordinate values ​​of each joint node can be derived from the geometry of the dexterous hand, showing that they are related to the joint angles. Therefore, a second correspondence can be determined based on the geometry of the dexterous hand, which characterizes the relationship between each joint node and each joint angle of the dexterous hand.

[0168] For example, such as Figure 3a As shown, , , The coordinates involved in determining the joint angles (pitch angles during finger pitch movements) include: , , .

[0169] Based on , , Seeking , , The coordinate values.

[0170] First, let's make one thing clear. .

[0171] Based on the Law of Cosines and the Law of Sines, we can conclude that:

[0172] (31)

[0173] The quantity that needs to be measured is OO1.

[0174] First, calculate... Then find the point The coordinates.

[0175] According to the Law of Cosines, we get equation (32).

[0176] (32)

[0177] Based on the characteristics of mechanical design, it can be known that .

[0178] (33)

[0179] (34)

[0180] The quantities that need to be measured are OO1 and O1O2.

[0181] Based on the characteristics of mechanical design, it can be known that .

[0182] First, calculate... Then find the point The coordinates. From the mechanical properties, we know... Then, by the Law of Cosines, we have:

[0183] (35)

[0184] Based on the Law of Cosines, we obtain equation (36).

[0185] (36)

[0186] Calculation points The coordinate values ​​are obtained from equation (37).

[0187] (37)

[0188] in, (38)

[0189] That is, (39)

[0190] Based on the second set of relations formed by equations (31) to (39) above, a second correspondence can be obtained. Then, based on the second correspondence, the position coordinates of the fingertip joint can be determined according to the angle of each joint.

[0191] The method provided in this embodiment effectively reduces the computational complexity of inverse kinematics during control by directly constructing the correspondence between motor output and joint motion, and avoids the problem of nonlinear error accumulation caused by joint coupling. This modeling method exhibits strong robustness and stability in complex environments, providing powerful support for the precise motion control of a humanoid five-fingered hand in high-speed dynamic operations.

[0192] Furthermore, the direct mapping model from the number of motor rotations to the joint angle is closer to the actual requirements of the drive system, which greatly reduces the threshold for hardware implementation and the complexity of algorithm deployment, and further improves the applicability and control accuracy of the humanoid five-fingered hand in engineering practice.

[0193] In some embodiments, the method may further include: establishing a second set of relational expressions based on the geometry of the target dexterous hand, including the coordinates of the root joint node, the first joint node, the second joint node, the fingertip node, the first joint angle, the second joint angle, and the third joint angle; and determining a second correspondence based on the second set of relational expressions. The dexterous hand joint angle determination method provided in this application establishes a complete kinematic chain coordinate relationship (second set of relational expressions) from the root joint to the fingertip node based on the geometry of the target dexterous hand, enabling precise construction of an analytical mapping between joint angles and spatial node coordinates. Through mathematical modeling, the complex kinematic relationships of multi-link mechanisms are solidified into a computable set of equations, allowing direct calculation of fingertip coordinates without iteration when joint angles are known. This provides real-time, lag-free end-effector position feedback for the dexterous hand, significantly enhancing trajectory tracking accuracy and spatial obstacle avoidance capabilities, while avoiding the need for additional pose sensors, fundamentally maintaining the system's compactness, reliability, and cost advantages.

[0194] Specifically, after determining the first correspondence based on the geometry of the dexterous hand, it can be found that a second correspondence between each joint node and each joint angle can also be determined based on the geometry of the dexterous hand, so that the coordinate value of the fingertip joint can be obtained based on the second correspondence and the joint angle is known.

[0195] Figure 4 This is a schematic diagram of the structure of the dexterous hand joint angle determination device provided in an embodiment of this application. Figure 4 As shown, the dexterous hand joint angle determination device 40 includes: an acquisition module 401, a first determination module 402, and a second determination module 403.

[0196] The acquisition module 401 is used to acquire the power output parameters of the drive motor of the target dexterous hand.

[0197] The first determining module 402 is used to determine the amount of driving displacement of the target dexterous hand based on the power output parameters.

[0198] The second determining module 403 is used to determine the joint angles of the target dexterous hand based on the driving displacement and the first correspondence; the first correspondence is determined based on the geometry of the target dexterous hand; the first correspondence is used to characterize the relationship between the driving displacement and the joint angles of the target dexterous hand.

[0199] The dexterous hand joint angle determination device provided in this application determines the joint angle of the target dexterous hand by determining the driving displacement and based on the first correspondence between the driving displacement and the joint angle of the target dexterous hand constructed through the geometry of the target dexterous hand. This improves the accuracy of joint angle determination, eliminates the need to install additional sensors at the joints, saves space, simplifies the system structure, and enables the dexterous hand to achieve high-precision, high-response-speed real-time angle feedback and motion control in complex and space-constrained environments.

[0200] In some embodiments, the second determining module 403 is further configured to: establish a first set of relational expressions between the driving displacement and the target angle based on the geometric structure of the target dexterous hand; the geometric structure includes multiple nodes and lines connecting the multiple nodes; the multiple nodes include an input node for the driving displacement and a root joint node, a first joint node, a second joint node, and a fingertip node connected in sequence; the target angle includes a first joint angle corresponding to the root joint node, a second joint angle corresponding to the first joint node, and a third joint angle corresponding to the second joint node; and determine a first correspondence relationship according to the first set of relational expressions.

[0201] In some embodiments, the input nodes for driving displacement are a first slider, a second slider, and a third slider; the plurality of nodes further include: a first auxiliary node, a second auxiliary node, and a third auxiliary node connected to the root joint node; a fourth auxiliary node and a fifth auxiliary node connected to the third auxiliary node; a sixth auxiliary node and a seventh auxiliary node connected to the first joint node; and an eighth auxiliary node connected to the second joint node; wherein the fourth auxiliary node is connected to the first slider, the fifth auxiliary node is connected to the second slider, and the second auxiliary node is connected to the third slider.

[0202] In some embodiments, the second determining module 403 is specifically used to: establish a first coordinate system with the root joint node as the origin; the first coordinate system includes a first coordinate axis, a second coordinate axis, and a third coordinate axis; a first plane formed by the first coordinate axis and the third coordinate axis is perpendicular to a second plane; the second plane is the plane formed by the first coordinate axis and the second coordinate axis; and establish a first set of relational expressions to characterize the relationship between the first joint angle, the second joint angle, the third joint angle, the first slider, the second slider, and the third slider, using the first angle, the second angle, and the third angle as intermediate variables; wherein, the first angle is the angle between the first line connecting the third auxiliary node and the root joint node and the first plane; the second angle is the angle between the second line connecting the projection point of the third auxiliary node on the first plane and the root joint node and the third coordinate axis; and the third angle is the angle between the third line connecting the first auxiliary node and the root joint node and the second coordinate axis.

[0203] In some embodiments, the second determining module 403 is specifically configured to: establish a first relational expression to characterize the relationship between the coordinate values ​​of the third auxiliary node and the first angle and the second angle; based on the first relational expression, establish a second relational expression to characterize the relationship between the coordinate values ​​of the fourth auxiliary node and the first angle and the second angle; based on the first relational expression, establish a third relational expression to characterize the relationship between the coordinate values ​​of the fifth auxiliary node and the first angle and the second angle; establish a fourth relational expression to characterize the relationship between the first joint angle and the first angle; establish a fifth relational expression to characterize the relationship between the second joint angle and the third angle and the first joint angle; establish a sixth relational expression to characterize the relationship between the third joint angle and the third angle and the first joint angle; based on the second relational expression, establish a seventh relational expression to characterize the relationship between the first slider and the first angle and the second angle; based on the third relational expression, establish an eighth relational expression to characterize the relationship between the second slider and the first angle and the second angle; establish a ninth relational expression to characterize the relationship between the third slider and the second angle and the third angle; and determine a first relational expression group based on the fourth, fifth, sixth, seventh, eighth, and ninth relational expressions.

[0204] In some embodiments, the second determining module 403 is further configured to: establish a second set of relational expressions between the coordinate values ​​of the root joint node, the coordinate values ​​of the first joint node, the coordinate values ​​of the second joint node, the coordinate values ​​of the fingertip node, the first joint angle, the second joint angle, and the third joint angle based on the geometric structure of the target dexterous hand; and determine a second correspondence relationship based on the second set of relational expressions.

[0205] In some embodiments, the second determining module 403 is further configured to: determine the position of the fingertip node of the target dexterous hand according to the joint angle and the second correspondence; the second correspondence is determined based on the geometry of the target dexterous hand; the second correspondence is used to characterize the relationship between the position of the fingertip node of the target dexterous hand and the joint angle of the target dexterous hand.

[0206] In some embodiments, the power output parameter is the number of revolutions of the lead screw driven by the drive motor.

[0207] In some embodiments, the target dexterous hand is driven by a linkage-slider drive or a tendon-cord drive.

[0208] The dexterous hand joint angle determination device provided in this application embodiment can be used to execute the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0209] Figure 5 A schematic diagram of the hardware structure of the electronic device provided in this application. For example... Figure 5As shown, the electronic device 50 provided in this embodiment includes at least one processor 501 and a memory 502. Optionally, the electronic device 50 further includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus.

[0210] In a specific implementation, at least one processor 501 executes computer execution instructions stored in memory 502, causing at least one processor 501 to perform the above-described method.

[0211] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0212] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0213] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0214] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0215] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0216] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0217] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0218] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0219] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0220] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0221] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0222] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0223] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0224] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for determining the angle of a dexterous hand joint, characterized in that, include: Obtain the power output parameters of the drive motor of the target dexterous hand; The driving displacement of the target dexterous hand is determined based on the power output parameters. Based on the driving displacement and the first correspondence, the joint angles of the target dexterous hand are determined; The first correspondence is determined based on the geometric structure of the target dexterous hand; The first correspondence is used to characterize the relationship between the driving displacement and the joint angle of the target dexterous hand; The method further includes: Based on the geometry of the target dexterous hand, a first set of relationships between the driving displacement and the target angle is established; the geometry includes multiple nodes and the connections between the multiple nodes; the multiple nodes include an input node for the driving displacement and a root joint node, a first joint node, a second joint node, and a fingertip node connected in sequence; the target angle includes the first joint angle corresponding to the root joint node, the second joint angle corresponding to the first joint node, and the third joint angle corresponding to the second joint node. The first correspondence relationship is determined based on the first set of relational expressions; The input nodes for the driving displacement are a first slider, a second slider, and a third slider; the plurality of nodes further include: a first auxiliary node, a second auxiliary node, and a third auxiliary node connected to the root joint node, and a fourth auxiliary node and a fifth auxiliary node connected to the third auxiliary node; wherein the fourth auxiliary node is connected to the first slider, the fifth auxiliary node is connected to the second slider, and the second auxiliary node is connected to the third slider. Based on the geometry of the target dexterous hand, the establishment of a first set of relationships between the driving displacement and the target angle includes: A first coordinate system is established with the root joint node as the origin; the first coordinate system includes a first coordinate axis, a second coordinate axis, and a third coordinate axis; a first plane formed by the first coordinate axis and the third coordinate axis is perpendicular to a second plane; the second plane is the plane formed by the first coordinate axis and the second coordinate axis. Using the first angle, the second angle, and the third angle as intermediate variables, establish a first set of relational expressions to characterize the relationship between the first joint angle, the second joint angle, the third joint angle, the first slider, the second slider, and the third slider; Wherein, the first angle is the angle between the first line connecting the third auxiliary node and the root joint node and the first plane; the second angle is the angle between the second line connecting the projection point of the third auxiliary node on the first plane and the root joint node and the third coordinate axis; and the third angle is the angle between the third line connecting the first auxiliary node and the root joint node and the second coordinate axis. The first set of relational expressions, which uses the first angle, the second angle, and the third angle as intermediate variables to establish a relationship between the first joint angle, the second joint angle, the third joint angle, the first slider, the second slider, and the third slider, includes: Establish a first relational expression to characterize the relationship between the coordinate values ​​of the third auxiliary node and the first and second angles; Based on the first relation, a second relation is established to characterize the relationship between the coordinate values ​​of the fourth auxiliary node and the first and second angles; Based on the first relation, a third relation is established to characterize the relationship between the coordinate values ​​of the fifth auxiliary node and the first and second angles; Establish a fourth relation to characterize the relationship between the first joint angle and the first angle; Establish a fifth relational expression to characterize the relationship between the second joint angle, the third angle, and the first joint angle; Establish a sixth relational expression to characterize the relationship between the third joint angle and the third angle and the first joint angle; Based on the second relation, a seventh relation is established to characterize the relationship between the first slider and the first angle and the second angle; Based on the third relation, an eighth relation is established to characterize the relationship between the second slider and the first and second angles; Establish a ninth relational expression to characterize the relationship between the third slider and the second and third angles; The first set of relation expressions is determined based on the fourth, fifth, sixth, seventh, eighth, and ninth relation expressions.

2. The method according to claim 1, characterized in that, The method further includes: Based on the geometric structure of the target dexterous hand, a second set of relational expressions is established between the coordinate values ​​of the root joint node, the first joint node, the second joint node, the fingertip node, the first joint angle, the second joint angle, and the third joint angle. The second correspondence is determined based on the second set of relational expressions.

3. The method according to any one of claims 1-2, characterized in that, The method further includes: The position of the fingertip node of the target dexterous hand is determined based on the joint angle and the second correspondence; the second correspondence is determined based on the geometry of the target dexterous hand; the second correspondence is used to characterize the relationship between the position of the fingertip node of the target dexterous hand and the joint angle of the target dexterous hand.

4. The method according to any one of claims 1-2, characterized in that, The power output parameter is the number of revolutions of the lead screw driven by the drive motor.

5. The method according to any one of claims 1-2, characterized in that, The target dexterous hand is driven by either a linkage-slider drive or a tendon-wire drive.

6. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the dexterity hand joint angle determination method as described in any one of claims 1 to 5.

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