Dexterous hand data acquisition device

Abstract

This application relates to a dexterous hand data acquisition device, comprising: a palm portion; a first finger movably connected to the palm portion; the first finger including a first phalanx and a second phalanx, the first phalanx being movably connected to the palm portion, and the second phalanx being rotatably connected to the end of the first phalanx away from the palm portion; a first driving member including a first external force receiving portion, the first driving member being connected to the second phalanx, the first driving member being used to drive the second phalanx to rotate relative to the first phalanx under the drive of the first external force receiving portion; and a first data acquisition component, the first data acquisition component being used to acquire rotation data of the second phalanx relative to the first phalanx. This improves the quality of the acquired dexterous hand data and increases the efficiency of data acquisition.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a dexterous hand data acquisition device. Background Technology

[0002] With the rapid development of robotics technology, dexterous hands, as high-degree-of-freedom robotic end effectors that simulate the functions of the human hand, achieve the grasping, manipulation, and interaction of complex objects through multi-joint, multi-modal, and intelligent control technologies. To facilitate the control of dexterous hands and the execution of complex movements, it is necessary to collect and train control data for their operation.

[0003] In related technologies, dexterous hands are remotely operated using a hand-operating glove or exoskeleton, and relevant data is collected by sensors at various joints of the dexterous hand.

[0004] However, the data on dexterous hands collected using related technologies are of low quality and have low collection efficiency. Summary of the Invention

[0005] Based on this, the present application provides a dexterity hand data acquisition device, which improves the quality of the acquired dexterity hand data and increases the efficiency of data acquisition.

[0006] On one hand, embodiments of this application provide a dexterous hand data acquisition device, including:

[0007] include:

[0008] Palm area;

[0009] The first finger is movably connected to the palm; the first finger includes a first phalanx and a second phalanx, the first phalanx is movably connected to the palm, and the second phalanx is rotatably connected to the end of the first phalanx away from the palm.

[0010] A first driving member, comprising a first external force receiving portion, is connected to the second phalanx and is used to drive the second phalanx to rotate relative to the first phalanx under the influence of the first external force receiving portion; and

[0011] A first data acquisition component is used to acquire rotation data of the second phalanx relative to the first phalanx.

[0012] In one implementation, the first driver includes:

[0013] A first link, rotatably connected to the back of the hand side of the second phalanx; and

[0014] The second link is rotatably connected to the end of the first link away from the second knuckle, and the second link includes the first external force receiving part.

[0015] In one implementation, the first link includes:

[0016] The first part is rotatably connected to the second phalanx;

[0017] The second part is fixedly connected to the first part and is connected to the end of the first part away from the palm. The extension direction of the second part is different from that of the first part. When the second knuckle is in an extended state, the second part extends away from the palm, and the second link is connected to the second part.

[0018] In one implementation, the first external force receiving part includes a first finger sleeve, which is rotatably connected to the first connecting rod.

[0019] In one implementation, the first phalanx rotates relative to the palm about a first rotation axis; the dexterous hand data acquisition device further includes:

[0020] A second data acquisition component is used to acquire rotational data of the first phalanx relative to the palm about the first rotation axis; and

[0021] The second driving member includes a second external force receiving part. The second driving member is connected to the first finger joint and is used to drive the first finger joint to move relative to the palm under the action of the second external force receiving part.

[0022] In one implementation, the second driver includes:

[0023] The third link has one end rotatably connected to the back of the hand of the first phalanx; the second external force receiving part is rotatably connected to the end of the third link away from the first phalanx.

[0024] In one implementation, the second external force receiving part includes a second finger sleeve.

[0025] In one implementation, the first phalanx rotates relative to the palm about a second rotation axis, and the second rotation axis has a different direction from the first rotation axis.

[0026] The dexterous hand data acquisition device further includes a third data acquisition component, which is used to acquire rotation data of the first phalanx about the second rotation axis relative to the palm.

[0027] In one implementation, the dexterous hand data acquisition device further includes a third phalanx, which is rotatably connected to the end of the second phalanx away from the first phalanx.

[0028] The third phalanx is provided with a fourth data acquisition component, which is used to acquire the contact signal value between the palm side of the third phalanx and the target object.

[0029] In one implementation, the dexterous hand data acquisition device further includes:

[0030] The second finger is movably connected to the palm, and the extension direction of the second finger is different from that of the first finger. The second finger includes a fourth phalanx.

[0031] A third driving member, comprising a third external force receiving part, the third external force receiving part being used to drive the fourth phalanx to rotate relative to the palm; and

[0032] The fifth data acquisition component is used to acquire rotation data of the fourth phalanx and the palm.

[0033] In one implementation, the third external force receiving part includes a third finger sleeve.

[0034] In one implementation, the dexterous hand data acquisition device further includes:

[0035] A fourth external force receiving part is connected to the third external force receiving part and / or the second finger, and the fourth external force receiving part is provided with a sensor device;

[0036] The second finger also includes a fifth phalanx, the fourth phalanx being movably connected to the palm, and the fifth phalanx being rotatably connected to the end of the fourth phalanx away from the palm;

[0037] A driving mechanism is provided at the rotatable connection between the fifth phalanx and the fourth phalanx. This driving mechanism drives the fifth phalanx to rotate relative to the fourth phalanx based on a trigger signal from the sensor device.

[0038] The sixth data acquisition component is used to acquire rotation data of the fifth phalanx relative to the fourth phalanx.

[0039] In one implementation, the fourth external force receiving part includes a fourth finger sleeve.

[0040] The dexterous hand data acquisition device provided in this application embodiment connects a first finger to the palm, the first finger including a first phalanx and a second phalanx. The first phalanx is movably connected to the palm, and the second phalanx is rotatably connected to the end of the first phalanx away from the palm. A first driving member is connected to the second phalanx, the first driving member including a first external force receiving part, the first driving member being used to drive the second phalanx to rotate relative to the first phalanx under the drive of the first external force receiving part; and a first data acquisition component is provided, the first data acquisition component being used to acquire rotation data of the second phalanx relative to the first phalanx. In this way, by holding the dexterous hand on the back of the hand and connecting the first external force receiving part of the first driving member to the fingers of the hand, the knuckles of the hand drive the first driving member through the first external force receiving part, thereby driving the second phalanx to rotate relative to the first phalanx. At this time, the first data acquisition component can acquire rotation data of the second phalanx relative to the first phalanx under the drive of the knuckles of the hand.

[0041] In other words, the dexterous hand data acquisition device provided in this application embodiment is configured with a first finger, a first phalanx, and a second phalanx of the first finger according to the configuration of a dexterous hand, so that the main structure of the dexterous hand data acquisition device is the same as the structure of the dexterous hand itself; when a human hand operates the dexterous hand data acquisition device, it is equivalent to the dexterous hand itself performing a task; the finger movements of the human hand can be directly correlated with the finger movements of the dexterous hand, so that the acquired data can be directly applied to the dexterous hand in a 1:1 ratio, so that the dexterous hand can then autonomously perform relevant actions based on the acquired data, providing real and efficient data information for the dexterous hand to autonomously perform complex operations, improving the quality of the acquired dexterous hand data, and increasing the efficiency of data acquisition. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of a dexterous hand data acquisition device provided in some embodiments of this application.

[0043] Figure 2 This is another overall structural schematic diagram of the dexterous hand data acquisition device provided in some embodiments of this application.

[0044] Figure 3 This is a schematic diagram of a structure in which the second phalanx rotates relative to the first phalanx in a dexterous hand data acquisition device provided in some embodiments of this application.

[0045] Figure 4 This is a schematic diagram of a topological structure in a dexterous hand data acquisition device provided in some embodiments of this application, showing the rotation of the second phalanx relative to the first phalanx.

[0046] Figure 5 This is another overall structural schematic diagram of the dexterous hand data acquisition device provided in some embodiments of this application.

[0047] Figure 6 This is a schematic diagram of a structure in which the first phalanx rotates relative to the palm in a dexterous hand data acquisition device provided in some embodiments of this application.

[0048] Figure 7 This is a schematic diagram of a topological structure in a dexterous hand data acquisition device provided in some embodiments of this application, showing the rotation of the first phalanx relative to the palm.

[0049] Figure 8 This is a schematic diagram of the structure of the data acquisition device for a dexterous hand in a clenched fist state provided in some embodiments of this application.

[0050] Figure 9 This is a schematic diagram of a topological structure in a dexterous hand data acquisition device provided in some embodiments of this application, in which the first phalanx rotates relative to the palm and the second phalanx rotates relative to the first phalanx.

[0051] Explanation of reference numerals in the attached figures:

[0052] 10 - Palm part; 20 - First finger; 30 - First drive component; 40 - Second drive component; 50 - Second finger;

[0053] 21-First knuckle; 22-Second knuckle; 23-Third knuckle; 31-First link; 32-Second link; 41-Third link; 42-Second finger sleeve; 51-Fourth knuckle; 52-Fifth knuckle; 53-Sixth knuckle; 54-Third drive component; 61-Seventh knuckle; 62-Eighth knuckle; 63-Ninth knuckle;

[0054] 211-First rotation axis; 212-Second rotation axis; 213-Second hinge post; 221-First hinge post; 311-First part; 312-Second part; 321-First finger sleeve; 511-Third rotation axis; 512-Fourth rotation axis; 513-Fifth rotation axis; 521-Sixth rotation axis; 522-Fourth finger sleeve; 541-Third finger sleeve. Detailed Implementation

[0055] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0056] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0057] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0058] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0059] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0060] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0061] Figure 1 This is a schematic diagram of the overall structure of a dexterous hand data acquisition device provided in some embodiments of this application.

[0062] In some examples, refer to Figure 1 As shown, this application embodiment provides a dexterous hand data acquisition device. The dexterous hand data acquisition device may include a palm portion 10. The palm portion 10 may have a palm frame. The palm portion 10 may be provided with a circuit board, and electronic components on the circuit board can receive and store the acquired data.

[0063] In some examples, refer to Figure 1 As shown, the dexterous hand data acquisition device may further include a first finger 20. The first finger 20 may be movably connected to the palm portion 10.

[0064] In some examples, the first finger 20 may include multiple fingers. Multiple first fingers 20 may be arranged side-by-side on the hand. That is, the first finger 20 can be any one of the index, middle, ring, or little fingers of a dexterous hand. Additionally, in some embodiments, the first finger 20 may also be the thumb.

[0065] In some examples, refer to Figure 1 As shown, the first finger 20 may include a first phalanx 21. The first phalanx 21 may be movably connected to the palm portion 10.

[0066] In some examples, refer to Figure 1 As shown, the first finger 20 may include a second phalanx 22. The second phalanx 22 may be rotatably connected to the end of the first phalanx 21 away from the palm portion 10.

[0067] It is understood that in some examples of the embodiments of this application, reference is made to Figure 1 As shown, the first finger 20 may include a third phalanx 23, which may be rotatably connected to the end of the second phalanx 22 away from the first phalanx 21. It should be noted that the third phalanx 23 may also be fixedly connected to the second phalanx 22, that is, the third phalanx 23 is non-rotatably connected to the second phalanx 22; or the third phalanx 23 and the second phalanx 22 may be integrally formed.

[0068] In other words, the data acquisition device for dexterous hands provided in some examples of the embodiments of this application can be set up according to the structure of the dexterous hand at a 1:1 scale, so that the acquired data can be directly applied to the dexterous hand to perform complex tasks.

[0069] In some examples, the dexterous hand data acquisition device may include a drive component connected to the first finger 20, which is used to drive the first finger 20 to rotate under the action of an external force. It should be noted that driving the first finger 20 to rotate can be either driving the first finger 20 as a whole to rotate, or driving a specific knuckle portion within the first finger 20 to rotate.

[0070] In some examples, the dexterous hand data acquisition device may include a data acquisition component for acquiring rotational data of the first finger 20.

[0071] In some examples, refer to Figure 1 As shown, the dexterous hand data acquisition device may include a first driving element 30, that is, the driving element may include a first driving element 30. The first driving element 30 may be connected to the second phalanx 22.

[0072] In some examples, the first drive element 30 may be rotatably connected to the back of the hand of the second phalanx 22.

[0073] In some examples, the first drive member 30 may include a first external force receiving part (not labeled in the figure). The first external force receiving part may be used to directly connect with the fingers of a human hand and receive the force provided by the fingers of the human hand.

[0074] In some examples, the first driving member 30 can drive the second phalanx 22 to rotate relative to the first phalanx 21 under the action of the first external force receiving part.

[0075] In some examples, the dexterous hand data acquisition device may include a first data acquisition component (not shown in the figure). That is, the data acquisition component includes the first data acquisition component. The first data acquisition component can be used to acquire rotation data of the second phalanx 22 relative to the first phalanx 21.

[0076] In some examples, the first data acquisition component may be located at the rotatable connection between the second phalanx 22 and the first phalanx 21.

[0077] In some examples, the first data acquisition component can be used to acquire the rotation angle of the second phalanx 22 relative to the first phalanx 21.

[0078] In some examples, the first data acquisition component may include an encoder. Thus, the rotation angle of the second phalanx 22 relative to the first phalanx 21 can be acquired via the encoder.

[0079] In some examples, the first data acquisition component can be located in the palm portion 10. The first data acquisition component can be connected to a rotating shaft between the second knuckle 22 and the first knuckle 21 via a pull cord or wire. For example, a reel can be installed on the rotating shaft between the second knuckle 22 and the first knuckle 21. During the rotation of the second knuckle 22 relative to the first knuckle 21, the rotating shaft can drive the reel to rotate synchronously, and the reel can pull the pull cord or wire, thereby enabling the first data acquisition component to acquire data on the rotation of the second knuckle 22 relative to the first knuckle 21.

[0080] In some examples, refer to Figure 1 As shown, when using the dexterous hand data acquisition device of this embodiment for data acquisition, the human hand can contact the first external force receiving part of the first driving member 30, such as a finger directly acting on the first external force receiving part. The human finger drives the first finger 20 to move synchronously to perform the task. When the human hand performs a grasping action, it drives the dexterous hand data acquisition device to grasp the object. After grasping the object, the dexterous hand data acquisition device returns information such as joint angles through the first data acquisition component, thereby acquiring the grasping action data information. Since the dexterous hand data acquisition device of this embodiment has a general structure similar to that of a commonly used dexterous hand, the data information acquired by the dexterous hand data acquisition device when performing a task is equivalent to the data information of the dexterous hand itself performing the task, realizing the data acquisition of the dexterous hand and providing real and efficient data information for the subsequent autonomous execution of the dexterous hand data acquisition device. Furthermore, the grasping action of the dexterous hand data acquisition device is based on the direct grasping of the human hand, making the grasping action more accurate and the force feedback more direct and realistic.

[0081] In some examples, refer to Figure 1 As shown, when using the dexterous hand device to collect data, the human hand can be placed on the back side of the device; the first external force receiving part of the first driving member 30 is connected to the fingers of the human hand; thus, the human fingers, the first driving member 30, the second phalanx 22, and the first phalanx 21 form a four-bar linkage. During the bending of the human fingers toward the palm, the first driving member 30 provides a force toward the palm side to the second phalanx 22, causing the second phalanx 22 to bend toward the palm side, thereby rotating relative to the first phalanx 21. Through the first driving member 30, the bending angle and amplitude of the human fingers are directly transmitted to the second phalanx 22, ensuring that the data collected by the first data acquisition component accurately reflects the bending of the human fingers and guaranteeing the accuracy of the data collected by the first data acquisition component.

[0082] The dexterous hand data acquisition device provided in this application embodiment movably connects a first finger 20 to a palm portion 10. The first finger 20 includes a first phalanx 21 and a second phalanx 22. The first phalanx 21 is movably connected to the palm portion 10, and the second phalanx 22 is rotatably connected to the end of the first phalanx 21 away from the palm portion 10. A first driving member 30 is connected to the second phalanx 22. The first driving member 30 includes a first external force receiving part. The first driving member 30 is used to drive the second phalanx to rotate relative to the first phalanx under the drive of the first external force receiving part, and by setting... A first data acquisition component is provided to acquire rotational data of the second phalanx 22 relative to the first phalanx 21. Thus, the hand can be held on the back of the dexterous hand, and the first external force receiving part of the first driving member 30 is connected to the fingers of the hand. This allows the phalanx of the hand to drive the first driving member 30 through the first external force receiving part and drive the second phalanx 22 to rotate relative to the first phalanx 21. At this time, the first data acquisition component can acquire rotational data of the second phalanx 22 relative to the first phalanx 21 under the drive of the phalanx of the hand.

[0083] In other words, the dexterous hand data acquisition device provided in this application embodiment is configured with a first finger 20, a first phalanx 21, and a second phalanx 22 according to the configuration of a dexterous hand, so that the main structure of the dexterous hand data acquisition device is the same as the structure of the dexterous hand itself; when a human hand operates the dexterous hand data acquisition device, it is equivalent to the dexterous hand itself performing a task; the finger movements of the human hand can be directly correlated with the finger movements of the dexterous hand, so that the acquired data can be directly applied to the dexterous hand in a 1:1 ratio, so that the dexterous hand can directly and autonomously perform relevant actions based on the acquired data, providing real and efficient data information for the dexterous hand to autonomously perform complex operations, improving the quality of the acquired dexterous hand data, and improving the efficiency of data acquisition.

[0084] Figure 2 This is another overall structural schematic diagram of the dexterous hand data acquisition device provided in some embodiments of this application.

[0085] In some examples, refer to Figure 1 and Figure 2 As shown, the first drive member 30 may include a first link 31. The first link 31 may be rotatably connected to the back of the hand side of the second phalanx 22.

[0086] In some examples, refer to Figure 2As shown, a first hinge post 221 can be provided on the back side of the second phalanx 22. The first connecting rod 31 can be hinged to the first hinge post 221, thereby rotatably connecting with the second phalanx 22. In this way, it is convenient for the first connecting rod 31 to rotatably connect with the second phalanx 22, and the interference of the first connecting rod 31 on the rotation of the second phalanx 22 can be reduced, ensuring the accuracy of the data collected by the first data acquisition component.

[0087] In some examples, refer to Figure 2 As shown, when the fingers of a person's hand point towards Figure 2 When bending in the direction indicated by the positive y-axis, the distance between the fingers and the palm 10 decreases; the fingers will bend towards... Figure 2 The first link 31 is pulled in the direction shown by the positive x-axis. At this time, the first link 31 rotates from the side of the second phalanx 22 away from the palm 10 toward the side closer to the palm 10.

[0088] In some examples, during the rotation of the first link 31 from the side of the second knuckle 22 away from the palm 10 to the side closer to the palm 10, Figure 2 In the direction indicated by the y-axis, the distance between the other end of the first link 31 and the second phalanx 22 increases, thereby pushing the second phalanx 22 to rotate relative to the first phalanx 21 toward the palm side. That is, as the first link 31 rotates from the side of the second phalanx 22 away from the palm 10 toward the side closer to the palm 10, the first link 31 drives the second phalanx 22 to rotate relative to the first phalanx 21. In this way, the movements of the human hand fingers can be transmitted to the second phalanx 22, allowing the first data acquisition component to accurately acquire the rotation angle of the second phalanx 22. This facilitates the 1:1 mapping of human hand finger movement data to the finger movements of a dexterous hand.

[0089] In some examples, refer to Figure 2 As shown, the first drive member 30 may include a second link 32. The second link 32 may be rotatably connected to the end of the first link 31 away from the second knuckle 22.

[0090] In some examples, the second link 32 may include a first external force receiving part. That is, in some examples of embodiments of this application, the first external force receiving part may be provided on the second link 32.

[0091] In some examples, the second link 32 can be used to connect to a human hand finger. For example, the first external force receiving part of the second link 32 can be fixedly connected to a human hand finger. Thus, when the human hand finger bends, the finger provides force to the second link 32 through the first external force receiving part. Figure 2 The force applied in the positive y-axis direction causes the first link 31 to drive the second phalanx 22 to rotate relative to the first phalanx 21.

[0092] In some examples of embodiments of this application, a first link 31 and a second link 32 are provided. The first link 31 is rotatably connected to the back of the hand of the second phalanx 22, and the second link 32 is rotatably connected to the end of the first link 31 away from the second finger 50. The second link 32 includes a first external force receiving part. Thus, after the fingers of the hand are fixed on the first link 31, the fingers of the hand and the first link 31 act as a whole to drive the first link 31 to rotate relative to the second phalanx 22, thereby driving the second phalanx 22 to rotate relative to the first phalanx 21. This facilitates relative movement between the fingers and the first link 31, improves the comfort of the fingers driving the first link 31, and increases the rotational range of the second phalanx 22. Data from all angles of the second finger 50 and the first finger 20 can be collected using a dexterous hand data acquisition device, improving the accuracy and efficiency of data acquisition.

[0093] In some examples, refer to Figure 2 As shown, the first link 31 may include a first portion 311. The first portion 311 may be rotatably connected to the second phalanx 22.

[0094] In some examples, refer to Figure 2 As shown, after fixing the fingers of the human hand to the second link 32, with the fingers of the human hand in a straight and extended state, the first part 311 can be tilted relative to the second knuckle 22, and the first part 311 extends toward the side of the second knuckle 22 away from the palm 10.

[0095] In some examples, refer to Figure 2 As shown, the first link 31 may include a second part 312. The second part 312 may be fixedly connected to the first part 311. The second part 312 and the first part 311 may be a single piece.

[0096] In some examples, the extension direction of the second part 312 may differ from the extension direction of the first part 311. That is, there is a non-zero angle between the second part 312 and the first part 311. (See reference...) Figure 2 As shown, with the second phalanx 22 in an extended state, the second portion 312 can extend in a direction away from the palm. For example, refer to... Figure 1 As shown, the extension direction of the second part 312 can be Figure 2 The direction indicated by the negative y-axis. The second part 312 can be connected to the end of the first part 311 away from the palm portion 10.

[0097] In some examples, the second link 32 may be rotatably connected to the second part 312.

[0098] In some examples, the second link 32 may be rotatably connected to the end of the second part 312 away from the first part 311.

[0099] In some examples of embodiments of this application, the first portion 311 of the first link 31 is rotatably connected to the second knuckle 22, and the second portion 312 is fixedly connected to the first portion 311, with the second portion 312 connected to the end of the first portion 311 away from the palm portion 10; the extension direction of the second portion 312 is different from the extension direction of the first portion 311. Furthermore, when the second knuckle 22 is in an extended state, the second portion 312 extends in a direction away from the palm. In this way, the first link 31 can form a bent structure through the first part 311 and the second part 312; the bent first link 31 can provide a larger range of angles for the human finger to drive the second phalanx 22, that is, it can ensure that when the human finger drives the second phalanx 22 through the first link 31, the second phalanx 22 has a sufficient rotation angle relative to the first phalanx 21, ensuring that the data collected by the first data acquisition component can cover the entire rotation range of the second phalanx 22 relative to the first phalanx 21 of the dexterous hand; it can ensure that the data collected by the first data acquisition component is mapped 1:1 with the dexterous hand, so that the dexterous hand can directly and autonomously perform relevant actions based on the collected data, providing real and efficient data information for the dexterous hand to autonomously perform complex operations, improving the quality of the collected dexterous hand data, and improving the efficiency of data collection.

[0100] In some examples, refer to Figure 1 As shown, the first external force receiving part may include a first finger sleeve 321. The first finger sleeve 321 may be rotatably connected to the first connecting rod 31.

[0101] In some examples, the first finger sleeve 321 can be configured as a semi-circular structure. This makes it easier for the first finger sleeve 321 to adapt to the curvature of a human finger.

[0102] In some examples, to facilitate the fixation of a person's finger, the finger can be fixed to the first finger sleeve 321 by means of a clamp, braided strap or binding rope, so that the finger can drive the second link 32. The second link 32 can drive the first link 31 to rotate relative to the second phalanx 22, thereby driving the second phalanx 22 to rotate relative to the first phalanx 21.

[0103] In some examples of embodiments of this application, a first finger sleeve 321 is used as a first external force receiving part and is rotatably connected to the first connecting rod 31. In this way, a person's finger can be easily fixed to the first external force receiving part, improving the convenience of fixing the second connecting rod 32 to the person's finger and improving the efficiency of data collection for dexterous hands.

[0104] Figure 3 This is a schematic diagram of a structure in which the second phalanx rotates relative to the first phalanx in a dexterous hand data acquisition device provided in some embodiments of this application. Figure 4 This is a schematic diagram of a topological structure in a dexterous hand data acquisition device provided in some embodiments of this application, showing the rotation of the second phalanx relative to the first phalanx.

[0105] In some examples, refer to Figure 3 and Figure 4 As shown, in one application scenario, when a person's eighth phalanx 62... Figure 3 and Figure 4 When rotating in the direction indicated by the positive y-axis, the person's finger moves along... Figure 3 and Figure 4 The first driving member 30 is pushed in the direction indicated by the positive y-axis, and the first driving member 30 drives the second phalanx 22 to rotate downward relative to the first phalanx 21. In some examples of embodiments of this application, a 90° rotation of the second phalanx 22 relative to the first phalanx 21 is shown as a specific example. It is understood that in some examples of embodiments of this application, the rotation angle of the second phalanx 22 relative to the first phalanx 21 is only shown as a specific example and is not a limitation on the rotation angle of the second phalanx 22 relative to the first phalanx 21.

[0106] It is understandable that a human finger can have a seventh phalanx 61, an eighth phalanx 62, and a ninth phalanx 63; the seventh phalanx 61 is connected to the palm 10; the eighth phalanx 62 is connected to the end of the seventh phalanx 61 away from the palm 10; and the ninth phalanx 63 is connected to the end of the eighth phalanx 62 away from the seventh phalanx 61. In other words, the seventh phalanx 61 can be the proximal phalanx of the hand, the eighth phalanx 62 can be the middle phalanx of the hand, and the ninth phalanx can be the distal phalanx of the hand.

[0107] It should be noted that the eighth phalanx 62 and the ninth phalanx 63 of a human finger are usually linked in rotation. That is, in some examples of the embodiments of this application, in some specific application scenarios, the ninth phalanx 63 and the eighth phalanx 62 of a human finger can be connected to the first external force receiving part of the first driving member 30, so that the first external force receiving part of the first driving member 30 can be driven by the human finger, thereby causing the second phalanx 22 to rotate relative to the first phalanx 21.

[0108] It is understood that the third phalanx 23 of a dexterous hand usually rotates in conjunction with the second phalanx 22. Therefore, in some examples of embodiments of this application, it is only necessary to collect the rotation data of the second phalanx 22 relative to the first phalanx 21, and it is not necessary to collect the rotation data of the third phalanx 23 relative to the second phalanx 22.

[0109] In some examples, refer to Figure 1 and Figure 2 As shown, the first phalanx 21 can rotate relative to the palm 10 about the first rotation axis 211.

[0110] In some examples, the first axis of rotation 211 may be parallel to the plane containing the palm portion 10. Furthermore, the first axis of rotation 211 may be parallel to the arrangement direction of the plurality of first fingers 20.

[0111] In some examples, the dexterous hand data acquisition device may include a second data acquisition component (not shown in the figure). That is, the data acquisition component may include a second data acquisition component. The second data acquisition component can be used to acquire rotation data of the first phalanx 21 about the first rotation axis 211 relative to the palm portion 10.

[0112] In some examples, the second data acquisition component may be located at the first rotation axis 211. The second data acquisition component can be used to acquire rotation data of the first phalanx 21 about the first rotation axis 211 relative to the palm portion 10.

[0113] It is understood that in some examples of the embodiments of this application, the setting method of the second data acquisition component may be the same as, similar to or similar to the setting method of the first data acquisition component in the foregoing embodiments of this application. For details, please refer to the detailed description of the first data acquisition component in the foregoing embodiments of this application. This application will not repeat the description in this embodiment.

[0114] In some examples, refer to Figure 1 and Figure 2 The dexterous hand data acquisition device may include a second driving element 40. That is, the driving element may include a second driving element 40. The second driving element 40 may be connected to the first phalanx 21.

[0115] In some examples, the second drive 40 may be rotatably connected to the back of the hand of the first phalanx 21.

[0116] In some examples, the second drive element 40 may include a second external force receiving part.

[0117] In some examples, the second drive member 40 can be used to drive the first phalanx 21 to move relative to the palm portion 10 under the action of the second external force receiving part.

[0118] In some examples, the second external force receiving part of the second drive member 40 can be connected to the seventh phalanx 61 of a human hand finger.

[0119] In some examples of embodiments of this application, the first phalanx 21 is configured to rotate relative to the palm portion 10 about a first rotation axis 211. This allows the rotational structure of the first phalanx 21 relative to the palm portion 10 to be identical to the rotation of the fingers in a dexterous hand. This facilitates the direct application of data collected by the dexterous hand data acquisition device to the dexterous hand, enabling the execution of complex actions. By providing a second data acquisition component, it is convenient to collect rotational data of the first phalanx 21 about the first rotation axis 211 relative to the palm portion 10. By connecting a second driving member 40 to the first phalanx 21, the second driving member 40 includes a second external force receiving part. Thus, during data acquisition, the seventh phalanx 61 of the hand can be connected to the second external force receiving part, and the second external force receiving part can drive the second driving member 40, thereby driving the first phalanx 21 to rotate relative to the palm 10. This allows the movement of the fingers of the hand to be directly transmitted and mapped to the first phalanx 21 through the second driving member 40. This enables the data collected by the second data acquisition component to be directly applied to the dexterous hand to perform complex actions, providing real and efficient data information for the dexterous hand to autonomously perform complex operations, improving the quality of the collected dexterous hand data, and increasing the efficiency of data acquisition.

[0120] Figure 5 This is another overall structural schematic diagram of the dexterous hand data acquisition device provided in some embodiments of this application.

[0121] In some examples, refer to Figure 1 and Figure 5 As shown, the second drive member 40 may include a third link 41. One end of the third link 41 is rotatably connected to the back of the hand side of the first phalanx 21.

[0122] In some examples, refer to Figure 1 and Figure 2 As shown, to facilitate a rotatable connection between the third link 41 and the first phalanx 21, a second hinge post 213 may be provided on the back side of the first phalanx 21. The third link 41 can be hinged to the second hinge post 213, thereby achieving a rotatable connection with the first phalanx 21.

[0123] In some examples, refer to Figure 1 and Figure 5 As shown, the second external force receiving part can be rotatably connected to the end of the second link 32 away from the first finger joint 21.

[0124] It is understood that in some examples of the embodiments of this application, the arrangement of the second external force receiving part may be the same as, similar to or similar to that of the first external force receiving part. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0125] In some examples of embodiments of this application, one end of the third link 41 is rotatably connected to the back of the hand side of the first phalanx 21, and the end of the third link 41 away from the first phalanx 21 is rotatably connected to the second external force receiving part. This allows the seventh phalanx 61 of the hand to be easily fixed to the second external force receiving part and to move relative to the third link 41. It also facilitates the transmission of the movement of the seventh phalanx 61 to the first phalanx 21, driving the first phalanx 21 to rotate synchronously, ensuring the accuracy and efficiency of data acquisition by the second data acquisition component.

[0126] In some examples, the second external force receiving part may include a second finger sleeve 42. In this way, the seventh phalanx 61 of the human hand finger can be easily fixed to the second finger sleeve 42.

[0127] In some examples, refer to Figure 1 As shown, the first phalanx 21 can rotate relative to the palm portion 10 about the second rotation axis 212. The second rotation axis 212 may be in a different direction than the first rotation axis 211. That is, the direction of the second rotation axis 212 may be different from the direction of the first rotation axis 211. In some embodiments, the first rotation axis 211 may be parallel to the palm surface of the palm portion 10, for example, it may be horizontal; the second rotation axis 212 may be perpendicular to the palm surface of the palm portion 10, for example, it may be vertical. In other words, the first phalanx 21 can swing up and down relative to the palm portion 10 about the first rotation axis 211; the first phalanx 21 can swing left and right relative to the palm portion 10 about the second rotation axis 212.

[0128] In some examples, the dexterous hand data acquisition device may include a third data acquisition component (not shown in the figure). That is, the data acquisition component may include a third data acquisition component. The third data acquisition component can be used to acquire rotational data of the first phalanx 21 about the second rotation axis 212 relative to the palm portion 10.

[0129] In some examples, the third data acquisition component may be located at the second rotation axis 212.

[0130] It is understood that in some examples of the embodiments of this application, the specific configuration of the third data acquisition component may be the same as, similar to or similar to the first data acquisition device in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0131] In some examples of embodiments of this application, the first phalanx 21 is configured to rotate relative to the palm 10 around a second rotation axis 212, the second rotation axis 212 being in a different direction from the first rotation axis 211; and a third data acquisition component is provided to acquire rotation data of the first phalanx 21 around the second rotation axis 212. In this way, the finger movements of the dexterous hand data acquisition device can be set to be exactly the same as the finger movements of a dexterous hand; the acquired data can be directly mapped 1:1 and applied to the dexterous hand to perform complex actions. This improves the efficiency and quality of data acquisition.

[0132] In some embodiments, the axis of rotation between the first phalanx 21 and the second phalanx 22 may be in the same or approximately the same direction as the first axis of rotation 211.

[0133] In some embodiments, the axis of rotation between the second phalanx 22 and the third phalanx 23 may be in the same or approximately the same direction as the first axis of rotation 211.

[0134] In some examples, the third phalanx 23 may be equipped with a fourth data acquisition component. The fourth data acquisition component can be used to acquire the contact signal value between the palm side of the third phalanx 23 and the target object.

[0135] In some examples, at least a portion of the fourth data acquisition component may be located on the side of the third phalanx 23 facing the palm of the hand 10.

[0136] In some examples, the contact signal value can be at least one of other signal values ​​such as pressure value, tangential force value, proximity value, etc. The fourth data acquisition component can include at least one of other sensors such as a tactile sensor or a vision sensor. The detection probe of the fourth data acquisition component can be located on the palm side of the third phalanx 23.

[0137] In some examples, the fourth data acquisition component can be used to acquire contact signal values ​​between the palm side of the third phalanx 23 and the target object. The information acquired by the fourth data acquisition component provides feedback on whether the object has been grasped. Furthermore, for different target objects, the force applied by the human hand fingers during grasping, lifting, and pulling actions via the dexterous hand data acquisition device varies, thus allowing the fourth data acquisition component to acquire different force signal values.

[0138] In some examples of embodiments of this application, a fourth data acquisition component is provided on the third phalanx 23. This allows the fourth data acquisition component to collect contact signal values ​​from actions such as grasping, lifting, or tearing of different target objects by the dexterous hand. The structure of the dexterous hand data acquisition device can be configured to be completely identical to the structure of the dexterous hand; the acquired data can be directly mapped to applications within the dexterous hand. This improves the accuracy and efficiency of dexterous hand data acquisition.

[0139] Figure 6 This is a schematic diagram of a structure in which the first phalanx rotates relative to the palm in a dexterous hand data acquisition device provided in some embodiments of this application. Figure 7 This is a schematic diagram of a topological structure in a dexterous hand data acquisition device provided in some embodiments of this application, showing the rotation of the first phalanx relative to the palm.

[0140] In some examples, refer to Figure 6 and Figure 7 As shown, in a specific application scenario, the seventh phalanx 61 of a human hand finger can be along... Figure 6 and Figure 7 The direction indicated by the positive y-axis drives the second drive unit 40. Figure 6 and Figure 7 In the direction shown by the x-axis, the distance between the seventh phalanx 61 of the hand and the palm 10 decreases, thereby pulling the second finger sleeve 42 to rotate towards the back of the hand. The rotation of the second finger sleeve 42 pushes the first phalanx 21 to rotate relative to the palm 10 around the first rotation axis 211. The rotation of the first phalanx 21 relative to the palm 10 around the first rotation axis 211 can drive the second phalanx 22 to rotate synchronously. In this way, the first phalanx 21 and the second phalanx 22 can be rotated to a preset angle with the palm 10.

[0141] It is understood that in some examples of the embodiments of this application, the first phalanx 21 is shown rotating 90° relative to the palm 10 about the first rotation axis 211 as an example. The rotation angle of the first phalanx 21 relative to the palm 10 about the first rotation axis 211 can be other angles, and the embodiments of this application do not limit this.

[0142] Figure 8 This is a schematic diagram of the structure of the data acquisition device for a dexterous hand in a clenched fist state provided in some embodiments of this application. Figure 9 This is a schematic diagram of a topological structure in a dexterous hand data acquisition device provided in some embodiments of this application, in which the first phalanx rotates relative to the palm and the second phalanx rotates relative to the first phalanx.

[0143] In some examples, refer to Figure 8 and Figure 9 As shown, the seventh phalanx 61 of a human hand can drive the first phalanx 21 to rotate relative to the palm 10 around the first rotation axis 211 via the second drive member 40. The eighth phalanx 62 (or the ninth phalanx 63) can drive the second phalanx 22 to rotate relative to the first phalanx 21 via the second drive member 40, so that the first phalanx 21 can rotate at least to be perpendicular to the palm surface of the palm 10, and the second phalanx 22 can rotate at least to be parallel to the palm surface of the palm 10, which facilitates the collection of data on the fist-clenching movements of a dexterous hand.

[0144] In some examples, refer to Figure 1 , Figure 2 and Figure 5 As shown, the dexterous hand data acquisition device may include a second finger 50. The second finger 50 may be movably connected to the palm portion 10. The extension direction of the second finger 50 may be different from the extension direction of the first finger 20.

[0145] In some examples, the second finger 50 can be the thumb of the dexterous hand data acquisition device. That is, in some examples of embodiments of this application, a second finger 50 is provided that is movably connected to the palm portion 10. In this way, the structure of the dexterous hand data acquisition device can be configured to completely correspond to the structure of the dexterous hand, so that the acquired data can be directly applied to the dexterous hand to perform complex actions. This improves the accuracy and efficiency of dexterous hand data acquisition.

[0146] In some examples, refer to Figure 2 and Figure 5 As shown, the second finger 50 may include a fourth phalanx 51. The fourth phalanx 51 may be movably connected to the palm portion 10.

[0147] In some examples, refer to Figure 1 and Figure 2 As shown, the fourth phalanx 51 and the palm portion 10 may have a third rotation axis 511 and a fourth rotation axis 512.

[0148] In some examples, refer to Figure 1 and Figure 2 As shown, the fourth phalanx 51 can rotate about the third rotation axis 511 relative to the palm 10, thereby causing the second finger 50 to move toward or away from the first finger 20.

[0149] In some examples, refer to Figure 1 and Figure 2 As shown, the fourth phalanx 51 can rotate around the fourth rotation axis 512, thereby enabling the second finger 50 to swing relative to the thickness direction of the palm portion 10.

[0150] It is understood that in some examples of the embodiments of this application, the way in which the fourth phalanx 51 is movably connected to the palm part 10 may be the same as, similar to or similar to the way in which the first phalanx 21 is movably connected to the palm part 10 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0151] In some examples, refer to Figure 2 and Figure 5 As shown, the second finger 50 may include a fifth phalanx 52. The fifth phalanx 52 may be rotatably connected to the end of the fourth phalanx 51 away from the palm portion 10.

[0152] In some examples, refer to Figure 1 and Figure 2 As shown, a fifth axis of rotation 513 may exist between the fourth phalanx 51 and the fifth phalanx 52. The fifth phalanx 52 can rotate relative to the fourth phalanx 51 about the fifth axis of rotation 513. The direction of the fifth axis of rotation 513 may be the same as the direction of the third axis of rotation 511. The fifth axis of rotation may be parallel or approximately parallel to the third axis of rotation 511.

[0153] It is understood that in some examples of the embodiments of this application, the rotational connection method between the fifth phalanx 52 and the fourth phalanx 51 may be the same as, similar to or similar to the rotational connection method between the second phalanx 22 and the first phalanx 21 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0154] In some examples, refer to Figure 5 As shown, the second finger 50 may include a sixth phalanx 53. The sixth phalanx 53 may be rotatably connected to the end of the fifth phalanx 52 away from the fourth phalanx 51. The rotation of the sixth phalanx 53 relative to the fifth phalanx 52 may be linked with the rotation of the fifth phalanx 52 relative to the fourth phalanx 51. That is, during the rotation of the fifth phalanx 52 relative to the fourth phalanx 51, the fifth phalanx 52 can drive the sixth phalanx 53 to rotate, and the sixth phalanx 53 can rotate relative to the fifth phalanx 52.

[0155] In some examples, refer to Figure 1 and Figure 2 As shown, a sixth axis of rotation 521 may exist between the fifth phalanx 52 and the sixth phalanx 53. The sixth phalanx 53 may rotate relative to the fifth phalanx 52 about the sixth axis of rotation 521.

[0156] In some examples, the sixth rotation axis 521 may be parallel or approximately parallel to the fifth rotation axis 513. The orientation of the sixth rotation axis 521 may be the same as, similar to or similar to the fifth rotation axis 513. For details, please refer to the detailed description of the fifth rotation axis 513 in the foregoing embodiments of this application. This application will not repeat the description further.

[0157] In some examples, refer to Figure 1 , Figure 2 and Figure 5 As shown, a third driving member 54 may be provided on the back side of the fourth phalanx 51. The third driving member 54 may include a third external force receiving part. The third external force receiving part can be used to drive the fourth phalanx 51 to rotate relative to the palm part 10.

[0158] In some examples, the dexterous hand data acquisition device may include a fifth data acquisition component (not shown in the figure). The fifth data acquisition component may acquire rotational data of the fourth phalanx 51 relative to the palm portion 10.

[0159] In some examples, the fifth data acquisition component may be located at the movable connection between the fourth phalanx 51 and the palm portion 10.

[0160] It is understood that in some examples of the embodiments of this application, the configuration of the fifth data acquisition component may be the same as, similar to or similar to that of the first data acquisition component in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0161] In some examples, the third driving member 54 may be configured in the same, similar, or analogous manner as the second driving member 40 in the foregoing embodiments of this application. It is understood that the back of the hand of the second phalanx 22, which serves as the thumb, is typically on a different plane from the back of the hand of the palm 10. In some examples of embodiments of this application, the axis of rotation connecting the third driving member 54 and the fourth phalanx 51 may be parallel or approximately parallel to the palm surface of the palm 10. Thus, when the thumb is connected to the third driving member 54, the end of the third driving member 54 connected to the thumb may be located on the back of the hand of the palm 10, facilitating the connection between the thumb and the third driving member 54.

[0162] In some examples, the third force-bearing part may include a third finger sleeve 541. This facilitates a fixed connection between the thumb and the third force-bearing part.

[0163] In some examples, a drive mechanism may be provided at the rotatable connection between the fifth phalanx 52 and the fourth phalanx 51. The drive mechanism may include a drive motor capable of forward and reverse rotation.

[0164] In some examples, the drive mechanism may include any one of a servo motor, a stepper motor, or a synchronous motor.

[0165] In some examples, the drive mechanism may include a joint motor.

[0166] In some examples, a drive mechanism can be used to drive the fifth phalanx 52 to rotate relative to the fourth phalanx 51.

[0167] In some examples, the dexterous hand data acquisition device may include a fourth force-receiving part. The fourth force-receiving part may be connected to the third force-receiving part and / or the second finger 50. The fourth force-receiving part may be equipped with a sensor device.

[0168] In some examples, the drive mechanism can drive the fifth phalanx 52 to rotate relative to the fourth phalanx 51 based on the trigger signal from the sensor device.

[0169] In other words, in a specific application scenario of this application embodiment, the thumb of a human hand can be connected to the fourth external force receiving part. Then, when the thumb performs an action, the thumb can cause the sensor device to trigger a signal, and the driving mechanism drives the fifth phalanx 52 to rotate relative to the fourth phalanx 51 according to the trigger signal of the sensor device.

[0170] In some examples, the dexterous hand data acquisition device may include a sixth data acquisition component. This sixth data acquisition component can be used to acquire data on the rotation of the fifth phalanx 52 relative to the fourth phalanx 51 driven by the drive mechanism.

[0171] In some examples, the sixth data acquisition component may be located in the drive mechanism.

[0172] In some examples, the sixth data acquisition component can be the motor encoder of the drive mechanism.

[0173] In some examples of embodiments of this application, a driving mechanism is provided at the rotational connection between the fifth phalanx 52 and the fourth phalanx 51, and a fourth external force receiving part is provided connected to the third external force receiving part. A sensor device is provided at the fourth external force receiving part. Thus, after connecting the thumb to the fourth external force receiving part, the movement of the thumb can trigger the sensor device, allowing the driving mechanism to drive the fifth phalanx 52 to rotate relative to the fourth phalanx 51 according to the trigger signal of the sensor device. This avoids the problem that the limited range of motion of the thumb after the fourth phalanx 51 rotates relative to the palm 10 prevents the fifth phalanx 52 from rotating; it ensures that the sixth data acquisition component can accurately acquire the angle data of the rotation of the fifth phalanx 52 relative to the fourth phalanx 51, improving the accuracy and efficiency of dexterity hand data acquisition. The acquired data can be directly applied 1:1 to the dexterity hand, allowing the dexterity hand to autonomously perform related actions based on the acquired data, providing real and efficient data information for the dexterity hand to autonomously perform complex operations, improving the quality of the acquired dexterity hand data, and increasing the efficiency of data acquisition.

[0174] In some examples, refer to Figure 1 and Figure 5 As shown, the fourth external force receiving part may include a fourth finger sleeve 522. This facilitates the connection of the thumb.

[0175] It is understood that in some examples of the embodiments of this application, the way the fourth finger sleeve 522 is set may be the same as, similar to or similar to the first finger sleeve 321 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details.

[0176] It should be noted that the specific shapes of the first external force receiving part, the second external force receiving part, the third external force receiving part, and the fourth external force receiving part in the embodiments of this application are not limited, and can be set to any shape according to actual needs.

[0177] In some examples, the sensor device may be located inside the fourth finger sleeve 522.

[0178] In some examples, the sensor device may include any one of a physical switch, a pressure sensor, a photoelectric sensor, or a touch sensor.

[0179] It is understood that in some examples of the embodiments of this application, the sixth phalanx 53 may be provided with the fourth data acquisition component described in detail in the foregoing embodiments of this application. The way in which the fourth data acquisition component of the sixth phalanx 53 is set may be the same as, similar to or similar to the fourth data acquisition component of the third phalanx 23 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application, which will not be repeated in the embodiments of this application.

[0180] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0181] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A dexterous hand data acquisition device, characterized in that, include: Palm area; The first finger is movably connected to the palm; the first finger includes a first phalanx and a second phalanx, the first phalanx is movably connected to the palm, and the second phalanx is rotatably connected to the end of the first phalanx away from the palm. A first driving member, the first driving member including a first external force receiving part, the first driving member being connected to the second phalanx, for driving the second phalanx to rotate relative to the first phalanx under the drive of the first external force receiving part; as well as A first data acquisition component is used to acquire rotation data of the second phalanx relative to the first phalanx. The second finger is movably connected to the palm, and the extension direction of the second finger is different from that of the first finger. The second finger includes a fourth phalanx. A fourth external force receiving part is connected to the second finger, and the fourth external force receiving part is equipped with a sensor device; The second finger also includes a fifth phalanx, the fourth phalanx being movably connected to the palm, and the fifth phalanx being rotatably connected to the end of the fourth phalanx away from the palm; A driving mechanism is provided at the rotatable connection between the fifth phalanx and the fourth phalanx. The driving mechanism drives the fifth phalanx to rotate relative to the fourth phalanx according to the trigger signal of the sensor device.

2. The dexterous hand data acquisition device according to claim 1, characterized in that, The first driving element includes: A first link, rotatably connected to the back of the hand side of the second phalanx; and The second link is rotatably connected to the end of the first link away from the second knuckle, and the second link includes the first external force receiving part.

3. The dexterous hand data acquisition device according to claim 2, characterized in that, The first link includes: The first part is rotatably connected to the second phalanx; The second part is fixedly connected to the first part and is connected to the end of the first part away from the palm. The extension direction of the second part is different from that of the first part. When the second knuckle is in an extended state, the second part extends away from the palm, and the second link is connected to the second part.

4. The dexterous hand data acquisition device according to claim 2, characterized in that, The first external force receiving part includes a first finger sleeve, which is rotatably connected to the first connecting rod.

5. The dexterous hand data acquisition device according to any one of claims 1-4, characterized in that, The first phalanx rotates relative to the palm about a first rotation axis; The dexterous hand data acquisition device also includes: The second data acquisition component is used to acquire rotation data of the first phalanx relative to the palm about the first rotation axis. as well as The second driving member includes a second external force receiving part. The second driving member is connected to the first finger joint and is used to drive the first finger joint to move relative to the palm under the action of the second external force receiving part.

6. The dexterous hand data acquisition device according to claim 5, characterized in that, The second driving element includes: The third link has one end rotatably connected to the back of the hand of the first phalanx; the second external force receiving part is rotatably connected to the end of the third link away from the first phalanx.

7. The dexterous hand data acquisition device according to claim 6, characterized in that, The second external force receiving part includes a second finger sleeve.

8. The dexterous hand data acquisition device according to claim 5, characterized in that, The first phalanx rotates relative to the palm about a second rotation axis, and the second rotation axis is in a different direction from the first rotation axis. The dexterous hand data acquisition device further includes a third data acquisition component, which is used to acquire rotation data of the first phalanx about the second rotation axis relative to the palm.

9. The dexterous hand data acquisition device according to any one of claims 1-4, characterized in that, The dexterous hand data acquisition device also includes a third phalanx, which is rotatably connected to the end of the second phalanx away from the first phalanx; The third phalanx is provided with a fourth data acquisition component, which is used to acquire the contact signal value between the palm side of the third phalanx and the target object.

10. The dexterous hand data acquisition device according to any one of claims 1-4, characterized in that, The dexterous hand data acquisition device also includes: A third driving member, comprising a third external force receiving part, the third external force receiving part being rotatably connected to the fourth phalanx, the third external force receiving part being used to drive the fourth phalanx to rotate relative to the palm; and The fifth data acquisition component is used to acquire rotation data of the fourth phalanx and the palm.

11. The dexterous hand data acquisition device according to claim 10, characterized in that, The third external force receiving part includes a third finger sleeve.

12. The dexterous hand data acquisition device according to claim 10, characterized in that... The fourth external force receiving part is connected to the third external force receiving part. The dexterous hand data acquisition device also includes a sixth data acquisition component, which is used to acquire the rotation data of the fifth phalanx relative to the fourth phalanx.

13. The dexterous hand data acquisition device according to claim 12, characterized in that, The fourth external force receiving part includes a fourth finger sleeve.

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