Smart dexterous hand finger working stroke correction system, method, electronic device, and storage medium

Abstract

The application discloses a kind of intelligent dexterous hand finger working stroke correction system, method, electronic equipment and storage medium, the finger working stroke correction system includes control module and correction auxiliary device;Correction auxiliary device is used to place the intelligent dexterous hand to be corrected;Control module is used to control intelligent dexterous hand to be in set reference posture, set reference posture is the posture that intelligent dexterous hand opens to limit, record the position where each finger is located, and be recorded as first position;Then control intelligent dexterous hand to execute set action, so that intelligent dexterous hand is in second posture, each finger is attached to the corresponding accommodating space of correction auxiliary device, record the position where each finger is located, and be recorded as second position;Second position of each finger is used as correction reference position;And according to the corresponding second position of each finger, the bending stroke of corresponding finger is set.This application can be intelligent to the intelligent dexterous hand Correction, reduce the stroke deviation of finger, improve product consistency.

Description

Technical Field

[0001] This invention belongs to the field of intelligent hand technology, and relates to an intelligent dexterous hand, and more particularly to an intelligent dexterous hand finger work stroke correction system, method, electronic device and storage medium. Background Technology

[0002] Bionic hands, as a primary means of enabling patients to live independently after limb amputation, remain a relatively new and popular product. A bionic hand contains a drive motor that can move the fingers.

[0003] Existing bionic hands have errors in finger movements due to variations in the drive stroke of the drive motors at the time of manufacture, resulting in a lack of standardization and poor product consistency.

[0004] In view of this, there is an urgent need to design an intelligent dexterity hand correction method in order to overcome at least some of the aforementioned defects of existing intelligent dexterity hands. Summary of the Invention

[0005] This invention provides a system, method, electronic device, and storage medium for correcting the working stroke of a smart dexterous hand, which can intelligently correct the working stroke of the fingers, reduce finger travel deviation, and improve product consistency.

[0006] To solve the above-mentioned technical problems, according to one aspect of the present invention, the following technical solution is adopted:

[0007] A smart dexterity hand finger work stroke correction system, the finger work stroke correction system comprising: a control module and a correction auxiliary device;

[0008] The correction aid is used to place the intelligent dexterity hand to be corrected, and the correction aid includes several receiving spaces for placing the corresponding fingers of the intelligent dexterity hand;

[0009] The control module is used to communicate with the intelligent dexterous hand, and can send set control signals to the intelligent dexterous hand and receive information fed back by the intelligent dexterous hand;

[0010] The control module is used to control the intelligent dexterous hand to be in a set reference posture. The set reference posture is when the intelligent dexterous hand is opened to a set posture, and the position of each finger is recorded as the first position. Then, the intelligent dexterous hand is controlled to perform a set action, so that the intelligent dexterous hand is in a second posture, and each finger is in contact with the corresponding receiving space of the correction auxiliary device. The position of each finger is recorded as the second position. The second position of each finger is used as the correction reference position. And the bending stroke of the corresponding finger is set according to the second position of each finger.

[0011] As one embodiment of the present invention, the control process of the control module includes:

[0012] Step A1: Control the fingers to fully open to their limit, determine the position of each finger according to the encoder value of the drive motor, and mark the position of the finger at that point as the initial position 0;

[0013] Step A2: Calibration begins; control each finger to close; wait for the set time to ensure each finger is in the corresponding position of the calibration aid; determine the position of each finger based on the encoder value of the drive motor;

[0014] Step A3: Record the current position Pi of each finger as the correction reference position, where i represents the i-th finger;

[0015] Step A4: Save [Pi - first set offset Ai, Pi + second set offset Bi] as the bending stroke of the i-th finger to non-volatile memory.

[0016] As one embodiment of the present invention, the correction auxiliary device includes a base, the base being provided with an end support mechanism, a plurality of finger middle limiting mechanisms, and a plurality of finger end limiting mechanisms;

[0017] The finger mid-section limiting mechanism is used to place the fingers of the intelligent dexterous hand, separate the fingers, and limit the spacing between the fingers; when the intelligent dexterous hand is set on the correction auxiliary device and is in the extended set state, each finger can touch the corresponding finger tip limiting mechanism and cannot move further.

[0018] In one embodiment of the present invention, the intelligent dexterous hand includes a plurality of fingers and a plurality of finger driving mechanisms. The finger driving mechanism is connected to the corresponding finger and can drive the corresponding finger to move. The finger driving mechanism is a drive motor, and the control module determines the position of the finger according to the encoder value of the drive motor.

[0019] According to another aspect of the present invention, the following technical solution is adopted: a method for correcting the working stroke of fingers in an intelligent dexterous hand, the method comprising:

[0020] Step S1: Set the intelligent dexterous hand to the set position on the calibration aid device;

[0021] Step S2: The control module controls the intelligent dexterous hand to be in a set reference posture. The set reference posture is when the intelligent dexterous hand is opened to a set posture, and the position of each finger is recorded as the first position.

[0022] Step S3: The control module controls the intelligent dexterous hand to perform the set action, so that the intelligent dexterous hand is in the second posture, with each finger conforming to the corresponding receiving space of the correction auxiliary device, and the position of each finger is recorded as the second position;

[0023] Step S4: Use the second position of each finger as the correction reference position; and set the bending stroke of the corresponding finger according to the second position of each finger.

[0024] In one embodiment of the present invention, in step S2, the fingers are controlled to be fully opened to the limit, the position of each finger is determined according to the encoder value of the drive motor, and the position of the finger at that point is recorded as the initial position 0.

[0025] In step S3, the calibration begins by controlling each finger to close; waiting for a set time ensures that each finger is in the corresponding position of the calibration auxiliary device; the position of each finger is determined according to the encoder value of the drive motor, and the current position Pi of each finger is recorded as the calibration reference position, where i represents the i-th finger;

[0026] In step S4, [Pi - first set offset Ai, Pi + second set offset Bi] is used as the bending stroke of the i-th finger and saved to non-volatile memory.

[0027] As one embodiment of the present invention, between step S1 and step S2, the finger working stroke correction method further includes: adjusting the position of the thumb mechanism of the intelligent dexterous hand; controlling the thumb mechanism to align it horizontally with the groove structure of the correction auxiliary device for placing the thumb.

[0028] As one embodiment of the present invention, the correction auxiliary device includes a base, the base being provided with an end support mechanism, a plurality of finger middle limiting mechanisms, and a plurality of finger end limiting mechanisms;

[0029] The finger mid-section limiting mechanism is used to place the fingers, separate the fingers, and limit the spacing between the fingers; when the intelligent dexterous hand is set on the correction auxiliary device and is in the extended set state, each finger can touch the corresponding finger tip limiting mechanism and cannot move further.

[0030] In one embodiment of the present invention, the intelligent dexterous hand includes a plurality of fingers and a plurality of finger driving mechanisms. The finger driving mechanism is connected to the corresponding finger and can drive the corresponding finger to move. The finger driving mechanism is a drive motor, and the control module determines the position of the finger according to the encoder value of the drive motor.

[0031] According to another aspect of the present invention, the following technical solution is adopted: an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above method.

[0032] According to another aspect of the present invention, the following technical solution is adopted: a storage medium storing computer program instructions thereon, which, when executed by a processor, implement the steps of the above-described method.

[0033] The beneficial effects of the present invention are as follows: The intelligent dexterous hand finger work stroke correction system, method, electronic device and storage medium proposed in the present invention can intelligently correct the intelligent dexterous hand, reduce finger work stroke deviation and improve product consistency. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the composition of an intelligent dexterous hand finger work stroke correction system in one embodiment of the present invention.

[0035] Figure 2 This is a flowchart of a method for correcting finger displacement in an intelligent dexterous hand according to an embodiment of the present invention.

[0036] Figure 3 This is a schematic diagram of the composition of an electronic device according to an embodiment of the present invention.

[0037] Figure 4 This is a schematic diagram (open state) of an intelligent dexterous hand using a correction aid device in one embodiment of the present invention.

[0038] Figure 5 This is a schematic diagram (open state) of an intelligent dexterous hand using a correction aid device in one embodiment of the present invention.

[0039] Figure 6 This is a schematic diagram (open state) of an intelligent dexterous hand using a correction aid device in one embodiment of the present invention.

[0040] Figure 7 This is a schematic diagram (bent state) of an intelligent dexterous hand using a correction aid device in one embodiment of the present invention.

[0041] Figure 8 This is a schematic diagram (bent state) of an intelligent dexterous hand using a correction aid device in one embodiment of the present invention.

[0042] Figure 9 This is a schematic diagram (bent state) of an intelligent dexterous hand using a correction aid device in one embodiment of the present invention.

[0043] Figure 10 This is a schematic diagram of the structure of a correction auxiliary device in one embodiment of the present invention. Detailed Implementation

[0044] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0045] To further understand the present invention, preferred embodiments of the present invention are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, and not for limiting the scope of the claims of the present invention.

[0046] The description in this section pertains to only a few typical embodiments, and the present invention is not limited to the scope of the embodiments described. Substitution of identical or similar prior art methods with some technical features in the embodiments is also within the scope of the description and protection of this invention.

[0047] The steps described in the various embodiments in the specification are for illustrative purposes only, and the implementation of this application is not limited by the order of the steps.

[0048] The term "connection" in the specification includes both direct and indirect connections, such as connections made through active devices, passive devices, or electrical conduction media; it may also include connections made by other active or passive devices that are known to those skilled in the art and can achieve the same or similar functional purpose, such as connections made through circuits or components such as switches or follower circuits.

[0049] This invention discloses an intelligent dexterous hand finger work stroke correction system. Figure 1 This is a schematic diagram of the composition of an intelligent dexterous hand finger travel correction system according to an embodiment of the present invention; please refer to [link / reference]. Figure 1 The finger working stroke correction system includes: a control module 1 and a correction auxiliary device 2; the correction auxiliary device 2 is used to place the intelligent dexterity hand 3 to be corrected, and the correction auxiliary device 2 includes several accommodating spaces for placing the corresponding fingers of the intelligent dexterity hand 3.

[0050] Figure 10 This is a schematic diagram of the structure of the correction auxiliary device in one embodiment of the present invention. Figures 4 to 9 This is a schematic diagram illustrating the correction of an intelligent dexterous hand using a correction aid device in one embodiment of the present invention; please refer to [link / reference]. Figures 4 to 10 In one embodiment of the present invention, the correction auxiliary device 2 includes a base 21, the base 21 being provided with an end support mechanism 22, a plurality of finger middle limiting mechanisms 23, and a plurality of finger end limiting mechanisms 24.

[0051] The end support mechanism 22 is used to set the wrist of the intelligent dexterous hand 2; in one embodiment, the end support mechanism 22 is provided with a second groove, which can lock the wrist of the intelligent dexterous hand, so that the intelligent dexterous hand is fixed.

[0052] The finger mid-position limiting mechanism 23 is used to place the fingers of the intelligent dexterous hand, separating and limiting the spacing between the fingers. In one embodiment, the upper part of the finger mid-position limiting mechanism 23 is provided with a third groove, the width of which corresponds to the width of the corresponding finger; the depth of the groove corresponds to the thickness of the finger. The intelligent dexterous hand finger displacement correction fixture can be provided with four finger mid-position limiting mechanisms 23, which respectively limit the index finger, middle finger, ring finger, and little finger of the intelligent dexterous hand.

[0053] When the intelligent dexterous hand is installed on the correction aid and in the extended set state, each finger can touch the corresponding fingertip limiting mechanism 24 but cannot move further. The surface of the fingertip limiting mechanism 24 may have a groove structure, which can limit the tip of the corresponding finger. The shape of the groove structure may correspond to the fingertip structure. In one embodiment of the present invention, the groove structures of the fingertip limiting mechanisms used to place the index finger, middle finger, ring finger, and little finger have the same orientation (e.g., they can all be set facing upwards), while the groove structure used to place the thumb is set facing to one side (outwards).

[0054] The control module 1 is used to communicate with the intelligent dexterous hand 3, and can send setting control signals to the intelligent dexterous hand 3 and receive sensing information fed back by the intelligent dexterous hand 3.

[0055] The control module 1 is used to control the intelligent dexterous hand 3 to be in a set reference posture. The set reference posture can be the posture where the intelligent dexterous hand 3 is opened to its limit (or other postures). The position of each finger is recorded and recorded as the first position (e.g., ...). Figures 4 to 6 (As shown). Then, the intelligent dexterous hand 3 is controlled to perform a preset action, so that the intelligent dexterous hand 3 is in a second posture, with each finger conforming to the corresponding receiving space of the correction auxiliary device 2, and the position of each finger is recorded as the second position (e.g.). Figures 7 to 9 (As shown). The second position of each finger is used as a correction reference position; and the bending stroke of the corresponding finger is set according to the second position of each finger. By precisely limiting the bending stroke of each finger, safe operation of the finger can be ensured; in addition, by correcting the position of the finger, the consistency of the finger stroke of each dexterity hand product can be ensured, and deviations can be minimized as much as possible.

[0056] In one embodiment of the present invention, the second position is a set position between the finger being spread to its limit and the fist being clenched; preferably, it is a position close to the middle state (such as the middle region position corresponding to the working stroke of the drive motor).

[0057] In one embodiment, the calibration assistance device 2 may further include several position sensors. Some position sensors are used to sense whether a smart dexterous hand is on the base, while others are used to sense the position data of the corresponding fingers. Each position sensor can send the sensed position data to the control module. The control module can combine the data sensed by the position sensors to assist in verifying the control process, thereby improving calibration efficiency. For example, normally a set time is required to ensure that each finger has moved into position. With the position sensors, if the position sensors sense that a finger has moved into position, the subsequent calibration process can proceed without waiting for the set time. The position sensors may be disposed on the surface of the finger tip limiting mechanism 24 (groove).

[0058] In one embodiment of the present invention, the control process of the control module includes:

[0059] Step A1: Control the fingers to fully open to their limit, determine the position of each finger according to the encoder value of the drive motor, and mark the position of each finger at that point as the initial position 0 (or other values). The position of each finger can be calculated separately; for example, the initial position can be marked as 0 for all of them; or they can be calculated uniformly in the same three-dimensional coordinate system.

[0060] Step A2: Calibration begins. Control each finger to close; wait for a set time to ensure each finger is in the corresponding position of the calibration aid device, and determine the position of each finger based on the encoder value of the drive motor. In one embodiment, the position of the finger can be determined based on the encoder value of the drive motor.

[0061] Step A3: Record the current position Pi of each finger (such as thumb position P0, index finger position P1, middle finger position P2, ring finger position P3, and little finger position P4) as the correction reference position; where, the finger position Pi can be three-dimensional coordinate data, and i represents the i-th finger.

[0062] Step A4: Save [Pi - first set offset Ai, Pi + second set offset Bi] as the bending stroke of the i-th finger to non-volatile memory. Simultaneously, the lower limit of the stroke can be used as the initial position of the corresponding finger in the default power-on state.

[0063] Different first setting offsets Ai and second setting offsets Bi can be set for different fingers i; in addition, different first setting offsets Ai and second setting offsets Bi can be set for different types of dexterous hands.

[0064] In one embodiment of the present invention, the control process of the control module may further include: first, positioning the thumb; controlling the thumb's movement to align it horizontally with the groove structure of the correction auxiliary device 2 for placing the thumb; and then performing further correction according to steps A1 to A4 above.

[0065] In one embodiment of the present invention, the intelligent dexterous hand includes a plurality of fingers and a plurality of finger driving mechanisms. The finger driving mechanisms are connected to corresponding fingers and can drive the corresponding finger movements. The finger driving mechanism is a drive motor, and the control module determines the position of the finger based on the encoder value of the drive motor. In one embodiment, the intelligent dexterous hand can adopt the bionic hand structure described in Chinese Patent Publication No. CN111906809A, which will not be elaborated here.

[0066] This invention further discloses a method for correcting the working stroke of fingers in an intelligent dexterous hand. Figure 2 This is a flowchart of a method for correcting finger displacement in an intelligent dexterous hand according to an embodiment of the present invention; please refer to [link / reference]. Figure 2 The finger working stroke correction method includes:

[0067]

Step S1

[0068] In one embodiment of the present invention, the correction assist device 2 may include a base, the base being provided with an end support mechanism, a plurality of finger mid-section limiting mechanisms, and a plurality of finger end-section limiting mechanisms; the finger mid-section limiting mechanisms are used to place the fingers, space the fingers apart, and limit the spacing between the fingers; when the intelligent dexterous hand is placed on the correction assist device and is in the extended set state, each finger can touch the corresponding finger end-section limiting mechanism but cannot move further.

[0069] In one embodiment, the calibration assistance device 2 may further include several position sensors. Some position sensors are used to detect whether a smart dexterous hand is on the base, while others are used to detect the position data of the corresponding fingers. Each position sensor can send the detected position data to the control module. The control module can combine the data detected by the position sensors to assist in verifying the control process, thereby improving calibration efficiency. For example, normally a set time is required to ensure that each finger has moved into position. With position sensors, if the position sensors detect that a finger has moved into position, the subsequent calibration process can proceed without waiting for the set time.

[0070]

Step S2

[0071] In one embodiment of the present invention, in step S2, the fingers are fully opened to their limit, the position of each finger is determined according to the encoder value of the drive motor, and the position of each finger at that point is recorded as the initial position 0 (or other values).

[0072]

Step S3

[0073] In one embodiment, the second position is a set position between the finger being spread to its limit and the fist being clenched; preferably, it is a position close to the middle state (such as the middle area position corresponding to the working stroke of the drive motor).

[0074] In one embodiment of the present invention, in step S3, the calibration begins, and each finger is controlled to close; a set time is waited to ensure that each finger is in the corresponding position of the calibration auxiliary device, and the position of each finger is determined according to the encoder value of the drive motor; the current position Pi of each finger (such as the thumb position P0, index finger position P1, middle finger position P2, ring finger position P3, and little finger position P4) is recorded as the calibration reference position.

[0075] The position Pi of the i-th finger can be three-dimensional coordinate data; different first offset Ai and second offset Bi can be set for different fingers i; in addition, different first offset Ai and second offset Bi can be set for different types of dexterous hands. At the same time, the lower limit of the travel can be used as the initial position of the corresponding finger in the default state of power-on.

[0076]

Step S4

[0077] By precisely limiting the bending stroke of each finger, safe finger operation can be ensured; in addition, by correcting the position of the fingers, the consistency of finger stroke in various dexterity products can be ensured, minimizing deviations as much as possible.

[0078] In one embodiment of the present invention, in step S4, [Pi - first set offset Ai, Pi + second set offset Bi] is used as the bending stroke of the i-th finger and saved to non-volatile memory.

[0079] In one embodiment of the present invention, between step S1 and step S2, the finger working stroke correction method further includes: positioning the thumb mechanism of the intelligent dexterous hand; controlling the thumb mechanism to align it horizontally with the groove structure of the correction auxiliary device for placing the thumb mechanism; and then performing further correction according to the above steps S2 to S4.

[0080] In one embodiment of the present invention, the intelligent dexterous hand includes a plurality of fingers and a plurality of finger driving mechanisms. The finger driving mechanisms are connected to corresponding fingers and can drive the corresponding finger movements. The finger driving mechanism is a drive motor, and the control module determines the position of the finger based on the encoder value of the drive motor. In one embodiment, the intelligent dexterous hand can adopt the bionic hand structure described in Chinese Patent Publication No. CN111906809A (other structures can also be used), which will not be elaborated here.

[0081] This invention also discloses an electronic device, Figure 3 This is a schematic diagram of the composition of an electronic device according to an embodiment of the present invention; please refer to [link / reference]. Figure 3 At the hardware level, the electronic device includes a memory, a processor, and at least one communication interface; the processor may be a microprocessor, and the memory may include main memory, such as random access memory (RAM) or non-volatile memory. Of course, the electronic device may also include other hardware as needed.

[0082] The processor, communication interface, and memory can be interconnected via an internal bus. The memory stores programs (including operating system programs and application programs); the programs may include program code, which may include computer operation instructions. The memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0083] In one embodiment, the processor can read the corresponding program from non-volatile memory into memory and then run it; the processor can execute the program stored in memory and specifically perform the following operations (e.g. Figure 2 As shown):

[0084]

Step S1

[0085]

Step S2

[0086]

Step S3

[0087]

Step S4

[0088] This invention further discloses a storage medium storing computer program instructions, which, when executed by a processor, implement the following steps of the method of this invention (e.g. Figure 2 As shown):

[0089]

Step S1

[0090]

Step S2

[0091]

Step S3

[0092]

Step S4

[0093] In one application scenario of this invention, the intelligent dexterous hand to be calibrated can be positioned at a predetermined position on a calibration auxiliary device. The wrist of the intelligent dexterous hand is fixed by an end-position limiting mechanism, and the middle regions of the index, middle, ring, and little fingers are fixed by grooves in the middle-position limiting mechanism. The intelligent dexterous hand is controlled to be in a predetermined reference posture, which can be the posture where the intelligent dexterous hand is fully extended. The position of each finger is recorded as a first position. The intelligent dexterous hand is then controlled to perform a predetermined action, placing it in a second posture where each finger conforms to the corresponding receiving space of the calibration auxiliary device. The position of each finger is recorded as a second position. The second position of each finger is used as the calibration reference position; and the bending stroke of the corresponding finger is set according to the second position of each finger. By precisely limiting the bending stroke of each finger, safe finger operation can be ensured. Furthermore, by correcting the position of the fingers, the consistency of finger stroke in each dexterous hand product can be ensured, minimizing deviations as much as possible.

[0094] In summary, the intelligent dexterous hand finger work stroke correction system, method, electronic device, and storage medium proposed in this invention can intelligently correct the intelligent dexterous hand, reduce finger work stroke deviation, and improve product consistency.

[0095] It should be noted that this application can be implemented in software and / or a combination of software and hardware; for example, it can be implemented using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In some embodiments, the software program of this application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of this application (including related data structures) can be stored in a computer-readable recording medium; for example, RAM memory, magnetic or optical drives, floppy disks, and similar devices. In addition, some steps or functions of this application can be implemented in hardware; for example, as circuitry that cooperates with a processor to perform the various steps or functions.

[0096] 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.

[0097] The description and application of the present invention herein are illustrative and not intended to limit the scope of the invention to the embodiments described above. Effects or advantages involved in the embodiments may not be apparent due to various factors, and the description of effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and various substitutions and equivalents of the components in the embodiments are well known to those skilled in the art. It should be apparent to those skilled in the art that the invention can be implemented in other forms, structures, arrangements, proportions, and with other components, materials, and parts without departing from the spirit or essential characteristics of the invention. Other variations and modifications can be made to the embodiments disclosed herein without departing from the scope and spirit of the invention.

Claims

1. A smart dexterous hand finger work stroke correction system, characterized in that, The finger working stroke correction system includes: a control module and a correction auxiliary device; The correction aid is used to place the intelligent dexterity hand to be corrected, and the correction aid includes several receiving spaces for placing the corresponding fingers of the intelligent dexterity hand; The control module is used to communicate with the intelligent dexterous hand, and can send set control signals to the intelligent dexterous hand and receive information fed back by the intelligent dexterous hand; The control module is used to control the intelligent dexterous hand to be in a set reference posture. The set reference posture is when the intelligent dexterous hand is opened to a set posture, and the position of each finger is recorded as the first position. Then, the intelligent dexterous hand is controlled to perform a set action, so that the intelligent dexterous hand is in a second posture, and each finger is in contact with the corresponding receiving space of the correction auxiliary device. The position of each finger is recorded as the second position. The second position of each finger is used as the correction reference position. And the bending stroke of the corresponding finger is set according to the second position of each finger. The control process of the control module includes: Step A1: Control the fingers to fully open to their limit, determine the position of each finger according to the encoder value of the drive motor, and mark the position of each finger at that point as the initial position 0; Step A2: Calibration begins; control each finger to close; wait for the set time to ensure each finger is in the corresponding position of the calibration aid; determine the position of each finger based on the encoder value of the drive motor; Step A3: Record the current position Pi of each finger as the correction reference position, where i represents the i-th finger; Step A4: Save [Pi - first set offset Ai, Pi + second set offset Bi] as the bending stroke of the i-th finger to non-volatile memory.

2. The intelligent dexterous hand finger work stroke correction system according to claim 1, characterized in that: The correction auxiliary device includes a base, which is provided with an end support mechanism, a plurality of finger middle limiting mechanisms, and a plurality of finger end limiting mechanisms; The finger mid-section limiting mechanism is used to place the fingers of the intelligent dexterous hand, separate the fingers, and limit the spacing between the fingers; when the intelligent dexterous hand is set on the correction auxiliary device and is in the extended set state, each finger can touch the corresponding finger tip limiting mechanism and cannot move further.

3. The intelligent dexterous hand finger work stroke correction system according to claim 1, characterized in that: The intelligent dexterous hand includes several fingers and several finger driving mechanisms. The finger driving mechanism is connected to the corresponding finger and can drive the corresponding finger movement. The finger driving mechanism is a drive motor, and the control module determines the position of the finger according to the encoder value of the drive motor.

4. A method for correcting the working stroke of fingers in an intelligent dexterous hand, characterized in that, The finger working stroke correction method includes: Step S1: Set the intelligent dexterous hand to the set position on the calibration aid device; Step S2: The control module controls the intelligent dexterous hand to be in a set reference posture. The set reference posture is when the intelligent dexterous hand is opened to a set posture, and the position of each finger is recorded as the first position. Step S3: The control module controls the intelligent dexterous hand to perform the set action, so that the intelligent dexterous hand is in the second posture, with each finger conforming to the corresponding receiving space of the correction auxiliary device, and the position of each finger is recorded as the second position; Step S4: Use the second position of each finger as the correction reference position; and set the bending stroke of the corresponding finger according to the second position of each finger. In step S2, the fingers are fully opened to their limit, the position of each finger is determined according to the encoder value of the drive motor, and the position of the finger at that point is recorded as the initial position 0. In step S3, the calibration begins by controlling each finger to close; waiting for a set time ensures that each finger is in the corresponding position of the calibration auxiliary device; the position of each finger is determined according to the encoder value of the drive motor, and the current position Pi of each finger is recorded as the calibration reference position, where i represents the i-th finger; In step S4, [Pi - first set offset Ai, Pi + second set offset Bi] is used as the bending stroke of the i-th finger and saved to non-volatile memory.

5. The finger working stroke correction method according to claim 4, characterized in that: Between step S1 and step S2, the finger working stroke correction method further includes: adjusting the position of the thumb mechanism of the intelligent dexterous hand; controlling the thumb mechanism to align it horizontally with the groove structure of the correction auxiliary device for placing the thumb.

6. The finger working stroke correction method according to claim 4, characterized in that: The correction auxiliary device includes a base, which is provided with an end support mechanism, a plurality of finger middle limiting mechanisms, and a plurality of finger end limiting mechanisms; The finger mid-section limiting mechanism is used to place the fingers, separate the fingers, and limit the spacing between the fingers; when the intelligent dexterous hand is set on the correction auxiliary device and is in the extended set state, each finger can touch the corresponding finger end limiting mechanism and cannot move further. The intelligent dexterous hand includes several fingers and several finger driving mechanisms. The finger driving mechanism is connected to the corresponding finger and can drive the corresponding finger movement. The finger driving mechanism is a drive motor, and the control module determines the position of the finger according to the encoder value of the drive motor.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 4 to 6.

8. A storage medium storing computer program instructions thereon, characterized in that, When executed by a processor, the computer program instructions implement the steps of the method according to any one of claims 4 to 6.

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