Bionic finger, robotic hand and robot

Abstract

The application discloses a bionic finger, a robot and a machine hand, and relates to the technical field of robots. The bionic finger comprises a base, a tactile finger joint provided with a tactile sensor, a connecting assembly rotatably connected with the base and the tactile finger joint respectively, a driving assembly arranged on the base, and a control assembly electrically connected with the tactile sensor and the driving assembly respectively. The control assembly controls the driving assembly to rotate the connecting assembly and drive the tactile finger joint to rotate based on tactile information collected by the tactile sensor. The driving assembly can drive the connecting assembly to rotate and drive the tactile finger joint to rotate. The control assembly can acquire the tactile information of the tactile sensor and control the driving assembly to rotate the connecting assembly, so that the bionic finger can be bent and stretched, and the bionic effect of the bionic finger is better.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a bionic finger, robotic hand, and robot. Background Technology

[0002] Robotic arms are used in fields such as robotics or prosthetics, enabling robots to become bionic robots and prosthetics to assist people with disabilities in their daily lives.

[0003] In the current technology, bionic fingers mainly imitate the shape and size of real fingers, but there are still shortcomings in imitating the biological functions of real fingers. Therefore, the bionic effect of bionic fingers still needs to be improved.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a bionic finger, robotic hand and robot in view of the above-mentioned defects of the prior art, so as to solve the problem that the bionic effect of the bionic finger in the prior art still needs to be improved.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows:

[0007] A bionic finger, comprising:

[0008] Base;

[0009] Tactile knuckles are equipped with tactile sensors;

[0010] The connecting components are rotatably connected to the base and the tactile knuckle, respectively.

[0011] A driving component is disposed at the base;

[0012] The control component is electrically connected to the tactile sensor and the drive component, respectively.

[0013] The control component controls the drive component to rotate the connecting component based on the tactile information collected by the tactile sensor, thereby causing the tactile knuckle to rotate.

[0014] The bionic finger, wherein the tactile sensor includes:

[0015] Finger pad tactile sensor and finger back tactile sensor.

[0016] The aforementioned bionic finger, wherein the tactile knuckle includes:

[0017] Mounting rack;

[0018] The fingertip tactile sensor includes:

[0019] The first circuit board is mounted on the mounting bracket;

[0020] A fingertip sensor is installed on the fingertip side of the mounting bracket;

[0021] The finger back tactile sensor includes:

[0022] A finger back sensor is installed on the finger back side of the mounting bracket;

[0023] The fingertip sensor and the back of the finger sensor are respectively located on both sides of the first circuit board.

[0024] The bionic finger, wherein the tactile sensor includes: a fingertip tactile sensor; the fingertip tactile sensor includes:

[0025] The second circuit board is mounted on the mounting bracket;

[0026] A fingertip sensor is mounted on the mounting bracket;

[0027] The fingertip sensor corresponds to the position of the second circuit board.

[0028] The bionic finger, wherein the base is provided with a first pivot, and the tactile knuckle is provided with a second pivot; the connecting component includes:

[0029] The finger cylinder has a first end that is rotatably connected to the base via a ball bearing, and a second end that is rotatably connected to the tactile knuckle via a third rotating shaft.

[0030] The connecting rod is rotatably connected at both ends to the first rotating shaft and the second rotating shaft, respectively.

[0031] A torsion spring, fitted onto the third pivot, provides a stretching elastic force to the tactile knuckle and connecting assembly;

[0032] The driving component includes:

[0033] A driving element is disposed at the base;

[0034] A worm gear is disposed on the output shaft of the drive component;

[0035] A worm gear is rotatably mounted on the first shaft and meshes with the worm.

[0036] The worm gear has no worm teeth on its fingertip side and abuts against the end face of the connecting rod.

[0037] A method for controlling a bionic finger as described in any of the above claims, comprising the steps of:

[0038] Based on the tactile information collected by the tactile sensor, the drive component is controlled to rotate the connecting component, thereby driving the tactile knuckle to rotate.

[0039] The aforementioned bionic finger control method, wherein the step of controlling the drive component to rotate the connecting component and driving the tactile knuckle to rotate based on tactile information collected by the tactile sensor includes:

[0040] Based on the tactile information of the back of the finger collected by the finger back tactile sensor, the drive component is controlled to rotate the connecting component so that the bionic finger bends to a curled state within a first preset time.

[0041] Based on the fingertip tactile information collected by the fingertip tactile sensor, the drive component is controlled to rotate the connecting component so that the bionic finger bends within a second preset time until the fingertip tactile information reaches the target tactile information; wherein, the first preset time is less than the second preset time.

[0042] The bionic finger control method, wherein the step of controlling the drive component to rotate the connecting component and drive the tactile knuckle to rotate based on tactile information collected by the tactile sensor, further includes:

[0043] Based on the fingertip tactile information collected by the fingertip tactile sensor, the drive component is controlled to rotate the connecting component so that the tactile knuckle rotates at a preset acute angle.

[0044] A robotic hand, comprising: a bionic finger as described in any of the above.

[0045] A robot, comprising: a bionic finger as described in any of the above, or a robotic hand as described above.

[0046] Beneficial effects: The driving component can drive the connecting component to rotate, thereby causing the tactile knuckle to rotate. The control component can acquire tactile information from the tactile sensor and control the driving component to rotate the connecting component, enabling the bending and stretching of the bionic finger, thus giving the bionic finger a better bionic effect. Attached Figure Description

[0047] Figure 1 This is a functional principle block diagram of the bionic finger in an embodiment of the present invention.

[0048] Figure 2 This is a schematic diagram of the structure of the bionic finger in an embodiment of the present invention.

[0049] Figure 3 This is an exploded view of the bionic finger in an embodiment of the present invention.

[0050] Figure 4 This is a cross-sectional view of the tactile knuckle in an embodiment of the present invention.

[0051] Figure 5This is a flowchart of the control method for the bionic finger in an embodiment of the present invention.

[0052] Figure 6 This is a schematic diagram of the structure of the robotic arm in an embodiment of the present invention.

[0053] Figure 7 This is a schematic diagram of the robot in an embodiment of the present invention.

[0054] Explanation of reference numerals in the attached figures:

[0055] 10. Base; 11. First pivot;

[0056] 20. Tactile knuckle; 201. Mounting bracket; 202. Second pivot; 21. Finger pad tactile sensor; 211. First circuit board; 212. Finger pad sensor; 22. Finger back tactile sensor; 221. Finger back sensor; 23. Finger tip tactile sensor; 231. Second circuit board; 232. Finger tip sensor;

[0057] 30. Connecting assembly; 31. Finger cylinder; 311. Ball bearing; 312. Third pivot; 32. Connecting rod; 33. Torsion spring;

[0058] 40. Drive assembly; 41. Worm gear; 42. Worm wheel;

[0059] 50. Control components. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0061] Please also refer to Figures 1-4 This invention provides some embodiments of a bionic finger.

[0062] like Figures 1-2 As shown, the bionic finger of the present invention includes:

[0063] Base 10;

[0064] The tactile knuckle 20 is equipped with a tactile sensor;

[0065] The connecting component 30 is rotatably connected to the base 10 and the tactile knuckle 20, respectively.

[0066] The driving component 40 is disposed on the base 10;

[0067] The control component 50 is electrically connected to the tactile sensor and the drive component 40, respectively.

[0068] The control component 50 controls the drive component 40 to rotate the connection component 30 based on the tactile information collected by the tactile sensor, thereby causing the tactile knuckle 20 to rotate.

[0069] Specifically, the base 10 is located at the bottom of the bionic finger and can be positioned on the palm. A tactile knuckle 20 is located at the tip of the bionic finger, and a tactile sensor is mounted on the tactile knuckle 20. The tactile sensor acquires tactile information, which can be information generated when touching or approaching an object, such as pressure information. The tactile knuckle 20 and the base 10 are connected by a connecting component 30. A driving component 40 can drive the connecting component 30 to rotate, thereby rotating the tactile knuckle 20. A control component 50 can acquire the tactile information from the tactile sensor and control the driving component 40 to rotate the connecting component 30, enabling the bionic finger to bend and extend, thus improving its bionic effect. For example, when performing a grasping task, based on the tactile information from the tactile sensor, it can be determined that the bionic finger is in contact with an object, allowing for a grasping operation and determining the tightness of the grasp. For example, when a bionic finger accidentally touches an obstacle, based on the tactile information from the tactile sensor, it can be determined that the bionic finger has touched the obstacle, and then it can perform a retraction operation.

[0070] In a preferred implementation of this invention, such as Figure 1 and Figure 4 As shown, the tactile sensor includes:

[0071] Finger pad tactile sensor 21 and finger back tactile sensor 22.

[0072] Specifically, the tactile sensor can include a fingertip tactile sensor 21 and a finger back tactile sensor 22. The fingertip tactile sensor 21 is located at the fingertip of the tactile knuckle 20, and the finger back tactile sensor 22 is located at the back of the tactile knuckle 20. The fingertip tactile sensor 21 can collect tactile information of the object to be grasped, and the finger back tactile sensor 22 can collect tactile information of obstacles. The tactile information collected by the fingertip tactile sensor 21 is recorded as fingertip tactile information, and the tactile information collected by the finger back tactile sensor 22 is recorded as finger back tactile information.

[0073] In a preferred implementation of this invention, such as Figure 4 As shown, the tactile knuckle 20 includes a mounting bracket 201.

[0074] Specifically, the mounting bracket 201 is rotatably connected to the connecting assembly 30.

[0075] In a preferred implementation of this invention, such as Figure 4 As shown, the fingertip tactile sensor 21 includes:

[0076] The first circuit board 211 is mounted on the mounting bracket 201;

[0077] A fingertip sensor 212 is installed on the fingertip side of the mounting bracket 201;

[0078] The finger back tactile sensor 22 includes:

[0079] A finger back sensor 221 is installed on the finger back side of the mounting bracket 201;

[0080] The fingertip sensor 212 and the back of the finger sensor 221 are respectively located on both sides of the first circuit board 211.

[0081] Specifically, the first circuit board 211 is electrically connected to the control component 50. A fingertip electrode and a finger back electrode are formed on the first circuit board 211. The fingertip electrode is located at the corresponding position of the fingertip sensor 212, and the finger back electrode is located at the corresponding position of the finger back sensor 221. When the fingertip sensor 212 and the finger back sensor 221 come into contact with other objects, they can be deformed and moved under pressure, and these movements are sensed by the fingertip electrode and the finger back electrode, respectively. For example, the capacitance of the fingertip electrode and the finger back electrode changes.

[0082] In a preferred implementation of this invention, such as Figure 1 and Figure 4 As shown, the tactile sensor includes: a fingertip tactile sensor 23.

[0083] Specifically, the fingertip tactile sensor 23 is located at the fingertip of the tactile knuckle 20. The fingertip tactile sensor 23 can collect tactile information of the object to be touched, and the tactile information collected by the fingertip tactile sensor 23 is recorded as fingertip tactile information.

[0084] In a preferred implementation of this invention, such as Figure 4 As shown, the fingertip tactile sensor 23 includes:

[0085] The second circuit board 231 is mounted on the mounting bracket 201;

[0086] A fingertip sensor 232 is mounted on the mounting bracket 201;

[0087] The fingertip sensor 232 corresponds to the position of the second circuit board 231.

[0088] Specifically, the second circuit board 231 is electrically connected to the control component 50, and a fingertip electrode is formed on the second circuit board 231, located at the corresponding position of the fingertip sensor 232. When the fingertip sensor 232 comes into contact with other objects, the fingertip sensor 232 can be deformed and moved under pressure, and this can be sensed by the fingertip electrode, for example, the capacitance of the fingertip electrode changes.

[0089] In a preferred implementation of this invention, such as Figures 2-3 As shown, the base 10 is provided with a first pivot 11, and the tactile knuckle 20 is provided with a second pivot 202; the connecting assembly 30 includes:

[0090] The finger cylinder 31 has its first end rotatably connected to the base 10 via a ball bearing 311, and its second end rotatably connected to the tactile knuckle 20 via a third rotating shaft 312.

[0091] The connecting rod 32 is rotatably connected at both ends to the first rotating shaft 11 and the second rotating shaft 202, respectively.

[0092] A torsion spring 33 is fitted onto the third pivot 312 and provides a stretching elastic force to the tactile knuckle 20 and the connecting assembly 30.

[0093] Specifically, a first rotating shaft 11 is provided on the base 10, and a second rotating shaft 202 is provided on the mounting bracket 201. The two ends of the connecting rod 32 are rotatably connected to the first rotating shaft 11 and the second rotating shaft 202, respectively. A third rotating shaft 312 is provided on the finger cylinder 31, and the mounting bracket 201 is rotatably connected to the third rotating shaft 312. A ball bearing 311 is also provided on the finger cylinder 31, and the finger cylinder 31 is rotatably connected to the base 10 through the ball bearing 311. A torsion spring 33 is sleeved on the third rotating shaft 312. Under the elastic force of the torsion spring 33, the tactile knuckle 20 and the connecting component 30 are in an extended state. When the back of the bionic finger comes into contact with an obstacle, it will drive the tactile knuckle 20 and the connecting component 30 to rotate, the torsion spring 33 will rotate and deform, and the bionic finger will bend, thus preventing damage to the bionic finger. When the obstacle leaves the back of the bionic finger, the torsion spring 33 returns to its original shape and causes the tactile knuckle 20 and the connecting component 30 to rotate in the opposite direction and extend into a stretched state.

[0094] Since the connecting component 30 rotates when grasping objects and accidentally hitting obstacles, the use of ball bearings 311 can improve the stability and wear resistance of the finger cylinder 31 relative to the base 10. The bionic finger can rotate smoothly for a long time with less noise.

[0095] In a preferred implementation of this invention, such as Figure 3 As shown, the drive component 40 includes:

[0096] A driving element is disposed on the base 10;

[0097] Worm gear 41 is disposed on the output shaft of the drive component;

[0098] The worm gear 42 is rotatably mounted on the first rotating shaft 11 and meshes with the worm 41.

[0099] The worm gear 42 has no worm teeth on its fingertip side, and the top of the worm gear 42 abuts against the end face of the connecting rod 32.

[0100] Specifically, the worm gear 42 is located on the first rotating shaft 11. The worm gear 42 is an incomplete worm gear; it has worm teeth on the dorsal side but not on the ventral side. The top of the worm gear 42 is the junction of the ventral and dorsal sides, and it abuts against the end face of the connecting rod 32. The ventral side of the worm gear 42, without worm teeth, does not interfere with the end face of the connecting rod 32. When the connecting rod 32 rotates, the top of the worm gear 42 separates from the end face of the connecting rod 32, and the end face of the connecting rod 32 rotates to the corresponding position on the ventral side of the worm gear 42. The rotation of the worm 41 drives the worm gear 42 to rotate, which in turn drives the connecting rod 32, the finger cylinder 31, and the tactile knuckle 20 to rotate.

[0101] Based on the bionic finger described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for the bionic finger.

[0102] like Figure 5 As shown, the bionic finger control method of this invention includes the following steps:

[0103] Step S100: Based on the tactile information collected by the tactile sensor, control the drive component to rotate the connecting component, and drive the tactile knuckle to rotate.

[0104] Specifically, based on tactile information collected by tactile sensors, a drive component controls the rotation of connecting components and tactile knuckles to perform tasks. When performing different tasks, the tactile information collected by the tactile sensors differs, allowing the drive component to perform corresponding operations to complete the task. When performing tasks, the bionic finger can perform a single task, multiple bionic fingers can perform tasks, or the bionic finger can cooperate with other structures to perform tasks.

[0105] Prior to step S100, the control method includes the following steps:

[0106] S10. Determine the task to be performed and acquire the tactile information collected by the tactile sensor.

[0107] Specifically, the tasks to be performed by the bionic finger include at least one of grasping, active obstacle avoidance, or touching. During the execution of various tasks, active obstacle avoidance may be required, necessitating the continuous acquisition of tactile information from the back of the finger via a tactile sensor. When performing a grasping task, to prevent excessive gripping force, continuous acquisition of tactile information from the fingertip via a tactile sensor is needed. When performing a touching task, tactile information from the fingertip via a tactile sensor is required. Therefore, when performing a grasping task, continuous acquisition of tactile information from both the back of the finger and the fingertip is necessary. When performing a touching task, continuous acquisition of tactile information from both the back of the finger and the fingertip is required. When performing other tasks, such as posing the bionic finger, which is equivalent to performing an active obstacle avoidance task, continuous acquisition of tactile information from the back of the finger is required.

[0108] Step S100 specifically includes:

[0109] Step S110: Based on the finger back tactile information collected by the finger back tactile sensor, control the drive component to rotate the connecting component so that the bionic finger bends to a curled state within a first preset time.

[0110] Step S120: Based on the fingertip tactile information collected by the fingertip tactile sensor, control the drive component to rotate the connecting component so that the bionic finger bends within a second preset time until the fingertip tactile information reaches the target tactile information; wherein, the first preset time is less than the second preset time.

[0111] Specifically, to prevent the bionic finger from accidentally hitting obstacles and getting damaged, a torsion spring and worm gear are used to achieve passive obstacle avoidance. A finger back tactile sensor and a drive assembly are further configured to achieve active obstacle avoidance. When the back of the bionic finger touches an obstacle, although the obstacle may push the tactile knuckle and connecting component to rotate for passive obstacle avoidance, the finger back tactile sensor can collect tactile information and perform active obstacle avoidance. Specifically, based on the tactile information, the drive assembly is controlled to rotate the connecting component and the tactile knuckle, causing the bionic finger to bend to a curled state within a first preset time, completing the active obstacle avoidance task. The curled state is the maximum bending state of the bionic finger; in the curled state, the bionic finger cannot bend or curl further. During the movement of either the bionic finger or the obstacle, the bionic finger may accidentally hit the obstacle. For example, the bionic finger may accidentally hit the ground when it falls.

[0112] When the fingertip of the bionic finger touches the object to be grasped, the fingertip tactile sensor can collect the tactile information and perform a grasping operation. Specifically, based on the fingertip tactile information, the drive component is controlled to rotate the connecting component and the tactile knuckle, causing the bionic finger to bend within a second preset time until the fingertip tactile information reaches the target tactile information, thus completing the grasping task. The target tactile information refers to the tactile information formed when gripping the object to be grasped. Reaching the target tactile information will not damage the object to be grasped or the bionic finger. The target tactile information can be configured and adjusted according to the object to be grasped, so that the bionic finger does not generate excessive gripping force that could damage the object to be grasped or the bionic finger. In active obstacle avoidance tasks, the bionic finger needs to bend to a curled state within a short time. In grasping tasks, the bionic finger needs to gradually bend to grasp the object to be grasped; therefore, the second preset time is longer than the first preset time.

[0113] Step S110 specifically includes:

[0114] Step S111: Based on the finger back tactile information collected by the finger back tactile sensor, control the drive component to rotate the connection component, and obtain the finger pad tactile information collected by the finger pad tactile sensor.

[0115] Step S112: When the fingertip tactile information reaches the target tactile information, control the drive component to stop rotating the connection component;

[0116] Step S113: When the fingertip tactile information does not reach the target tactile information, control the drive component to continue rotating the connecting component so that the bionic finger bends into a curled state.

[0117] Specifically, when the bionic finger accidentally hits an obstacle, it may grab other objects during the bending process. It is also necessary to avoid damage to other objects and the bionic finger. When obtaining tactile information from the back of the finger, in addition to controlling the drive component to rotate the connecting component, it is also necessary to continuously obtain tactile information from the fingertip. If the tactile information from the fingertip reaches the target tactile information, the bionic finger is controlled to stop bending; if the tactile information from the fingertip does not reach the target tactile information, the bionic finger can be controlled to continue bending until it curls up.

[0118] Step S120 specifically includes:

[0119] Step S121: Based on the fingertip tactile information collected by the fingertip tactile sensor, control the drive component to gradually rotate the connecting component, and continue to acquire the fingertip tactile information from the fingertip tactile sensor.

[0120] Step S122: When the fingertip tactile information reaches the target tactile information, control the drive component to stop rotating the connection component.

[0121] Specifically, after acquiring tactile information from the fingertip, it indicates that the bionic finger has contacted the object to be grasped. Further rotation of the connecting component is needed to firmly grasp the object, and multiple bionic fingers may be required to cooperate in grasping it. After one bionic finger contacts the object, the drive components controlling multiple bionic fingers gradually rotate the connecting component. If the fingertip tactile information reaches the target tactile information, the drive components are controlled to stop rotating the connecting component.

[0122] Step S100 also includes:

[0123] Step S130: Based on the fingertip tactile information collected by the fingertip tactile sensor, control the drive component to rotate the connecting component so that the tactile knuckle rotates at a preset acute angle.

[0124] Specifically, in some applications, bionic fingers need to approach and touch objects, such as clicking or playing the piano. During this process, the bionic finger moves with a small amplitude and applies minimal force. When the bionic finger approaches and touches the object, the fingertip tactile sensor collects tactile information. Based on this information, the drive component is controlled to rotate the connecting component and the tactile knuckle, causing the tactile knuckle to rotate at a preset acute angle.

[0125] Based on the bionic finger described in any of the above embodiments, the present invention also provides an embodiment of a robotic hand.

[0126] The robotic hand of the present invention includes a bionic finger as described in any of the above embodiments. The robotic hand can be a single-finger robotic hand or a multi-finger robotic hand, such as a two-finger robotic hand or a three-finger robotic hand. The robotic hand can perform tasks such as grasping or moving objects, operating tools, and displaying different gestures. Figure 6 The robotic hand has five fingers, any one of which can be a bionic finger as described in any of the above embodiments. For example, the index finger, middle finger, ring finger, and little finger can be bionic fingers as described in any of the above embodiments.

[0127] Based on the bionic finger or robotic hand described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0128] The robot of this invention includes: a bionic finger as described in any of the above embodiments, or a robotic hand as described in any of the above embodiments. The robot can be a special robot, a wheeled robot, a legged robot, a crawler robot, a squirming robot, a flying robot, a floating robot, a diving robot, a ground robot, an underground robot, a space robot, a SCARA robot, a parallel robot, a master-slave robot, a collaborative robot, etc. The robot can be a single-armed robot or a multi-armed robot. Figure 7 It is a wheeled robot with bionic arms, wherein either bionic arm can be the robotic hand or the bionic finger described in any of the above embodiments.

[0129] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for controlling a bionic finger, characterized in that, The bionic finger includes: Base; The tactile knuckle is equipped with a tactile sensor; the tactile sensor includes: a fingertip tactile sensor, a finger back tactile sensor, and a fingertip tactile sensor; The connecting components are rotatably connected to the base and the tactile knuckle, respectively. A driving component is disposed at the base; The control component is electrically connected to the tactile sensor and the drive component, respectively. The control component controls the drive component to rotate the connecting component based on the tactile information collected by the tactile sensor, thereby causing the tactile knuckle to rotate. The base is provided with a first pivot, and the tactile knuckle is provided with a second pivot; the connecting component includes: The finger cylinder has a first end that is rotatably connected to the base via a ball bearing, and a second end that is rotatably connected to the tactile knuckle via a third rotating shaft. The connecting rod is rotatably connected at both ends to the first rotating shaft and the second rotating shaft, respectively. A torsion spring, fitted onto the third pivot, provides a stretching elastic force to the tactile knuckle and connecting assembly; The control method includes the following steps: Based on the tactile information collected by the tactile sensor, the drive component is controlled to rotate the connecting component, and the tactile knuckle is rotated. The method of controlling the rotation of the drive component and connecting component based on the tactile information collected by the tactile sensor, and driving the tactile knuckle to rotate, includes: Based on the tactile information of the back of the finger collected by the finger back tactile sensor, the drive component is controlled to rotate the connecting component so that the bionic finger bends to a curled state within a first preset time. Based on the fingertip tactile information collected by the fingertip tactile sensor, the drive component is controlled to rotate the connecting component so that the bionic finger bends within a second preset time until the fingertip tactile information reaches the target tactile information; wherein, the first preset time is less than the second preset time; The method of controlling the drive component to rotate the connecting component based on the tactile information collected by the finger back tactile sensor, so that the bionic finger bends to a curled state within a first preset time, specifically includes: Based on the tactile information of the back of the finger collected by the finger back tactile sensor, the drive component is controlled to rotate the connecting component, and the tactile information of the finger pad collected by the finger pad tactile sensor is obtained. When the tactile information of the fingertip reaches the target tactile information, the control drive component stops rotating the connection component; When the tactile information of the fingertip does not reach the target tactile information, the control drive component continues to rotate the connecting component so that the bionic finger bends into a curled state.

2. The control method for the bionic finger according to claim 1, characterized in that, The method of controlling the rotation of the drive component and connecting component based on the tactile information collected by the tactile sensor, and driving the tactile knuckle to rotate, also includes: Based on the fingertip tactile information collected by the fingertip tactile sensor, the drive component is controlled to rotate the connecting component so that the tactile knuckle rotates at a preset acute angle.

3. The control method for the bionic finger according to claim 1, characterized in that, The tactile knuckles include: Mounting rack; The fingertip tactile sensor includes: The first circuit board is mounted on the mounting bracket; A fingertip sensor is installed on the fingertip side of the mounting bracket; The finger back tactile sensor includes: A finger back sensor is installed on the finger back side of the mounting bracket; The fingertip sensor and the back of the finger sensor are respectively located on both sides of the first circuit board.

4. The control method for the bionic finger according to claim 3, characterized in that, The fingertip tactile sensor includes: The second circuit board is mounted on the mounting bracket; A fingertip sensor is mounted on the mounting bracket; The fingertip sensor corresponds to the position of the second circuit board.

5. The control method for the bionic finger according to claim 1, characterized in that, The driving component includes: A driving element is disposed at the base; A worm gear is disposed on the output shaft of the drive component; A worm gear is rotatably mounted on the first shaft and meshes with the worm. The worm gear has no worm teeth on its fingertip side and abuts against the end face of the connecting rod.

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