Dexterous hand grasping system, method and storage medium

Abstract

This invention discloses a dexterous hand grasping system and its control method, belonging to the field of humanoid robot technology. The system includes a dexterous hand and a controller. The dexterous hand has a palm and multiple fingers, each finger including at least a first joint and a second joint. A first drive mechanism, consisting of a motor and a transmission structure, controls the bending or extension of the fingers to grasp or release objects. The controller monitors one or more electrical characteristics of the motor, compares these characteristics with predetermined standards, and triggers a response action based on the comparison results. Through this control method based on motor electrical characteristics, the dexterous hand can achieve precise grasping of objects with different hardness, shapes, and weights, ensuring grasping stability and avoiding problems such as motor temperature rise during the grasping process.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a dexterous hand grasping system and control method. Background Technology

[0002] With the rapid development of robotics technology, dexterous hands, as important actuators in robots, are integrated into the robot's hierarchical motion control system. This system typically includes the "brain" (main controller) responsible for high-level task planning and decision-making, and the "cerebellum" (motor coordination controller) responsible for low-level motion coordination, reflex control, and balance maintenance. By simulating the structure and function of the human hand, dexterous hands can flexibly grasp and manipulate objects of various shapes and sizes, and have become a research hotspot in the field of robotics.

[0003] However, existing dexterous hand control strategies have significant drawbacks when grasping objects. Once the dexterous hand grips an object and the motor reaches a point of stall, the current surges dramatically. The control system typically instructs the motor to maintain this increased current output, keeping the motor in a high-current, near-locked-rotor overload state for an extended period, utilizing its maximum static torque to ensure a secure grip. This control method leads to the following problems: First, high energy consumption, as the continuous flow of high current through the motor windings generates enormous Joule heat, resulting in energy waste. Second, severe heat generation, with a large amount of heat accumulating in the confined space of the dexterous hand and difficult to dissipate, causing a rapid increase in the temperature of the motor, reducer, and driver, potentially triggering thermal protection or even causing damage. Finally, continuous high temperatures and mechanical stress accelerate the aging of the motor, bearings, and lubricating grease, significantly shortening the lifespan of the entire drive system.

[0004] CN120002695B proposes a solution in which a dexterous hand includes a pre-tightening component. When the finger module grips an object, the driving force of the finger drive mechanism can overcome the pre-tightening force and charge the pre-tightening component, thereby avoiding the problem of severe system overheating, high energy consumption, and overheating damage caused by the finger drive mechanism stalling. However, this solution requires an additional pre-tightening mechanism, which increases the structural complexity and cost.

[0005] Therefore, how to effectively reduce motor energy consumption, reduce heat generation, and extend system lifespan while ensuring that dexterous hands can stably grasp objects has become an urgent technical problem to be solved. Summary of the Invention

[0006] This application provides a dexterous hand grasping system, method, and storage medium, which can solve the technical problem of high current and high heat caused by the motor of the drive mechanism stalling when the dexterous hand reaches the gripping state during the grasping process.

[0007] In a first aspect, embodiments of this application provide a dexterous hand grasping system, comprising:

[0008] A dexterous hand includes a palm portion and multiple finger portions, each finger portion including at least a first joint portion and a second joint portion. The dexterous hand has a drive mechanism for driving the first joint portion and / or the second joint portion. The drive mechanism includes a motor and a transmission structure. The multiple finger portions can bend or extend under the control of the motor and the transmission structure to grasp or release objects.

[0009] It also has a controller for controlling the dexterous hand when grasping an object;

[0010] The controller controls the grasping process of the dexterous hand through the following steps:

[0011] One or more electrical characteristics of the motor are monitored during gripping, and the one or more electrical characteristics are configured to relate to the operating state of the motor;

[0012] The electrical characteristics are compared with one or more preset standards, and

[0013] The response action is triggered based on one or more preset criteria according to the electrical characteristics, and the response action is configured to switch the control mode of the motor to a protected limited output state.

[0014] Furthermore, the plurality of fingers includes a thumb and other fingers, wherein the thumb is configured to have at least two degrees of freedom, the two degrees of freedom including a first degree of freedom of rotation about its own axis and a second degree of freedom of swinging relative to the palm, the driving mechanism including a first driving mechanism for controlling the rotation of the first degree of freedom, the driving mechanism further including a second driving mechanism for controlling the swinging of the second degree of freedom, the first driving mechanism and the second driving mechanism working together to enable the thumb to adjust its posture and position during grasping.

[0015] Furthermore, the preset standard is configured such that the load current of the motor reaches a first current threshold.

[0016] Furthermore, the preset standard is configured such that the rate of change of the motor shaft position is lower than a first position threshold.

[0017] Furthermore, the preset standard is configured such that the rate of change of the motor shaft speed is lower than a first speed threshold.

[0018] Furthermore, the preset standard is configured such that the motor temperature reaches a first temperature threshold.

[0019] Furthermore, the response action includes at least switching the motor's load current from the current operating value to a level not higher than a preset second current threshold.

[0020] Furthermore, during the process of switching the motor load current to no higher than the second current threshold, the load current is controlled to gradually decrease over time or according to a set curve.

[0021] Furthermore, the controller is configured to reduce the load current in a gradient manner and continuously monitor whether the current changes abruptly. If a sudden change occurs, the object being held loosens, and the control current increases slightly and then maintains a stable output at that current value after recovering.

[0022] Furthermore, the controller is configured to maintain the current output value at the reduced current level after the current reduction process is completed, wherein the reduced current level is set such that the dexterous hand can overcome the gravity of the target object and any slight external forces that may be applied, thereby maintaining a stable gripping state.

[0023] Secondly, embodiments of this application provide a grasping method for a dexterous hand, including...

[0024] A dexterous hand includes a palm portion and multiple finger portions, each finger portion including at least a first joint portion and a second joint portion. The dexterous hand has a drive mechanism for driving the first joint portion and / or the second joint portion. The drive mechanism includes a motor and a transmission structure. The multiple finger portions can bend or extend through the motor and the transmission structure to grasp or release objects.

[0025] The following steps are used to control the grasping process of a dexterous hand:

[0026] Monitor one or more electrical characteristics of the motor that change during the grasping process of a dexterous hand, wherein the one or more electrical characteristics are related to the operating state of the motor;

[0027] The electrical characteristics are compared with one or more preset standards, and

[0028] A response action is triggered based on the electrical characteristics meeting one or more preset criteria. The response action is configured to switch the motor's control mode to a protected limited output state.

[0029] Thirdly, this application also provides a storage medium including computer program code configured to, when executed on a processor, cause the processor to perform the dexterous hand grasping method as described above.

[0030] In the solutions provided by the first and second aspects of the present invention, by monitoring one or more electrical characteristics of the motor, comparing these electrical characteristics with a predetermined standard, and triggering a response action based on the comparison result, the power consumption of the dexterous hand during the stable gripping phase is significantly reduced while ensuring that the gripping force is not lost. This reduces the heat generation of the motor and the internal space of the dexterous hand, thereby improving the system's energy efficiency, service life, and reliability during long-term operation.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0033] Figure 1 This is a schematic diagram of the natural state of a dexterous hand according to an embodiment of the present invention.

[0034] Figure 2 This is a schematic diagram of the dexterous hand grasping state according to an embodiment of the present invention.

[0035] Figure 3 for Figure 2 A diagram illustrating another gripping posture.

[0036] Figure 4 This is a schematic diagram of the motor load current tested during the dexterous hand grasping process according to an embodiment;

[0037] Figure 5 This is a flowchart illustrating a dexterous hand grasping method according to an embodiment of the present invention.

[0038] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0039] The invention will be described with reference to the accompanying drawings.

[0040] It should be understood that while the detailed description and specific examples indicate exemplary embodiments of the apparatus, system, and method, they are for illustrative purposes only and are not intended to limit the scope of the invention. These and other features, aspects, and advantages of the apparatus, system, and method of the present invention will become more readily apparent from the following description, the appended claims, and the accompanying drawings. It should be understood that the drawings are schematic only and are not drawn to scale. It should also be understood that the same reference numerals are used in all the drawings to indicate the same or similar parts.

[0041] This invention provides a control system for a dexterous hand, which solves the problem of excessive temperature in the drive mechanism during the dexterous hand's grasping of an object.

[0042] Figure 1 A perspective view of the dexterous hand 100 in its natural state according to an embodiment of the present invention is shown. The dexterous hand 100 includes a palm portion 101 and a plurality of finger portions 102. In this embodiment, the finger portions include a first joint portion 1021 and a second joint portion 1022. In other embodiments, the finger portions may also include a third joint portion different from the first joint portion 1021 and the second joint portion 1022.

[0043] The dexterous hand 100 also has a first drive mechanism (not shown in the figure) for driving the first joint 1021 and / or the second joint 1022. The first drive mechanism is disposed in the internal space of the dexterous hand 100 and includes a motor and a transmission structure. In this embodiment, the plurality of fingers 102 include a thumb 103 and four other fingers. The plurality of fingers can be bent or extended by the control of the motor and the transmission structure to grasp or release objects. The thumb 103 is configured to have at least two degrees of freedom. The first degree of freedom is set as the thumb 103 rotating about its own axis. (Refer to the attached figure.) Figure 2 The first direction A is shown, and this rotational motion is driven and controlled by the first drive mechanism; the second degree of freedom is set as the thumb 103 swinging relative to the palm portion 101, and this swinging motion is independently driven and controlled by the second drive mechanism, as shown in the attached figure. Figure 2 In the second direction B shown, the first drive mechanism and the second drive mechanism work together to enable the thumb 103 to adjust its posture and position during the gripping process, thereby achieving a more flexible gripping action and simulating the complex movement capabilities of the human hand.

[0044] Figure 2 The diagram illustrates one possible scenario where the dexterous hand 100 grips the object 200. The thumb 103 and other fingers simultaneously grip the object 200. At this time, the motor driving the finger bending enters a stalled or near-stalled state. To maintain the gripping force on the object 200, the motor's load current increases rapidly. According to Joule's law (Q = I²Rt), power consumption is proportional to the square of the current. Therefore, when the current doubles, the heat generated increases to four times the original amount. This large amount of heat accumulates in the confined space of the dexterous hand, making it difficult to dissipate. This causes a sharp rise in the temperature of components such as the motor and reducer, potentially triggering thermal protection or even causing damage.

[0045] Figure 3Another illustration is shown of a dexterous hand gripping a smaller object. Only the fingers other than the thumb need to grip the object. When grasping a smaller object, there is no need to use the motor that controls the thumb, thus reducing the heat generated inside the dexterous hand.

[0046] Therefore, a controller is provided to control the dexterous hand when it grasps an object. The controller can be integrated into the PCB inside the dexterous hand or set on an external device, such as on a humanoid robot or a robotic arm. To a certain extent, the controller can be understood as a driver, and it performs the function of a driver.

[0047] The controller controls the grasping process of the dexterous hand through the following steps:

[0048] During the gripping process, one or more electrical characteristics of the motor are monitored, and the one or more electrical characteristics are configured to be related to the operating state of the motor; the electrical characteristics are compared with one or more preset criteria, and a response action is triggered based on the electrical characteristics meeting one or more preset criteria.

[0049] In this invention, "electrical characteristics" refer to physical quantities or parameters derived therefrom that can be directly or indirectly measured through circuits and reflect the real-time operating state of the motor. These characteristics are directly related to the electromagnetic action, mechanical motion, and thermal state of the motor, and serve as the basis for determining whether the motor has transitioned from a free-movement state to contact with the object being grasped and ultimately reaches a stable grasping state. The electrical characteristics monitored by this system mainly include, but are not limited to: the motor's current characteristics, the position and speed characteristics of the motor shaft, and the temperature characteristics of the motor or controller.

[0050] In the dexterous hand's grasping system, the preset standard can be configured as a preset first current threshold. During the grasping process, the controller monitors the motor's load current in real time through a current detection circuit. When the detected current value exceeds the preset first current threshold, it is determined that the grasp has been stable. The first current threshold can be 300mA, 400mA, or 500mA, and the specific current value is set according to the different objects being grasped and the different types of motors. In this embodiment, the dexterous hand is assembled on a humanoid robot. The camera on the humanoid robot acquires the shape, material, and other characteristics of the object being grasped, and identifies and determines the path using a brain-cerebellum algorithm.

[0051] The preset standard can also be configured as a preset first position threshold. The controller monitors the position of the motor shaft in real time through the encoder. When the change in the position feedback of the motor shaft is less than a small position threshold over a continuous period of time, the small position threshold can be zero, and it is determined that the grip is stable. It can also monitor the speed of the motor shaft in real time. When the rate of change in the speed feedback of the motor shaft is less than a small speed threshold over a continuous period of time, the small speed threshold can be zero, and it is determined that the grip is stable.

[0052] The preset standard can also be configured to trigger when the motor overheats, such as when the motor temperature reaches a first temperature threshold. The first temperature threshold can be set to 80℃, 100℃, or 120℃, etc., depending on the type of motor. This configuration can effectively prevent the motor from being damaged when it is in an overheated state for a long time.

[0053] In a preferred embodiment, the controller can use a combination of multiple electrical characteristics to determine whether the grip is in place, i.e., the three conditions of temperature threshold, current threshold and position threshold are met simultaneously, or any combination of two conditions is met, such as the current threshold and position threshold being met simultaneously, the current threshold and temperature threshold being met simultaneously, or the temperature threshold and position threshold being met simultaneously, before the grip is determined to be in place and the corresponding response action needs to be triggered.

[0054] The response action includes switching the motor's control mode to a protected limited output state and reducing the motor's load current from its current operating value to a level not exceeding a preset second current threshold. That is, once a gripping action is determined, the controller immediately sends a command to the motor driver to reduce the motor's load current below the second current threshold. The second current threshold can be set to 40mA, 50mA, 60mA, etc., depending on the specific application scenario. The controller is configured to trigger a current suppression response action if the motor's load current exceeds a first current threshold, such as... Figure 4 As shown, at time t1, the dexterous hand grasps the object and reaches a tight gripping state, and then the load current of the motor rises rapidly; at time t2, the load current of the motor reaches the first current threshold; at time t3, the current suppression response is triggered; the current drops to below the second current threshold at time t4 and remains below the second current threshold; the time between t2 and t3 can be zero seconds or a very small time, which is not limited here.

[0055] According to Joule's law (Q = I²Rt), power consumption is proportional to the square of the current. Therefore, when the load current decreases, the Joule heat decreases by a square factor, which can significantly and quickly reduce the temperature of the motor.

[0056] The current is reduced gradually during the reduction process, rather than suddenly, to avoid grip instability caused by sudden current changes. The motor driver outputs a new target current, allowing the motor to operate at a lower current, thus achieving a low-current holding state.

[0057] The response also includes maintaining the current output at a reduced value, sufficient to overcome the object's gravity and minor external forces. The current value for the object's gravity can be preset using a reference table, with different current values ​​corresponding to different gravities, set through experimental data. The current value for minor external forces can be set as the load current of the dexterous hand in a grasping state, maintaining the grip. This reduced current value, calculated and experimentally verified, is far lower than the peak current during grasping, yet sufficient to maintain a stable grip on the object, effectively reducing energy consumption and extending the motor's lifespan. When a release command is received, the system exits the current suppression mode, resumes normal position or current control, and performs the release action.

[0058] Because the motor needs to remain powered during the holding phase, even with a small current, there is still continuous heat generation and energy consumption. The response action can also rely on a worm gear self-locking mechanism or a motor reducer self-locking mechanism. Position is maintained through the static friction between the dexterous hand and the object, achieving a zero-current holding state or a very low current state. However, the system can still maintain its grip on the object, effectively reducing system heat generation and energy consumption.

[0059] It also includes monitoring for signs of slippage of the object, real-time monitoring of whether the motor load current changes suddenly, and continuous detection of the position change of the motor shaft using an encoder. Once a position change exceeding the threshold is detected, the controller immediately sends a current pulse to quickly pull the joint position back to hold the object. After the object is held stably again, the system is adjusted to a low current or zero current holding state.

[0060] Furthermore, the preset standards include preset finger standards for each finger. Each finger can have its own preset finger standard, which can be consistent or different. The preset finger standards for each finger can be set according to actual conditions. Moreover, the standards for the first and second drive mechanisms controlling the first degree of freedom and the second degree of freedom of the thumb can also be set differently. For example, the preset finger standards for each finger can be set based on the optimal gripping force required for the finger to grasp an object. These preset finger standards include preset finger current thresholds, preset finger position thresholds, and preset finger temperature thresholds.

[0061] Furthermore, the application of this invention is not limited to humanoid robots. Based on the grasping control principle and method, it is also applicable to bionic actuators such as intelligent prostheses that require high-precision, low-power force control, and has broad application prospects.

[0062] This invention also provides a method for controlling a dexterous hand, which is used to control the grasping process of a dexterous hand. For example... Figure 1As shown, the dexterous hand includes a palm portion and multiple finger portions, each finger portion including at least a first joint portion and a second joint portion. The dexterous hand has a first drive mechanism for actuating the first and / or second joint portions, the first drive mechanism including a motor and a transmission structure. Through the control of the motor and transmission structure, the multiple finger portions can bend or extend, thereby achieving the grasping or release of an object.

[0063] like Figure 2 As shown, the multiple fingers include the thumb and other fingers. During grasping, the thumb rotates in at least two directions: a first direction relative to itself and a second direction relative to the palm. The first direction is controlled by a first drive mechanism, and the second direction is controlled by a second drive mechanism. This design allows the dexterous hand to simulate the complex grasping movements of the human hand.

[0064] like Figure 5 As shown, the control method of this dexterous hand includes the following steps:

[0065] Step S100: Monitor one or more electrical characteristics of the motor that change during the grasping process of the dexterous hand, which are related to the operating state of the motor;

[0066] During the grasping process, the electrical characteristics of the motor are monitored in real time. These characteristics include, but are not limited to, the motor's load current, the rate of change of the motor shaft position, and the motor temperature. For example, when the dexterous hand comes into contact with the object and begins to apply pressure, the motor's load current will change significantly, and this change can reflect the state of contact between the dexterous hand and the object.

[0067] Step S200: Compare the electrical characteristics with one or more preset standards;

[0068] The monitored electrical characteristics are compared with pre-set standards. These pre-set standards include: the motor load current reaching a first current threshold, the rate of change of the motor shaft being lower than a first position threshold, and the motor temperature reaching a first temperature threshold. These standards can be used individually or in combination to more accurately determine the gripping state of the dexterous hand.

[0069] Step S300: Trigger a response action based on the electrical characteristics meeting one or more preset criteria.

[0070] When the monitored electrical characteristics meet the predetermined criteria, the control system triggers a corresponding response. The main response is to reduce the motor's load current below a second current threshold. During this process, the reduction of the motor's load current is gradual, with the current value decreasing progressively.

[0071] The current decreases gradually, while the system continuously monitors the position of the dexterous hand for any loosening. If a change in position is detected, indicating that the grip strength may be insufficient, the system will slightly increase the current and stabilize it at that value to ensure grip stability.

[0072] The response also includes maintaining the current output at the reduced current value. This reduced current value needs to be sufficient to overcome the object's gravity and minor external forces to maintain the grip, while not applying excessive pressure to the object to avoid damaging fragile items.

[0073] Through this control method based on the electrical characteristics of the motor, the dexterous hand can achieve precise grasping of objects with different hardness, shape and weight, which can ensure the stability of the grasp and avoid applying excessive pressure to the object.

[0074] According to another embodiment of the invention, a processor is provided that is configured to perform the method as described above, or to perform the method according to any embodiment of this application.

[0075] An example of another aspect of the invention provides a storage medium comprising computer program code configured to, when executed on a processor, cause the processor to perform a method according to any example or embodiment outlined above or described below, or according to any claim of this application.

[0076] As described above, the embodiments utilize a controller. The controller can be implemented in various ways, using software and / or hardware, to perform a variety of desired functions. A processor is an example of a controller employing one or more microprocessors, which can be programmed using software (e.g., microcode) to perform desired functions. However, the controller can be implemented with or without a processor, and can also be implemented as a combination of dedicated hardware performing certain functions and processors (e.g., one or more programmed microprocessors and associated circuitry) performing other functions.

[0077] Examples of controller components that may be employed in various embodiments of this disclosure include, but are not limited to, conventional microprocessors, application-specific integrated circuits (ASICs), and field-programmable gate arrays (FPGAs).

[0078] In various implementations, the processor or controller may be associated with one or more storage media, such as volatile and non-volatile computer memories (e.g., RAM, PROM, EPROM, and EEPROM). The storage media may be encoded with one or more programs, which, when executed on one or more processors and / or controllers, perform the required functions. The various storage media may be fixed within the processor or controller, or may be transferable, such that one or more programs stored thereon may be loaded into the processor or controller.

[0079] By studying the accompanying drawings, the disclosure, and the appended claims, those skilled in the art can understand and implement variations of the disclosed embodiments in practicing the claimed invention. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude multiple. A single processor or other unit can perform the functions of several items listed in the claims. Measures recited in mutually different dependent claims can be advantageously combined. If the term "suitable" is used in the claims or description, it should be noted that the term "suitable" is intended to be equivalent to the term "configured as." Any reference numerals in the claims should not be construed as limiting the scope.

Claims

1. A dexterous hand grasping system, characterized in that: A dexterous hand includes a palm and multiple fingers, each finger including at least a first joint and a second joint. The dexterous hand has a drive mechanism for driving the first joint and / or the second joint. The drive mechanism includes a motor and a transmission structure. The drive mechanism is provided with a motor reducer self-locking structure. The multiple fingers can bend or extend under the control of the motor and the transmission structure to grasp or release objects. It also has a controller for controlling the dexterous hand when grasping an object; The controller controls the grasping process of the dexterous hand through the following steps: One or more electrical characteristics of the motor are monitored during gripping, and the one or more electrical characteristics are configured to relate to the operating state of the motor; The electrical characteristics are compared with one or more preset standards, which are configured to at least require the motor's load current to reach a first current threshold. When the load current is detected to exceed the preset first current threshold, it is determined that the gripping has been successfully achieved. Based on the electrical characteristics, one or more preset criteria are met to trigger a response action, which is configured to switch the motor's control mode to a protected limited output state. The response action includes at least switching the motor's load current from the current operating value to a level not higher than a preset second current threshold. When the load current of the motor switches to a level no higher than the second current threshold, the dexterous hand can still maintain its grip on the object under the self-locking action of the motor reducer of the drive mechanism. When the load current decreases, according to Joule's law (Q = I²Rt), the Joule heat decreases by a factor of two, which is equal to the square of the decrease in load current. This decrease in load current causes the motor temperature to drop.

2. The dexterous hand grasping system according to claim 1, characterized in that, The plurality of fingers includes a thumb and other fingers, wherein the thumb is configured to have at least two degrees of freedom, the two degrees of freedom including a first degree of freedom of rotation about its own axis and a second degree of freedom of swinging relative to the palm, the drive mechanism including a first drive mechanism for controlling the rotation of the first degree of freedom, the drive mechanism further including a second drive mechanism for controlling the swinging of the second degree of freedom, the first drive mechanism and the second drive mechanism working together to enable the thumb to adjust its posture and position during grasping.

3. The dexterous hand grasping system according to claim 1, characterized in that, The preset standard is configured such that the rate of change of the motor shaft position is lower than a first position threshold.

4. The dexterous hand grasping system according to claim 1, characterized in that, The preset standard is configured such that the rate of change of the motor shaft speed is lower than a first speed threshold.

5. The dexterous hand grasping system according to claim 1, characterized in that, The preset standard is configured such that the motor temperature reaches a first temperature threshold.

6. The dexterous hand grasping system according to claim 5, characterized in that, During the process of switching the motor load current to no higher than the second current threshold, the load current is controlled to gradually decrease over time or according to a set curve.

7. The dexterous hand grasping system according to claim 6, characterized in that, The controller is configured to reduce the load current in a gradient manner and continuously monitor whether the current changes abruptly. If a sudden change occurs, the object being held loosens, and the control current increases slightly and then maintains a stable output at that current value after recovering.

8. The dexterous hand grasping system according to claim 6 or 7, characterized in that, The controller is configured to maintain the current output value at the reduced current level after the current reduction process is completed, wherein the reduced current level is set such that the dexterous hand can overcome the gravity of the object and any slight external forces that may be applied, thereby maintaining a stable gripping state.

9. A method for grasping with a dexterous hand, characterized in that: A dexterous hand includes a palm and multiple fingers, each finger including at least a first joint and a second joint. The dexterous hand has a drive mechanism for driving the first joint and / or the second joint. The drive mechanism includes a motor and a transmission structure. The drive mechanism is provided with a motor reducer self-locking structure. The multiple fingers can bend or extend through the motor and the transmission structure to grasp or release objects. The following steps are used to control the grasping process of a dexterous hand: Monitor one or more electrical characteristics of the motor that change during the grasping process of a dexterous hand, wherein the one or more electrical characteristics are related to the operating state of the motor; The electrical characteristics are compared with one or more preset standards, which are configured to at least require the motor's load current to reach a first current threshold. When the load current is detected to exceed the preset first current threshold, it is determined that the gripping has been successfully achieved. A response action is triggered based on the electrical characteristics meeting one or more preset criteria, and the response action is configured to switch the control mode of the motor to a protected limited output state. The response action includes at least switching the motor's load current from the current operating value to a level not higher than a preset second current threshold. When the load current of the motor switches to a level no higher than the second current threshold, the dexterous hand can still maintain its grip on the object under the self-locking action of the motor reducer of the drive mechanism. When the load current decreases, according to Joule's law (Q = I²Rt), the Joule heat decreases by a factor of two, which is equal to the square of the decrease in load current. This decrease in load current causes the motor temperature to drop.

10. A storage medium comprising computer program code configured to, when executed on a processor, cause the processor to perform the dexterous hand control method according to claim 9.

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