Pure tactile information-based grabbing initial stability judgment and slave end autonomous adjustment method

Abstract

The invention discloses a grabbing initial stability judgment and slave end autonomous adjustment method based on pure tactile information, which comprises the following steps of: independently analyzing resultant force balance and moment balance, then combining respective results, and giving a feasible region of acting force in a geometric graphical form, so as to ensure that the initial balance condition is not met, and the initial stability of the slave end is judged and the slave end is autonomously adjusted under the condition that the initial balance condition is not met. And the acting force is adjusted. Meanwhile, a stability judgment basis and a corresponding feasible region are led out from a plane problem, and then a three-dimensional space problem is converted into a combination of a plurality of projection plane problems. The slave end can give out whether the current grasping is stable according to a grasping initial stability judgment method provided by the invention, and applies the grasping force according to the amplitude ratio of each force under the condition that the current grasping is stable, or the slave end performs grasping adjustment according to the direction of the returned force and the feasible region of the action position, so that the grasping stability is improved. And the grabbing robustness is improved.

Description

Technical Field

[0001] This invention belongs to the field of robot operation, specifically relating to a method for judging the initial stability of grasping based on pure tactile information and for autonomous adjustment by the slave end. Background Technology

[0002] In recent years, robotics technology has developed rapidly driven by advanced technologies. While structural hardware and control algorithms have become relatively mature, autonomous decision-making capability remains a major bottleneck restricting the widespread application of humanoid robots. Although various large-scale models are emerging, there is still a long way to go before truly achieving autonomous decision-making in general scenarios. Until then, teleoperation combines human intelligent decision-making with the robot's movement capabilities to solve practical application problems, while also providing a continuous source of data to drive autonomous decision-making in robots.

[0003] As the primary part of the human and robotic arm that interacts with the outside world, it plays a crucial role in task execution and is therefore a major focus of teleoperation systems. Existing data acquisition devices mainly include VR-based, controller-based, master-slave based, and optical / inertial types, but they generally struggle to simultaneously capture fine hand movements and tactile information, resulting in insufficient information support in humanoid arm manipulation. Therefore, additional efforts are needed to overcome the shortcomings of traditional data acquisition devices and bridge the gap between human demonstration data and robotic operation.

[0004] To address these shortcomings, many scholars have conducted research, including: studying mapping algorithms between human and robotic hands, focusing on the pinching distance between fingertips, the relative positions of key hand points, and the collisions between fingers to achieve fidelity in human hand movements, but this is limited by the lack of tactile information; some scholars have also attempted to incorporate force feedback and tactile feedback into data gloves, providing contact force information simultaneously to the master and slave ends, but this is constrained by factors such as environmental differences, inconsistent information sources, and high operator skill requirements, making it difficult to achieve stable and robust control; still other scholars have attempted to make breakthroughs in slave-end control strategies, first training a stable and feasible motion primitive library, and then mapping human operation data to the preset motion primitive library. While this method improves operational stability, its reliance on pre-trained data leads to insufficient generalization in new scenarios.

[0005] Therefore, it is particularly important to develop a strategy for judging the initial stability of grasping based on pure tactile information and for autonomous adjustment from the end. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a method for judging the initial stability of grasping based on pure tactile information and for autonomous adjustment from the slave end.

[0007] The objective of this invention is achieved through the following technical solution: a method for judging the initial stability of grasping based on pure tactile information and for autonomous adjustment by the slave end, comprising the following steps: (1) Two-dimensional plane resultant force balance analysis: Analyze the relevant sector area and arc of the resultant force direction of the contact force of the two fingers other than the thumb, and then analyze the influence of the newly applied contact force of other fingers on the resultant force direction. The stability problem is transformed into calculating the sector area of ​​the contact force of the four fingers and determining the position of the thumb force direction vector. (2) Torque balance analysis in two-dimensional plane: Based on the fingertip position, set and calculate the origin of the coordinates of the object being grasped, analyze the sum of the torques generated by the force applied by the fingers other than the thumb, find the feasible region of the position where the thumb applies the force based on the torque and the position deviation between the grasping force and the ideal expected force based on the thumb grasping force, torque and the position of action. (3) Stability analysis of grasping in three-dimensional space: calculate the boundary vector based on the original force vector and the force amplitude ratio limit, project the boundary vector onto the target plane and calculate the convex figure, determine the force balance and give the feasible region of the force direction, calculate the range of the resultant torque based on the boundary vector, and solve within the force amplitude limit range when the force applied by the current finger satisfies both force balance and torque balance. (4) Self-adjustment strategy for end-grabbing: Analyze the relevant data of the grasping gesture, and formulate corresponding solution adjustment methods based on the object edge contour and the expected contact point position of the thumb.

[0008] Further, step (1) includes the following sub-steps: Step 1.1: Record the gripping force exerted by the five fingers on the object as _____. Then, the resultant force of the contact force exerted by two of the four fingers (excluding the thumb) lies within a unit circular sector of the angle between the two forces. This sector is denoted as […]. Let the arc between the points of contact of the two forces on the unit circle be denoted as ; Step 1.2: Analyze the new contact force applied by the other fingers on the unit circle; if the contact point is on the arc... In the middle, it will not affect the possible direction of the resultant force if the new contact force is located in the sector region. In the diagonal region, the resultant force can be in any direction within the plane. If the new contact force does not satisfy either of the above two conditions, the addition of the new contact force will form a new sector region. Step 1.3: Transform the stability problem into calculating the sector of the contact force of the four fingers, and determine whether the direction vector of the force applied by the thumb is in the diagonal region of the sector; Step 1.4: The method for judging force stability can be understood as a convex cone composed of contact force vectors. Do nonnegative coefficients exist? ,in To limit the magnitude ratio during force synthesis, a point in the convex cone is made a zero vector.

[0009] Further, step (2) includes the following sub-steps: Step 2.1: Based on the position of the fingertip, set the origin of the coordinates of the object to be grabbed to... The calculation is as follows: ; in This indicates the number of fingers that are in contact. This represents the pose transformation matrix between the base joints of each finger and the origin of the palm. This indicates the angle of each finger joint, where , These represent the thumb, index finger, middle finger, ring finger, and little finger, respectively. This represents the positive kinematic transformation matrix for each finger. Representing a curved surface model of the fingertip, the correspondence between the two-dimensional coordinates of the sensor unit and the three-dimensional coordinates in the fingertip coordinate system is as follows: ,in This represents the three-dimensional coordinates of the contact point in the fingertip coordinate system. Step 2.2: Analyze the sum of the torques generated by the forces applied by the fingers other than the thumb, and find the feasible region of the position where the thumb applies the force based on this sum of torques; the sum of the torques generated by the forces applied by the other four fingers (excluding the thumb). The calculation method is as follows: ; This indicates a limit on the ratio of the grasping force amplitude of each fingertip. The distance vector representing the center of rotation of the object; Step 2.3: After calculating the torque and formula in Step 2.2, obtain the sum of the torques of the gripping forces of the four fingers excluding the thumb; based on the known thumb gripping force and the calculated sum of torques, determine the positional deviation between the gripping force and the ideal expected force, which is a continuous value and a boundary value. It appears in combinations of magnitude ratio boundaries.

[0010] Further, step (3) includes: Based on the original force vector and the ratio of force amplitude, the constraints are as follows: Calculate boundary vectors ; Project the boundary vector onto the target plane, calculate the convex shape, and determine the force balance and the feasible region of the force direction based on the relationship between the convex shape, the boundary vector and the projection plane. The range of the resultant torque calculated based on the boundary vector. The relationship between the coordinates of the contact point and the intersection of the extended boundary line is used to determine whether the location is within the feasible region of the point of action. If the force applied by the finger satisfies both force balance and torque balance, then within the force amplitude limit range... The criteria for determining whether a solution is found are whether the direction error and torque error are lower than the preset values.

[0011] Furthermore, step (4) includes the following sub-steps: Step 4.1: Analyze the relevant data of the grasping gesture; Step 4.2: If the object's edge contour is known and the desired contact point of the thumb is still within the original contact point plane, then the thumb is moved to the feasible region of the target position to find a solution; if the object's edge contour is unknown, or the desired contact point of the thumb deviates from the original contact point plane, then the entire hand is translated along the plane direction or along the plane normal vector direction to find a solution.

[0012] To achieve the above objectives, the present invention also provides an electronic device, including a memory and a processor, wherein the memory is coupled to the processor; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the above-mentioned method for initial stability judgment and slave-end autonomous adjustment based on pure tactile information.

[0013] To achieve the above objectives, the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the above-described method for initial stability judgment and slave-end autonomous adjustment based on pure tactile information for grasping.

[0014] Compared with the prior art, the method of the present invention has the following beneficial effects: 1. This invention proposes a method for judging the stability of grasping in the early stage. This method does not depend on visual information and only judges whether the current grasping can reach stability based on the current tactile information and the body state perception.

[0015] 2. This invention proposes a slave-end gripping autonomous adjustment strategy. The slave end can use the gripping initial stability judgment method proposed by this invention to determine whether the current gripping is likely to reach stability. If it is likely, the slave end applies gripping force according to the amplitude ratio of each force, or the slave end adjusts the gripping based on the feasible domain of the returned force direction and the position of action, thereby improving the robustness of gripping. Attached Figure Description

[0016] Figure 1 This is a flowchart of a method for judging the initial stability of grasping based on pure tactile information; Figure 2 This is a schematic diagram of a two-dimensional planar resultant force equilibrium analysis, in which, Figure 2(a) is a schematic diagram of the fan-shaped area formed by the contact of the two fingers other than the thumb. Figure 2 (b) is a schematic diagram of the fan-shaped area formed by the contact of the four fingers excluding the thumb; Figure 3 This is a schematic diagram of the projection of the boundary vector onto the target plane, where, Figure 3 (a) is a schematic diagram of the projection of the three vectors onto the target plane. Figure 3 (b) is a schematic diagram of the projection of the four vectors onto the target plane; Figure 4 This is a schematic diagram of an electronic device. Detailed Implementation

[0017] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0018] Steps 1 to 3 are methods for judging the initial stability of grasping based on pure tactile information. Figure 1 The flowchart for this judgment method is shown below, and the specific steps are as follows: Step 1: Analyze the resultant force equilibrium problem in a two-dimensional plane.

[0019] like Figure 2 As shown, Figure 2 (a) is a schematic diagram of the fan-shaped area formed by the contact of the two fingers other than the thumb. Figure 2 (b) is a schematic diagram of the fan-shaped region generated by the contact of the four fingers excluding the thumb. Assuming that the forces applied to the object by the fingers all point towards the object's center of rotation, i.e., no torque is generated, the applied force in this embodiment is equivalent to a direction vector pointing towards the unit center. Simultaneously, considering the opposing configuration of the thumb and the other four fingers, this invention prioritizes analyzing the forces applied by the index, middle, ring, and little fingers to obtain the feasible region of their equilibrium forces. Then, based on the relationship between the force applied by the thumb and the feasible region, the force balance is determined, specifically including the following steps: Step 1.1: Record the gripping force exerted by the five fingers on the object as _____. , The gripping force applied by the thumb is denoted as . Then, the resultant force of the contact force exerted by two of the four fingers (excluding the thumb) lies within a unit circular sector of the angle between the two forces. This sector is denoted as […]. Let the arc between the points of contact of the two forces on the unit circle be denoted as ; Step 1.2: Analyze the new contact forces applied by the other fingers on the unit circle. If the contact point is on the arc... In the middle, it will not affect the possible direction of the resultant force if the new contact force is located in the sector region. In the diagonal region (such as Figure 2If the resultant force is in the green area, then the direction of the resultant force can be any direction within the plane. If the new contact force does not satisfy the above two conditions, the addition of the new contact force will form a new sector area. Step 1.3: Transform the stability problem into calculating the sector of the contact force of the four fingers, and determine whether the direction vector of the force applied by the thumb is in the diagonal region of the sector; Step 1.4: This method for judging force stability can also be understood as a convex cone composed of contact force vectors. Does a nonnegative coefficient exist? ,in To limit the amplitude ratio during force synthesis, a point in the convex cone is made a zero vector. The unit direction vector of the contact force vector at each fingertip is denoted as: So, Step 2: Torque balance analysis in a two-dimensional plane.

[0020] In step 1, the resultant force equilibrium problem in the two-dimensional plane has been analyzed. Further equilibrium analysis of the moments in the two-dimensional plane will be performed, specifically including the following steps: Step 2.1: Based on the position of the fingertip, set the origin of the coordinates of the object to be grabbed to... The calculation is as follows: in This indicates the number of fingers that are in contact. This represents the pose transformation matrix between the base joints of each finger and the origin of the palm. This indicates the angle of each finger joint, where , These represent the thumb, index finger, middle finger, ring finger, and little finger, respectively. This represents the positive kinematic transformation matrix for each finger. Representing a curved surface model of the fingertip, the correspondence between the two-dimensional coordinates of the sensor unit and the three-dimensional coordinates in the fingertip coordinate system is as follows: ,in This represents the three-dimensional coordinates of the contact point in the fingertip coordinate system. Step 2.2: Analyze the sum of the torques generated by the forces applied by the fingers other than the thumb, and find the feasible region of the position where the thumb applies the force based on this sum of torques. The sum of the torques generated by the forces applied by the four fingers other than the thumb. The calculation method is as follows: This indicates the limit on the ratio of the grasping force amplitude of each fingertip. The specific value is based on the thumb force amplitude, that is, the coefficient of the thumb's grasping force is 1. The distance vector representing the center of rotation of the object. .

[0021] Step 2.3: After calculating the torque and formula in Step 2.2, the sum of the torques of the gripping forces of the four fingers excluding the thumb can be obtained. Based on the known thumb gripping force and the calculated sum of torques, the deviation of the action position between the gripping force and the ideal expected force can be determined. This deviation is a continuous value and a boundary value. This occurs at combinations of amplitude ratio boundaries. This deviation does not change the thumb itself, but only affects its intended point of contact, specifically manifesting as a shift in the expected contact point. The shifted contact point moves to a certain extent from its original expected position.

[0022] Step 3: Stability analysis of grasping in three-dimensional space.

[0023] Based on steps 2 and 3, a preliminary judgment of the contact force stability in two-dimensional cases can be made, and the expected position and direction of the force can be given. However, in reality, the objects being grasped are all three-dimensional objects, and the grasping force cannot be guaranteed to be located in the same plane. Therefore, it is necessary to further analyze the grasping stability in three-dimensional space.

[0024] like Figure 3 As shown, Figure 3 (a) is a schematic diagram of the projection of the three vectors onto the target plane. Figure 3 (b) is a schematic diagram of the projection of the four vectors onto the target plane. When the three fingers are in contact, the mapped two-dimensional plane problem is as analyzed above; the feasible region of the force direction vector is the diagonal region of the small sector, and the feasible region of the point of application is based on... The feasible region of the object's surface contour and the force direction vector is obtained by combining them. When four or five fingers are in contact, the feasible region of the force direction vector will be different. It is no longer a fan-shaped area, but a symmetrical figure about the origin of the convex figure formed by the endpoint of the boundary vector on the target projection plane. The premise of this method is that the force vectors used for judgment are all unit vectors.

[0025] Specifically, the following steps are included: Step 3.1: Limitations based on the original force vector and force amplitude ratio Calculate boundary vectors ; Step 3.2: To find a suitable projection plane, all boundary vector endpoints must be located on the same side of the projection plane, due to the force amplitude ratio limitation. The existence of greatly reduces the feasible region of the force direction vector, when The maximum included angle between its boundary vectors does not exceed Therefore, there always exists a plane in the original coordinate system that satisfies the requirements, if If the area is too large and the original coordinate system plane does not meet the requirements, the original coordinate system can be rotated to generate a plane that meets the requirements. Step 3.3: To project the boundary vector onto the target plane, calculate the convex shape (e.g., Figure 3 As shown in the figure, the force balance is determined and the feasible region of the force direction is given based on the relationship between the convex figure, the boundary vector and the projection plane. Step 3.4: Calculate the range of the resultant torque based on the boundary vector. Since there is only one projection plane, it is impossible to determine the feasible region of the three-dimensional position of the point of action. Therefore, it is necessary to select a plane orthogonal to the original projection plane and at the same time calculate the torque range in the two projection planes. If the surface contour of the object is known, the feasible region of the three-dimensional position of the point of action can be obtained directly. Since the surface contour of the object cannot be obtained in this invention, it can be determined whether it is within the feasible region of the point of action based on the relationship between the coordinates of the contact point and the intersection of the extended boundary line.

[0026] Step 3.5: If the force applied by the finger satisfies both force balance and torque balance, then within the force amplitude limit range... The criteria for determining whether a solution is found are whether the direction error and torque error are lower than the preset values. These two preset values ​​are derived from real data, which to some extent ensures the applicability of the algorithm to different devices.

[0027] This method can also save the feasible domain of force direction and the feasible domain of the three-dimensional position of the point of application, so as to guide the adjustment process and make rapid stability prediction.

[0028] Step 4: Grasp the self-adjustment strategy from the end.

[0029] The grasping intent of the master device is mainly reflected in the grasping gesture and the relative posture of the hand and object during grasping. Maintaining the master device's intent means minimizing deviations in gesture and relative posture during the adjustment process. Specifically, this includes the following steps: Step 4.1: Analyze relevant data on grasping gestures. Existing research has classified human grasping gestures into 33 main types. This invention collected and analyzed relevant data on these 33 types of gestures and found that during the grasping process, the contact points between the fingertips and the object are almost all located in the same plane, and the maximum distance deviating from this plane does not exceed 3mm; Step 4.2: As analyzed in Step 4.1, the coplanarity of the fingertip contact points is a significant constraint on grip adjustment. Considering the maintenance of the hand-object relative posture, the adjustment strategy proposed in this invention can complete grip adjustment under the aforementioned constraints. The specific steps are as follows: Step 4.2.1: If the object's edge contour is known, and the desired contact point of the thumb is still within the original contact point plane, then the feasible region for the thumb to move to the target position is used to find a solution. Step 4.2.2: If the edge contour of the object is unknown, or the position of the desired contact point of the thumb deviates from the original contact point plane, then the entire hand is translated along the plane direction or along the plane normal vector direction to find the solution.

[0030] Corresponding to the aforementioned embodiments of the grasping initial stability judgment and slave-end autonomous adjustment method based on pure tactile information, this application embodiment also provides an electronic device, including: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the grasping initial stability judgment and slave-end autonomous adjustment method as described above based on pure tactile information. Figure 4 The diagram shown is a hardware structure diagram of any device with data processing capabilities, which is based on the method for initial stability judgment and slave-end autonomous adjustment of grasping based on pure tactile information provided in the embodiments of this application. Except for... Figure 4 In addition to the processor, memory, DMA controller, disk, and non-volatile memory shown, any data processing device in the embodiment may also include other hardware depending on the actual function of the data processing device, which will not be described in detail here.

[0031] Corresponding to the aforementioned embodiments of the grasping initial stability judgment and slave-end autonomous adjustment method based on pure tactile information, the present invention also provides a computer-readable storage medium storing a program thereon, which, when executed by a processor, implements the grasping initial stability judgment and slave-end autonomous adjustment method based on pure tactile information in the above embodiments.

[0032] The computer-readable storage medium can be an internal storage unit of any data processing device described in any of the foregoing embodiments, such as a hard disk or memory. The computer-readable storage medium can also be any data processing device, such as a plug-in hard disk, smart media card (SMC), SD card, flash card, etc., equipped on the device. Furthermore, the computer-readable storage medium can include both internal storage units of any data processing device and external storage devices. The computer-readable storage medium is used to store the computer program and other programs and data required by the data processing device, and can also be used to temporarily store data that has been output or will be output.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0034] The above embodiments are only used to illustrate the design concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications made based on the principles and design ideas disclosed in the present invention are within the protection scope of the present invention.

Claims

1. A method for judging the initial stability of grasping based on pure tactile information and for autonomous adjustment by the slave end, characterized in that, Includes the following steps: (1) Two-dimensional plane resultant force balance analysis: Analyze the relevant sector area and arc of the resultant force direction of the contact force of the two fingers other than the thumb, and then analyze the influence of the newly applied contact force of other fingers on the resultant force direction. The stability problem is transformed into calculating the sector area of ​​the contact force of the four fingers and determining the position of the thumb force direction vector. (2) Torque balance analysis in two-dimensional plane: Based on the fingertip position, set and calculate the origin of the coordinates of the object being grasped, analyze the sum of the torques generated by the force applied by the fingers other than the thumb, find the feasible region of the position where the thumb applies the force based on the torque and the position deviation between the grasping force and the ideal expected force based on the thumb grasping force, torque and the position of action. (3) Stability analysis of grasping in three-dimensional space: calculate the boundary vector based on the original force vector and the force amplitude ratio limit, project the boundary vector onto the target plane and calculate the convex figure, determine the force balance and give the feasible region of the force direction, calculate the range of the resultant torque based on the boundary vector, and solve within the force amplitude limit range when the force applied by the current finger satisfies both force balance and torque balance. (4) Self-adjustment strategy for end-grabbing: Analyze the relevant data of the grasping gesture, and formulate corresponding solution adjustment methods based on the object edge contour and the expected contact point position of the thumb.

2. The method for initial stability judgment and slave-end autonomous adjustment based on pure tactile information according to claim 1, characterized in that, Step (1) includes the following sub-steps: Step 1.1: Record the gripping force exerted by the five fingers on the object as _____. Then, the resultant force of the contact force exerted by two of the four fingers (excluding the thumb) lies within a unit circular sector of the angle between the two forces. This sector is denoted as […]. Let the arc between the points of contact of the two forces on the unit circle be denoted as ; Step 1.2: Analyze the new contact forces applied by the other fingers on the unit circle; If the contact point is on a circular arc In the middle, it will not affect the possible direction of the resultant force if the new contact force is located in the sector region. In the diagonal region, the resultant force can be in any direction within the plane. If the new contact force does not satisfy either of the above two conditions, the addition of the new contact force will form a new sector region. Step 1.3: Transform the stability problem into calculating the sector of the contact force of the four fingers, and determine whether the direction vector of the force applied by the thumb is in the diagonal region of the sector; Step 1.4: The method for judging force stability can be understood as a convex cone composed of contact force vectors. Do nonnegative coefficients exist? ,in To limit the magnitude ratio during force synthesis, a point in the convex cone is made a zero vector.

3. The method for initial stability judgment and slave-end autonomous adjustment based on pure tactile information according to claim 1, characterized in that, Step (2) includes the following sub-steps: Step 2.1: Based on the position of the fingertip, set the origin of the coordinates of the object to be grabbed to... The calculation is as follows: ； in This indicates the number of fingers that are in contact. This represents the pose transformation matrix between the base joints of each finger and the origin of the palm. This indicates the angle of each finger joint, where , These represent the thumb, index finger, middle finger, ring finger, and little finger, respectively. This represents the positive kinematic transformation matrix for each finger. Representing a curved surface model of the fingertip, the correspondence between the two-dimensional coordinates of the sensor unit and the three-dimensional coordinates in the fingertip coordinate system is as follows: ,in This represents the three-dimensional coordinates of the contact point in the fingertip coordinate system. Step 2.2: Analyze the sum of the torques generated by the forces applied by the fingers other than the thumb, and find the feasible region of the position where the thumb applies the force based on this sum of torques; the sum of the torques generated by the forces applied by the other four fingers (excluding the thumb). The calculation method is as follows: ； This indicates a limit on the ratio of the grasping force amplitude of each fingertip. The distance vector representing the center of rotation of the object; Step 2.3: After calculating the torque and formula in Step 2.2, obtain the sum of the torques of the gripping forces of the four fingers excluding the thumb; based on the known thumb gripping force and the calculated sum of torques, determine the positional deviation between the gripping force and the ideal expected force, which is a continuous value and a boundary value. It appears in combinations of magnitude ratio boundaries.

4. The method for initial stability judgment and slave-end autonomous adjustment based on pure tactile information according to claim 1, characterized in that, Step (3) includes: Based on the original force vector and the ratio of force amplitude, the constraints are as follows: Calculate boundary vectors ; Project the boundary vector onto the target plane, calculate the convex shape, and determine the force balance and the feasible region of the force direction based on the relationship between the convex shape, the boundary vector and the projection plane. The range of the resultant torque calculated based on the boundary vector. The relationship between the coordinates of the contact point and the intersection of the extended boundary line is used to determine whether the location is within the feasible region of the point of action. If the force applied by the finger satisfies both force balance and torque balance, then within the force amplitude limit range... The criteria for determining whether a solution is found are whether the direction error and torque error are lower than the preset values.

5. The method for initial stability judgment and slave-end autonomous adjustment based on pure tactile information according to claim 1, characterized in that, Step (4) includes the following sub-steps: Step 4.1: Analyze the relevant data of the grasping gesture; Step 4.2: If the object's edge contour is known, and the desired contact point of the thumb is still within the original contact point plane, then the feasible region for the thumb to move to the target position is used to find a solution. If the object's edge contour is unknown, or the desired contact point of the thumb deviates from the original contact point plane, then the entire hand will be translated along the plane direction or along the plane's normal vector direction to find the solution.

6. An electronic device comprising a memory and a processor, characterized in that, The memory is coupled to the processor; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the grasping initial stability judgment and slave-end autonomous adjustment method based on pure tactile information as described in any one of claims 1-5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method for initial stability judgment and slave-end autonomous adjustment based on pure tactile information as described in any one of claims 1-5.

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