Dexterous hand system

Abstract

The invention discloses a dexterous hand system which comprises a dexterous hand, a dexterous hand support and a communication module. The dexterous hand bracket is used for placing a dexterous hand; the communication module is used for establishing communication between the dexterous hand support and the dexterous hand so as to transmit communication information between the dexterous hand and the dexterous hand support. According to the dexterous hand system, communication between the dexterous hand and the dexterous hand support is established through the communication module, so that data information of the dexterous hand and the dexterous hand support can be transmitted to the dexterous hand, the dexterous hand support and even a third structure, and the third structure can be any structure on a robot and a mechanical arm and can also be external equipment, devices and the like; therefore, joint angle calibration detection is carried out on the dexterous hand by using the data information.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a dexterous hand system. Background Technology

[0002] As an important component of embodied robotics technology, dexterous hands, with their multi-joint design and precise manipulation capabilities, have shown great potential in various fields such as industrial automation, medical assistance, and scientific research.

[0003] As a crucial component of robotics, dexterous hands, with their multi-joint design and precise manipulation capabilities, have demonstrated immense potential in various fields such as industrial automation, medical assistance, and scientific research. However, due to factors such as manufacturing tolerances, long-term wear and tear, and environmental changes (e.g., material deformation caused by temperature and humidity variations), the positions of the joints (i.e., initial or reference positions) of a dexterous hand may shift. This shift not only reduces the accuracy of its motion control but also directly affects the stability and precision of grasping operations, thus limiting the performance of the dexterous hand in practical applications. Summary of the Invention

[0004] This invention provides a dexterous hand system for calibration and detection of joint position displacements that are prone to occur in existing dexterous hands.

[0005] According to a first aspect of the present invention, a dexterous hand system is provided, comprising: a dexterous hand, a dexterous hand support, and a communication module; The dexterous hand support is used to hold the dexterous hand; The communication module is used to establish communication between the dexterous hand support and the dexterous hand, so as to transmit communication information between the dexterous hand and the dexterous hand support.

[0006] The dexterous hand system of this invention establishes communication between the dexterous hand and its support via a communication module, enabling the transmission of data information from the dexterous hand and its support to the dexterous hand, its support, and even a third structure. The third structure (hereinafter referred to as the third structure) can be any structure or component on a robot or robotic arm (e.g., a robot control module), or it can be an external device or apparatus (e.g., a dedicated handheld testing device, debugging device, etc.) to enable the use of this data information for joint angle calibration and detection of the dexterous hand.

[0007] In some implementations... The communication module includes a dexterity hand communication interface disposed on the dexterity hand and a dexterity hand support communication interface disposed on the dexterity hand support. The dexterity hand and the dexterity hand support establish a communication connection through the insertion and connection of the dexterity hand communication interface and the dexterity hand support communication interface. or The communication module includes a dexterity hand communication interface on the dexterity hand, a dexterity hand support communication interface on the dexterity hand support, and a third structure communication interface on the third structure. The dexterity hand and the dexterity hand support establish a communication connection through the insertion of the dexterity hand communication interface and the dexterity hand support communication interface into the third structure communication interface.

[0008] Therefore, with this setup, direct connection can be achieved using the dexterous hand communication interface and the dexterous hand support communication interface to transmit communication information, eliminating the need for manual input of information from the dexterous hand support to the dexterous hand (e.g., manually inputting the mechanical reference angle of the dexterous hand support to the dexterous hand). Alternatively, indirect communication can be achieved through a third-structure communication interface, thus expanding the applicable scenarios of the system. For example, the dexterous hand and the dexterous hand support can be connected to the communication interface of a dedicated handheld testing device through the dexterous hand communication interface and the dexterous hand support communication interface, respectively, thereby achieving indirect communication through the handheld testing device.

[0009] In some implementations... The communication module includes a dexterity hand wireless communication module disposed on the dexterity hand and a dexterity hand support wireless communication module disposed on the dexterity hand support. The dexterity hand and the dexterity hand support (4) establish a wireless communication connection through the dexterity hand wireless communication module and the dexterity hand support wireless communication module. or The communication module includes a dexterity hand wireless communication module disposed on the dexterity hand, a dexterity hand support wireless communication module disposed on the dexterity hand support, and a third structure wireless communication module disposed on the third structure. The dexterity hand and the dexterity hand support establish a wireless communication connection through the dexterity hand wireless communication module and the dexterity hand support wireless communication module respectively with the third structure wireless communication module.

[0010] Therefore, similarly, with this setup, a direct wireless communication connection can be achieved using the dexterity hand wireless communication module and the dexterity hand support wireless communication module to transmit communication information, without the need for manual input of information from the dexterity hand support to the dexterity hand (e.g., manually inputting the mechanical reference angle of the dexterity hand support to the dexterity hand). Alternatively, an indirect communication connection can be achieved through a third-structure wireless communication module, thereby expanding the applicable scenarios of the system. For example, the dexterity hand and the dexterity hand support can be connected to the wireless communication module of a dedicated handheld testing device through the dexterity hand wireless communication module and the dexterity hand support wireless communication module, respectively, thereby achieving an indirect wireless communication connection through the handheld testing device.

[0011] In some embodiments, the communication information includes calibration information between the dexterous hand and the dexterous hand support, wherein the calibration information includes joint detection angles of the dexterous hand and / or mechanical reference angles of the dexterous hand support; The joint detection angle is the angle of each finger joint that the dexterous hand can know when the dexterous hand is placed on the dexterous hand support; The mechanical reference angle is the angle at which the finger joints of the dexterous hand are positioned when the dexterous hand is placed on the dexterous hand support. That is, the dexterous hand support is used to support and place the dexterous hand, and is provided with a finger support structure for supporting at least one finger of the dexterous hand. When the corresponding finger of the dexterous hand is placed on the corresponding finger support structure, the flexion and extension angle of the corresponding finger is at the mechanical reference angle.

[0012] Therefore, by transmitting calibration information between the dexterous hand and its support via a communication module, the dexterous hand, its support, or other external devices can acquire joint detection angles and / or mechanical reference angles. The calibration module on the corresponding device can then be used to calibrate and detect the joint angles of the dexterous hand (i.e., the communication module can be installed on the dexterous hand and / or its support, or it can be omitted). The dexterous hand itself can obtain the flexion and extension angles corresponding to each joint of each finger through its own angle sensors and other components. The dexterous hand support is designed with the corresponding flexion and extension angles (i.e., mechanical reference angles) of each finger when placed on its support structure. Thus, the joint angles of the dexterous hand can be calibrated and detected using both the joint detection angles and the mechanical reference angles.

[0013] In some embodiments, the system further includes a calibration module electrically connected to the communication module, used to determine a calibration result based on the joint detection angle and the mechanical reference angle, the calibration result including calibration success and / or calibration failure.

[0014] Therefore, with this setup, the calibration module can process the communication information between the dexterous hand and the dexterous hand support transmitted by the communication module, so as to calibrate and test the dexterous hand and determine the calibration result.

[0015] In some embodiments, the calibration module is disposed on the dexterous hand, the dexterous hand support, or any one of the robotic arm or robot used to communicate with the dexterous hand and the dexterous hand support to obtain the communication information.

[0016] Therefore, by setting it up in this way, the calibration module is connected to the communication module, which can simultaneously obtain the mechanical reference angle and the joint detection angle. Thus, the calibration module and the communication module can be set in any position without affecting the calibration module's calibration and detection of the dexterous hand's joint angle.

[0017] In some implementations, it also includes: The calibration result indicator can be electrically connected to the calibration module (e.g., directly or indirectly) to issue a corresponding calibration result signal based on the calibration result.

[0018] Therefore, with this configuration, the calibration result indicator can be used to issue corresponding calibration result signals based on the calibration results of the calibration module, thus enabling the operator to quickly identify the calibration results. In some embodiments, the calibration result indicator includes at least one of a buzzer, an indicator light, and a speaker. Thus, with this configuration, the calibration result can be indicated using a buzzer (e.g., by distinguishing calibration results through the number or length of beeps), or by using an indicator light (e.g., by distinguishing calibration results through different colors), or by using a speaker (e.g., by distinguishing calibration results through voice announcement).

[0019] In some embodiments, the calibration result indicator is disposed on at least one of the dexterous hand, the dexterous hand support, and a third structure for communicating with the dexterous hand and / or the dexterous hand support to obtain the communication information. This arrangement allows a user in front of the aforementioned device to quickly obtain the calibration result.

[0020] In some implementations, it also includes: A sensor module is placed to detect whether the corresponding finger of the dexterous hand has been placed on the finger support structure.

[0021] Therefore, this setup allows the placement sensing module to detect whether the dexterous hand's fingers are placed on the finger support structure, thus avoiding errors in calibration results due to incorrect placement. The placement sensing module can include multiple sensors to detect the joints of each finger or the placement state of each finger, i.e., to determine whether the dexterous hand's fingers are placed on the finger support structure.

[0022] In some embodiments, the placement sensing module is mounted on the dexterous hand and / or its support. Specifically, the placement sensing module can be connected to the communication module or directly to the calibration module.

[0023] Therefore, with this setup, it is possible to detect whether the fingers of a dexterous hand have been placed on the finger support structure using a dexterous hand or a dexterous hand support.

[0024] In some embodiments, the calibration module may also be electrically connected to the placement sensing module, or may be electrically connected to the placement sensing module through the communication module, for determining the calibration result based on the joint detection angle and the mechanical reference angle when the placement sensing module detects that the corresponding finger of the dexterous hand has been placed on the finger support structure.

[0025] Therefore, with this setup, when the placement sensor module detects that the dexterous hand has been placed on the finger support structure, the calibration detection of the dexterous hand can be performed automatically without manual confirmation of whether the placement was successful, thus improving calibration efficiency.

[0026] In some embodiments, the placement sensing module includes a pressure sensor disposed on the finger support structure and / or a tactile sensor disposed on the fingertip surface of each phalanx of the dexterous hand. Thus, by using the pressure sensor on the finger support structure and / or the tactile sensors disposed on the fingertip surface of each phalanx of the dexterous hand, the placement of the dexterous hand's fingers can be detected. Specifically, using only the tactile sensors already present on the fingertip surface of each phalanx of the dexterous hand to detect finger placement requires no additional sensors, thus not increasing hardware costs. However, using only the pressure sensor on the finger support structure requires additional pressure sensors, increasing costs. But by simultaneously using both the pressure sensor on the finger support structure and the tactile sensors disposed on the fingertip surface of each phalanx of the dexterous hand to detect finger placement, the detection accuracy is significantly improved.

[0027] In some implementations, it also includes: A placement prompter is used to issue placement prompts to indicate whether the corresponding finger of the dexterous hand has been placed on the finger support structure. The placement prompts include placement success prompts and placement failure prompts.

[0028] Therefore, with this setup, a placement indicator can be used to indicate whether the dexterity hand has been placed successfully or not, eliminating the need for manual confirmation. This is both convenient and efficient, allowing operators to immediately know whether the dexterity hand has been placed successfully or not.

[0029] In some embodiments, the placement indicator is disposed on at least one of the dexterous hand, the dexterous hand support, and a third structure for communicating with the dexterous hand and / or the dexterous hand support to obtain communication information. This allows for greater flexibility in the selection or installation location of the placement indicator, and even allows for multiple indicators distributed among the dexterous hand, the dexterous hand support, and the third structure to provide guidance to multiple workers.

[0030] In some possible implementations, the calibration result indicator is also used as a placement indicator, which issues a placement prompt to indicate whether the corresponding finger (51) of the dexterous hand has been placed on the finger support structure, and the placement prompt indicates successful placement or placement failure.

[0031] Therefore, this configuration allows the calibration result indicator to also be used to issue a placement prompt signal, so that the placement prompt signal and the calibration result signal share the same set of indicator structures for prompting, thereby reducing the number of hardware components in the dexterous hand system and lowering its cost.

[0032] In some embodiments, the placement prompter can be electrically connected to the placement sensing module and is also used to issue a placement prompt signal when the pressure value output by the placement sensing module reaches a preset pressure threshold. For example, by detecting a first pressure value output by a pressure sensor and a preset pressure threshold, it can be determined whether the corresponding finger of the dexterous hand has been placed on the finger support structure, and a corresponding prompt signal can be issued to immediately prompt the operator; or a placement prompt signal can be issued when both the second pressure value fed back by the tactile sensor and the preset pressure threshold are reached, or when both of these reach their respective pressure thresholds.

[0033] Therefore, with this configuration, a second pressure value can be received from the tactile sensor on the dexterous hand via an electrical connection to the communication module. Based on the second pressure value and a preset pressure value, it can be determined whether the corresponding finger of the dexterous hand has been placed on the finger support structure, and a corresponding prompt signal can be issued to immediately alert the operator. In some embodiments, the placement prompt includes at least one of a buzzer, an indicator light, and a speaker. Thus, with this configuration, a buzzer can be used to indicate the placement result (e.g., by distinguishing the placement result through the number or length of beeps), or an indicator light can be used to indicate the placement result (e.g., by distinguishing the placement result through different colors), or a speaker can be used to indicate the placement result (e.g., by distinguishing the placement result through voice announcement).

[0034] Therefore, by using this setup, the communication interface of the dexterous hand support can be directly connected to the dexterous hand communication interface on the dexterous hand, eliminating the need for wired connection and enabling data communication between the dexterous hand and the dexterous hand support. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a circuit block diagram of a dexterous hand system according to an embodiment of the present invention; Figure 2 This is a circuit block diagram of a dexterous hand system according to another embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of a dexterous hand system with a communication module disposed in a dexterous hand according to an embodiment of the present invention. Figure 4 A schematic diagram of the overall structure of a dexterous hand system in which the communication module is disposed in a dexterous hand, according to another embodiment of the present invention; Figure 5 This is a schematic diagram of the overall structure of a dexterous hand system according to an embodiment of the present invention, in which the communication module is disposed in a dexterous hand support. Figure 6 This is a schematic diagram of the overall structure of a dexterous hand system in another embodiment of the present invention, in which the communication module is disposed in the dexterous hand support. Figure 7 This is a schematic diagram of the overall structure of the dexterous hand in a dexterous hand system according to an embodiment of the present invention. Figure 8 This is a schematic diagram of the overall structure of a dexterous hand system according to an embodiment of the present invention; Figure 9 This is a circuit connection diagram of the finger placement determination of the dexterous hand in the dexterous hand system according to an embodiment of the present invention, when the calculation is performed in the calibration module. Figure 10 This is a circuit connection diagram of the data processing module when determining the placement position of the fingers of the dexterous hand in a dexterous hand system according to an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached diagram: 1. Communication module; 11. Circuit board; 2. Calibration module; 31. Calibration result indicator; 32. Placement indicator; 4. Dexterous hand support; 41. Finger support structure; 411. First support structure; 412. Second support structure; 42. Wrist support structure; 43. Dexterous hand support communication interface; 5. Dexterous hand; 51. Finger; 511. First knuckle; 512. Second knuckle; 52. Palm; 53. Wrist; 54. Communication interface; 6. Placement sensing module; 61. Pressure sensor; 62. Tactile sensor; 7. Data processing module. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0040] In the description of this application, it should be understood that the use of terms such as "center," "middle," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" to indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings is solely for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Features defined with "first" and "second" are used to distinguish feature names and do not have special meanings. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0041] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] It should also be noted that, in this document, the terms "comprising" or "including" include not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The terminology used herein is generally that commonly used by those skilled in the art; in case of any discrepancy with commonly used terminology, the terminology used herein shall prevail.

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0045] Figure 1 The overall composition of a dexterous hand system according to an embodiment of the present invention is illustrated schematically. (Refer to...) Figure 1 As shown, the dexterous hand system of the present invention includes a dexterous hand 5, a dexterous hand support 4, and a communication module 1. The dexterous hand support 4 is used to hold the dexterous hand, while the communication module 1 is used to establish communication between the dexterous hand support 4 and the dexterous hand 5 to transmit communication information between the dexterous hand 5 and the dexterous hand support 4. The communication information transmitted by the communication module 1 may include calibration information between the dexterous hand 5 and the dexterous hand support 4. This calibration information may include the joint detection angles of the dexterous hand 5 and / or the mechanical reference angles of the dexterous hand support 4. In addition, the communication information transmitted by the communication module 1 may also include calibration results of the dexterous hand 5 after calibration, calibration prompts for indicating calibration results, placement prompts for indicating the placement status of the dexterous hand 5, etc., which are not exhaustively listed here. The communication information transmitted by the communication module 1 may also include other data information for auxiliary calibration, such as the force conditions at each joint, etc., which are not limited in this embodiment. Furthermore, the transmitted communication information may also include command information for driving the dexterous hand 5 to test the movement of the dexterous hand 5. The communication information may also include status information or environmental information on the dexterous hand 5, in order to obtain the working environment and status of the dexterous hand 5. Of course, the communication information may also include other information, which will not be listed here, and this embodiment does not limit it.

[0046] The overall system may also include a calibration module 2. Calibration module 2 is electrically connected to communication module 1 and is used to determine the calibration result based on the joint detection angle and the mechanical reference angle. The calibration result includes calibration success and / or calibration failure. Specifically, the calibration judgment criteria may be: General standard: The calibration module has a built-in threshold algorithm with a preset allowable error range of ±3°. When the difference between the joint detection angle and the corresponding mechanical reference angle is ≤3°, the joint is considered to be calibrated successfully. When all joints that need to be calibrated are successful, the overall calibration result is "calibration successful". When the difference between any joint is >3°, the overall calibration result is "calibration failed". Configurable standard: The allowable error range can be modified through the communication interface of a third structure (such as an external debugging device). For example, when high precision is required in industrial scenarios, the threshold is set to ±1°; when it is used in daily scenarios, the threshold is set to ±5°. Example: If the mechanical reference angle of the second joint of the index finger of a dexterous hand is 45°, and the joint detection angle detected by the angle sensor is 43°, the difference is 2°≤3°, then the joint calibration is successful; if the detection angle is 49°, the difference is 4°>3°, then the joint calibration fails, and the overall calibration result is failure.

[0047] Specifically, the dexterous hand 5 includes at least one finger 51. (See reference...) Figure 7 As shown, in common applications of embodied intelligent robots, it typically includes five fingers 51 (four fingers and a thumb), a palm 52, and a wrist 53. The dexterous hand 5 includes an angle sensor and a communication module 1. The angle sensor is located on the dexterous hand 5, specifically at each joint of each finger 51, to detect the angles of each joint of the dexterous hand 5, such as flexion-extension angles and yaw angles, forming joint detection angles.

[0048] The dexterous hand support 4 is used to support and place the dexterous hand 5, and is provided with a finger support structure 41 for supporting at least one finger 51 of the dexterous hand 5. The finger support structure 41 can be provided for only some of the fingers 51 on the dexterous hand 5, or it can be provided for all the fingers 51 on the dexterous hand 5 to support all the fingers 51 of the dexterous hand 5. Specifically, the finger support structure 41 can support each joint of the fingers 51 of the dexterous hand 5, thereby enabling the fingers 51 of the dexterous hand 5 to be in a specific flexion-extension position, which allows the flexion-extension angle of each joint of the fingers 51 of the dexterous hand 5 to be at a mechanical reference angle. For example, referring to… Figure 3 and Figure 4 As shown, the finger support structure 41 may include a first support structure 411 for supporting the first knuckle 511 of the fingers 51 of the dexterous hand 5 and a second support structure 412 for supporting the second knuckle 512 of the fingers 51 of the dexterous hand 5. The support surfaces of the first support structure 411 and the second support structure 412 are matched with the corresponding knuckle shapes so that the fingers 51 can be better placed on the finger support structure 41. Of course, different finger support structures 41 can be designed for different structures of the fingers 51 of the dexterous hand 5, such as fingers 51 with more or fewer knuckles, and the present invention does not limit this.

[0049] The aforementioned mechanical reference angles refer to the flexion and extension angles of each joint in the finger support structure 41, designed for each finger 51. For example, when the finger support structure 41 is used to support only one or two specific fingers 51, the mechanical reference angles include the flexion and extension angles of each joint of the finger 51 when the one or two fingers 51 are placed in the corresponding positions on the finger support structure 41. When the finger support structure 41 is used to support all fingers 51, the mechanical reference angles include the flexion and extension angles of each joint of the finger 51 when all fingers 51 are placed in the corresponding positions on the finger support structure 41.

[0050] It is understood that when calibrating and testing the dexterous hand 5 using the dexterous hand system of the present invention, only the corresponding fingers 51 placed on the finger support structure 41 can be calibrated and tested. That is, when the finger support structure 41 is used only to support one or more specific fingers 51, the dexterous hand support 4 of the present invention can be used to calibrate and test the corresponding one or more specific fingers 51. When the finger support structure 41 is used to support all fingers 51, the dexterous hand support 4 of the present invention can be used to simultaneously calibrate and test all fingers 51 on the dexterous hand 5. For ease of explanation, the following descriptions of embodiments will use the design of the finger support structure 41 supporting all fingers 51 as an example.

[0051] In some possible implementations, the communication module 1 can be mounted on the dexterous hand 5, on the dexterous hand support 4, or on other external third structures used to communicate with the dexterous hand 5 and the dexterous hand support 4 to obtain calibration information. These structures could include robotic arms or robots connected to the dexterous hand 5, or external devices or apparatuses used to process calibration information data to calibrate and test the dexterous hand 5. The communication module 1 can be mounted on the circuit board 11, thereby enabling circuit connections with other modules and components. (Refer to...) Figure 3 and Figure 5 As shown, the circuit board 11 can be specifically disposed inside the corresponding structure to avoid the circuit structure being exposed.

[0052] When communication module 1 is installed on the dexterous hand 5, it can transmit the joint detection angles of the dexterous hand 5 to the dexterous hand support 4 or other external third structures that communicate with the dexterous hand 5 and the dexterous hand support 4 to obtain calibration information. It can also communicate with the dexterous hand support 4 to obtain the corresponding mechanical reference angles. In this case, the device structure connected to the dexterous hand 5 (such as the dexterous hand support 4 or the third structure) needs to be configured with an interface that has a corresponding standard protocol to communication module 1, so that communication module 1 can read data stored in the corresponding device structure or transmit data to the corresponding device structure. Calibration module 2 can be installed on the dexterous hand 5 to calibrate it based on its own joint detection angles and the obtained mechanical reference angles. Calibration module 2 can also be installed on the dexterous hand support 4 to calibrate the dexterous hand 5 based on the joint detection angles transmitted by the dexterous hand 5 and the mechanical reference angles stored internally in the dexterous hand support 4. The calibration module 2 can also be set on the third structure to perform calibration based on the joint detection angle transmitted by the dexterous hand 5 and the mechanical reference angle corresponding to the current dexterous hand support 4 stored in the third structure, or to transmit the obtained mechanical reference angle and its own joint detection angle to the third structure for calibration through the dexterous hand 5.

[0053] When communication module 1 is mounted on the dexterity hand support 4, it can transmit the mechanical reference angle corresponding to the dexterity hand support 4 to the dexterity hand 5 or other external third structures that communicate with the dexterity hand 5 and the dexterity hand support 4 to obtain calibration information. It can also communicate with the dexterity hand 5 to obtain the current joint detection angle of the dexterity hand 5. In this case, the device structure connected to the dexterity hand support 4 (such as the dexterity hand 5 or the third structure) needs to be configured with an interface that has a corresponding standard protocol to communication module 1, so that communication module 1 can read data stored within the corresponding device structure or transmit data to the corresponding device structure. Calibration module 2 can be mounted on the dexterity hand support 4 to calibrate the dexterity hand 5 based on the mechanical reference angle stored within the dexterity hand support 4 and the obtained joint detection angle. Calibration module 2 can also be mounted on the dexterity hand 5 to calibrate the dexterity hand 5 based on the mechanical reference angle transmitted from the dexterity hand support 4 and the joint detection angle obtained by the dexterity hand 5 itself. The calibration module 2 can also be set on the third structure to transmit the acquired joint detection angle and the built-in stored mechanical reference angle to the third structure for calibration via the dexterous hand support 4.

[0054] When communication module 1 is installed on the third structure, it can communicate with the dexterous hand 5 and the dexterous hand support 4 to obtain the current joint detection angle of the dexterous hand 5 and the corresponding mechanical reference angle of the dexterous hand support 4. In this case, the device structure connected to the third structure (such as the dexterous hand 5 or the dexterous hand support 4) needs to be configured with an interface that has a corresponding standard protocol to communication module 1, so that communication module 1 can read data stored in the corresponding device structure or transmit data to the corresponding device structure. Calibration module 2 can be installed on the third structure to calibrate the dexterous hand 5 using the mechanical reference angle and the joint detection angle of the dexterous hand 5 stored in the dexterous hand support 4. Calibration module 2 can also be installed on the dexterous hand 5 to transmit the obtained joint detection angle and the internally stored mechanical reference angle to the dexterous hand 5 for calibration via the third structure. Calibration module 2 can also be installed on the dexterous hand support 4 to transmit the obtained joint detection angle and the internally stored mechanical reference angle to the dexterous hand support 4 for calibration via the third structure.

[0055] In some other possible implementations, the communication module 1 may also include at least two communication units, with at least two of the dexterous hand 5, the dexterous hand support 4, and the third structure equipped with the communication unit to enable the transmission of calibration information.

[0056] When the dexterous hand 5 and the dexterous hand support 4 are equipped with a communication unit, they can communicate to obtain the joint detection angle and the mechanical reference angle. In this case, the calibration module 2 can be installed on the dexterous hand 5 or the dexterous hand support 4 to calibrate the dexterous hand 5 based on the joint detection angle and the mechanical reference angle. Alternatively, the calibration module 2 can be installed on the third structure, in which case the third structure also needs to be configured with an interface that has a corresponding standard protocol to the communication unit, so that the dexterous hand 5 or the dexterous hand support 4 can transmit the joint detection angle and the mechanical reference angle to the third structure for calibration.

[0057] When the dexterous hand 5 and the third structure are equipped with a communication unit, they can communicate to enable data transmission between them. If the third structure has a built-in mechanical reference angle corresponding to the current dexterous hand support 4, the dexterous hand 5 or the third structure can obtain the joint detection angle and the mechanical reference angle. If the third structure does not have a built-in mechanical reference angle, the dexterous hand support 4 needs to be configured with an interface with a corresponding standard protocol to the communication unit so that the dexterous hand 5 or the third structure can obtain the mechanical reference angle or transmit the joint detection angle to the dexterous hand support 4. The calibration module 2 can be located in any one of the dexterous hand 5, the dexterous hand support 4, or the third structure.

[0058] When the dexterous hand support 4 and the third structure are equipped with a communication unit, they can communicate to enable data transmission between them. In this case, the dexterous hand needs to be equipped with an interface that conforms to the standard protocol of the communication unit, so that the dexterous hand support 4 or the third structure can acquire joint detection angles or transmit mechanical reference angles to the dexterous hand 5. The calibration module 2 can be located in any one of the dexterous hand 5, the dexterous hand support 4, or the third structure.

[0059] When the dexterous hand 5, the dexterous hand support 4, and the third structure are all equipped with communication units, they can communicate with each other, enabling data transmission between them. In this case, the calibration module 2 can also be located in any one of the dexterous hand 5, the dexterous hand support 4, or the third structure.

[0060] For communication module 1, calibration information can be transmitted via line connection, wireless communication connection, or other methods. For example, when connected via line, communication module 1 can be communicated through lines set on the dexterity hand 5, the dexterity hand support 4, and other external structures. When connected via wireless communication, communication can be achieved using commonly used wireless communication protocols (such as Bluetooth, WiFi, etc.). For example, wireless communication modules (such as Bluetooth, WiFi modules, etc.) can be arranged on the dexterity hand 5, the dexterity hand support 4, and the third structure to achieve the transmission of communication information.

[0061] Reference Figure 2 The circuit connection diagram of the dexterous hand system of the present invention shown indicates that the calibration module 2 can be electrically connected to the communication module 1 to acquire calibration information. Specifically, the calibration module 2 can be mounted on the dexterous hand 5, on the dexterous hand support 4, or on other external structures, such as robotic arms or robots.

[0062] In some possible implementations, a calibration result indicator 31 may also be provided. The calibration result indicator 31 is used to issue a corresponding calibration result signal based on the calibration result. (Refer to...) Figure 2 The circuit connection diagram of the dexterous hand system of the present invention shown indicates that the calibration result indicator 31 can be electrically connected to the calibration module 2 to operate based on the calibration results obtained from the calibration module 2. (Refer to...) Figure 3 and Figure 4As shown, the calibration result indicator 31 can be positioned on the dexterous hand 5, on the dexterous hand support 4, or on other external structures such as robotic arms or robots. Specifically, it can be placed in a prominent location on the corresponding structure, such as the top, so that the operator can directly observe and judge the current calibration result. The calibration result indicator 31 can specifically employ at least one of a buzzer, an indicator light, or a speaker. For example, when the calibration result indicator 31 uses a buzzer, different calibration results can be distinguished by the length and number of consecutive beeps. When the calibration result indicator 31 uses an indicator light, different calibration results can be distinguished by different colored indicator lights or the number of flashes. When the calibration result indicator 31 uses a speaker, the calibration result can be directly announced via voice broadcast, such as announcing "success" or "failure." The specific implementation process of the voice broadcast can be referred to relevant descriptions in the prior art, and this embodiment will not elaborate further on this.

[0063] Example 1 This embodiment is an example where the communication module 1 is mounted on the dexterous hand 5, and the calibration module 2 is also mounted on the dexterous hand 5. In this case, the communication module 1 is configured to receive a mechanical reference angle from the dexterous hand support 4. Specifically, refer to... Figure 3 and Figure 7 As shown, the communication module 1 is located at the palm 52 of the dexterous hand 5, and the dexterous hand communication interface 54 is located at the wrist 53 of the dexterous hand 5. A wrist support structure 42 is provided on the dexterous hand support 4 to support the wrist 53 of the dexterous hand 5. A dexterous hand support communication interface 43, which mates with the dexterous hand communication interface 54, is provided on the support surface of the wrist support structure 42. Specifically, the dexterous hand support communication interface 43 is configured as a socket that mates with the dexterous hand communication interface 54 on the dexterous hand 5, and is located at the position of the dexterous hand communication interface 54 when the dexterous hand 5 is placed on the dexterous hand support 4. When the dexterous hand 5 is placed on the dexterous hand support 4, the dexterous hand support communication interface 43 can directly connect with the dexterous hand communication interface 54 on the dexterous hand 5, forming communication between the communication module 1 and the dexterous hand 5, thus eliminating the need for wiring and reducing complexity.

[0064] The calibration module 2 is electrically connected to the communication module 1, and its location can be set together at the palm 52 of the dexterous hand 5. When the dexterous hand 5 receives the mechanical reference angle, the calibration module 2 can perform calibration testing on the dexterous hand 5 based on the mechanical reference angle and the joint detection angle. The calibration result indicator 31 is also located on the dexterous hand 5 and electrically connected to the calibration module 2. Specifically, it can be located at the top of the wrist 53 of the dexterous hand 5, allowing the operator to directly observe and judge the current calibration test result. Furthermore, after the calibration module 2 obtains the calibration result from the calibration test of the dexterous hand 5, the calibration result indicator 31 can issue a corresponding calibration result signal based on the calibration result.

[0065] Specifically, the storage and retrieval details of the mechanical reference angle can be as follows: the wrist support structure of the dexterity hand bracket has a built-in EEPROM storage chip (model: AT24C02), and the mechanical reference angles (such as 30° for the first joint of the thumb, 45° for the second joint of the index finger, etc.) are pre-written into the chip; when the dexterity hand is placed on the bracket, the communication interface (54 and 43) is connected, and the communication module of the dexterity hand reads the mechanical reference angles in the EEPROM through the I2C protocol and transmits them to the calibration module.

[0066] Example 2 This embodiment shows that the communication module 1 is mounted on the dexterous hand 5, and the calibration module 2 is mounted on the dexterous hand support 4. In this case, the communication module 1 is configured to send the joint detection angles of the dexterous hand 5 to the dexterous hand support 4. Specifically, refer to... Figure 4 and Figure 7 As shown, the communication module 1 is located at the palm 52 of the dexterous hand 5, and the dexterous hand communication interface 54 is located at the wrist 53 of the dexterous hand 5. A wrist support structure 42 is provided on the dexterous hand support 4 to support the wrist 53 of the dexterous hand 5. A dexterous hand support communication interface 43, which mates with the dexterous hand communication interface 54, is provided on the support surface of the wrist support structure 42. Specifically, the dexterous hand support communication interface 43 is configured as a socket that mates with the dexterous hand communication interface 54 on the dexterous hand 5, and is located at the position of the dexterous hand communication interface 54 when the dexterous hand 5 is placed on the dexterous hand support 4. When the dexterous hand 5 is placed on the dexterous hand support 4, the dexterous hand support communication interface 43 can directly connect with the dexterous hand communication interface 54 on the dexterous hand 5, forming communication between the communication module 1 and the dexterous hand 5, thus eliminating the need for wiring and reducing complexity.

[0067] The calibration module 2, connected to the dexterous hand 5 and the dexterous hand support 4, acquires the joint detection angles of the dexterous hand 5 using the communication module 1. Simultaneously, the calibration module 2 has a built-in mechanical reference angle for the dexterous hand support 4. Upon receiving the joint detection angles, the calibration module 2 performs calibration testing on the dexterous hand 5 based on both the mechanical reference angles and the joint detection angles. A calibration result indicator 31 is mounted on the dexterous hand support 4 and electrically connected to the calibration module 2. Specifically, it can be positioned on the top of the wrist support structure 42 of the dexterous hand support 4, allowing the operator to directly observe and determine the current calibration test results. Furthermore, after the calibration module 2 obtains the calibration result from the calibration test of the dexterous hand 5, the calibration result indicator 31 issues a corresponding calibration result signal based on the result.

[0068] Example 3 This embodiment shows that the communication module 1 is mounted on the dexterous hand support 4, and the calibration module 2 is also mounted on the dexterous hand support 4. In this case, the communication module 1 is configured to receive joint detection angles from the dexterous hand 5. Specifically, refer to... Figure 5 and Figure 7 As shown, the dexterity hand support 4 is provided with a wrist support structure 42 for supporting the wrist 53 of the dexterity hand 5. The communication module 1 is disposed inside the wrist support structure 42 of the dexterity hand support 4, and a dexterity hand support communication interface 43 is provided on the support surface of the wrist support structure 42. A dexterity hand communication interface 54 is provided at the wrist 53 of the dexterity hand 5, and the dexterity hand communication interface 54 is paired with the dexterity hand support communication interface 43. When the dexterity hand 5 is placed on the dexterity hand support 4, the dexterity hand support communication interface 43 can directly connect with the dexterity hand communication interface 54 on the dexterity hand 5 to form communication between the communication module 1 and the dexterity hand 5, thereby eliminating the need for wire connections and reducing complexity.

[0069] The calibration module 2 is electrically connected to the communication module 1, and its location can be set inside the wrist support structure 42 of the dexterous hand support 4. When the dexterous hand support 4 receives the joint detection angle, the calibration module 2 can perform calibration testing on the dexterous hand 5 based on the mechanical reference angle and the joint detection angle. The calibration result indicator 31 is also set on the dexterous hand support 4 and electrically connected to the calibration module 2. Specifically, it can be set on the top of the wrist support structure 42 of the dexterous hand support 4, so that the operator can directly observe and judge the current calibration test result. Then, after the calibration module 2 calibrates the dexterous hand 5 and obtains the calibration result, the calibration result indicator 31 can issue the corresponding calibration result signal according to the calibration result.

[0070] Example 4 This embodiment shows that the communication module 1 is mounted on the dexterous hand support 4, and the calibration module 2 is mounted on the dexterous hand 5. In this case, the communication module 1 is configured to send the corresponding mechanical reference angle of the dexterous hand support 4 to the dexterous hand 5. Specifically, refer to... Figure 6 and Figure 7 As shown, the dexterity hand support 4 is provided with a wrist support structure 42 for supporting the wrist 53 of the dexterity hand 5. The communication module 1 is disposed inside the wrist support structure 42 of the dexterity hand support 4, and a dexterity hand support communication interface 43 is provided on the support surface of the wrist support structure 42. A dexterity hand communication interface 54 is provided at the wrist 53 of the dexterity hand 5, and the dexterity hand communication interface 54 is paired with the dexterity hand support communication interface 43. When the dexterity hand 5 is placed on the dexterity hand support 4, the dexterity hand support communication interface 43 can directly connect with the dexterity hand communication interface 54 on the dexterity hand 5 to form communication between the communication module 1 and the dexterity hand 5, thereby eliminating the need for wire connections and reducing complexity.

[0071] The calibration module 2, connected to the dexterous hand 5 and the dexterous hand support 4, obtains the mechanical reference angle of the dexterous hand support 4 using the communication module 1. Simultaneously, since the calibration module 2 is located within the dexterous hand 5, it can also obtain the joint detection angle of the dexterous hand 5. Upon receiving the mechanical reference angle, the calibration module 2 can perform calibration testing on the dexterous hand 5 based on both the mechanical reference angle and the joint detection angle. A calibration result indicator 31 is located on the dexterous hand 5 and electrically connected to the calibration module 2. Specifically, it can be positioned at the top of the wrist 53 of the dexterous hand 5, allowing the operator to directly observe and determine the current calibration test result. Furthermore, after the calibration module 2 obtains a calibration result from the calibration test of the dexterous hand 5, the calibration result indicator 31 can issue a corresponding calibration result signal based on the result.

[0072] Example 5 This embodiment demonstrates that neither the communication module 1 nor the calibration module 2 is mounted on the dexterous hand 5 or the dexterous hand support 4. In this case, the communication module 1 is configured to acquire the joint detection angles of the dexterous hand 5 and the mechanical reference angles of the dexterous hand support 4. For example, the mechanical reference angles can be stored in a database of a third structure (external computer), and the database is associated with the unique number of the support. After the dexterous hand is placed on the support, the support's communication module wirelessly transmits its own number to the third structure. The third structure retrieves the corresponding mechanical reference angle based on the number and transmits it to the calibration module.

[0073] Specifically, refer to Figure 8As shown, specifically, communication module 1 and calibration module 2 can be located on the same structure or on different structures. These structures can be robotic arms or robots equipped with corresponding dexterous hands 5, or external computers, etc. It is only necessary to ensure communication between communication module 1 and calibration module 2. For example: The third structure is the scenario of the robot control module: the calibration module is integrated into the MCU (model: STM32F407) of the robot control module, the calibration result indicator (LED light) is set on the robot control panel, and is electrically connected to the calibration module through the robot's internal bus (such as CAN bus); the sensor module (pressure sensor) is set on the dexterous hand support, and the pressure signal is transmitted to the communication module of the robot control module through the wireless communication module of the support, and then forwarded to the calibration module; The third scenario involves an external computer: the communication module uses a WiFi module (model: ESP8266), which is installed on the dexterous hand, the stand, and the USB wireless network card of the external computer; the tactile sensor signal of the placement sensing module is transmitted to the computer through the WiFi module of the dexterous hand; the calibration module is a Python program running on the computer; the calibration result is displayed on the computer's screen (as a prompt) as "placement successful / failed" and "calibration successful / failed".

[0074] Once the calibration module 2 obtains the joint detection angle and mechanical reference angle using the communication module 1, it can perform calibration testing on the dexterous hand 5 based on these angles. The calibration result indicator 31 can be mounted on the structure where the calibration module 2 is located, positioned at the top of the structure, so that the operator can directly observe and judge the current calibration test result. Furthermore, after the calibration module 2 obtains the calibration result from the calibration test of the dexterous hand 5, the calibration result indicator 31 can issue a corresponding calibration result signal based on the result.

[0075] Example 6 This embodiment describes the wireless communication scheme of this dexterous hand system. The location of the wireless communication module is as follows: for example, "a Bluetooth wireless communication module (model: BLE5.0 module) is built into the palm of the dexterous hand; the same Bluetooth module is built into the wrist support structure of the dexterous hand support; and a Bluetooth receiver module is built into a third structure (such as a robot control module)." Wireless connection process: For example, "After the dexterous hand is placed on the stand, the Bluetooth module of the stand automatically broadcasts a pairing signal, the Bluetooth module of the dexterous hand receives the signal and completes the pairing, establishing a wireless communication link; or a Bluetooth module of a third structure is used as a relay to pair with the Bluetooth modules of the dexterous hand and the stand respectively, realizing indirect wireless communication"; Data transmission method: For example, "the mechanical reference angle is pre-stored in the Flash memory chip of the dexterous hand support, and the data is wirelessly transmitted to the Bluetooth module of the dexterous hand through the Bluetooth module of the support, and then transmitted to the calibration module; the joint detection angle is collected by the angle sensor of the dexterous hand and then directly wirelessly transmitted to the calibration module of the third structure through its own Bluetooth module."

[0076] In practical use, to avoid excessive errors in calibration and testing results due to incorrect placement of the dexterous hand 5, this invention further designs to ensure the correct placement of the dexterous hand 5.

[0077] In some possible implementations, the overall system may also include a placement sensing module 6. The placement sensing module 6 is used to detect whether the fingers 51 of the dexterous hand 5 are correctly placed on the finger support structure 41. Correct placement of the fingers 51 on the finger support structure 41 means that the knuckles of the fingers 51 are securely placed on the support structure corresponding to each knuckle, i.e., the knuckles cannot undergo significant flexion / extension angle displacement under slight external force. Specifically, the placement sensing module 6 can be implemented as a pressure sensor 61 disposed on the finger support structure 41. (Refer to...) Figure 5 As shown, in Figure 5 In the illustrated embodiment, pressure sensors 61 can be installed on each support structure used to support the placement of the knuckles. When each knuckle of the fingers 51 of the dexterous hand 5 is placed on the corresponding support structure, the pressure sensor 61 can sense whether the knuckle has been placed and detect the corresponding pressure value as the first pressure value output by the pressure sensor 61. By comparing the first pressure value with a preset pressure threshold, it can be determined whether the fingers 51 of the dexterous hand 5 have been correctly placed on the finger support structure 41.

[0078] Alternatively, the placement of the sensing module 6 can also be implemented as a tactile sensor 62 disposed on the fingertip surface of each joint of the fingers 51 of the dexterous hand 5. (See reference...) Figure 3 and Figure 4 As shown, in Figure 3 and Figure 4 In the illustrated embodiment, the tactile sensor 62 is disposed on the fingertip surface of each knuckle of the dexterous hand 5. Its main purpose is to provide contact feedback to external objects during normal operation of the dexterous hand 5. When each knuckle of the dexterous hand 5 is placed on the corresponding support structure, the tactile sensor 62 can sense whether the knuckle is in contact with the object (i.e., the finger support structure 41) and detect the corresponding pressure value as the first pressure value output by the tactile sensor 62. By comparing the first pressure value with a preset pressure threshold, it can be determined whether the fingers 51 of the dexterous hand 5 have been correctly placed on the finger support structure 41.

[0079] In this design, the placement sensing module 6 can optionally employ either a pressure sensor 61 or a tactile sensor 62 to determine the placement position of the fingers 51 of the dexterous hand 5. Both the pressure sensor 61 and the tactile sensor 62 can be used simultaneously to determine the placement position of the fingers 51 of the dexterous hand 5. Simultaneous use of both the pressure sensor (on the support side) and the tactile sensor (on the dexterous hand side) further ensures the accuracy of the finger placement determination. For example, the collaborative working logic might be: "When both the pressure sensor (on the support side) and the tactile sensor (on the dexterous hand side) are used simultaneously, the calibration module must receive the pressure signals from both sensors. Only when the first pressure value of the pressure sensor is ≥ a preset threshold (e.g., 5N) and the second pressure value of the tactile sensor is ≥ a preset threshold (e.g., 3N) is the finger placement considered successful; if the pressure value of either sensor fails to meet the threshold, the placement is considered a failure." Circuit connection example: For example, "the pressure sensor is electrically connected to the communication module through the circuit board of the bracket, and the tactile sensor is electrically connected to the communication module through the circuit board of the dexterous hand. The signals from both sensors are transmitted to the calibration module through the communication module. The calibration module has a built-in signal fusion algorithm to perform logical judgment on the two signals."

[0080] In practical applications, the placement of the sensing module 6 can also be achieved using other commonly used sensing modules such as infrared sensors. For example, an infrared sensor can detect the distance between the front or side of the knuckle and the surface of the support structure to determine whether the fingers 51 of the dexterous hand 5 are correctly placed on the finger support structure 41. This embodiment does not limit this. The infrared sensor can be placed on the dexterous hand 5 or on the dexterous hand support 4.

[0081] In this embodiment, the comparison between the first pressure value and / or the second pressure value and a preset pressure threshold can be performed by calculation in the calibration module 2. (Refer to...) Figure 9 As shown, Figure 9The circuit diagram schematically illustrates the calculation and processing of the placement position determination of the fingers 51 of the dexterous hand 5 in the calibration module 2. At this time, the calibration module 2 is connected to the placement sensing module 6 to obtain a first pressure value and / or a second pressure value, and obtains the placement position determination result of the fingers 51 of the dexterous hand 5 by comparing the first pressure value and / or the second pressure value with a preset pressure threshold. Furthermore, when the placement sensing module 6 is placed on the dexterous hand 5 and the calibration module 2 is placed on the dexterous hand support 4, or vice versa, the calibration module 2 can also obtain the first pressure value and / or the second pressure value through the communication module 1 to obtain the placement position determination result of the fingers 51 of the dexterous hand 5. Simultaneously, in this embodiment, the calibration module 2 can also automatically initiate calibration detection based on the placement position determination result of the fingers 51 of the dexterous hand 5, automatically initiating calibration detection of the fingers 51 of the dexterous hand 5 after detecting and determining that the fingers 51 of the dexterous hand 5 are correctly placed on the finger support structure 41.

[0082] The comparison between the first pressure value and / or the second pressure value and the preset pressure threshold can also be used to perform calculations for the data processing module 7, which is additionally installed in the dexterous hand 5, the dexterous hand support 4, or other external structures. (Refer to...) Figure 10 As shown, when the data processing module 7 and the placement sensing module 6 are mounted on the same structure, the data processing module 7 can be directly connected to the placement sensing module 6 to obtain a first pressure value and / or a second pressure value, and determine the placement position of the fingers 51 of the dexterous hand 5 by comparing the first pressure value and / or the second pressure value with a preset pressure threshold. When the data processing module 7 and the placement sensing module 6 are not mounted on the same structure, the data processing module 7 can obtain the first pressure value and / or the second pressure value through the communication module 1, or the placement sensing module 6 can send the first pressure value and / or the second pressure value to the data processing module 7 for processing via the communication module 1 to determine the placement position of the fingers 51 of the dexterous hand 5.

[0083] If the data processing module 7 and the calibration module 2 are located on the same structure, the data processing module 7 can be connected to the calibration module 2. This allows the calibration module 2 to automatically initiate calibration testing based on the placement position of the fingers 51 of the dexterous hand 5. Once the calibration module 2 detects that the fingers 51 of the dexterous hand 5 are correctly placed on the finger support structure 41, it automatically initiates calibration testing on the fingers 51 of the dexterous hand 5. If the data processing module 7 and the calibration module 2 are not located on the same structure, the calibration module 2 can obtain the placement position judgment result of the fingers 51 of the dexterous hand 5 through the communication module 1. This allows the calibration module 2 to automatically initiate calibration testing based on the placement position judgment result of the fingers 51 of the dexterous hand 5. Once the calibration module 2 detects that the fingers 51 of the dexterous hand 5 are correctly placed on the finger support structure 41, it automatically initiates calibration testing on the fingers 51 of the dexterous hand 5.

[0084] Furthermore, to facilitate operators in quickly determining the placement position of the dexterous hand 5, the overall system may also include a placement prompt 32. The placement prompt 32 is used to issue a placement prompt signal when at least one of the first pressure values ​​output by each pressure sensor 61 (or the second pressure value fed back by the corresponding tactile sensor 62 of the finger 51 placed on the finger support structure 41 on the dexterous hand 5) reaches a preset pressure threshold. For example, the placement prompt 32 can be electrically connected to a module (such as calibration module 2, data processing module 7, communication module 1, etc.) used to obtain the placement position judgment result of the finger 51 of the dexterous hand 5, so as to issue a corresponding placement prompt signal based on the judgment result. In addition, the placement prompt 32 can also issue a placement failure prompt signal when at least one of the first pressure values ​​output by the pressure sensor 61 (or the second pressure value fed back by the corresponding tactile sensor 62 of the finger 51 placed on the finger support structure 41 on the dexterous hand 5) does not reach the preset pressure threshold.

[0085] Specifically, refer to Figures 3 to 6 As shown, the placement indicator 32 can be mounted on the dexterous hand 5, the dexterous hand support 4, or other external structures, such as robotic arms or robots. Specifically, it can be placed in a prominent location on the corresponding structure, such as the top, so that the operator can directly observe and determine the current calibration result. The placement indicator 32 can specifically employ at least one of a buzzer, indicator light, or speaker. Its implementation process is the same as that of the calibration result indicator 31 described above, and therefore will not be repeated here.

[0086] Furthermore, the placement indicator 32 can share a single indicator structure with the calibration result indicator 31 to reduce the overall structural complexity of the support. As an example, see below: Example 1 (Shared Indicator Light): The calibration result indicator and the placement indicator share the same LED light (located on the top of the dexterous wrist): When placement is successful, the LED light is solid green; when placement fails, the LED light is solid red; when calibration is successful, the LED light flashes green (frequency 1Hz); when calibration fails, the LED light flashes red (frequency 2Hz). Example 2 (Shared Buzzer): Sharing the same buzzer (set on the wrist support structure of the bracket): When placement is successful, the buzzer sounds once (lasting 0.5s); when placement fails, the buzzer sounds three times (each time 0.5s, with an interval of 0.3s); when calibration is successful, the buzzer sounds once (lasting 2s); when calibration fails, the buzzer sounds twice (each time 2s, with an interval of 0.5s). Circuit connection: The shared prompting structure is electrically connected to the calibration module through the GPIO interface. The calibration module outputs different level signals according to the "placement judgment result" and "calibration result" to control the working status of the prompting device.

[0087] The dexterous hand system of the present invention transmits calibration information between the dexterous hand 5 and the dexterous hand support 4 through the communication module 1, so that the dexterous hand 5, the dexterous hand support 4, or other external devices can obtain the joint detection angle and / or mechanical reference angle, and use the corresponding device to perform joint angle calibration detection on the dexterous hand 5. The dexterous hand 5 itself can obtain the flexion and extension angles corresponding to each joint of each finger 51 through its own angle sensors and other components. The dexterous hand support 4 is designed with the corresponding flexion and extension angles, i.e., mechanical reference angles, of each finger 51 on the dexterous hand 5 when placed on its finger support structure 41. Thus, the joint angle calibration detection of the dexterous hand 5 can be achieved by using the joint detection angle and the mechanical reference angle.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A dexterous hand system, characterized in that, include: Dexterous hand (5), dexterous hand support (4), communication module (1); The dexterous hand support (4) is used to place the dexterous hand (5); The communication module (1) is used to establish communication between the dexterous hand support (4) and the dexterous hand (5) to transmit communication information between the dexterous hand (5) and the dexterous hand support (4).

2. The dexterous hand system according to claim 1, characterized in that, The communication module (1) includes a dexterity hand communication interface (54) on the dexterity hand (5) and a dexterity hand support communication interface (43) on the dexterity hand support (4). The dexterity hand (5) and the dexterity hand support (4) establish a communication connection through the insertion of the dexterity hand communication interface (54) and the dexterity hand support communication interface (43). or The communication module (1) includes a dexterity hand communication interface (54) on the dexterity hand (5), a dexterity hand support communication interface (43) on the dexterity hand support (4), and a third structure communication interface on the third structure. The dexterity hand (5) and the dexterity hand support (4) establish a communication connection through the insertion of the dexterity hand communication interface (54) and the dexterity hand support communication interface (43) into the third structure communication interface.

3. The dexterous hand system according to claim 1, characterized in that, The communication module (1) includes a dexterity hand wireless communication module disposed on the dexterity hand (5) and a dexterity hand support wireless communication module disposed on the dexterity hand support (4). The dexterity hand (5) and the dexterity hand support (4) establish a wireless communication connection through the dexterity hand wireless communication module and the dexterity hand support wireless communication module. or The communication module (1) includes a dexterity hand wireless communication module disposed on the dexterity hand (5), a dexterity hand support wireless communication module disposed on the dexterity hand support (4), and a third structure wireless communication module disposed on the third structure. The dexterity hand (5) and the dexterity hand support (4) establish a wireless communication connection with the third structure wireless communication module through the dexterity hand wireless communication module and the dexterity hand support wireless communication module respectively.

4. The dexterous hand system according to claim 1, characterized in that, The communication information includes: calibration information between the dexterous hand (5) and the dexterous hand support (4), wherein the calibration information includes the joint detection angle of the dexterous hand (5) and / or the mechanical reference angle of the dexterous hand support (4); The joint detection angle is the angle of each finger (51) joint that the dexterous hand (5) can know when it is placed on the dexterous hand support (4); The mechanical reference angle is the angle at which the finger (51) joints of the dexterous hand (5) are located when the dexterous hand (5) is placed on the dexterous hand support (4).

5. The dexterous hand system according to claim 4, characterized in that, The system also includes a calibration module (2) for determining the calibration result based on the joint detection angle and the mechanical reference angle, wherein the calibration result includes calibration success and / or calibration failure.

6. The dexterous hand system according to claim 5, characterized in that, The calibration module (2) is disposed on any one of the dexterous hand (5), the dexterous hand support (4), or a third structure for communicating with the dexterous hand (5) and / or the dexterous hand support (4) to obtain the communication information.

7. The dexterous hand system according to claim 5, characterized in that, Also includes: A calibration result indicator (31) is used to issue a corresponding calibration result signal based on the calibration result.

8. The dexterous hand system according to claim 7, characterized in that, The calibration result indicator (31) is disposed on at least one of the dexterous hand (5), the dexterous hand support (4), and a third structure for communicating with the dexterous hand (5) and / or the dexterous hand support (4) to obtain the communication information.

9. The dexterous hand system according to claim 5, characterized in that, Also includes: A sensing module (6) is placed to detect whether the corresponding finger (51) of the dexterous hand (5) has been placed on the finger support structure (41) of the dexterous hand support (4).

10. The dexterous hand system according to claim 9, characterized in that, The placement sensing module (6) is disposed on the dexterous hand (5) and / or the dexterous hand support (4).

11. The dexterous hand system according to claim 9, characterized in that, When the placement sensing module (6) detects that the corresponding finger (51) of the dexterous hand (5) has been placed on the finger support structure (41), the calibration module (2) determines the calibration result based on the joint detection angle and the mechanical reference angle.

12. The dexterous hand system according to claim 9, characterized in that, The placement sensing module (6) includes a pressure sensor (61) disposed on the finger support structure (41) and / or a tactile sensor (62) disposed on the fingertip surface of each phalanx of the fingers (51) of the dexterous hand (5).

13. The dexterous hand system according to claim 9, characterized in that, Also includes: Placement prompt (32) is used to issue placement prompts to indicate whether the corresponding finger (51) of the dexterous hand (5) has been placed on the finger support structure (41), and the placement prompts include placement success prompts and placement failure prompts.

14. The dexterous hand system according to claim 13, characterized in that, The placement prompt (32) is disposed on at least one of the dexterous hand (5), the dexterous hand support (4), and a third structure for communicating with the dexterous hand (5) and / or the dexterous hand support (4) to obtain the communication information.

15. The dexterous hand system according to claim 7, characterized in that, The calibration result prompt (31) is also used as a placement prompt (32), which is used to issue a placement prompt to indicate whether the corresponding finger (51) of the dexterous hand (5) has been placed on the finger support structure (41). The placement prompt indicates successful placement or placement failure.

16. The dexterous hand system according to any one of claims 13 to 15, characterized in that, The placement prompt (32) issues a placement success prompt when the pressure value output by the placement sensing module (6) reaches a preset threshold, and issues a placement failure prompt when the pressure value output by the placement sensing module (6) does not reach the preset threshold.

Images