Control method of data acquisition device, data acquisition device, and robot system

Abstract

The application provides a control method of a data acquisition device, the data acquisition device and a robot system, relates to the technical field of data acquisition control, and is used for solving the problem of insufficient data acquisition effectiveness of the existing data acquisition device. The data acquisition device comprises a control device and a dexterous hand. The control device is detachably connected with the dexterous hand and is in communication connection. The control device comprises a palm fixing structure and an operation part, and the operation part is movably connected with the palm fixing structure. The control method comprises the following steps: controlling the operation part to move relative to the palm fixing structure; and controlling the dexterous hand to move synchronously according to the movement of the operation part. The control method is used for controlling the data acquisition device to acquire data.

Description

Technical Field

[0001] This application relates to the field of data acquisition and control technology, and in particular to a control method for a data acquisition device, a data acquisition device, and a robot system. Background Technology

[0002] A dexterous hand is the actuator of a robot, capable of performing operations such as grasping and accomplishing various tasks. The accuracy of a dexterous hand's operations requires extensive training.

[0003] Data acquisition devices are independent of the machine itself. The data collected by these devices can be used to train dexterity skills, enabling them to perform more accurate operations. However, existing data acquisition methods suffer from insufficient data effectiveness. Summary of the Invention

[0004] This application provides a control method for a data acquisition device, a data acquisition device, and a robot system to address the problem that existing data acquisition devices suffer from insufficient data acquisition effectiveness.

[0005] In a first aspect, this application provides a control method for a data acquisition device, which includes a control device and a dexterous hand. The control device and the dexterous hand are detachably connected and communicatively connected. The control device includes a hand fixing structure and an operating part, the operating part being movably connected to the hand fixing structure. The control method includes: controlling the operating part to move relative to the hand fixing structure; and controlling the dexterous hand to move synchronously according to the movement of the operating part.

[0006] The control method for the data acquisition device provided in this application allows direct control of the dexterous hand, which is communicatively connected to the control device, through the control unit. This enables the dexterous hand to directly operate and move, and the acquired data is the movement data of the dexterous hand itself, making the acquired data more effective and better applicable to the training of robot dexterous hands. Furthermore, because the dexterous hand and control device are detachably connected, the control device can be connected to different dexterous hands and establish communication, allowing for data acquisition from different dexterous hands, thus improving its versatility.

[0007] In some embodiments, the data acquisition device further includes a drive mechanism. The drive mechanism is connected to the operating unit. The control method further includes: acquiring motion information of the dexterous hand and transmitting it to the control device; and controlling the drive mechanism to apply a force to the operating unit based on the motion information of the dexterous hand.

[0008] In some embodiments, the motion information of the dexterous hand includes at least one of the following: tactile normal force, tactile tangential force, drive motor current, joint torque and position, movement speed, and drive state.

[0009] In some embodiments, controlling the drive mechanism to apply force to the operating part based on the movement information of the dexterous hand includes: converting the movement information of the dexterous hand into drive information of the drive mechanism according to the drive mapping relationship; and controlling the drive to apply force to the operating part.

[0010] In some embodiments, the drive mechanism includes a drive motor. Converting the motion information of the dexterous hand into drive information for the drive mechanism according to a drive mapping relationship includes: preprocessing one or more motion information pieces of the dexterous hand and converting them into overall feedback information according to a preset overall rule; and converting the overall feedback information into drive current for the drive motor according to the drive mapping relationship.

[0011] In some embodiments, converting the motion information of the dexterous hand into the driving information of the driving mechanism according to the driving mapping relationship further includes: if the overall feedback information value exceeds a preset amplitude, adjusting the overall feedback information value to be equal to or less than the preset amplitude.

[0012] In some embodiments, converting the motion information of the dexterous hand into the driving information of the driving mechanism according to the driving mapping relationship further includes: if the rate of change of the overall feedback information exceeds the preset rate of change, adjusting the rate of change of the overall feedback information to be equal to or less than the preset rate of change.

[0013] In some embodiments, converting the motion information of the dexterous hand into the driving information of the driving mechanism according to the driving mapping relationship further includes: if the overall feedback information is abnormal, controlling the current of the drive motor to drop to zero and controlling the dexterous hand to stop moving.

[0014] In some embodiments, the control method further includes: establishing motion mapping rules between the dexterous hand and the operating unit; and saving the motion mapping rules between the dexterous hand and the operating unit.

[0015] In some embodiments, establishing motion mapping rules between the dexterous hand and the operating unit includes: recording and determining the reference positions of the dexterous hand and the operating unit; recording and determining the activity stroke and activity mode of the dexterous hand and the operating unit; establishing the motion mapping rules based on the activity stroke and activity mode of the dexterous hand and the operating unit; controlling the movement of the operating unit to synchronize the movement of the dexterous hand; and verifying the motion mapping rules.

[0016] Secondly, this application provides a data acquisition device, including a control device, a dexterous hand, and a control system. The control device includes a hand fixation structure and an operating part, the operating part being movably connected to the hand fixation structure. The control system is used to execute the control method described in any one of the first aspects.

[0017] Since the data acquisition device provided in this application can execute any of the control methods in the first aspect, it can solve the same technical problems as the control device and achieve the same technical effects, it will not be described in detail here.

[0018] Thirdly, this application provides a robot system, including the data acquisition device of the second aspect.

[0019] Since the robot system provided in this application includes the data acquisition device in the second aspect, it can solve the same technical problems as the data acquisition device and achieve the same technical effects, so it will not be described in detail here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a data acquisition device in use, provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of a control device provided in an embodiment of this application; Figure 3 for Figure 2 A schematic diagram of the control device shown from another angle; Figure 4 This is a schematic diagram of the structure of a control device worn on the hand, as provided in an embodiment of this application. Figure 5 for Figure 4 A schematic diagram of the control device when it is operated; Figure 6 for Figure 2 A schematic diagram of the control device on the other side; Figure 7 for Figure 5 A schematic diagram of the structure shown on the other side; Figure 8 for Figure 5 A schematic diagram of the structure shown on the other side; Figure 9 for Figure 2 A schematic diagram of the control device shown from another angle; Figure 10 A control diagram showing the operator's hands in the opposite direction; Figure 11 A control diagram showing the operator's hands in another direction; Figure 12 This is a flowchart illustrating a control method for a data acquisition device provided in an embodiment of this application.

[0022] Figure label: 1000 - Data acquisition device; 100 - Control device; 10 - Hand fixing structure; 101 - First surface; 102 - Second surface; 103 - Clearance opening; 11 - First fixing part; 111 - First fixing portion; 1111 - First protruding surface; 112 - Second fixing portion; 1121 - First recessed surface; 12 - Second fixing part; 121 - Recessed portion; 13 - Third fixing part; 131 - Mounting hole; 20 - Operating part; 21 - First operating part; 22 - Second operating part; 31 - First drive mechanism; 40 - Start / stop part; 200 - Dexterous hand. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0025] In the following description, the terms "first," "second," etc., are used for descriptive convenience only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0026] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed mechanical connection, a detachable mechanical connection, or an integral part; or, "connection" may be a direct connection or an indirect connection through an intermediate medium.

[0027] Furthermore, in the embodiments of this application, directional terms such as "up," "down," "left," "right," "horizontal," and "vertical" may be defined relative to the orientation in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms can be relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation in which the components are placed in the accompanying drawings.

[0028] The terms "parallel," "perpendicular," and "identical" (e.g., identical length, identical width, etc.) mentioned in the embodiments of this application are all relative to the current technological level, and not absolute and strict mathematical definitions. There can be a predetermined angular deviation between two mutually parallel or perpendicular components. In one embodiment, the predetermined angle can be within the range of ±10°, for example, a predetermined angular deviation of ±5°.

[0029] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0030] This application provides a robot system that may include a robot and a data acquisition device. The robot can be used to perform various tasks such as grasping.

[0031] It is understood that the embodiments of this application do not further limit the specific type of robot, as long as it can perform corresponding grasping and other operations. For example, the robot can be a wheeled robot or a bipedal robot.

[0032] In some embodiments, the robot may include a dexterous hand, which can be used to perform operations such as grasping. Thus, the robot can perform various operations such as grasping through its dexterous hand.

[0033] It is understood that the specific composition of the robot in the embodiments of this application can be designed according to actual conditions, and the embodiments of this application do not impose further limitations. For example, the robot may also include at least one of a chassis mechanism, a drive mechanism, and a head mechanism. The specific structure can be selected according to actual conditions, and the above is only used as an example for illustration.

[0034] The data acquisition device can collect data, and operators can use it to collect data. The collected data can be used to train the dexterity of the hand, enabling the dexterity of the hand to perform various operations more accurately and improving the accuracy of the dexterity of the hand.

[0035] In some embodiments, the data acquisition device can be communicatively connected to the robot's dexterous hand. This communication connection allows the data acquisition device to remotely control the dexterous hand. Thus, an operator can remotely manipulate the robot's dexterous hand using the data acquisition device.

[0036] The data acquisition device provided in the embodiments of this application will be further described below, such as... Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of a data acquisition device 1000 in use according to an embodiment of this application. The data acquisition device 1000 may include a control device 100 and a dexterous hand 200, which may be detachably connected to the control device 100.

[0037] The control device 100 can be used to control the movement of the dexterous hand 200. Thus, the operator can control the dexterous hand 200 through the control device 100, thereby using the movement of the dexterous hand 200 for data acquisition or remote control of the robot's dexterous hand.

[0038] It is understandable that the dexterous hand 200 in the data acquisition device 1000 can be the same type of dexterous hand 200 as the dexterous hand in the robot, so that the information collected by the data acquisition device 1000 can be better applied to the training of the dexterous hand in the robot.

[0039] Since the dexterous hand 200 and the control device 100 are detachably connected, the control device 100 has better versatility and adaptability. The dexterous hand 200 in the data acquisition device 1000 can be selected to connect to the control device 100 according to the configuration of the dexterous hand in the robot, so as to complete the data acquisition of different types of dexterous hands 200.

[0040] The control device 100 provided in the embodiments of this application will be further described below. For example... Figure 2 As shown, Figure 2 This is a schematic diagram of a control device 100 provided in an embodiment of this application. The control device 100 may include a palm fixing structure 10, an operating part 20, and a control mechanism (not shown in the figure). The palm fixing structure 10 can be used to fix the hand to a human hand and can be used with a dexterous hand 200 (…). Figure 1 The hand-fixing structure 10 is detachable. Therefore, the dexterous hand 200 can be installed and removed from the hand, and can be fixed to the palm for easy operation.

[0041] The operating unit 20 can be movably connected to the hand fixing structure 10. A control mechanism is disposed on the hand fixing structure 10, communicatively connected to the operating unit 20, and can also be used to communicate with the dexterous hand 200. The control mechanism can control the movement of the dexterous hand 200 according to the movement of the operating unit 20.

[0042] Therefore, when the operator controls the operation unit 20 to move relative to the palm fixing structure 10, the control mechanism can detect the movement of the operation unit 20 and control the dexterous hand 200 to make corresponding movements, thereby realizing the manipulation of the dexterous hand 200 and collecting data from the dexterous hand 200.

[0043] Meanwhile, since the dexterous hand 200 can be detachably connected to the palm fixing structure 10, the palm fixing structure 10 can connect different types of dexterous hands 200, and the operation unit 20 can be used to control different dexterous hands 200 to complete the data acquisition of different dexterous hands 200, which has better versatility and adaptability.

[0044] It is understood that the specific composition and type of the control mechanism described above can be designed according to actual conditions, as long as it can achieve the corresponding signal collection and transmission. This application embodiment does not impose further limitations. For example, the control mechanism may include a data processing module and a detection module connected in communication. The detection module can be used to detect the movement of the operating unit 20, while the data processing module can be used to receive the data detected by the detection module and to send control signals to the dexterous hand 200 to control the dexterous hand 200 to perform corresponding movements.

[0045] The specific components of the data processing module and the detection module can be selected according to the situation. For example, the data processing module may include a microprocessor. The detection module may include a displacement detection sensor. The displacement sensor can detect changes in the displacement of the operating unit 20. As another example, the detection module may also include a pressure sensor. The pressure sensor can be used to detect the magnitude of the force applied to the operating unit 20.

[0046] The specific operation mode of the operating unit 20 can be designed according to the actual situation. In some embodiments, such as Figure 2 As shown, the operation unit 20 includes a first operation unit 21. The first operation unit 21 can be slidably connected to the palm fixing structure 10 and is used to control the movement of one of the index finger, middle finger, ring finger or little finger of the dexterous hand 200 by pressing.

[0047] Thus, the operator can control the movement of one of the index, middle, ring, or little fingers of the dexterous hand 200 by pressing the first operating part 21.

[0048] It is understandable that the mapping relationship between the first operating unit 21 and the dexterous hand 200, which controls the movement of one of the index, middle, ring, or little fingers by pressing, can be designed according to actual conditions. For example, pressing the first operating unit 21 can operate one of the index, middle, ring, or little fingers of the dexterous hand 200 to bend or unfold.

[0049] Furthermore, it is understandable that the composition and structure of the fingers of the dexterous hand 200 may differ, and the movement of pressing the first operating part 21 on the corresponding finger joints may also differ. For example, if one of the index, middle, ring, or little fingers of the dexterous hand 200 may include multiple finger joints, then the operator can press the first operating part 21 to unfold or bend multiple finger joints.

[0050] Alternatively, one of the index, middle, ring, or little fingers of the dexterous hand 200 may consist of only one knuckle, in which case the operator can press the first operating part 21 to unfold or bend the individual knuckle.

[0051] Furthermore, in order to achieve a sliding connection between the first operating part 21 and the palm fixing structure 10, for example, the palm fixing structure 10 may form a sliding groove, and the first operating part 21 may be located in the sliding groove.

[0052] Of course, the first operating part 21 can also be movably connected to the palm fixing structure 10 in other ways, and the specific design can be made according to the actual situation. For example, in some other embodiments, the first operating part 21 can also be rotatably connected to the palm fixing structure 10. In this case, the operator can control one of the index finger, middle finger, ring finger or little finger of the dexterous hand 200 by rotating the first operating part 21.

[0053] In some embodiments, such as Figure 2 As shown, there can be multiple first operation units 21. Multiple first operation units 21 are arranged side-by-side with intervals. Therefore, multiple fingers in the dexterous hand 200 can be independently controlled through multiple first operation units 21.

[0054] Meanwhile, since the first operating parts 21 are arranged side by side at intervals, it is convenient for the operator to operate multiple of them separately using their index, middle, ring, or little fingers. Of course, in some other embodiments, the number of first operating parts 21 may also be a single one.

[0055] It is understandable that the specific number of the first operating units 21 can be designed according to the actual situation. For example, such as Figure 2 As shown, the number of first operating parts 21 can be four. The dexterous hand 200 may include one or more of the index finger, middle finger, ring finger, or little finger. For example, when the dexterous hand 200 includes the above four fingers, the four first operating parts 21 may correspond to the index finger, middle finger, ring finger, or little finger of the dexterous hand 200, respectively.

[0056] Alternatively, the dexterous hand 200 may also include a portion of the aforementioned four fingers. In this case, the number of first operating parts 21 is greater than the number of fingers in the dexterous hand 200, and a portion of the first operating parts 21 may correspond to a finger of the dexterous hand 200.

[0057] Of course, the first operating unit 21 can also be of other quantities, which can be designed according to actual needs. For example, the first operating unit 21 can also be three, two, five, or other quantities.

[0058] It is understood that the specific shape and structure of the first operating part 21 can be designed according to actual conditions, and the embodiments of this application do not further limit it. For example, as shown in the figure... Figure 3 As shown, Figure 3 for Figure 2 The control device 100 shown is a structural schematic diagram from another angle. The first operating part 21 may include two interconnected, roughly cylindrical structures with different diameters.

[0059] In some embodiments, such as Figure 2 and Figure 3 As shown, the operation unit 20 may further include a second operation unit 22. The second operation unit 22 can rotate relative to the hand fixing structure 10 in any direction perpendicular to the first direction X. The second operation unit 22 is used to control the movement of the thumb of the dexterous hand 200.

[0060] Therefore, the operator can control the movement of the thumb of the dexterous hand 200 by moving the second operating part 22. At the same time, since the second operating part 22 can rotate relative to the palm fixing structure 10 in any direction perpendicular to the first direction X, the movement of the second operating part 22 is more flexible and can better adapt to the movement mode of the thumb in the dexterous hand 200.

[0061] Of course, the second operating part 22 can also have other movable connection methods, which can be designed according to the actual situation. For example, in some other embodiments, the second operating part 22 can also be slidably connected to the palm fixing structure 10. In this case, the operator can also control the movement of the thumb of the dexterous hand 200 by pressing.

[0062] Understandably, the connection method and flexibility of the second operating unit 22 can be adjusted according to the flexibility of the dexterous hand 200. For example, when the thumb of the dexterous hand 200 has a greater degree of freedom and higher flexibility, the second operating unit 22 can also have a greater degree of freedom with the palm fixing structure 10 to allow for adaptation. When the thumb of the dexterous hand 200 has a smaller degree of freedom and lower flexibility, the flexibility between the second operating unit 22 and the palm fixing structure 10 can also be lower.

[0063] Similarly, the specific shape and structure of the second operating part 22 can be designed according to actual conditions, and the embodiments of this application do not impose further limitations. For example, such as... Figure 2As shown, the second operating unit 22 may also include two interconnected, roughly cylindrical structures of different diameters.

[0064] In some embodiments, such as Figure 2 and Figure 3 As shown, the palm-fixing structure 10 has a first surface 101 and a second surface 102. The second surface 102 is located on one side of the first surface 101, and the plane of the second surface 102 intersects with the plane of the first surface 101. A first operating part 21 is disposed on the first surface 101, and a second operating part 22 is disposed on the second surface 102.

[0065] Therefore, the first operating part 21 and the second operating part 22 can be set on different sides of the palm fixing structure 10, and the position setting can better match the position of the operator's fingers, making it convenient for the operator to operate the first operating part 21 and the second operating part 22.

[0066] It is understood that the plane on which the first surface 101 and the second surface 102 are located refers to the plane on which most of their surfaces are located.

[0067] For example, such as Figure 2 and Figure 3 As shown, four first operating parts 21 are arranged at intervals along the left-right direction on the front side of the palm fixing structure 10, while the second operating parts 22 are arranged on the left and right sides of the palm fixing structure 10. Thus, as... Figure 4 and Figure 5 As shown, Figure 4 This is a schematic diagram of the structure of a control device 100 worn on the hand, as provided in an embodiment of this application. Figure 5 for Figure 4 The schematic diagram of the control device 100 when it is operated shows that the operator's four fingers can bend and unfold on the front side of the palm fixing structure 10 to control or release the first operating part 21, and the operator's thumb can bend and unfold on the left side to control or release the second operating part 22.

[0068] Of course, the first operating part 21 and the second operating part 22 can also be arranged in other positions on the palm fixing structure 10 to form other arrangements, as long as it is convenient for the operator's fingers to operate. For example, in some other embodiments, the first operating part 21 and the second operating part 22 can both be arranged on the front side of the palm fixing structure 10. In this case, the operator's thumb can also be inserted from the side to the front side of the palm fixing structure 10 to operate the second operating part 22.

[0069] In some embodiments, such as Figure 6 As shown, Figure 6 for Figure 2The schematic diagram of the control device 100 on one side shows that the control device 100 may further include a first drive mechanism 31. The first drive mechanism 31 may be disposed on the palm fixing structure 10, connected to the first operating part 21, and electrically connected to the control mechanism, for driving the first operating part 21 to slide. Thus, the first drive mechanism 31 can apply force to the first operating part 21, causing the first operating part 21 to move.

[0070] In this way, when the dexterous hand 200 is controlled by the first operating unit 21, when the dexterous hand 200 is grasping objects and is subjected to force, the force can be transmitted to the control mechanism. The control mechanism can then use the first drive mechanism 31 to produce a similar force effect on the first operating unit 21, so that the operator can feel the corresponding force feedback effect and thus better adjust the control of the first operating unit 21 and better control the dexterous hand 200.

[0071] It is understood that the specific composition and form of the first drive mechanism 31 can be set according to actual conditions. In some embodiments, the first drive mechanism 31 includes a first drive motor, a lead screw, a nut, and a guide member. The first drive motor is connected to the palm fixing structure 10. The lead screw is connected to the output end of the first drive motor. The nut is sleeved on the lead screw and connected to the first operating part 21. The guide member is connected to the nut and is used to limit the rotation of the nut with the lead screw.

[0072] Therefore, the first drive motor can drive the lead screw to rotate. Since the nut is fitted onto the lead screw, the guide can restrict the nut from rotating with the lead screw. Thus, during the rotation of the lead screw, the nut rotates relative to the lead screw, allowing the nut to move along the extension direction of the lead screw, thereby driving the first operating part 21 to move and applying force to the first operating part 21.

[0073] Of course, the first drive mechanism 31 can also have other components, as long as it can apply external force to the first operating part 21 and drive the first operating part 21 to move. For example, in some other embodiments, the first drive mechanism 31 may also include a first drive motor, a rack, and a gear. The first drive motor can be connected to the gear, the gear can mesh with the rack, and the rack is connected to the first operating part 21. In this way, the first drive motor drives the gear to move, thereby causing the gear to drive the rack to move, which in turn moves the first operating part 21, applying force to the first operating part 21.

[0074] In some embodiments, the lead screw can be a ball screw, and the nut can be a ball nut. In this case, the friction between the ball screw and the ball nut is rolling friction, which has the advantages of small transmission backlash, low motion resistance, and high displacement resolution, making displacement control more convenient. Of course, in other embodiments, the lead screw and nut can also be a direct threaded connection.

[0075] Understandably, when an operator is performing operations, the drive mechanism 31 that propels the first operating unit 21 to move can be blocked by the operator's hand, thus converting it into a thrust on the first operating unit 21. Furthermore, by adjusting factors such as the speed of the first drive motor, the thrust generated by the first operating unit 21 can vary, allowing the operator's hand to experience different magnitudes of thrust.

[0076] Of course, in some other embodiments, the control device 100 may not include the first drive mechanism 31. In this case, the operator can observe the force state of the dexterous hand 200 and adjust the control of the first operating part 21 accordingly.

[0077] In some embodiments, the control device 100 may further include a second drive mechanism (not shown in the figure). The second drive mechanism may be disposed on the palm fixing structure 10, connected to the second operating part 22, and connected to the control mechanism, for driving the second operating part 22 to move.

[0078] Therefore, when the dexterous hand 200 is controlled by the second operating unit 22, when the dexterous hand 200 is grasping objects or other objects and is subjected to force, the force can be transmitted to the control mechanism. The control mechanism can then use the second drive mechanism to produce a similar force effect on the second operating unit 22, so that the operator can feel the corresponding force feedback effect and thus better adjust the control of the second operating unit 22 and better control the dexterous hand 200.

[0079] Similarly, the composition of the second drive mechanism can be selected according to actual conditions, and this application embodiment does not impose further limitations. For example, in some embodiments, the second drive mechanism may include multiple second drive motors. The output ends of the multiple second drive motors are connected to the second operating part 22 and distributed around the circumference of the second operating part 22 in the first direction X.

[0080] The second drive motor can be a linear drive motor, with its driving direction perpendicular to the first direction X. In this case, by applying force to the second operating part 22 through the second drive motor at different positions, the second operating part 22 can generate a pushing force along the direction in which it can rotate.

[0081] Of course, the second drive mechanism can also be other components, as long as it can apply external force to the second operating part 22 and drive the second operating part 22 to move. Of course, in some other embodiments, the control device 100 may not include the second drive mechanism.

[0082] In some embodiments, such as Figure 3 As shown, the control device 100 may further include a start / stop unit 40. The start / stop unit 40 is connected to the hand fixing structure 10 and the control mechanism, and can be used to control the connection and disconnection of the circuit of the dexterous hand 200. Thus, the operator can quickly control the power supply and power off of the dexterous hand 200 through the start / stop unit 40, avoiding the situation where the power cannot be cut off when the dexterous hand 200 is misoperated or out of control.

[0083] In some embodiments, such as Figure 3 As shown, the start / stop unit 40 is located on the side of the palm-fixing structure 10 near the second operating unit 22. This allows the operator to quickly operate the palm-fixing structure 10 using their thumb, making operation more convenient.

[0084] As described above, the palm fixing structure 10 can be used to fix the hand to the human hand, and the specific structure of the palm fixing structure 10 can be designed according to the actual situation. For example... Figure 2 As shown, in some embodiments, the palm fixing structure 10 may include a first fixing part 11 and a second fixing part 12. The first fixing part 11 is used to support the palm side of the hand.

[0085] The second fixing part 12 is located on one side of the first fixing part 11 and is connected to the first fixing part 11. The second fixing part 12 and the first fixing part 11 form a gripping space with openings at both ends. The gripping space is used to allow the palm to be inserted.

[0086] Therefore, as Figure 1 and Figure 2 As shown, when the operator uses the control device 100, the operator's palm can be inserted into the space through the opening on one side, and the fingers can extend out from the other side. In this way, the palm fixing structure 10 can be fixed to the palm. Of course, in some other embodiments, the palm fixing structure 10 can also be a single block structure. In this case, the operator can directly grasp the palm fixing structure 10.

[0087] based on Figure 2 In the illustrated scheme, to facilitate operation of the operating part 20 by the operator, in some embodiments, along the arrangement direction of the openings at both ends of the gripping space, the first operating part 21 can be located on one side of the first fixing part 11 and slidably connected to the first fixing part 11. For example... Figure 3As shown, along a direction perpendicular to the arrangement direction of the openings at both ends of the holding space, the second operating part 22 is located on one side of the first fixing part 11 and is connected to the first fixing part 11.

[0088] Therefore, the operator can extend their fingers (excluding the thumb) from one end of the opening to control the first operating part 21. The operator's thumb can then control the second operating part 22 from the side.

[0089] In some embodiments, such as Figure 2 As shown, along a direction perpendicular to the arrangement direction of the openings at both ends of the holding space, one end of the second fixing part 12 is connected to the first fixing part 11, and the other end is spaced apart from the first fixing part 11. Thus, as... Figure 7 As shown, Figure 7 for Figure 5 The schematic diagram of the structure on the other side shows that one end of the second fixing part 12 is spaced apart from the first fixing part 11, which facilitates the insertion and extension of the operator's hand, and at the same time provides a certain amount of reserved deformation space for operators with different hand sizes, so as to adapt to different hand sizes.

[0090] Of course, in other embodiments, both ends of the second fixing part 12 can be connected to the first fixing part 11 along a direction perpendicular to the direction in which the openings at both ends of the gripping space are arranged. In this case, since both ends of the second fixing part 12 are connected to the first fixing part 11, a peripherally enclosed gripping space is formed, which can ensure the fixing effect of the palm fixing structure 10 and the operator's palm and reduce the risk of falling off.

[0091] In some embodiments, such as Figure 3 As shown, along the direction perpendicular to the arrangement of the openings at both ends of the gripping space, a clearance opening 103 is formed at the end where the second fixing part 12 is connected to the first fixing part 11. The clearance opening 103 is used to allow the thumb of the hand to be inserted.

[0092] Therefore, as Figure 8 As shown, Figure 8 for Figure 5 The schematic diagram of the structure shown on the other side shows that when all five fingers of the operator are inserted into the gripping space, the operator's thumb can extend from the clearance opening 103 to the side. The overall structure is more in line with the shape of the hand, has better fit, and can also play a fixed locking effect, ensuring that the palm fixing structure 10 is not easy to detach from the palm.

[0093] Of course, in other embodiments, the end of the second fixing part 12 connected to the first fixing part 11 may not form an avoidance opening 103, along the direction perpendicular to the arrangement direction of the openings at both ends of the gripping space. In this case, the operator's thumb can be placed directly on one side of the palm fixing structure 10 from the outside without inserting into the gripping space.

[0094] In some embodiments, such as Figure 6 As shown, along the arrangement direction of the openings at both ends of the holding space, the first fixing part 11 includes a first fixing part 111 and a second fixing part 112 that are connected to each other. The first fixing part 111 protrudes relative to the second fixing part 112 toward the side where the second fixing part 12 is located.

[0095] Therefore, as Figure 7 As shown, the first fixed part 111 and the second fixed part 112 can play a role in fixing and supporting, so that the operator's palm will not slide relative to the palm fixing structure 10 during operation, thus ensuring the stability of the operator during operation.

[0096] Meanwhile, the first fixing part 111 can contact the palm from the palm side, and the second fixing part 12 and the first fixing part 11 can also contact and support the palm from the back, side and wrist position, thereby reducing pressure concentration in a single contact area and reducing pressure load at various points, allowing the operator to use it better.

[0097] For example, such as Figure 7 As shown, the palm fixing structure 10 can contact the palm in the front-back direction through the first fixing part 111, and the first fixing part 11 and the second fixing part 12 can contact the palm in the up-down direction and the left-right direction through the enclosed periphery. Thus, the palm fixing structure 10 can contact the palm in three mutually perpendicular directions, thereby being able to withstand the forces in the above three directions and the torque around the above directions.

[0098] Of course, in other embodiments, the palm-fixing structure 10 may not have the aforementioned protrusion. For example, the inner wall of the gripping space formed by the palm-fixing structure 10 may be a flat surface.

[0099] In some embodiments, such as Figure 6 and Figure 7 As shown, the surface of the first fixing part 111 near the second fixing part 12 includes a first protruding surface 1111. The first protruding surface 1111 can be an arc surface. Therefore, since the first protruding surface 1111 is an arc surface, the change is smoother and it can better fit the palm side of the hand.

[0100] Of course, the surface of the first fixing portion 111 near the second fixing portion 12 can also be of other shapes. For example, in some other embodiments, the first protruding surface 1111 may not be a curved surface. For example, the side of the first fixing portion 111 near the second fixing portion 12 may also be an inclined plane.

[0101] In some embodiments, such as Figure 6 As shown, along the arrangement direction of the openings at both ends of the holding space, the middle of the first protruding surface 1111 protrudes towards the side closer to the second fixing part 12 relative to the two ends of the first protruding surface 1111.

[0102] Therefore, as Figure 7 As shown, when the operator's hand is clenched, a concave structure can be formed in the palm, and the center of the palm can form the bottom of the concave structure. Since the center of the first protruding surface 1111 protrudes towards the side closer to the second fixing part 12 relative to the two ends of the first protruding surface 1111, the center of the first protruding surface 1111 can correspond to the center of the palm, and the first protruding surface 1111 can fit better with the palm.

[0103] Of course, the first protruding surface 1111 can also have other shapes. For example, in some other embodiments, along the arrangement direction of the openings at both ends of the holding space, the first protruding surface 1111 can gradually move closer to or further away from the side where the second fixing part 12 is located.

[0104] In some embodiments, such as Figure 6 As shown, the surface of the second fixing portion 112 near the location of the second fixing part 12 includes a first recessed surface 1121. The first recessed surface 1121 can be an arc surface. Thus, as Figure 7 As shown, after the operator's palm is inserted into the holding space, the first concave surface 1121 can be close to the wrist and fit against the part of the palm near the wrist. When the first concave surface 1121 is curved, the fitting effect is better.

[0105] Of course, the second fixing portion 112 can also have other forms. For example, in some other embodiments, the surface of the second fixing portion 112 near the side where the second fixing part 12 is located can also be a flat surface.

[0106] In some embodiments, such as Figure 6 and Figure 7 As shown, along the arrangement direction of the openings at both ends of the gripping space, and in the direction close to the first fixing part 111, the first recessed surface 1121 extends towards the side where the second fixing part 12 is located. At this time, the shape of the first recessed surface 1121 can better fit the corresponding position of the palm, resulting in a better fit.

[0107] In some embodiments, such as Figure 2 As shown, the surface of the second fixing part 12 near the first fixing part 11 has a plurality of recesses 121 that are recessed toward the side away from the first fixing part 11. The plurality of recesses 121 are spaced apart and arranged in a direction perpendicular to the arrangement direction of the openings at both ends of the holding space. Along the arrangement direction of the openings at both ends of the holding space, the plurality of recesses 121 are located at one end of the second fixing part 12.

[0108] Therefore, as Figure 4 As shown, the recessed portion 121 can correspond to the joints at the connection points between the fingers (excluding the thumb) and the palm. Thus, when the fingers are bent, the recessed portion 121 can accommodate the protrusions at the finger joints, facilitating bending and straightening of the fingers.

[0109] Of course, in some other embodiments, the surface of the second fixing part 12 near the first fixing part 11 may not have the aforementioned recess 121. In this case, in order to facilitate the bending and unfolding of the fingers of the palm, the joint at the connection between the fingers and the palm may be located outside the gripping space.

[0110] In some embodiments, the first fixing part 11 and the second fixing part 12 can be integrally formed. Thus, the first fixing part 11 and the second fixing part 12 can be integrally formed.

[0111] In some embodiments, the first fixing part 11 may be made of a flexible material. Thus, the first fixing part 11 can deform to accommodate hands of different sizes.

[0112] It is understood that the aforementioned flexible material refers to a material that can maintain a fixed shape and undergo a certain deformation when subjected to a certain external force. For example, the first fixing part 11 can be made of materials such as plastic, and the specific material can be selected according to the actual situation.

[0113] Similarly, in some embodiments, the second fixing part 12 may also be made of a flexible material. Likewise, the second fixing part 12 can deform to accommodate hands of different sizes. Exemplarily, the second fixing part 12 may also be made of materials such as plastic, depending on the specific circumstances.

[0114] In some embodiments, such as Figure 9 As shown, Figure 9 for Figure 2 The control device 100 shown is illustrated from another angle. The hand fixing structure 10 may have a mounting hole 131 for mounting the dexterous hand 200. Figure 1 Therefore, the dexterous hand 200 can be detachably connected through the aforementioned mounting hole 131.

[0115] Of course, the dexterous hand 200 can also be mounted on the palm fixing structure 10 in other ways. For example, in some other embodiments, the dexterous hand 200 can also be detachably connected to the palm fixing structure 10 by means of a snap-fit ​​structure or magnetic adsorption.

[0116] In some embodiments, such as Figure 9As shown, the palm fixing structure 10 may further include a third fixing part 13. The third fixing part 13 is located on the side of the first fixing part 11 away from the second fixing part 12, and the third fixing part 13 has a mounting hole 131.

[0117] Therefore, as Figure 1 As shown, the dexterous hand 200 can be positioned below the operator's palm, side-by-side with the palm in the vertical direction. This makes operation more convenient and can eliminate some spatial misperceptions.

[0118] Of course, in other embodiments, the dexterous hand 200 can also be disposed at other locations on the palm fixing structure 10. For example, the dexterous hand 200 can also be disposed at other locations on the palm fixing structure 10. Figure 1 The left or right side shown is arranged side by side with the operator's hand in the left-right direction.

[0119] In some embodiments, the third fixing part 13 is detachably connected to the first fixing part 11. This allows the third fixing part 13 to be removed from the first fixing part 11, facilitating the installation and removal of the dexterous hand 200. Of course, in other embodiments, the third fixing part 13 may also be detachably connected to the first fixing part 11.

[0120] It is understood that the detachable connection method between the first fixing part 11 and the third fixing part 13 can be selected according to the actual situation. For example, the third fixing part 13 can be detachably connected to the first fixing part 11 by screws. Furthermore, the shape of the third fixing part 13 can also be designed according to actual needs. For example, such as... Figure 9 As shown, the third fixing part 13 can be roughly a ring-shaped structure.

[0121] In some embodiments, the control device 100 may further include a flexible element. The flexible element may be disposed on the palm fixing structure 10 and may be used to contact the human palm. Thus, through contact with the flexible element, comfort can be improved, and it can also adapt to palms of different sizes by deforming.

[0122] It is understandable that the placement of the flexible component can be designed according to the actual situation. For example, based on... Figure 2 In the illustrated scheme, the inner wall of the gripping space formed by the palm fixing structure 10 can be provided with the aforementioned flexible element. As another example, the aforementioned flexible element can be provided at positions in the palm fixing structure 10 corresponding to the palm, thenar eminence, the back of the hand, and the wrist of the human hand.

[0123] based on Figure 1 The scheme shown allows the operator's hands to control the dexterous hand 200 along... Figure 1 The arrow shown bends. Correspondingly, by changing the position of the operator's hand, the bending direction of the dexterous hand 200 can be adjusted accordingly, as shown... Figure 10 and Figure 11 As shown, Figure 10 This is a control diagram showing the operator's hands in the opposite direction. Figure 11 This is a control diagram showing the operator's hand in another direction. The operator's hand can move along... Figure 10 and Figure 11 The arrow shown is bent.

[0124] This application also provides a control method for a data acquisition device, which may include a control device and a dexterous hand. The control device and the dexterous hand are detachably connected and communicatively connected. The control device includes a hand fixing structure and an operating part, the operating part being movably connected to the hand fixing structure.

[0125] It is understandable that the specific structure of the control device can be designed according to actual conditions, as long as it has the above-mentioned structure and can control the dexterous hand using the operating unit. For example, the data acquisition device can be... Figure 2 The data acquisition device shown.

[0126] like Figure 12 As shown, Figure 12 This is a flowchart illustrating a control method for a data acquisition device provided in an embodiment of this application. The control method for the data acquisition device may include steps S100 and S200.

[0127] S100: Control the movement of the operating part relative to the hand-fixing structure. For example, when the operator operates the data acquisition device, the operator's fingers can control the movement of the operating part relative to the hand-fixing structure.

[0128] S200: Based on the movement of the operating unit, the dexterous hand is controlled to perform synchronous movements. Since the control device is communicatively connected to the dexterous hand, the movement of the operating unit can be transmitted to the dexterous hand through the communication connection, thereby controlling the dexterous hand to perform corresponding synchronous movements, and thus the movement data of the dexterous hand can be collected.

[0129] For example, the data acquisition device may include a control system that can control the dexterous hand, enabling it to perform corresponding movements. It is understood that the specific composition and type of the control system can be designed according to actual needs, as long as it can achieve control of the dexterous hand. For example, the control system may include devices such as controllers installed in the control device and the dexterous hand, so that the control device and the dexterous hand can transmit signals and control their respective components.

[0130] Furthermore, the dexterous hand in the aforementioned data acquisition device can be the same dexterous hand as the dexterous hand in the corresponding robot. The data collected by the dexterous hand in the data acquisition device is the actual movement data of the dexterous hand in the robot. The collected data can be directly applied to the subsequent training of the dexterous hand in the robot, and can also be better used for remote operation control of the robot.

[0131] Furthermore, it is understood that the aforementioned communication connection can be a wireless communication connection or a wired communication connection. For example, the control device and the dexterous hand can be wirelessly connected via Bluetooth or similar means. Alternatively, the control device and the dexterous hand can also be wired connected via cables or similar means.

[0132] The control method provided in this application embodiment can directly control the dexterous hand, which is communicatively connected to the control device, by controlling the operation part of the control device. This allows the dexterous hand to directly operate and move, and the collected data is the movement data of the dexterous hand itself, making the collected data more effective and better applicable to the training of robot dexterous hands. Furthermore, since the dexterous hand and the control device are detachably connected, the control device can be connected to different dexterous hands and establish communication, enabling data collection from different dexterous hands and improving its versatility.

[0133] Furthermore, it is understood that the control of the dexterous hand by the aforementioned operating units can be designed according to actual needs. For example, there can be multiple operating units. Correspondingly, the dexterous hand can have multiple fingers. One operating unit can control one finger of the dexterous hand, and the control between multiple operating units is independent of each other. In this way, multiple operating units can independently control the fingers of the dexterous hand, realizing different operations of the dexterous hand.

[0134] In some embodiments, the data acquisition device further includes a drive mechanism. The drive mechanism is connected to the operating unit. The control method further includes steps S300 and S400.

[0135] S300: Acquire motion information of the dexterous hand and transmit it to the control device. For example, the control system can acquire and transmit the motion information of the dexterous hand. In this case, the control system may include devices such as sensors to acquire the motion information of the dexterous hand.

[0136] S400: Based on the motion information of the dexterous hand, control the drive mechanism to apply a force to the operating part. For example, the control system can control the drive mechanism so that it applies a force to the operating part.

[0137] Therefore, the motion information generated by the dexterous hand during movement can be transmitted to the control device, thereby applying force to the operating part through the control mechanism. This allows the operator to obtain force feedback from the dexterous hand during operation, enabling the operator to simulate and feel the force acting on the dexterous hand. Based on the effect of the force feedback, the operator can adjust the control of the operating part, thus allowing the dexterous hand to operate more effectively.

[0138] For example, when a dexterous hand performs operations such as grasping objects, the object may exert a force on the dexterous hand, preventing it from continuing the grasping action. At this time, the force exerted on the dexterous hand can be transmitted to the control device, and the drive mechanism applies force to the operating part. The operator can feel the force applied to the hand by the operating part and thus adjust the control of the operating part based on the force feedback. This allows the dexterous hand to adjust the grasping force on the object, enabling it to grasp the object more effectively.

[0139] In some embodiments, the motion information of the dexterous hand includes at least one of the following: tactile normal force, tactile tangential force, drive motor current, joint torque and position, movement speed, and drive state.

[0140] Understandably, tactile normal force and tactile tangential force can be used to reflect the contact and sliding behavior of a dexterous hand. The drive motor current, joint torque and position can be used to reflect the driven load, while the movement speed and drive state can be used to verify the effectiveness and safety of the response.

[0141] Therefore, by collecting one or more of the above-mentioned information about the dexterous hand, the information can be transmitted to the control device, thereby using the drive mechanism to better apply force to the operating part, so that the operator can better feel the force and movement state of the dexterous hand.

[0142] It is understood that the specific type and quantity of motion information collected by the dexterous hand can be selected according to actual needs. The embodiments in this application are only used as examples and are not further limited.

[0143] In some embodiments, controlling the drive mechanism to apply force to the operating part based on the motion information of the dexterous hand includes steps S410 and S420.

[0144] S410: Converts the motion information of the dexterous hand into the drive information of the drive mechanism according to the drive mapping relationship.

[0145] S420: Control drive applies force to the operating unit.

[0146] Therefore, the motion information of the dexterous hand can be converted into the driving information of the driving mechanism according to the driving mapping relationship, and then the driving mechanism can apply force to the operating part. It is understandable that the specific composition of the driving mechanism can vary depending on the movement mode of the operating part.

[0147] For example, as described above, the operating unit may include a first operating unit. The driving mechanism may include a first driving mechanism. The composition and working principle of the first driving mechanism can be found in the description and examples in the above data acquisition device, and will not be further explained here.

[0148] Furthermore, it is understandable that the above-mentioned drive mapping relationship can be designed according to actual conditions. Different movement modes of the dexterous hand and different driving modes of the drive mechanism will result in different drive mapping relationships. The drive mapping relationship simply needs to ensure that the movement information of the dexterous hand can be correspondingly converted into the drive information of the corresponding drive mechanism, so that different movement information can correspond to the corresponding drive information.

[0149] In some embodiments, the drive mechanism includes a drive motor. Converting the movement information of the dexterous hand into drive information of the drive mechanism according to the drive mapping relationship includes steps S411 and S412.

[0150] S411: Preprocess one or more motion information from the dexterous hand and convert them into overall feedback information according to preset overall rules. Thus, by preprocessing one or more motion information from the dexterous hand and converting them into overall feedback information, an outputtable and transmittable overall feedback signal is generated for subsequent control of the drive mechanism.

[0151] It is understood that the aforementioned motion information may include one or more of the following: tactile normal force, tactile tangential force, drive motor current, joint torque and position, motion speed, and drive state. Furthermore, for example, multiple pieces of motion information may undergo steps such as zero-bias correction, filtering, and range normalization to form the final overall feedback information.

[0152] S412: Converts the overall feedback information into the drive current of the drive motor according to the drive mapping relationship.

[0153] Based on this, the drive motor can generate a corresponding drive current according to the overall feedback information, thereby generating a corresponding speed and torque, thus achieving the effect of generating different magnitudes of force on the operating part, so that the operator can feel different magnitudes of force and adjust the control of the operating part according to the force feedback.

[0154] In some embodiments, converting the motion information of the dexterous hand into the driving information of the driving mechanism according to the driving mapping relationship further includes step S413.

[0155] S413: If the overall feedback information value exceeds the preset amplitude, adjust the overall feedback information value to be equal to or less than the preset amplitude. This means that when the overall feedback information value exceeds the preset amplitude, the drive current of the drive motor will also exceed the preset current. Therefore, by adjusting the overall feedback information value to be equal to or less than the preset amplitude, it can be ensured that the output current of the drive motor does not exceed the preset current, thereby preventing excessive current from damaging the drive motor.

[0156] In some embodiments, converting the motion information of the dexterous hand into the driving information of the driving mechanism according to the driving mapping relationship further includes step S414.

[0157] S414: If the rate of change of the overall feedback information exceeds the preset rate of change, adjust the rate of change of the overall feedback information to be equal to or less than the preset rate of change. Similarly, if the rate of change of the overall feedback information value is too fast, the drive current of the drive motor will also change rapidly. In this way, by adjusting the rate of change of the overall feedback information to be equal to or less than the preset rate of change, it can be ensured that the output current of the drive motor does not change rapidly, thereby ensuring that the current of the drive motor will not be damaged due to excessive changes.

[0158] In some embodiments, converting the motion information of the dexterous hand into the driving information of the driving mechanism according to the driving mapping relationship further includes step S415.

[0159] S415: If the overall feedback information is abnormal, the current of the drive motor is reduced to zero, and the dexterous hand is stopped from moving. Therefore, if the overall feedback information is abnormal, it indicates a malfunction in the dexterous hand's control. In this case, the control system can stop the dexterous hand from moving to prevent damage. Correspondingly, by reducing the current of the drive motor to zero, the operator can also be informed that the dexterous hand's control has malfunctioned.

[0160] In some embodiments, the control method further includes steps S500 and S600.

[0161] S500: Establish motion mapping rules between the dexterous hand and the operating unit. Thus, the dexterous hand and the operating unit can move synchronously according to the motion mapping rules.

[0162] It is understandable that the motion mapping rules between the dexterous hand and the operating unit can be set according to the motion form of the operating unit, as long as the control and synchronous motion between the two can be achieved.

[0163] For example, the fingers of a dexterous hand may have multiple knuckles, and the operating part may include a first operating part that is slidably connected to the palm fixing part. In this case, the sliding of the first operating part can correspond to the bending and opening of the multiple knuckles of the dexterous hand's fingers.

[0164] The bending and opening angles of the multiple knuckles corresponding to the specific sliding path of the first operating part can be set according to the actual situation, and this application embodiment does not make further limitations.

[0165] S600: Save the motion mapping rules between the dexterous hand and the operating unit. For example, the control device can save the aforementioned motion mapping rules. Therefore, when the dexterous hand is reconnected to the control device, it can be directly controlled using the saved motion mapping rules without needing to match and create rules again.

[0166] It is understandable that when different dexterous hands and control devices are connected for the first time, the above steps can be used to establish corresponding motion mapping rules, so that the control device can match the motion between different dexterous hands and control different dexterous hands to perform corresponding motions.

[0167] In some embodiments, establishing motion mapping rules between the dexterous hand and the operating unit includes steps S510, S520, S530, and S540.

[0168] S510: Record and determine the reference position of the dexterous hand and the operating unit. Therefore, subsequent movements of the dexterous hand and the operating unit can be performed with reference to this reference position. It is understood that the aforementioned reference position of the dexterous hand refers to the reference position of the moving parts of the dexterous hand (e.g., fingers), and the specific selection of the reference position can be set according to actual circumstances.

[0169] S520: Record and determine the travel distance and movement mode of the dexterous hand and the operating unit. This allows us to determine the travel distance that the dexterous hand and the operating unit can move, as well as their respective dexterity, in order to subsequently determine the mapping rules between them.

[0170] S530: Based on the movement range and mode of the dexterous hand and the operating unit, establish the motion mapping rules. This allows for the establishment of motion mapping rules between the dexterous hand and the operating unit. It is understood that the motion mapping rules can be autonomously established by the control system using predefined rules. For example, the control system can set matching rules for degrees of freedom, movement range, and direction of motion. Thus, by determining the degrees of freedom, movement range, and direction of motion of the corresponding dexterous hand, the control system can formulate corresponding motion mapping rules based on the matching rules.

[0171] S540: Control the movement of the operating unit to synchronize the movement of the dexterous hand and verify the motion mapping rule.

[0172] Therefore, through the above steps, the motion mapping rules for the dexterous hand and the operating unit can be established and verified. The subsequent motion between the dexterous hand and the operating unit can be carried out according to the above motion mapping rules to achieve synchronous motion between the operating unit and the dexterous hand.

[0173] It is understandable that when there are multiple fingers in the manipulator and dexterous hand, the dexterity of these multiple fingers and the manipulator may differ. Therefore, the motion mapping rules for multiple fingers and the manipulator can be established separately in the manner described above, creating independent rules.

[0174] It is understandable that when different dexterous hands and control devices establish communication connections, the above steps can be used to establish motion mapping rules between the operating parts of the dexterous hand and the control device. Subsequently, when the previously connected dexterous hand is reconnected to the control device, the motion mapping rules can be directly used to control the dexterous hand.

[0175] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a data acquisition device, characterized in that, The data acquisition device includes a control device and a dexterous hand; the control device is detachably connected to the dexterous hand and is communicatively connected; the control device includes a hand fixing structure and an operating part. The operating part is movably connected to the palm fixing structure; the control method includes: Control the movement of the operating part relative to the palm fixing structure; The movement of the operating unit controls the dexterous hand to move synchronously.

2. The control method according to claim 1, characterized in that, The data acquisition device further includes a drive mechanism; the drive mechanism is connected to the operating unit; the control method further includes: The motion information of the dexterous hand is acquired and transmitted to the control device; Based on the movement information of the dexterous hand, the drive mechanism is controlled to apply force to the operating part.

3. The control method according to claim 2, characterized in that, The motion information of the dexterous hand includes at least one of the following: tactile normal force, tactile tangential force, drive motor current, joint torque and position, movement speed, and drive state.

4. The control method according to claim 2, characterized in that, Controlling the drive mechanism to apply force to the operating part based on the movement information of the dexterous hand includes: The motion information of the dexterous hand is converted into the driving information of the driving mechanism according to the driving mapping relationship; The drive mechanism is controlled to apply force to the operating part.

5. The control method according to claim 4, characterized in that, The driving mechanism includes a drive motor; converting the motion information of the dexterous hand into driving information of the driving mechanism according to the driving mapping relationship includes: The motion information of one or more of the dexterous hand is preprocessed and converted into overall feedback information according to a preset overall rule; The overall feedback information is converted into the drive current of the drive motor according to the drive mapping relationship.

6. The control method according to claim 5, characterized in that, Converting the motion information of the dexterous hand into the drive information of the drive mechanism according to the drive mapping relationship also includes: If the overall feedback information value exceeds a preset amplitude, adjust the overall feedback information value to be equal to or less than the preset amplitude; and / or, If the rate of change of the overall feedback information exceeds a preset rate of change, adjust the rate of change of the overall feedback information to be equal to or less than the preset rate of change; and / or, If the overall feedback information is abnormal, the current of the drive motor is reduced to zero, and the dexterous hand is stopped from moving.

7. The control method according to claim 1, characterized in that, The control method further includes: Establish motion mapping rules for the dexterous hand and the operating unit; Save the motion mapping rules of the dexterous hand and the operating unit.

8. The control method according to claim 7, characterized in that, The motion mapping rules for the dexterous hand and the operating unit include: Record and determine the reference positions of the dexterous hand and the operating unit; Record and determine the movement stroke and movement mode of the dexterous hand and the operating unit; The motion mapping rules are established based on the movement range and movement pattern of the dexterous hand and the operating unit; Control the movement of the operating unit to make the dexterous hand move synchronously and verify the motion mapping rule.

9. A data acquisition device, characterized in that, The data acquisition device includes a control device, a dexterous hand, and a control system; the control device includes a hand fixing structure and an operating part; the operating part is movably connected to the hand fixing structure; the control system is used to execute the control method according to any one of claims 1-8.

10. A robot system, characterized in that, Includes the data acquisition device as described in claim 9.

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