Bionic artificial finger driven by residual finger and control method therefor

Abstract

Disclosed in the present application is a bionic artificial finger driven by a residual finger, which comprises a hand back support apparatus, an artificial finger driving assembly, an artificial finger assembly, and a residual finger signal acquisition assembly. The residual finger signal acquisition assembly comprises a fixed connection piece, a finger sleeve piece, and a sensing piece. A proximal end of the fixed connection piece is fixedly connected to the hand back support apparatus or a certain knuckle of the residual finger, and a distal end thereof is hinged to the finger sleeve piece. During use, the residual finger passes through a sleeve ring. The bionic artificial finger involved in the present invention can simulate bending and stretching movements of human fingers to a greater extent, achieving the natural bionic effect; moreover, the bionic artificial finger has a simple overall structure and exhibits the advantages of high reliability, controllable cost, and the like, and meanwhile can enable convenient personal customization. In terms of the control scheme, with the residual finger serving as the source of artificial finger control signals, the artificial finger can be controlled conveniently and quickly.

Description

A bionic artificial finger driven by a residual finger and a control method thereof Technical Field

[0001] The present invention relates to the technical field of prosthetic limbs, and in particular to a bionic artificial finger driven by a residual finger and a control method thereof. Background Art

[0002] People with finger disabilities currently mostly wear cosmetic prosthetic fingers. These prosthetic fingers only serve a decorative purpose and have no motor function. They cannot bend or move like natural fingers and cannot assist disabled people in their movements. There are also prosthetic fingers that can assist disabled people in their movements, but most of them have problems such as high prices and complex structures.

[0003] The applicant has applied for several patents, and the currently published patents are CN219070814U

[0004] The bionic prosthetic finger, which uses the missing finger root to drive movement, has a simple overall structure, manageable production costs, and can be quickly customized, facilitating large-scale product promotion and application. However, the complete loss of one or more fingers in finger disabilities (such as the thumb and pinky remaining as shown in Figure 1) is a common condition. There is a lack of widely used solutions for restoring the movement ability of the prosthetic finger to achieve hand function in this situation. Currently, the field uses surface electromyography (EMG) signals from the forearm to control the movement of the prosthetic finger. However, this method has many problems, such as the collected EMG signals cannot accurately reflect the user's movement intention, the EMG signals themselves are unstable, and the EMG signals cannot accurately control the prosthetic finger. Summary of the Invention

[0005] The object of the present invention is to provide a bionic artificial finger driven by a residual finger and a control method thereof, so as to solve the problems existing in the prior art.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention provides a bionic artificial finger driven by a residual finger, comprising a hand back support device, an artificial finger drive component, an artificial finger component, and a residual finger signal acquisition component; the artificial finger component includes at least one single-finger artificial finger unit; the residual finger signal acquisition component includes a fixed connection component, a finger kit, and a sensor component, the proximal end of the fixed connection component is fixedly connected to the hand back support device or a certain knuckle of the residual finger, and the distal end is hinged to the finger kit component, the finger kit component includes a connecting side plate and a ring, the proximal end of the connecting side plate is hinged to the distal end of the fixed connection component, and the sensor component is used to detect the relative rotation angle between the fixed connection component and the finger kit component.

[0007] Furthermore, the sensing element is a rotation sensing element, which is arranged at the hinge of the fixed connecting element and the finger sleeve; or the sensing element is a bending sensor, one side of the bending sensor is fixed to the fixed connecting element, and the other side extends into the slot of the finger sleeve to achieve sliding fit.

[0008] Furthermore, the artificial finger drive assembly includes a control unit, several drive motors, and a drive mounting plate. The drive mounting plate is fixed on the hand back support device, the control unit and the drive motor are arranged on the drive mounting plate, and the artificial finger assembly is connected to the far end of the drive mounting plate; one end of the drive motor is hinged or fixed to the drive mounting plate, and the other end is connected to the single-finger artificial finger unit through the artificial finger connector.

[0009] Furthermore, the back-of-hand support device includes a back-of-hand bionic support plate, a wrist fixing part, a palm fixing part, and a back-of-hand shell; the lower surface of the back-of-hand bionic support plate fits the back of the hand, and is fixed to the back of the user's hand through the wrist fixing part at the bottom and the palm fixing part at the top; the back-of-hand shell is fixed to the back-of-hand bionic support plate to cover the artificial finger drive component.

[0010] Furthermore, the single-finger artificial finger unit includes a finger root pushing mechanism, a finger root knuckle, a middle knuckle, and a fingertip knuckle; the finger root pushing mechanism includes a base, a slider, and a connecting rod; the base is fixed to the distal end of the drive mounting plate, and the slider is slidably connected to the upper surface of the base, one end of the connecting rod is hinged to the slider, and the other end is hinged to the single-finger artificial finger unit; the driving motor pushes the slider back and forth through the artificial finger connecting piece, and the slider drives the single-finger artificial finger unit to move through the connecting rod; or the finger root pushing mechanism includes a base, the base is fixed to the distal end of the drive mounting plate, the proximal end of the drive motor is hinged to the drive mounting plate, and the distal end is hinged to the single-finger artificial finger unit.

[0011] Furthermore, a driving motor drives one or more single-finger finger units through a finger connector; the finger connector is a connecting plate or a connecting rod.

[0012] Furthermore, the distal end of the base is provided with two through holes arranged in an upper and lower manner; the finger root knuckle includes a connecting frame and a connecting rod; the connecting frame includes a shaped connecting rod, a central connecting frame, and a distal connecting rod; the central connecting frame is a frame-like structure with a through hole in the center, and a Y-shaped connecting rod is provided on both sides of the proximal end of the central connecting frame, and a distal connecting rod is provided at the center of the distal end, wherein the distal connecting rod is bent downward and the Y-shaped connecting rod is bent upward, and the Y-shaped connecting rod is Y-shaped, and two rod ends are provided at its proximal end, both of which are provided with hinge holes, wherein the lower end hole of the lower part is hinged to the lower end hole of the distal end of the base, and the upper end hole of the upper part is hinged to the distal end of the connecting rod of the finger root pushing mechanism or is hinged to the output shaft of the drive motor; the distal end of the connecting rod is bent downward and passes through the through hole in the center of the central connecting frame, and the distal end is provided with two hinge holes, and the two hinge holes are inclined The arrangement is one in front and one in back, one up and one down; the middle knuckle comprises a connecting cross bar, an L-shaped connecting rod and an outer shell; a hinge hole is provided at each end of the connecting cross bar, and the L-shaped vertical rod of the L-shaped connecting rod is provided at the proximal end, and its upper and lower ends, as well as the distal end of the cross bar of the connecting rod are provided with hinge holes; the connecting cross bar and the L-shaped connecting rod are arranged side by side and are located on both sides of the connecting frame and the distal end of the connecting rod; the hinge hole at the proximal end of the connecting cross bar is hinged through a pin and the rear hinge hole of the finger root knuckle connecting rod, the hinge hole at the lower part of the L-shaped vertical rod of the connecting rod is connected to the front hole of the finger root knuckle connecting rod, and the hinge hole at the upper part of the L-shaped vertical rod of the L-shaped connecting rod is hinged to the distal end connecting rod end of the finger root knuckle; there is a protrusion at the rear end of the fingertip knuckle, and there are upper and lower holes on the large surface of the protrusion, the upper hole is connected to the hole at the distal end of the connecting cross bar of the middle knuckle through a pin, and the lower hole is connected to the hole at the distal end of the L-shaped connecting rod through a pin.

[0013] The present invention also discloses a control method for a bionic artificial finger, which specifically includes the following steps: S1, the control unit receives the residual finger motion data detected by the residual finger signal acquisition component, and the motion data includes the absolute angle value and angular acceleration of the bending of the finger or knuckle; S2, the control unit controls the driving motor action of the artificial finger driving component according to a preset corresponding relationship to realize the control of the motion of the artificial finger component, which specifically includes the following contents: S21, testing to obtain the minimum and maximum absolute angle values ​​collected by the user's residual finger signal acquisition component, and establishing a corresponding relationship between the angle value of the bending of the residual finger or knuckle and the angle value of the bending of the single-finger artificial finger unit; then, based on the corresponding relationship, determining the corresponding relationship between the angle value and angular acceleration of the bending of the residual finger or knuckle and the stroke and acceleration of the driving motor; S22, when the absolute value angle of the residual finger detected by the residual finger signal acquisition component is greater than the minimum absolute angle value, the control unit uses the angular acceleration to calculate the angular velocity and converts it into the current speed of the driving motor and drives the driving motor according to this speed; when the instantaneous speed is, the driving motor stops moving. Beneficial effects

[0014] The bionic artificial finger of the present invention can largely simulate the bending and stretching movements of a human finger, achieving a natural bionic effect. Furthermore, it has a simple overall structure, high reliability, and controllable costs, and can also be easily customized.

[0015] In terms of control, by using the residual finger as the source of the prosthetic finger control signal, the user's movement intention for the prosthetic finger can be accurately reflected; the movement signal of the residual finger is clear and accurate, and the prosthetic finger can be precisely controlled to follow the movement.

[0016] In order to make the concepts and other purposes, advantages, features and functions of the present invention more clearly understood, preferred embodiments will be specifically cited in the following specific implementation manner and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] FIG1 is a schematic diagram of the hands of people with finger disabilities applicable to the present invention;

[0019] FIG2 is an overall schematic diagram of a technical solution of an embodiment of the present invention;

[0020] FIG3 is an exploded view of a technical solution according to an embodiment of the present invention;

[0021] FIG4 is a partial schematic diagram of an embodiment of the present invention;

[0022] FIG5 is a partial schematic diagram of another embodiment of the present invention;

[0023] FIG6 is a partial explosion diagram of another embodiment of the present invention;

[0024] FIG7 is an exploded schematic diagram of a single-finger motif unit according to an embodiment of the present invention;

[0025] FIG8 is a schematic diagram of a residual finger signal acquisition component according to an embodiment of the present invention;

[0026] FIG9 is a schematic diagram of an explosion of a residual finger signal acquisition component according to an embodiment of the present invention;

[0027] FIG10 is a schematic diagram of a residual finger signal acquisition component according to another embodiment of the present invention;

[0028] FIG11 is a schematic diagram of an explosion of a residual finger signal acquisition component according to another embodiment of the present invention;

[0029] FIG12 is a schematic diagram of a residual finger signal acquisition component according to another embodiment of the present invention;

[0030] FIG13 is a schematic diagram of an explosion of a residual finger signal acquisition component according to another embodiment of the present invention; DETAILED DESCRIPTION

[0031] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0032] As shown in Figures 2-7 , a bionic artificial finger driven by a residual finger according to the present invention includes a hand back support device 10 , an artificial finger driving component 20 , an artificial finger component 30 , and a residual finger signal acquisition component 40 .

[0033] As shown in Figures 1, 2, and 3, the back-of-hand support device 10 includes a back-of-hand bionic support plate 100, a wrist fastener 101, a palm fastener 102, and a back-of-hand housing 103. The lower surface of the back-of-hand bionic support plate 100 fits the back of the hand and is secured to the back of the user's hand via the wrist fastener 101 at the bottom and the palm fastener 102 at the top. The wrist fastener 101 and the palm fastener 102 can be soft-material belts, or further, closed elastic belts such as latex fasteners, or belts with open ends having a retractable structure such as nylon adhesive or a snap fastener. The back-of-hand housing 103 is secured to the back-of-hand bionic support plate 100 to cover the artificial finger drive assembly 20 and protect it from damage by external forces.

[0034] The artificial finger driving assembly 20 includes a control unit 200 , a driving motor 201 , and a driving mounting plate 203 , and is disposed in a cavity between the back-of-hand housing 103 and the back-of-hand bionic support plate 100 .

[0035] The drive mounting plate 203 is connected to the back-of-hand bionic support plate 100. The control unit 200 and drive motor 201 are mounted on the drive mounting plate 203. The artificial finger assembly 30 is connected to the distal end of the drive mounting plate 203. The terms "proximal" and "distal" are used to define the bionic artificial finger after it is worn, using the wearer's torso as a reference. The proximal end is the end closest to the torso, while the distal end is the end farther from the torso.

[0036] One end of the driving motor 201 is hinged or fixed to the driving mounting plate 203, and the other end is connected to the finger assembly 30 through the finger connector 2011. When the motor is running, it drives the fingers of the finger assembly 30 to bend or straighten.

[0037] The control unit 200 is an integrated circuit board fixed on the drive mounting plate 203; multiple interfaces are installed on it, some of which are external batteries, some are connected to the drive motor; and some are connected to the sensor; its function is to convert the composite signal collected by the sensor into the corresponding rotation of the drive motor and drive the linear motion of its push rod, thereby driving the sliding of the slider, and finally driving the bending or straightening of the mechanical finger, so that the movement of the mechanical finger follows the movement of the remaining finger.

[0038] The finger assembly 30 includes at least one single finger finger unit 301, three of which are shown in the figure.

[0039] The single-finger artificial finger unit 301 includes a finger base pushing mechanism f1, a finger base joint f2, a middle joint f3, and a fingertip joint f4.

[0040] In one embodiment of the present application, the finger root pushing mechanism f1 is composed of a base f11, a slider f12, and a connecting rod f13.

[0041] The base f11 is fixed to the distal end of the drive mounting plate 203 , and the base f11 is fixed to the groove f110 at the distal end of the drive mounting plate 203 .

[0042] The slider f12 is slidably connected to the upper surface of the base f11 , and specifically, corresponding grooves or protrusions may be provided on the upper surface of the base f11 .

[0043] One end of the connecting rod f13 is hinged to the slider, and the other end is hinged to the upper end hole of the two hinge holes at the proximal end of the connecting frame f21 of the finger base joint f2.

[0044] The distal end of the base f11 is provided with two through holes arranged in an upper and lower arrangement, wherein the upper hole f11a is hinged to the hinge hole at the proximal end of the connecting rod f22 at the base of the finger joint f2; the lower hole f11b at the distal end of the base is hinged to the lower hole of the two hinge holes at the proximal end of the connecting frame f21;

[0045] The finger joint f2 includes a connecting frame f21 and a connecting rod f22.

[0046] The connection frame f21 includes a Y-shaped connection rod f211, a central connection frame f212, and a distal connection rod f213.

[0047] The central connecting frame f212 is a frame-shaped structure with a through hole in the center. A Y-shaped connecting rod f211 is provided on both sides of the proximal end of the central connecting frame f212, and a distal connecting rod f213 is provided at the center of the distal end, wherein the distal connecting rod f213 is bent downward and the Y-shaped connecting rod f211 is bent upward. The Y-shaped connecting rod f211 is Y-shaped, and its proximal end is provided with two rod ends, both of which are provided with hinge holes, wherein the lower end hole f211b of the lower part is hinged to the lower end hole of the distal end of the base, and the upper end hole f211a of the upper part is hinged to the distal end of the connecting rod f13.

[0048] The distal end of the connecting rod f22 bends downward and passes through the through hole in the center of the central connecting frame f212. Two hinge holes are provided at the distal end. The two hinge holes are arranged obliquely, that is, one in front and one behind, and one up and one down. The distal end is T-shaped, or is provided with a flat part. The proximal end is provided with a hinge hole, wherein the proximal hinge hole is hinged to the distal upper end hole of the base f11.

[0049] The middle finger joint f3 consists of a connecting crossbar f31, an L-shaped connecting rod f32, and a housing f33. The connecting crossbar f31 has hinge holes at each end. The L-shaped vertical rod of the L-shaped connecting rod f32 is located at the proximal end, with hinge holes at its upper and lower ends, as well as at the distal end of the L-shaped connecting rod f32. The connecting crossbar f31 and L-shaped connecting rod f32 are arranged in parallel, on either side of the distal ends of the connecting frame f21 and connecting rod f22.

[0050] The proximal hinge hole of the connecting cross bar f31 is hinged to the rear hinge hole f213b of the connecting rod f22 at the base of the finger knuckle f2 through a pin. The hinge hole f32b at the lower part of the L-shaped vertical bar of the L-shaped connecting rod f32 is connected to the front hole f213a of the connecting rod f22 at the base of the finger knuckle f2. The hinge hole f32a at the upper part of the L-shaped vertical bar of the L-shaped connecting rod f32 is hinged to the end of the distal connecting rod f213 at the base of the finger knuckle f2.

[0051] The hinge holes at the distal ends of the connecting crossbar f31 and L-shaped connecting rod f32 are hingedly connected to two hinge holes arranged one above the other at the proximal ends of the fingertip knuckle f4. The shell f33 is in the shape of a hollow tubular column, through which the connecting crossbar f31 and L-shaped connecting rod f32 pass. The shell f33 is fixed to the L-shaped connecting rod f32. Specifically, the shell f33 has through-holes at the front and rear ends. When the corners of the L-shaped connecting rod are connected to the hinge holes at one end, pins pass through the through-holes at the front and rear ends of the shell f33 to enable the shell f33 to rotate together with the L-shaped connecting rod. The bottom of the shell is used to contact and grasp objects. The shell f33 can also be attached to the connecting crossbar f31. The shell f33 can also be connected to the connecting crossbar f31 and L-shaped connecting rod f32 via separate through-holes using pins. The shell 33 includes a hard main body f332 and a soft shell f331.

[0052] The front end of the fingertip knuckle f4 is a bionic fingertip, and the rear end has a protrusion. There are two upper and lower holes on the large surface of the protrusion. The upper hole is connected to the hole at the far end of the connecting crossbar f31 of the middle fingertip f3 through a pin, and the lower hole is connected to the hole at the far end of the L-shaped connecting rod f32 through a pin; the bionic fingertip is used to contact and grasp objects.

[0053] During use, the driving motor 201 pushes the slider f12 to move forward and backward through the artificial finger connector 2011 , and the slider f12 drives the connecting frame f21 to swing up and down through the connecting rod f13 , thereby realizing the movement of the single-finger artificial finger unit 301 .

[0054] One driving motor 201 may be provided corresponding to one single-finger pseudo-finger unit 301 , and in this case, the pseudo-finger connecting member 2011 may be a connecting rod.

[0055] Alternatively, multiple single-finger artificial finger units 301 may share a common drive motor 201. In this case, the artificial finger connector 2011 is a connecting plate, one side of which is connected to the output shaft of the drive motor 201, and the other side is connected to the sliders f12 of the multiple single-finger artificial finger units 301. As shown in Figures 3 and 4, the artificial finger connector 2011 is plate-shaped, and the front end is connected to the slide by a bolt structure, and its connecting holes are arranged according to the positional relationship of the single-finger artificial finger units 301.

[0056] As shown in Figures 5 and 6 , in another embodiment of the present application, the finger-base propulsion mechanism f1 comprises only a base f11. The artificial finger connector 2011 is a rod-shaped structure that passes through the upper hole at the proximal end of the frame f21 of the finger-base joints f2 of the multiple artificial finger units and connects to the output shaft of the drive motor 201. The proximal end of the drive motor 201 is hingedly connected to the drive mounting plate 203.

[0057] As shown in Figures 8-13, the remaining finger signal acquisition assembly 40 includes a fixed connector 401, a finger sleeve 402, and a sensor 403. The proximal end of the fixed connector 401 is fixedly connected to the hand back support device 10 (see Figures 2, 8, and 10) or a knuckle of the remaining finger (see Figure 12), and the distal end is hinged to the finger sleeve 402. The finger sleeve 402 includes a connecting side plate and a collar. The proximal end of the connecting side is hinged to the distal end of the fixed connector 401. The collar is located at the distal end of the connecting side plate and is an annular structure. The connecting side plate and collar are integrally formed. During use, the remaining finger passes through the collar, driving the finger sleeve 402 to rotate relative to the fixed connector 401.

[0058] As shown in FIG12 , the finger sleeve 40 can be set on a knuckle of the remaining finger, specifically the base knuckle or the middle knuckle. In this case, the finger sleeve 402 is set on the knuckle at the distal end of the knuckle.

[0059] As shown in Figures 11 and 13, the sensor 403 is a rotation sensor for detecting the relative rotation angle between the fixed connection 401 and the finger kit 402. It can be a common rotation sensor, such as an angle sensor, and can be set at the hinge of the fixed connection 401 and the finger kit 402.

[0060] As shown in Figure 9, the sensing element 403 can also be a bending sensor. One embodiment of the present application adopts a Flex sensor, which includes an integrated circuit part and a bending sensor part. The integrated circuit part is fixed to the fixed connecting part 401. One side of the bending sensor part is fixed to the integrated circuit part, and the other side is inserted into the slot on the finger kit 402 to achieve sliding. When the finger kit 402 moves downward, the bending sensor part can detect the degree of bending.

[0061] The sensor 403 may also include a force sensor, which is arranged on the upper part of the fixed connecting member 401. When the finger kit 402 moves downward, the connecting piece arranged on the upper part of the finger kit 402 pulls the force sensor, and the downward movement of the finger kit 402 is determined by detecting the force applied to the force sensor.

[0062] The specific connection method of the fixed connecting member 401 and the back of the hand support device 10 can be as described as follows: the fixed connecting member 401 is fixedly connected to the back of the hand bionic support plate 100 or the palm fixing member 102. The attached figure is on the palm fixing member 102. The back of the hand bionic support plate 100 or the palm fixing member 102 in the connection area of ​​the fixed connecting member 401 is made of hard material and is provided with a connecting groove. The corresponding position of the fixed connecting member 401 is also provided with a connecting groove, and the shape is consistent with the shape of the back of the hand bionic support plate 100 or the palm fixing member 102 in the connection area, and fixation is achieved by passing the connecting groove through the connecting belt or the clamping plate 404.

[0063] The present application also provides a control method for a bionic artificial finger driven by a residual finger, which specifically comprises the following steps:

[0064] S1, the control unit 200 receives the residual finger motion data detected by the residual finger signal acquisition component 40, the motion data including the absolute angle value and angular acceleration of the finger or knuckle bending;

[0065] S2, the control unit controls the driving motor 201 of the finger driving assembly 20 according to the preset corresponding relationship to realize the control of the movement of the finger assembly 30, specifically including the following contents:

[0066] S21. Due to the limitations of the actual bending angle of human fingers and individual differences, the minimum and maximum absolute angle values ​​collected by the user's remaining finger signal collection assembly 40 are obtained through testing. The control unit converts the minimum and maximum absolute angle values ​​collected by the remaining finger signal collection assembly 40 into the minimum and maximum travel limits of the drive motor 201 through a preset correspondence. The preset correspondence is related to the travel of the drive motor and the dimensions of the components of the artificial finger drive assembly 20 and artificial finger assembly 30, wherein the dimensions of the components of the artificial finger drive assembly 20 and artificial finger assembly 30 are related to the user's physical condition. One correspondence is to establish a correspondence between the bending angle value of the remaining finger or knuckle and the bending angle value of the single-finger artificial finger unit 301. This can be a linear relationship across the entire range, i.e., when the remaining finger bends a certain degree, the single-finger artificial finger unit 301 will follow suit by that angle or a multiple of that angle. Alternatively, it can be a non-linear relationship across two or more linear ranges, such as, for example, within the first angle, the bending angle value of the single-finger artificial finger unit 301 is the first multiple of the bending angle value of the remaining finger or knuckle, and within the next angle, the bending angle value is the second multiple, with the first multiple generally being the larger. Then, based on the above-mentioned corresponding relationship of the bending angle values, combined with the driving motor stroke, the dimensions of the components of the artificial finger driving assembly 20 and the artificial finger assembly 30, the driving motor stroke corresponding to the bending of the single-finger artificial finger unit 301 to a certain angle is calculated, and then the corresponding relationship between the accelerations is calculated based on the above-mentioned corresponding relationship;

[0067] S22. When the absolute angle of the remaining finger detected by the remaining finger signal acquisition component 40 is greater than the minimum absolute angle value, the control unit uses the angular acceleration to calculate the angular velocity and converts it into the current speed of the drive motor 201. The current speed formula is Vcurrent moment = Vprevious moment + at (a is the acceleration of the drive motor 201 converted from the angular velocity; t = current moment - previous moment) and drives the drive motor 201 to move at this speed; because the acceleration can be positive or negative, the current speed obtained by the drive motor 201 can also be large or small; when the instantaneous speed is 0, the drive motor 201 stops moving; through the above control, the artificial finger can follow the residual finger.

[0068] In terms of safety, the control unit 200 controls the drive motor 201 to move only within the minimum and maximum stroke limits.

[0069] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0070] It should be noted that, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," "fixed," and "set" should be understood in a broad sense. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0071] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A bionic finger driven by a residual finger, characterized in that, It includes a dorsal hand support device, a prosthetic finger drive assembly, a prosthetic finger assembly, and a residual finger signal acquisition assembly; the prosthetic finger assembly includes at least one single-finger prosthetic finger unit; the residual finger signal acquisition assembly includes a fixed connecting piece, a finger sleeve, and a sensing piece. The proximal end of the fixed connecting piece is fixedly connected to a certain phalanx of the dorsal hand support device or the residual finger, and the distal end is hinged to the finger sleeve. The finger sleeve includes a connecting side plate and a collar. The proximal end of the connecting side plate is hinged to the distal end of the fixed connecting piece. The sensing piece is used to detect the relative rotation angle between the fixed connecting piece and the finger sleeve.

2. The bionic finger according to claim 1, characterized in that, The sensing piece is a rotary sensing piece and is arranged at the hinge joint between the fixed connecting piece and the finger sleeve; or the sensing piece is a bending sensor, one side of the bending sensor part is fixed to the fixed connecting piece, and the other side extends into the slot of the finger sleeve to achieve a sliding fit.

3. The bionic finger according to claim 1, characterized in that, The prosthetic finger drive assembly includes a control unit, a plurality of drive motors, and a drive mounting plate. The drive mounting plate is fixed on the dorsal hand support device. The control unit and the drive motors are arranged on the drive mounting plate. The prosthetic finger assembly is connected to the distal end of the drive mounting plate; one end of the drive motor is hinged or fixedly connected to the drive mounting plate, and the other end is connected to the single-finger prosthetic finger unit through a prosthetic finger connecting piece.

4. The bionic finger according to claim 3, characterized in that, The dorsal hand support device includes a dorsal hand bionic support plate, a wrist fixing piece, a palm fixing piece, and a dorsal hand shell; the lower surface of the dorsal hand bionic support plate is attached to the dorsal hand and is fixed on the user's dorsal hand through the wrist fixing piece at the lower part and the palm fixing piece at the upper part. The dorsal hand shell is fixed on the dorsal hand bionic support plate and is used to cover the prosthetic finger drive assembly.

5. The bionic finger according to claim 3, characterized in that, The single-finger prosthetic finger unit includes a finger root pushing mechanism, a finger root phalanx, a middle phalanx, and a fingertip phalanx; the finger root pushing mechanism includes a base, a slider, and a connecting rod; the base is fixed to the distal end of the drive mounting plate, the slider is slidably connected to the upper surface of the base, one end of the connecting rod is hinged to the slider, and the other end is hinged to the single-finger prosthetic finger unit; the drive motor pushes the slider back and forth through the prosthetic finger connecting piece, and the slider drives the single-finger prosthetic finger unit to act through the connecting rod; Or the finger root pushing mechanism includes a base, the base is fixed to the distal end of the drive mounting plate, the proximal end of the drive motor is hinged to the drive mounting plate, and the distal end is hinged to the single-finger prosthetic finger unit.

6. The bionic finger according to claim 5, characterized in that, One drive motor drives one or more single-finger prosthetic finger units through a prosthetic finger connecting piece; the prosthetic finger connecting piece is a connecting plate or a connecting rod.

7. The bionic finger according to claim 3, characterized in that, There are two through holes arranged vertically at the distal end of the base; the finger root phalanx includes a connecting frame and a connecting rod; the connecting frame includes a shaped connecting rod, a central connecting frame, and a distal connecting rod; the central connecting frame is a frame structure with a through hole in the center. On both sides of the proximal end of the central connecting frame, there is a Y-shaped connecting rod respectively. At the central part of the distal end, there is a distal connecting rod. The distal connecting rod bends downward, and the Y-shaped connecting rod bends upward. The Y-shaped connecting rod is in a Y shape. At its proximal end, there are two rod ends, both provided with hinge holes. The lower end hole of the lower part is hinged to the lower end hole at the distal end of the base, and the upper end hole of the upper part is hinged to the distal end of the connecting rod of the finger root pushing mechanism or hinged to the output shaft of the driving motor; the distal end of the connecting rod bends downward, passes through the through hole in the center of the central connecting frame, and at the distal end, there are two hinge holes, and the two hinge holes are arranged obliquely, that is, one in front and one behind, one above and one below; the middle phalanx includes a connecting cross bar, an L-shaped connecting rod, and a housing; hinge holes are provided at both ends of the connecting cross bar. The L-shaped vertical rod of the L-shaped connecting rod is arranged at the proximal end, and hinge holes are provided at its upper and lower ends and at the distal end of the cross bar of the shaped connecting rod; the connecting cross bar, the L-shaped connecting rod are arranged side by side and are located on both sides of the connecting frame and the distal end of the connecting rod; the hinge hole at the proximal end of the connecting cross bar is hinged to the rear hinge hole of the finger root phalanx connecting rod through a pin. The hinge hole at the lower part of the L-shaped vertical rod of the shaped connecting rod is connected to the front hole of the finger root phalanx connecting rod, and the hinge hole at the upper part of the L-shaped vertical rod of the L-shaped connecting rod is hinged to the end of the distal connecting rod of the finger root phalanx; there is a protrusion at the rear end of the fingertip phalanx. There are two holes, upper and lower, on the large surface of the protrusion. The upper hole is connected to the hole at the distal end of the connecting cross bar of the middle phalanx through a pin, and the lower hole is connected to the hole at the distal end of the L-shaped connecting rod through a pin.

8. A control method for the bionic artificial finger according to any one of claims 1-7, characterized in that, Specifically, it includes the following steps: S1. The control unit receives the residual finger movement data detected by the residual finger signal acquisition component. The movement data includes the absolute angle value and angular acceleration of the finger or phalanx bending. S2. The control unit controls the driving motor of the artificial finger driving component according to the preset corresponding relationship to realize the control of the movement of the artificial finger component. Specifically, it includes the following contents: S21. Test the minimum and maximum absolute angle values collected by the residual finger signal acquisition component of the user, and establish the corresponding relationship between the angle value of the residual finger or phalanx bending and the angle value of the single artificial finger unit bending; then determine the corresponding relationship between the angle value and angular acceleration of the residual finger or phalanx bending and the stroke and acceleration of the driving motor according to this corresponding relationship. S22. When the absolute value angle of the residual finger detected by the residual finger signal acquisition component is greater than the minimum absolute angle value, the control unit calculates the angular velocity from the angular acceleration and converts it into the current speed of the driving motor and drives the driving motor to act according to this speed; when the instantaneous speed is, the driving motor stops moving.

Images