CN117773952A - Bionic hand control method, storage medium, control device and bionic hand - Google Patents

Abstract

The invention discloses a bionic hand control method, which comprises the steps of obtaining characteristic information of a preset object and actions to be executed currently by a bionic hand; determining the force application size of the bionic hand according to the characteristic information of the preset object and the action to be executed currently; and controlling the bionic hand to execute the action according to the determined force application size. The invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the bionic hand control method when being executed by a processor. The invention also discloses a control device which comprises a memory and a processor. The invention also discloses a bionic hand, which comprises a control device. According to the technical scheme, the use experience of a bionic hand wearer is improved.

Description

Bionic hand control method, storage medium, control device and bionic hand

Technical field

The present invention relates to the technical field of bionic hands, and in particular to a bionic hand control method, a storage medium, a control device and a bionic hand.

Background technique

The smart bionic hand is an intelligent product that highly integrates brain-computer interface technology with artificial intelligence algorithms. The smart bionic hand can extract the electromyographic signal of the wearer's arm, identify the wearer's movement intention, and convert the motion diagram into the movements of the smart bionic hand, allowing patients with upper limb amputations to improve their life experience based on the bionic hand.

At present, the bionic hand cannot accurately control or adjust the strength when performing actions. As a result, the gesture actions completed by the bionic hand cannot achieve the desired effect and cannot meet the needs of the user, which affects the user experience of the wearer of the bionic hand.

Contents of the invention

The invention provides a bionic hand control method, storage medium, control device and bionic hand, aiming to improve the user experience of the wearer of the bionic hand.

In order to achieve the above objects, the present invention adopts the following technical solutions:

The invention proposes a bionic hand control method. The bionic hand control method includes:

Obtain the characteristic information of the predetermined object and the current action to be performed by the bionic hand;

Determine the amount of force exerted by the bionic hand according to the characteristic information of the predetermined object and the currently to-be-performed action;

The bionic hand is controlled to perform the action according to the determined force application.

In some embodiments, the characteristic information includes attributes of the predetermined object, and obtaining the characteristic information of the predetermined object includes:

Obtain an image of the predetermined object;

Analyze the image according to a pattern recognition algorithm to obtain the outline characteristics of the predetermined object;

The attribute of the predetermined object is determined according to the contour feature.

In some embodiments, determining the attributes of the predetermined object based on contour features includes:

Compare the contour features with the item images in the local database to obtain comparison results;

The attributes of the predetermined object are determined based on the comparison results.

In some embodiments, the characteristic information includes the weight characteristic of the predetermined object, and the obtaining the characteristic information of the predetermined object further includes:

Calculating the volume of the predetermined object according to the contour feature;

Upon receiving the material information input by the user, the weight characteristics of the predetermined object are calculated.

In some embodiments, determining the force applied by the bionic hand based on the characteristic information of the predetermined object and the currently to-be-performed action includes:

Get the default strength template;

The characteristic information of the predetermined object and the strength information corresponding to the currently to-be-performed action are determined according to the preset force template to determine the force exerted by the bionic hand.

In some embodiments, obtaining a preset force template includes:

Collecting a number of sample information and force information corresponding to each sample information, wherein the sample information includes feature information of the sample object and sample motion information of the bionic hand;

A mapping relationship between the sample information and the intensity information is established, and a intensity information template is generated.

In some embodiments, controlling the bionic hand to perform the action according to the determined force application includes:

Control the bionic hand to perform the action on the predetermined object, and monitor the contact force between the bionic hand and the predetermined object in real time;

When the contact force increases to the magnitude of the applied force, the bionic hand is controlled to stop moving.

The present invention further proposes a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the bionic hand control method described in the above embodiments are implemented.

The present invention further proposes a control device, which includes a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to implement the steps of the bionic hand control method described in the above embodiment when executing the computer program.

The present invention further proposes a bionic hand. The bionic hand includes a control device, and the control device is the above-mentioned control device.

In the technical solution of the bionic hand control method of the present invention, the force applied by the bionic hand is determined based on the obtained characteristic information of the predetermined object and the current action to be performed, and then the action is controlled by the bionic hand according to the force applied, which can be more accurate. Control the bionic hand to complete the action on the predetermined object to avoid damage to the predetermined object caused by excessive force or failure to complete the action due to too small force, thereby improving the user experience of the wearer of the bionic hand.

Description of drawings

FIG1 is a schematic flow chart of a bionic hand control method provided by an embodiment of the present invention;

Figure 2 is a schematic flowchart of obtaining characteristic information of a predetermined object according to an embodiment of the present invention;

Figure 3 is a schematic flowchart of determining attributes of a predetermined object according to an embodiment of the present invention;

Figure 4 is a schematic flowchart of obtaining characteristic information of a predetermined object according to another embodiment of the present invention;

FIG5 is a schematic diagram of a process for determining the force applied by a bionic hand according to an embodiment of the present invention;

Figure 6 is a schematic flowchart of obtaining a preset strength template according to an embodiment of the present invention;

FIG7 is a schematic diagram of a flow chart of an action performed by a bionic hand provided by an embodiment of the present invention;

Figure 8 is a schematic structural diagram of a control device provided by an embodiment of the present invention.

The realization of the purpose, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings.

Detailed ways

The solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiment of the present invention are only used to explain the relationship between components in a specific posture (as shown in the drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

It should also be noted that when an element is referred to as being "mounted" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is said to be "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

In addition, descriptions involving "first", "second", etc. in the present invention are for descriptive purposes only and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions in various embodiments can be combined with each other, but it must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that such a combination of technical solutions does not exist. , nor within the protection scope required by the present invention.

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

The invention proposes a bionic hand control method.

Refer to FIG. 1 , which is a schematic flowchart of a bionic hand control method provided by an embodiment of the present invention.

The bionic hand control method in the embodiment of the present application includes:

Step S10, acquiring characteristic information of a predetermined object and the action to be currently performed by the bionic hand;

Step S20, determining the force applied by the bionic hand according to the characteristic information of the predetermined object and the action to be performed currently;

Step S30: Control the bionic hand to perform an action by pressing the determined force level.

In step S10, by obtaining the characteristic information of the predetermined object and the current action to be performed by the bionic hand, it is possible to determine the force that the bionic hand needs to exert on the predetermined object to complete the current action to be performed. The predetermined object may be an object that the wearer of the bionic hand wants to perform an action with the bionic hand. For example, the predetermined object is a cup, and the wearer of the bionic hand can pick up the cup with the bionic hand. The characteristic information of the predetermined object in this embodiment may be the size, material, weight and other information of the predetermined object. In this embodiment, the characteristic information of the predetermined object may be input by the user, or may be scanned and recognized by the bionic hand through other smart devices.

In step S20, the force applied by the bionic hand can be determined based on the characteristic information of the predetermined object and the current action to be performed, so that the bionic hand can control the force exerted on the predetermined object, thereby improving the use of the bionic hand wearer. experience. In this embodiment, the force applied by the bionic hand can be determined by combining the characteristic information of the predetermined object with the action currently to be performed by the bionic hand and comparing it with the historical database. It should be noted that different predetermined objects require different amounts of force when combined with different actions. For example, grabbing mineral water vertically and grabbing a mineral water bottle horizontally require different strength requirements, and grabbing a whole bottle of water vertically and grabbing half a bottle of water vertically require different amounts of force. The force requirements are also different. In this way, by combining the characteristic information of the predetermined object and the current action to be performed to determine the amount of force required, the bionic hand can be more accurately controlled to complete the action on the predetermined object.

In step S30, by controlling the bionic hand to perform an action according to the determined force, the force applied by the bionic hand to the predetermined object can meet the requirements of the wearer of the bionic hand, thereby improving the user experience of the wearer of the bionic hand and avoiding damage to the predetermined object due to excessive force or failure to complete the action due to insufficient force. In this embodiment, the force applied by the bionic hand can be controlled by the control device of the bionic hand.

In the bionic hand control method of the embodiment of the present application, the force applied by the bionic hand is determined by acquiring the characteristic information of the predetermined object and the current action to be performed, and then the bionic hand is controlled to perform the action according to the force applied. The bionic hand can be more accurately controlled to complete the action on the predetermined object, avoiding damage to the predetermined object due to excessive force or failure to complete the action due to insufficient force, thereby improving the user experience of the wearer of the bionic hand.

Refer to FIG. 2 , which is a schematic flowchart of obtaining characteristic information of a predetermined object according to an embodiment of the present invention.

In some embodiments, the characteristic information includes attributes of a predetermined object, and obtaining the characteristic information of the predetermined object includes:

Step S11, obtain the image of the predetermined object;

Step S12, analyze the image according to the pattern recognition algorithm to obtain the outline characteristics of the predetermined object;

Step S13, determining the attributes of the predetermined object according to the contour features.

In step S11, the predetermined object can be identified through the image by obtaining an image of the predetermined object, so that the characteristic information of the predetermined object can be obtained. In this embodiment, the image of the predetermined object can be obtained through the camera installed on the bionic hand; the image of the predetermined object can also be obtained through other smart wearable devices, where the image can be a picture or a video.

In step S12, according to the image of the predetermined object obtained in step S11, the image can be analyzed using a pattern recognition algorithm to obtain the outline characteristics of the predetermined object, so that the characteristic information of the predetermined object can be obtained. Among them, image analysis can be analyzing the shape, color distribution, texture characteristics of objects, etc. The outline feature in this embodiment may be the external shape and size of the object.

In step S13, the attributes of the predetermined object can be determined by the contour features obtained in step S12, so as to identify the specific category of the predetermined object. The attributes of the predetermined object in this embodiment can be color, size, material, weight, etc. For example, the size of the bag can be used to determine whether the bag is a handbag or a large backpack.

In this way, in this embodiment, by analyzing the image of the predetermined object through the graphic recognition algorithm, the outline features of the predetermined object can be obtained, and the attributes of the predetermined object can be determined based on the outline features, so that the category of the predetermined object can be more accurately located, and the category of the predetermined object can be more accurately located. Accurately determine the amount of force required for the intended target.

Refer to FIG. 3 , which is a schematic flowchart of determining attributes of a predetermined object according to an embodiment of the present invention.

In some embodiments, determining attributes of the predetermined object based on contour features includes:

Step S131, compare the contour features with the item images in the local database to obtain the comparison results;

Step S132: Determine the attributes of the predetermined object based on the comparison results.

In step S131, by comparing the contour feature with the object image in the local database, a comparison result can be obtained, so that the attribute of the predetermined object can be determined, so that the judgment of the force applied to the predetermined object is more accurate. In this embodiment, an object image database can be established and stored in the bionic hand so that it can be easily retrieved during the comparison. In this embodiment, the contour feature can be compared with the object image in the local database in sequence to obtain the comparison result, or the comparison can be performed simultaneously, and the object image with the greatest similarity can be selected as the comparison result. For example, the contour feature can be compared with the object image in the local database, and the comparison result can be obtained as a bottle.

In step S132, the comparison result obtained through the comparison in step S131 can determine the attributes of the predetermined object, so that the specific category of the predetermined object can be identified, so that the bionic hand can more accurately determine the amount of force exerted on the predetermined object, thereby Improve the user experience of bionic hand wearers. For example, if the predetermined object is compared with the object image in the local database based on the outline characteristics of the predetermined object, it can be determined that the predetermined object is a thermos cup.

In this way, in this embodiment, by comparing the outline features with the object images in the local database, and determining the attributes of the predetermined object based on the comparison results, the specific category of the predetermined object is identified, so as to facilitate the bionic hand. More accurately determine the amount of force exerted on the intended object, thereby improving the experience of the wearer of the bionic hand.

Referring to FIG. 4 , FIG. 4 is a schematic flowchart of obtaining characteristic information of a predetermined object according to another embodiment of the present invention.

In some embodiments, the characteristic information includes the weight characteristic of the predetermined object, and obtaining the characteristic information of the predetermined object further includes:

Step S14, calculate the volume of the predetermined object based on the contour features;

Step S15: When receiving the material information input by the user, calculate the weight characteristics of the predetermined object.

In step S14, according to the contour characteristics of the predetermined object in the acquired image, the volume of the predetermined object can be calculated, so that the weight information of the predetermined object can be obtained, so that the force exerted by the bionic hand on the predetermined object can be further determined. For example, whether the predetermined object is a large backpack or a small backpack can be determined based on the volume calculated from the contour characteristics of the predetermined object.

In step S15, when the material information input by the user is received, the weight of the predetermined object can be calculated based on the density of different materials and the volume of the predetermined object in step S14 to obtain the weight characteristics of the predetermined object, so that a more accurate determination can be made The amount of force required to predetermine the object. For example, if the predetermined object is a cup and the material information input by the user is glass, the weight of the glass can be calculated based on the volume of the cup, so that the amount of force required to pick up the glass can be determined. For example, there are two grabbed objects, namely object A and object B. Among them, the gravity of object A is 5N and the gravity of object B is 20N. When the bionic hand needs to grab object A, control the use of the fingers of the bionic hand. A force greater than or equal to 5N (required grasping force) clamps object A, that is, the component of the required grasping force in the direction of gravity must be just greater than the gravity of the object being grasped. When the bionic hand needs to grab object B, control the fingers of the bionic hand to use a force greater than or equal to 20N (required gripping force) to clamp object B to ensure that the component of the required gripping force in the direction of gravity is just greater than The gravity of object B.

In this way, in this embodiment, the volume of the predetermined object is calculated based on the contour characteristics, and then after receiving the material information input by the user, the weight characteristics of the predetermined object are calculated based on the density and volume of the material, so that the predetermined object can be accurately determined based on the weight characteristics. The amount of force required by the object.

Referring to FIG. 5 , FIG. 5 is a schematic flowchart of determining the force exerted by a bionic hand according to an embodiment of the present invention.

In some embodiments, determining the force exerted by the bionic hand according to the characteristic information of the predetermined object and the current action to be performed includes:

Step S21, obtain the preset strength template;

Step S22: Determine the characteristic information of the predetermined object and the strength information corresponding to the current action to be performed according to the preset force template to determine the force exerted by the bionic hand.

In step S21, the force exerted by the bionic hand can be obtained by referring to the preset force template uploaded in advance in the local data of the bionic hand. For example, when it is recognized that the predetermined object is a glass, the amount of force required to grasp the glass can be determined based on the grasping force corresponding to the glass on the preset force template.

In step S22, the feature information of the predetermined object and the force information corresponding to the current action to be performed are determined according to the preset force template, and the force applied by the bionic hand can be determined, so that the wearer of the bionic hand can accurately apply force to complete the action when using the bionic hand. For example, when the predetermined object is a mineral water bottle filled with water, and the current action to be performed is to grab the mineral water bottle, the force applied by the bionic hand can be determined by referring to the grabbing force required to grab the mineral water bottle filled with water in the preset force template.

In this way, in this embodiment, by determining the characteristic information of the predetermined object and the strength information corresponding to the current action to be performed through the obtained preset force template, the force applied by the bionic hand can be determined, so that the wearer of the bionic hand can use the bionic hand It can accurately apply force to complete the action, thereby improving the user experience of the bionic hand wearer.

Referring to FIG. 6 , FIG. 6 is a schematic flowchart of obtaining a preset strength template according to an embodiment of the present invention.

In some embodiments, obtaining the preset strength template includes:

Step S211, collect several sample information and strength information corresponding to each sample information. The sample information includes characteristic information of the sample object and sample action information of the bionic hand;

Step S212: establishing a mapping relationship between sample information and force information, and generating a force information template.

In step S211, by collecting a number of sample information and force information corresponding to each sample information, a force information template can be constructed according to the sample information and the force information, so that the bionic hand can quickly identify the force required for the predetermined object according to the force information template. The sample information includes feature information of the sample object and sample action information of the bionic hand, and the sample information can be used as a reference to improve the reaction speed of the bionic hand when it is used.

In step S212, a mapping relationship between the sample information and the strength information can be established, and a strength information template can be generated, so that the bionic hand can refer to the strength information template to improve the reaction speed during use. In this embodiment, the intensity information template can be established by establishing a mapping relationship by one-to-one mapping and/or many-to-one mapping between sample information and intensity information.

In this way, in this embodiment, by collecting several sample information and the strength information corresponding to each sample information, and by establishing a mapping relationship between the sample information and the strength information, a strength information template is generated, so that the bionic hand can Referring to the force information template to improve the reaction speed during use, it can further improve the user experience of the bionic hand wearer.

Referring to FIG. 7 , FIG. 7 is a schematic flow chart of actions performed by a bionic hand according to an embodiment of the present invention.

In some embodiments, controlling the bionic hand to perform an action according to the determined force magnitude includes:

Step S31, control the bionic hand to perform actions on the predetermined object, and monitor the contact force between the bionic hand and the predetermined object in real time;

Step S32: When the contact force increases to the force level, the bionic hand is controlled to stop moving.

In step S31, when the bionic hand is controlled to perform an action on the predetermined object, the contact force between the bionic hand and the predetermined object is monitored in real time to determine whether the contact force reaches the force required when the bionic hand performs a gesture action on the predetermined object. . The contact force in this embodiment is the force exerted by the bionic hand on the predetermined object when performing gesture actions. In this embodiment, the contact force may be detected through the load current of the bionic hand drive motor, or may be detected through a force sensor provided on the fingers of the bionic hand.

In step S32, when the contact force between the bionic hand and the predetermined object is monitored in real time, when the contact force increases to the force required by the predetermined object, the bionic hand can be controlled to stop moving, thereby avoiding damage to the predetermined object due to excessive contact force. For example, in this embodiment, if the predetermined object is a cup, when the contact force between the bionic hand and the cup is monitored to reach the predetermined force required to grasp the cup, the bionic hand can be controlled by the control device to stop bending the bionic hand fingers.

In this way, in this embodiment, by monitoring the contact force between the bionic hand and the predetermined object in real time, it is possible to control the bionic hand to stop when the contact force increases to the predetermined force, thereby preventing the contact force from being too large and damaging the predetermined object. cause damage.

The present invention further proposes a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the bionic hand control method of the above embodiment are implemented.

Refer to FIG. 8 , which is a schematic structural diagram of a control device according to an embodiment of the present invention.

The present invention further proposes a control device 100. The control device 100 includes a memory 10 and a processor 20. The memory 10 is used to store a computer program; the processor 20 is used to implement the steps of the bionic hand control method of the above embodiment when executing the computer program.

The present invention further provides a bionic hand, which includes a control device, and the control device is the control device 100 mentioned above.

The above is only a specific implementation of the present application. 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 application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims (10)

1. A bionic hand control method, characterized in that the bionic hand control method includes: Obtain the characteristic information of the predetermined object and the current action to be performed by the bionic hand; Determining the force applied by the bionic hand according to the characteristic information of the predetermined object and the action to be currently executed; The bionic hand is controlled to perform the action according to the determined force application. 2. The bionic hand control method according to claim 1, characterized in that the characteristic information includes the attributes of the predetermined object, and the step of obtaining the characteristic information of the predetermined object includes: Obtain an image of the predetermined object; Analyze the image according to a pattern recognition algorithm to obtain the outline characteristics of the predetermined object; The attribute of the predetermined object is determined according to the contour feature. 3. The bionic hand control method according to claim 2, wherein determining the attributes of the predetermined object based on contour features includes: Compare the contour features with the item images in the local database to obtain comparison results; The attributes of the predetermined object are determined based on the comparison results. 4. The bionic hand control method according to claim 2, wherein the characteristic information includes the weight characteristic of the predetermined object, and the obtaining the characteristic information of the predetermined object further includes: Calculate the volume of the predetermined object based on the contour features; Upon receiving the material information input by the user, the weight characteristics of the predetermined object are calculated. 5. The bionic hand control method according to claim 1, characterized in that the step of determining the force applied by the bionic hand according to the characteristic information of the predetermined object and the current action to be performed comprises: Get the default strength template; The characteristic information of the predetermined object and the strength information corresponding to the currently to-be-performed action are determined according to the preset force template to determine the force exerted by the bionic hand. 6. The bionic hand control method according to claim 5, wherein said obtaining a preset force template includes: Collect several sample information and strength information corresponding to each sample information, where the sample information includes characteristic information of the sample object and sample action information of the bionic hand; A mapping relationship between the sample information and the intensity information is established, and a intensity information template is generated. 7. The bionic hand control method according to claim 1, characterized in that, controlling the bionic hand to perform the action according to the determined force application includes: Control the bionic hand to perform the action on the predetermined object, and monitor the contact force between the bionic hand and the predetermined object in real time; When the contact force increases to the applied force magnitude, the bionic hand is controlled to stop moving. 8. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the bionic hand control method according to any one of claims 1 to 7 are implemented. 9. A control device, characterized in that it includes a memory and a processor, the memory is used to store a computer program; the processor is used to implement the steps of the bionic hand control method according to any one of claims 1 to 7 when executing the computer program. . 10. A bionic hand, characterized in that it includes a control device, and the control device is the control device according to claim 9.