CN104552295B - A kind of man-machine technical ability transmission system based on Multi-information acquisition - Google Patents
A kind of man-machine technical ability transmission system based on Multi-information acquisition Download PDFInfo
- Publication number
- CN104552295B CN104552295B CN201410810610.8A CN201410810610A CN104552295B CN 104552295 B CN104552295 B CN 104552295B CN 201410810610 A CN201410810610 A CN 201410810610A CN 104552295 B CN104552295 B CN 104552295B
- Authority
- CN
- China
- Prior art keywords
- man
- control strategy
- robot
- technical ability
- myoelectricity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention discloses a kind of man-machine technical ability transmission system based on Multi-information acquisition, including the computer being connected with robot, mounting frame for sensor, and the body-sensing sensor being connected with computer respectively, binocular vision photographic head, human body electromyographic signal collection instrument, the transmission of man-machine technical ability adjusts interface, monitor display, described body-sensing sensor, binocular vision photographic head, human body electromyographic signal collection instrument, the transmission of man-machine technical ability adjusts interface and is separately mounted on mounting frame for sensor, described human body electromyographic signal collection instrument is connected with human body by measuring electrode, described body-sensing sensor is arranged on human synovial place。The system of the present invention, service robot human-machine interactive information is abundant, control strategy is various, and multisensor is easy for installation, input cost significantly reduces。
Description
Technical field
The present invention relates to intelligent robot study and control field, particularly to a kind of man-machine technical ability transmission system based on Multi-information acquisition。
Background technology
Service robot technology development in recent years is rapid, is increasingly subject to people and payes attention to。Compared with traditional industrial robot, people's daily life served by service robot, thus with people closer to, it is desirable to service robot man-machine interaction must safety, reliable and stable。Simultaneously because Man's Demands multiformity, it is desirable to service robot has class people behavioral trait flexibly。It is a kind of convenient that the expectation of service robot is promoted researcher to find by the characteristic of above-mentioned service robot and people, simple and easy, stable and that cost is low human-computer interaction technology, is namely capable of the technical ability stable delivery to service robot of people, makes service robot better serve popular real life。
China publication number: CN103302668A, title: based on the control system of Space teleoperation robot and the method thereof of Kinect。The method realizes the crawl work to space object based on Kinect, but in people's real life, it is more by fulfiling assignment based on impedance control, user cannot be made to understand the practical operation situation of robot in real time only by Kinect remote operating, also cannot well complete some complicated fine work。So that more sensor information fusion carrys out more these deficiencies of foot。
China publication number: CN202471117U, title: mounting frame for sensor。The installation of sensor adopts perforating to be fixed on main support, the installation method of this mode needs to offer installing hole, bring certain problem, as positioned adjustment inconvenience, the sky offered reduces the intensity of main support, if any positioning requirements, can be caused certain agitation error by ectocine, additionally this support Design lacks position adjustment fixed mechanism flexibly, and be not suitable for precision is had certain requirements experimental occasions。
China publication number: CN202676197U, title: sensor stand。This support Design is scalable, adopts screw-driven。But in large scale position adjustments occasion, this design needs to increase reach, brings certain difficulty to processing, and additionally regulated efficiency can be substantially reduced。And lack necessary detent mechanism, when, after thread abrasion, bring certain interference can to the location of sensor。
Additionally along with the progress of technology, increasing sensor is for the service field of robot, such as binocular vision, body-sensing sensor, touch sensor etc.。These sensor installation accuracy are by causing many harmful effects to the effect serviced, as man-machine synchronization cannot be realized, and man-machine interaction distortion etc.；Additionally, due to sensor wide variety on market, it is necessary to different sensor mounting interfaces, and the interface of most criteria of right and wrong, it is necessary to individually customized, bring inconvenience to experimental debugging, spend suitable time and funds。Existing vision sensor is fixed on the crossbeam in wall or room more, during installation fee, and effort, it is sometimes desirable to technical professional's boring etc.。As fixing experiment porch, these sensors are fixed on these positions and are likely to without influence on normal experimental duties, but once due to environmental effect such as illumination, vibration etc. causes sensor accuracy to decline, at this moment manually correction sensor alignment error is needed, obviously the not convenient increase causing adjustment difficulty owing to installing, when additionally increasing number of sensors or kind when needs, the drawback of the deficient extensibility of traditional installation method becomes readily apparent from。In addition some experimental occasions is not suitable for drill hole on wall or lifting operation, as too much in comparatively spacious area or house wiring, and construction easily causes the generation of contingency。
Summary of the invention
It is an object of the invention to the shortcoming overcoming prior art with not enough, it is provided that a kind of man-machine technical ability transmission system based on Multi-information acquisition。
The purpose of the present invention is realized by following technical scheme:
A kind of man-machine technical ability transmission system based on Multi-information acquisition, including the computer being connected with robot, mounting frame for sensor, and the body-sensing sensor being connected with computer respectively, binocular vision photographic head, human body electromyographic signal collection instrument, the transmission of man-machine technical ability adjusts interface, monitor display, described body-sensing sensor, binocular vision photographic head, human body electromyographic signal collection instrument, the transmission of man-machine technical ability adjusts interface and is separately mounted on mounting frame for sensor, described human body electromyographic signal collection instrument is connected with human body by measuring electrode, described body-sensing sensor is arranged on human synovial place。
The described man-machine technical ability transmission system based on Multi-information acquisition, also includes the force transducer being fixed on handle。Force transducer is fixed on handle, user by applying different power on the different directions of space, the increment of the power passed through estimates the impedance such as rigidity of human synovial, damping increment, add the accuracy of impedance estimation and the safety of man-machine interaction, it is to avoid because man-robot impedance information does not mate the dangerous accident caused。
The described man-machine technical ability transmission system based on Multi-information acquisition, it is achieved various modes carries out human-computer interactive control strategy: myoelectricity control strategy, myoelectricity-motion sensing control strategy, motion sensing control strategy, myoelectricity-body-sensing-Visual Feedback Control strategy, body-sensing-Visual Feedback Control strategy, myoelectricity-Visual Feedback Control strategy。
Described myoelectricity control strategy is particularly as follows: gather human body electromyographic signal by electromyographic signal collection instrument, through processing the increment extracting amplitude increment therein as human synovial impedance, thus obtaining the behavioral trait transmission to robot that physical activity impedance is planned and realized people by the impedance control module of robot, robot is made to have the impedance characteristics of planning of people。
Described myoelectricity control strategy comprises the step of following sequence:
S1. the own surface electromyogram signal of user's collection, the power that the corresponding electromyographic signal of record applies simultaneously adopts 20-500Hz band filter that to signal, signal and 50Hz notch filter are carried out pretreatment；
S2. adopting AM-FM algorithm that signal is carried out feature extraction, extracting cycle is 0.1s, it is thus achieved that signal amplitude envelope curve；
S3. the increment of computing power and corresponding surface electromyogram signal amplitude increment, utilize the linear approximate relationship of electromyographic signal and force signal to complete coefficient estimation and the impedance estimation of signal；
S4. by the impedance control module of robot, the data transfer mode of TCP or UDP is adopted to realize the technical ability transmission to robot of people。
The information such as described myoelectricity-motion sensing control strategy is: on myoelectricity control strategy basis, introduces body-sensing sensor, is obtained the position of human synovial by body-sensing sensor, speed, control while realizing impedance and position by the impedance control interface of robot。
Described motion sensing control strategy is: only by body-sensing sensor, obtains human body joint motion information and carries out man-machine interaction。
Whether described myoelectricity-body-sensing-Visual Feedback Control strategy is: introduce visual feedback on myoelectricity-motion sensing control policy grounds, mated with the behavior of people by binocular camera real-time monitored robot behavior, and adjust in real time。Myoelectricity-body-sensing-Visual Feedback Control strategy is adopted to reach safety, accurate human-computer interactive control purpose。
Described body-sensing-Visual Feedback Control strategy is: introduces visual feedback on motion sensing control policy grounds, makes the behavior of people and robot behavior highly consistent。
Described myoelectricity-Visual Feedback Control strategy is: introduces visual feedback on myoelectricity control strategy basis, it is simple to user's change of environment according to robot adjusts self behavior in time, corrects the behavior of robot。Myoelectricity-Visual Feedback Control strategy makes robot stabilized, reliability service。
The present invention compared with prior art, has the advantage that and beneficial effect:
1, the present invention provides a kind of based on the man-machine technical ability transmission system of Multi-information acquisition, system sensor positioning precision is high, reliable and stable, system modular degree is high, volume is little, easy to operate, low cost of manufacture, it is possible to overcome that conventional stent installation accuracy is low, interface does not mate, sensor is installed by the problems such as limited space, input cost are high and control system simple, and control model is various。
2, the system of the present invention, service robot human-machine interactive information is abundant, control strategy is various, and multisensor is easy for installation, input cost significantly reduces。
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of man-machine technical ability transmission system based on Multi-information acquisition of the present invention；
Fig. 2 is that the system described in Fig. 1 is based on surface electromyogram signal impedance increment estimation principle figure；
Fig. 3 is that the system myoelectricity described in Fig. 1-body-sensing sensor-binocular vision control strategy is always schemed；
Fig. 4 is the system surfaces electromyographic signal process chart described in Fig. 1；
Fig. 5 is the sensor support structure schematic diagram of the system described in Fig. 1；
Fig. 6 is the structural representation of the binocular camera visual angle fine setting rotary joint of the system described in Fig. 1；
Fig. 7 is the structural representation of the body-sensing sensor visual angle fine setting rotation platform of the system described in Fig. 1。
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this。
A kind of based on the man-machine technical ability transmission system of Multi-information acquisition, it is made up of body-sensing sensor, binocular vision photographic head, human body electromyographic signal collection instrument, man-machine technical ability transmission adjustment interface, monitor display, sensor support support。System sensor is fixed on the three adjustable platform supports of coordinate, user gathers the electromyographic signal of self by electromyographic signal collection instrument, extract impedance information therein, the movable information of self is extracted by body-sensing sensor, adjust interface through the transmission of man-machine technical ability above-mentioned information is estimated, then pass through motion planning and robot control interface and be transferred to robot, complete the technical ability of people to robotic delivery, binocular vision sensor is as feedback element, user is made to control robot running status in real time, it is ensured that the accuracy of service and safety。Whole system framework is as shown in Figure 1。
This system has following subsystem to constitute: surface electromyogram signal measures adjustment system: be made up of measurement electrode and electromyographic signal collection instrument, human synovial impedance information is carried out On-line Estimation by the electromyographic signal recorded by this system, thus obtaining the value of human synovial impedance and the impedance planning of corresponding actions, and it is mapped on robot body。
Body motion information measures system: is obtained human body joint motion information by body-sensing sensor, is mapped to robot after adjusted。
Vision feedback system: by the Real-time Feedback of binocular camera, makes user understand the ruuning situation of robot in time, improves accuracy and the safety of service。
Wherein, surface electromyogram signal is measured metamorphosis stage of adjustment system and is adopted force transducer and electromyographic signal to merge the joint impedance information extracted under the different behavior of human body。Force transducer is fixed on handle, user by applying different power on the different directions of space, the increment of the power passed through estimates the impedance such as rigidity of human synovial, damping increment, add the accuracy of impedance estimation and the safety of man-machine interaction, it is to avoid because man-robot impedance information does not mate the dangerous accident caused。
Human body impedance increment estimates flow process as shown in Figure 2, it comprises the concrete steps that: stick myoelectricity acquisition electrode on the muscle skin surface of user's arm relevant position, obtain original electromyographic signal by the muscles of the arm motion, obtain power produced by arm muscles by force transducer simultaneously。Original electromyographic signal waits after filtering to process and obtains its amplitude envelope and increment, obtains the power increment under the same sampling time simultaneously。Assess interface through human muscle's stiffness coefficient and obtain corresponding stiffness coefficient, thus obtaining the incremental stiffness of articular muscle。
Signal processing flow is as shown in Figure 4。This handling process divides following several stages:
(1) pretreatment, this stage mainly completes the Filtering Processing of electromyographic signal, it is thus achieved that the electromyographic signal of corresponding frequencies scope also removes the interference of environment noise；
(2) signal subsection, this stage mainly completes the windowing process of signal according to the minimal time delay of real-time control system；
(3) signal decomposition, each signal subsection divides five sub-bandwidth according to FIR filter；
(4) amplitude envelope of electromyographic signal is obtained according to the Energy Decomposition algorithm of Teager；
(5) sequence smooths, and utilizes 21 mean filters to remove the burr of amplitude envelope；
(6) space-time is average, is broadly divided into two stages, i.e. time average and space average。The former amplitude fluctuations in smoothingtime sequence, the latter is for the smoothing processing between different passages。
Body motion information measures system: obtain human body joint motion information by body-sensing sensor, it is mapped on robot body by inverse kinematics, robot is made to complete some by teaching complicated, highly difficult task, improve the convenience of man-machine interaction, reduce algorithm complex, and extend man-machine interaction mode。
Vision feedback system: provide the user teaching operation feedback intuitively, add reliability and the controllability of service robot teaching operation。Sensor adopts binocular vision photographic head, is connected on man-machine interaction support, its base adjustable field of view angle, it is simple to obtain good visual effect。
The man-machine technical ability transmission system of described service robot Multi-information acquisition, this system can realize various modes and carry out human-computer interactive control strategy:
Myoelectricity control strategy；
Myoelectricity-motion sensing control strategy；
Motion sensing control strategy；
Myoelectricity-body-sensing-Visual Feedback Control strategy；
Body-sensing-Visual Feedback Control strategy；
Myoelectricity-Visual Feedback Control strategy。
Described myoelectricity control strategy is: gather human body electromyographic signal by electromyographic signal collection instrument, through processing the increment extracting amplitude increment therein as human synovial impedance, thus obtaining the behavioral trait transmission to robot that physical activity impedance is planned and realized people by robot impedance control module, robot is made to have the impedance characteristics of planning of people。
The information such as described myoelectricity-motion sensing control strategy is: on myoelectricity control strategy basis, introduces body-sensing sensor, is obtained the position of human synovial by body-sensing sensor, speed, control while realizing impedance and position by robot impedance control interface。
Described motion sensing control strategy is: simple by body-sensing sensor, obtains human body joint motion information and carries out man-machine interaction。
Described myoelectricity-body-sensing-Visual Feedback Control strategy is: introduce visual feedback on myoelectricity-motion sensing control policy grounds, whether mated with the behavior of people by binocular camera real-time monitored robot behavior, and carry out real-time adjustment, reach safety, accurate human-computer interactive control purpose。Such as Fig. 3, user obtains its arm motion information by body-sensing sensor and passes to service robot in real time, makes service robot perform corresponding task according to the motion intention of people, is obtained the tasks carrying situation of service robot by binocular vision feedback in real time。At impedance control end, user is by obtaining self arm surface electromyographic signal, information fusion through force transducer and myoelectricity Acquisition Instrument carries out incremental stiffness assessment, it is thus achieved that rigidity metewand, realizes the impedance control of service robot through Dynamic Models of Robot Manipulators and Torque Control interface。User obtains robot force feedback in tasks carrying process in real time also by force transducer。
Described body-sensing-Visual Feedback Control strategy is: introduces visual feedback on motion sensing control policy grounds, makes the behavior of people and robot behavior highly consistent。
Described myoelectricity-Visual Feedback Control strategy is: introduces visual feedback on myoelectricity control strategy basis, it is simple to user's change of environment according to robot adjusts self behavior in time, corrects the behavior of robot, make robot stabilized, reliability service。
Multi-information acquisition system, by motion interface system, information fusion sensor as aforementioned obtained, to this system, completes service。
Described myoelectricity control strategy key step is as follows:
Step 1: the surface electromyogram signal of user's collection own, the power that the corresponding electromyographic signal of record applies simultaneously adopts 20-500Hz band filter that to signal, signal and 50Hz notch filter are carried out pretreatment；
Step 2: adopting AM-FM algorithm that signal is carried out feature extraction, extracting cycle is 0.1s, it is thus achieved that signal amplitude envelope curve；
Step 3: the increment of computing power and corresponding surface electromyogram signal amplitude increment, utilizes the linear approximate relationship of electromyographic signal and force signal to complete coefficient estimation and the impedance estimation of signal；
Step 4: by man-machine impedance control interface, adopts the data transfer mode of TCP or UDP to realize the technical ability transmission to robot of people。
Such as Fig. 5,6,7, sensor stand is made up of base 1, balanced adjustment bar 2, balance connector 3, height adjusting link 4, corner connector 5, visual angle adjusting lever 6, binocular camera 7, visual field adjustment platform 8, body-sensing sensor 9, body-sensing sensor rotation platform 10, mounting frame for sensor 11。Connection between aluminium section bar all adopts dismountable corner connector, it is simple to dismounting and adjustment。The height adjustable of balanced adjustment bar, length direction is adjustable, it is simple to keep the stable of whole framework Appropriate application space。Visual angle adjusting lever and sensor support frame height adjustable, it is simple to adjust visual field。
Height adjusting link 4 is by screw and is tightly fixed on base 1, and height adjusting link 4 is connected by corner connector with balanced adjustment bar 2, so as to do not affected by external force and be moved, improves the balance of height adjusting link；Balance connector 3 is fastenedly connected balanced adjustment bar 2 and testing stand bracing frame by screw, reaches the purpose of balance；Visual angle adjusting lever 6 is connected with height adjusting link 4 by corner connector 5, is simultaneously connected with mounting frame for sensor 11, and mounting frame for sensor 11 is installed above has all types of sensor mechanism joint visual fields to adjust platform 8 and body-sensing sensor rotation platform 10；Visual field is adjusted platform 8 and is connected with binocular camera 7 by top flange dish, and body-sensing sensor 9 is connected by its top flange with body-sensing sensor rotation platform 10。
Balance connector 3 can according to testing stand, the position of the altitude mixture control self of operating board etc. so that it is reach center rest, reduces the purpose using space。This support triangle base can move simultaneously so that it is is in desirable position。
Visual field is adjusted platform 8 and is connected with binocular camera 7 by top flange dish, it is possible to elevating movement, the visual angle of fine setting photographic head。Visual field adjusts the rotary joint of platform 8 and is threaded connection formation fastening。Mounting frame for sensor 11 can freely adjust the distance of self and testee on visual angle adjusting lever 6 length direction, plays focusing action。Visual field adjusts platform 8 and body-sensing sensor rotation platform 10 can pass through slide block on mounting frame for sensor 11 length direction, and slide block can also pass through screw and be fastenedly connected with mounting frame for sensor 11, plays location maintenance effect。Visual angle adjusting lever 6 can freely adjust oneself height on height adjusting link 4 length direction, adjusts the size at visual angle。
Such as Fig. 6, it is a revolute that visual field adjusts platform 8, dynamic boss 12 connect binocular camera 7, determine boss 13 and connect sensor stand 11, photographic head 7 is tightened by screw bolt and nut after adjusting attitude, until this revolute can not rotate under certain External Force Acting。
Body-sensing sensor rotation platform 10 is made up of three parts, moving platform 14, rotating shaft 15 and the flange 16 being connected with sensor stand 11, moving platform 14 can do 360 degree of rotations by rotating shaft 15, and positioned by holding screw, keep stablizing of body-sensing sensor, not by the impact of ambient vibration and maloperation。
Above-described embodiment is the present invention preferably embodiment; but embodiments of the present invention are also not restricted to the described embodiments; the change made under other any spirit without departing from the present invention and principle, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection scope of the present invention。
Claims (7)
1. the man-machine technical ability transmission system based on Multi-information acquisition, it is characterized in that: include the computer being connected with robot, mounting frame for sensor, and the body-sensing sensor being connected with computer respectively, binocular vision photographic head, human body electromyographic signal collection instrument, the transmission of man-machine technical ability adjusts interface, monitor display, described body-sensing sensor, binocular vision photographic head, human body electromyographic signal collection instrument, the transmission of man-machine technical ability adjusts interface and is separately mounted on mounting frame for sensor, described human body electromyographic signal collection instrument is connected with human body by measuring electrode, described body-sensing sensor is arranged on human synovial place；
This system realizes various modes and carries out human-computer interactive control strategy: myoelectricity control strategy, myoelectricity-motion sensing control strategy, motion sensing control strategy, myoelectricity-body-sensing-Visual Feedback Control strategy, body-sensing-Visual Feedback Control strategy, myoelectricity-Visual Feedback Control strategy；
Described myoelectricity control strategy is particularly as follows: gather human body electromyographic signal by electromyographic signal collection instrument, through processing the increment extracting amplitude increment therein as human synovial impedance, thus obtaining the behavioral trait transmission to robot that physical activity impedance is planned and realized people by the impedance control module of robot, robot is made to have the impedance characteristics of planning of people；
Described myoelectricity control strategy comprises the step of following sequence:
S1. the own surface electromyogram signal of user's collection, the power that the corresponding electromyographic signal of record applies simultaneously adopts 20-500Hz band filter that to signal, signal and 50Hz notch filter are carried out pretreatment；
S2. adopting AM-FM algorithm that signal is carried out feature extraction, extracting cycle is 0.1s, it is thus achieved that signal amplitude envelope curve；
S3. the increment of computing power and corresponding surface electromyogram signal amplitude increment, utilize the linear approximate relationship of electromyographic signal and force signal to complete coefficient estimation and the impedance estimation of signal；
S4. by the impedance control module of robot, the data transfer mode of TCP or UDP is adopted to realize the technical ability transmission to robot of people。
2. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 1, it is characterised in that: the described man-machine technical ability transmission system based on Multi-information acquisition, also include the force transducer being fixed on handle。
3. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 1, it is characterized in that: described myoelectricity-motion sensing control strategy is: on myoelectricity control strategy basis, introduce body-sensing sensor, the position of human synovial is obtained by body-sensing sensor, velocity information, controls while realizing impedance and position by the impedance control interface of robot。
4. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 1, it is characterised in that: described motion sensing control strategy is: only by body-sensing sensor, obtains human body joint motion information and carries out man-machine interaction。
5. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 1, it is characterized in that: described myoelectricity-body-sensing-Visual Feedback Control strategy is: on myoelectricity-motion sensing control policy grounds, introduce visual feedback, whether mated with the behavior of people by binocular camera real-time monitored robot behavior, and adjust in real time。
6. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 1, it is characterized in that: described body-sensing-Visual Feedback Control strategy is: on motion sensing control policy grounds, introduce visual feedback, make the behavior of people and robot behavior highly consistent。
7. the man-machine technical ability transmission system based on Multi-information acquisition according to claim 1, it is characterized in that: described myoelectricity-Visual Feedback Control strategy is: on myoelectricity control strategy basis, introduce visual feedback, it is easy to user's change of environment according to robot and adjusts self behavior in time, correct the behavior of robot。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410810610.8A CN104552295B (en) | 2014-12-19 | 2014-12-19 | A kind of man-machine technical ability transmission system based on Multi-information acquisition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410810610.8A CN104552295B (en) | 2014-12-19 | 2014-12-19 | A kind of man-machine technical ability transmission system based on Multi-information acquisition |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104552295A CN104552295A (en) | 2015-04-29 |
| CN104552295B true CN104552295B (en) | 2016-06-22 |
Family
ID=53069893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410810610.8A Active CN104552295B (en) | 2014-12-19 | 2014-12-19 | A kind of man-machine technical ability transmission system based on Multi-information acquisition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104552295B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710856A (en) * | 2015-06-01 | 2016-06-29 | 李锦辉 | Remote motion sensing control robot |
| CN105389008B (en) * | 2015-11-04 | 2019-02-26 | 惠州Tcl移动通信有限公司 | A kind of mobile terminal intelligent unlocking method and system |
| CN106109174B (en) * | 2016-07-14 | 2018-06-08 | 燕山大学 | A kind of healing robot control method based on myoelectric feedback impedance self-adaptive |
| CN108062102A (en) * | 2018-01-16 | 2018-05-22 | 苏州晨本智能科技有限公司 | A kind of gesture control has the function of the Mobile Robot Teleoperation System Based of obstacle avoidance aiding |
| CN109048916A (en) * | 2018-09-12 | 2018-12-21 | 遂昌睿丰科技有限公司 | Portable industrial robot based on multidimensional sensor real time data feedback fusion |
| CN109676615B (en) * | 2019-01-18 | 2021-08-06 | 合肥工业大学 | Spraying robot teaching method and device using arm electromyographic signals and motion capture signals |
| CN110134242B (en) * | 2019-05-17 | 2020-07-24 | 北京理工大学 | Arm stiffness identification method and system based on surface electromyographic signals |
| CN111300408B (en) * | 2020-02-06 | 2023-05-12 | 北京凡川智能机器人科技有限公司 | Motion planning control method for humanoid double-arm robot combining shape similarity and look similarity |
| CN111590573A (en) * | 2020-05-15 | 2020-08-28 | 深圳国信泰富科技有限公司 | Construction method and system for three-dimensional environment of robot |
| CN114848315B (en) * | 2022-05-05 | 2022-12-13 | 广东工业大学 | Intelligent wheelchair man-machine cooperative control system based on surface electromyogram signals |
| CN114986525A (en) * | 2022-07-13 | 2022-09-02 | 佛山纽欣肯智能科技有限公司 | Robot handheld teaching device and method based on multi-mode information |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202471117U (en) * | 2011-11-30 | 2012-10-03 | 凯迈（洛阳）环测有限公司 | Sensor mounting bracket |
| CN102824176A (en) * | 2012-09-24 | 2012-12-19 | 南通大学 | Upper limb joint movement degree measuring method based on Kinect sensor |
| JP2013013969A (en) * | 2011-07-04 | 2013-01-24 | Hirotaka Niitsuma | Robot control by microsoft kinect (r), and application thereof |
| CN103170973A (en) * | 2013-03-28 | 2013-06-26 | 上海理工大学 | Man-machine cooperation device and method based on Kinect video camera |
| CN103302668A (en) * | 2013-05-22 | 2013-09-18 | 东南大学 | Kinect-based space teleoperation robot control system and method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101061984B (en) * | 2006-04-29 | 2012-02-08 | 香港理工大学 | Recovery robot system for providing mechanical assistant by using myoelectric signal |
-
2014
- 2014-12-19 CN CN201410810610.8A patent/CN104552295B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013013969A (en) * | 2011-07-04 | 2013-01-24 | Hirotaka Niitsuma | Robot control by microsoft kinect (r), and application thereof |
| CN202471117U (en) * | 2011-11-30 | 2012-10-03 | 凯迈（洛阳）环测有限公司 | Sensor mounting bracket |
| CN102824176A (en) * | 2012-09-24 | 2012-12-19 | 南通大学 | Upper limb joint movement degree measuring method based on Kinect sensor |
| CN103170973A (en) * | 2013-03-28 | 2013-06-26 | 上海理工大学 | Man-machine cooperation device and method based on Kinect video camera |
| CN103302668A (en) * | 2013-05-22 | 2013-09-18 | 东南大学 | Kinect-based space teleoperation robot control system and method thereof |
Non-Patent Citations (2)
| Title |
|---|
| Implementation and Test of Human-Operated and Human-Like Adaptive Impedance Controls on Baxter Robot;Peidong Liang;《Advances in Autonomous Robotics Systems，15th Annual Conference, TAROS 2014，Birmingham, UK》;20140903;109-119 * |
| 基于多传感器信息检测和融合的中国手语识别研究;王文会等;《中国生物医学工程学报》;20100425;第29卷(第5期);665-671 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104552295A (en) | 2015-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104552295B (en) | A kind of man-machine technical ability transmission system based on Multi-information acquisition | |
| CN107479698A (en) | A kind of more fingers collaboration force feedback of air pressure driving and touch feedback gloves apparatus | |
| JPWO2006022201A1 (en) | Robot evaluation system and evaluation method | |
| CN107199566B (en) | A kind of remote control system of the space-oriented station robot based on virtual arm | |
| CN103995478A (en) | Modularized hydraulic mechanical arm experimental platform and method based on interaction of virtual and reality | |
| CN101972170B (en) | Self-adapting filter for least square support vector machine and filtering method thereof | |
| CN103386687A (en) | 2-DOF (Degree of Freedom) robot remote operation device with force immediacy | |
| CN112077816A (en) | Device and method for testing force feedback function of teleoperation equipment | |
| CN202342024U (en) | Pulse reproduction device | |
| CN109521784B (en) | Touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and method | |
| CN207352855U (en) | A kind of device of six degree of freedom force feedback operative training | |
| CN107942726A (en) | A kind of magnetic levitation ball lever system HWIL simulation experiment porch based on accelerated model | |
| CN105215992A (en) | For the multiple degrees of freedom power feel feedback device of man-machine interaction | |
| CN110146212A (en) | Joint of mechanical arm torque posture wireless sensor | |
| CN212859444U (en) | Testing device for force feedback function of teleoperation equipment | |
| CN205336450U (en) | Imitative hawk eye vision image device of distinguishable rate transform | |
| CN103213132B (en) | Specialized robot mechanical arm remote control system | |
| Ai et al. | Design and implementation of haptic sensing interface for ankle rehabilitation robotic platform | |
| CN105425660B (en) | The analysis that human body behavior judgement is carried out by inertial sensor matches method of work | |
| CN114125230A (en) | Eagle eye strong vision intelligent sensing-imitating target detection system and method thereof | |
| CN105302307A (en) | Method for behavior matching by acquiring direction information through acceleration sensor | |
| CN207946479U (en) | Novel on-board electronics reliability testing and analysis system | |
| CN105425658A (en) | Intelligent wearable equipment control strategy for controlling voice database through gesture identification | |
| CN207462148U (en) | Soft lens operation robotic system | |
| CN112057083A (en) | Wearable human upper limb pose acquisition equipment and acquisition method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171122 Address after: 276800 Rizhao City Economic Development Zone, Wenzhou Road, No., science and technology incubator building, building 4, building 1 Patentee after: Shandong Chuangze Information AND Technology Co., Ltd. Address before: 510640 Tianhe District, Guangdong, No. five road, No. 381, Co-patentee before: NANJING JIXI AUTOMATION TECHNOLOGY CO., LTD. Patentee before: South China University of Technology |