CN109521784B - Touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and method - Google Patents
Touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and method Download PDFInfo
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Abstract
The invention discloses a touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and method, which aim to control the flight of an unmanned aerial vehicle and ensure the flight stability and operability of remote control. The method comprises the following steps: the computer end is connected with the motor for instruction input, and the motor is driven to rotate at a certain speed; the pressure sensor acquires a force signal sent by an operator; generating a corresponding motor driving signal according to the force application signal; the encoder is arranged on the output shaft of the motor and used for acquiring output information; according to the output signal, the motor controls the mechanical structure to move, so that the exoskeleton correspondingly moves; in the operation process, the unmanned aerial vehicle can be adjusted in real time according to the feedback signal until the requirement of exoskeleton movement is met, the feedback signal is matched with the driving signal, and the unmanned aerial vehicle can be stably controlled to fly. The invention can enable the upper limb exoskeleton system to more accurately sense the movement intention of the operator, and the upper limb exoskeleton and the unmanned aerial vehicle are more synchronous, thereby enhancing the remote control of the operator on the slave unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of exoskeleton intelligent control, in particular to a touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and a control method.
Background
With the extensive application of exoskeleton robots in the field of daily life, the novel unmanned aerial vehicle teleoperation control in the field of unmanned aerial vehicle intelligent control is provided by integrating the researches of wearable equipment, touch perception, unmanned aerial vehicle flight control and the like, and higher requirements are provided for the control method of the novel unmanned aerial vehicle teleoperation control.
The teleoperation control of current unmanned aerial vehicle mainly adopts hand-held type operation panel, excessively relies on the vision to realize unmanned aerial vehicle safety control problem. The invention provides a control method of a tactile wearable exoskeleton unmanned aerial vehicle, which realizes teleoperation control of a remote unmanned aerial vehicle. The research of the touch perception type exoskeleton unmanned aerial vehicle teleoperation control system and the control method is developed, so that the fatigue of the upper limbs of a manipulator can be reduced, the unmanned aerial vehicle teleoperator can be sensed through touch perception, the excessive visual dependence of the unmanned aerial vehicle teleoperator on safe operation is reduced, the practical significance is high, and the upper limb exoskeleton and the unmanned aerial vehicle can be synchronized to a higher degree.
The existing design method is difficult to effectively collect the movement intention of a user and the change of relevant data such as the joint angle and displacement of the exoskeleton device, data signals collected by the sensors are easily interfered by external factors, accurate and stable signals are difficult to output to drive the slave unmanned aerial vehicle to fly, the human-computer cooperation function effect is not good, the experience of an operator is poor, and the efficiency and the flying stability of the exoskeleton are greatly reduced.
Accordingly, further improvements and improvements are needed in the art.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system which is easy to control and simple to operate.
Another object of the present invention is to overcome the disadvantages of the prior art, and to provide a control method based on the above control system
The purpose of the invention is realized by the following technical scheme:
a wearable upper limbs ectoskeleton unmanned aerial vehicle control system of sense of touch perception formula mainly includes:
the single chip microcomputer is connected with the motor for instruction input and drives the motor to rotate at a certain speed;
the pressure sensor is used for acquiring a force signal sent by an operator and generating a corresponding motor driving signal according to the force application signal;
the encoder is arranged on the output shaft of the motor, acquires output information, and enables the motor to control the mechanical structure to move according to the output signal so as to drive the exoskeleton to do corresponding movement;
the motors are used for assisting in movement and establishing the relationship between the safe flight level of the unmanned aerial vehicle and the upper limb movement assisting force output by the motors, so that an unmanned aerial vehicle remote controller can sense and acquire the flight safety level of the unmanned aerial vehicle by sensing the strength of the upper limb movement assisting force and realize the touch sensing type unmanned aerial vehicle flight control;
a database, a large number of users wear upper limb exoskeletons to carry out corresponding movement to obtain training samples and training data, and experimenters execute corresponding actions to obtain corresponding data analysis and characteristic parameters, including posture information of upper arms, forearms, elbows and wrists of the wearers and joint angle information of elbows of the wearers; collecting experimental data analysis of different experimenters under the same and different environments, and acquiring the range of each characteristic parameter;
the encoders are respectively arranged at the positions of the elbow and the forearm of the exoskeleton of the upper limb and are used for acquiring elbow joint angle information and displacement information of the elbow joint and the forearm of a wearer in real time;
the motors are respectively arranged at the upper arm and the forearm, and are used for providing auxiliary force for the rotation of the elbow joint and adjusting the rotation speed of the joint;
the pressure sensors are respectively arranged at the positions of the forearm and the wrist and are used for acquiring the interaction force information of the arm of the wearer in real time, namely the force provided by the upper limb exoskeleton to the wearer;
the single chip microcomputer receives the acquired information sent by the encoder, the pressure sensor, the motor and the like, and after filtering, sorting and calculating, the relevant characteristic parameters of the wearer are obtained, and are matched and compared with the characteristic parameters stored in the database, so that the movement intention of the operator is determined, and the size of the characteristic parameters required by the flight of the slave unmanned aerial vehicle is determined;
in the whole operation process, feedback signals of the nodes are obtained through the sensors, and the driving signals are adjusted in real time according to the feedback signals until the feedback signals are matched with the driving signals, so that a closed loop system is formed.
The other purpose of the invention is realized by the following technical scheme:
a control method of a touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle mainly comprises the following specific steps:
step S1: the single chip microcomputer is used for controlling the motor to rotate at a certain speed, the pressure sensor acquires force change and generates corresponding driving signals, and then the exoskeleton elbow joint and the wrist joint are driven to rotate; the change of the joint angle and the displacement is used as the input quantity of an encoder, and the change of the joint angle and the displacement is circularly controlled;
in the first step, the unification of the upper limb movement and the exoskeleton movement is realized, different pressures are generated according to the difference of the upper limb movement, and the different pressures are reacted on the exoskeleton to control the remote unmanned aerial vehicle. After the signals are arranged and calculated, the movement direction and speed of the upper limb exoskeleton are obtained, and the unification of the upper limb exoskeleton movement and the unmanned aerial vehicle flight is realized through multiple tests and adjustments.
Step S2: respectively acquiring signals of the encoder, the motor and the strain gauge, transmitting the signals to the processor, filtering and extracting the signals by the processor, amplifying and sorting the preprocessed pressure electric signals, and then carrying out algorithm to obtain the movement direction and speed of the upper limb, and acquiring and analyzing the signals by the singlechip to drive the motor to correspondingly rotate;
and step two, controlling the flight attitude of the remote unmanned aerial vehicle, connecting the encoder with the motor through a shaft, and installing the encoder at the node position of the exoskeleton. At a node with complex force composition and motion, searching an optimal installation position through simulation and adjustment; after processing, filtering useless signals, and generating different instructions by outputting corresponding pulses; this pulse is gathered to the singlechip, and the analysis calculates and obtains corresponding unmanned aerial vehicle flight instruction, transmits for distal end unmanned aerial vehicle, carries out unmanned aerial vehicle's start, stops, flight attitude control.
Step S3: the exoskeleton drives the elbow joint and the wrist joint to move in the operation process, so that feedback signals of the nodes are obtained and fed back to the processing module to obtain a difference value, and the driving signals and the feedback signals are adjusted according to the difference value until the driving signals and the feedback signals are matched; increasing the increment of the drive signal when the force application signal increases; when the force application signal decreases, decreasing the increment of the driving signal; when the force application signal is zero, setting a driving signal bit to be zero;
and in the third step, the remote unmanned aerial vehicle is controlled, and the flight direction of the unmanned aerial vehicle is required to be clear. This ectoskeleton design controls distal end unmanned aerial vehicle flight gesture through upper limbs motion, rotates through the upper limbs and controls distal end unmanned aerial vehicle and turn round, realizes the correspondence of upper limbs motion and distal end unmanned aerial vehicle flight. Through changing the size and the direction of exerting at upper limbs power, the pulse phase difference and the pulse quantity of encoder terminal output are different to this changes the change of far-end unmanned aerial vehicle angle of flight and flying speed in the flight process. After pressure reaches certain extent, the far-end unmanned aerial vehicle flight attitude changes (subtle power can not cause the change), and this scheme makes it can keep stable flight attitude.
Step S4: the encoder coaxial with the motor outputs corresponding pulses, and the encoders at different positions and the number of the pulses affect the flight speed, the flight angle or other parameters of the unmanned aerial vehicle; finally, the singlechip gathers the electric pulse output of encoder and carries out the analysis and obtain the unmanned aerial vehicle flight order that corresponds to with signal arrangement, transmit for remote unmanned aerial vehicle, carry out the flight attitude control of unmanned aerial vehicle's start, stop.
In step four, to the start-up, keep and the landing of distal end unmanned aerial vehicle, need drive power setting range and size to the upper limbs, when making clear that unmanned aerial vehicle starts up, keeps and lands, the size of the required power of upper limbs. The optimal upper limb driving force is set (the phenomenon that the unmanned aerial vehicle can take off when the upper limb moves is avoided), so that the remote unmanned aerial vehicle takes off slowly; when the force changes within a certain range or disappears suddenly, the remote unmanned aerial vehicle keeps the flight attitude, and the labor intensity of an unmanned aerial vehicle operator is relieved; when the force is lower than the force when the unmanned aerial vehicle is started and starts to slowly decrease, the remote unmanned aerial vehicle receives a command to start slow landing; the whole process from starting to landing of the unmanned aerial vehicle is realized. In the design of wearable upper limbs ectoskeleton unmanned aerial vehicle teleoperation control system of sense of touch perception formula, the steady flight gesture of preferential assurance, when guaranteeing the upper limbs motion, press the corresponding signal transmission who produces and give distal end unmanned aerial vehicle, realize unmanned aerial vehicle's start, stop, flight attitude control.
Further, step S1 of the present invention further includes the step of the operator wearing the exoskeleton robot component, initializing the system, inputting the relevant basic information of the wearer through the user interface, and performing profiling storage.
Further, step S2 of the present invention further includes defining the upper limb exoskeleton movement condition and the unmanned aerial vehicle flight attitude control. The encoder is installed at ectoskeleton elbow and wrist, and the terminal gathers the encoder electric pulse and carries out the analysis and obtain the flight command that corresponds unmanned aerial vehicle, transmits for remote unmanned aerial vehicle.
As a preferable embodiment of the present invention, the step S3 further includes controlling the change of the output rotation speed of the motor by adjusting the signal input to the motor, so as to adjust the joint rotation speed. This ectoskeleton remote control unmanned aerial vehicle system, through both arms motion, elbow joint rotate to control from end unmanned aerial vehicle's flight gesture, the difference of front and back input displacement and angle for encoder output pulse phase difference is different with pulse quantity, changes the slew velocity of joint department with this.
As a preferable scheme of the present invention, the step S4 further includes setting a minimum power for the remote drone to take off. When the pressure exceeds the value, the unmanned aerial vehicle slowly takes off; when the pressure is within a certain range or suddenly drops, the unmanned aerial vehicle keeps the flight attitude; when the pressure is lower than the takeoff pressure of the unmanned aerial vehicle and starts to be slowly reduced, the remote unmanned aerial vehicle starts to slowly land; the reciprocating motion forms a closed loop system.
The invention also discloses a mechanical control structure of the unmanned aerial vehicle with the wearable upper limb exoskeleton capable of sensing touch, which mainly comprises a back container, and a shoulder joint, an upper arm, an elbow joint, a forearm, a wrist joint and a hand-held control part which are sequentially connected; the back container includes a battery pack and a controller electrically connected to the battery pack.
Specifically, the shoulder joint comprises a shoulder protector, a shoulder bearing seat, a shoulder joint connecting shaft and a universal joint assembly. The shoulder protection buckle is buckled on the shoulder, the shoulder bearing seat is fixedly connected with the shoulder protection through a bolt, so that the lower surface of the shoulder bearing seat is attached to the shoulder protection plastic plate. One end of the shoulder joint connecting shaft is sleeved on the shoulder bearing seat through a bearing hole, and the other end of the shoulder joint connecting shaft is connected with the universal joint assembly.
Specifically, the upper arm comprises an upper arm connecting piece and an adjustable slide rail device, and the adjustable slide rail device is in rolling contact with steel balls. One end of the adjustable sliding rail device is connected with the universal joint component through an upper arm connecting piece, and the other end of the adjustable sliding rail device is connected with the elbow joint.
Specifically, the elbow joint includes elbow joint motor, elbow joint motor frame, elbow joint encoder, motor coupling, elbow connecting piece, foil gage and elbow joint connection bevel gear. The two elbow joint connecting bevel gears are arranged vertically and are in meshed transmission with each other, and the two elbow joint connecting bevel gears are respectively a vertical connecting bevel gear and a horizontal connecting bevel gear. The elbow joint motor base is fixedly connected with the adjustable sliding rail device. The elbow joint motor is installed on the elbow joint motor base downwards and is connected with the controller, and the output end of the elbow joint motor is connected with the vertical connecting bevel gear through the motor coupler. The strain gauges are respectively arranged on two sides of the motor coupler and electrically connected with the controller. The elbow joint encoder is installed on the motor coupler and connected with the controller. The horizontal connecting bevel gear is connected with a forearm through an elbow connecting piece.
Specifically, the forearm comprises a telescopic adjusting piece, a forearm motor base, a forearm encoder, a gear, a spur gear, a rolling bearing and a forearm baffle. The regulating part comprises a fixed regulating block and a telescopic regulating block, one end of the fixed regulating block is fixedly connected with the elbow connecting piece, and the other end of the fixed regulating block is embedded into the telescopic regulating block and is in sliding connection with the telescopic regulating block. The forearm motor frame is installed on flexible regulating block, the forearm motor is installed on forearm motor mount pad to be connected with the controller, its output and gear connection. The forearm encoder is arranged at the output end of the forearm motor and is connected with the controller; the spur gear is arranged on an outer ring of the rolling bearing, is positioned below the gear and is meshed with the gear. And the inner ring of the rolling bearing is fixed on the telescopic adjusting block. One end of the front arm baffle is fixed on the outer ring of the rolling bearing, and the other end of the front arm baffle extends forwards and is connected with the wrist joint.
Specifically, the wrist joint comprises a wrist connecting piece, a bottom bearing seat, a hand supporting plate and a hand. One end of the wrist connecting piece is arranged on the forearm baffle plate, and the other end of the wrist connecting piece is rotatably connected with the bottom bearing seat. The hand supporting plate is arranged on the bottom bearing seat and is connected with the bottom bearing seat hole shaft. The hand is vertically fixed on the hand supporting plate.
Furthermore, in order to improve the connection strength between the elbow joint and the forearm and improve the overall rigidity, the elbow connector is also provided with a reinforcing rib. The reinforcing ribs are designed in a right-angled triangle structure.
Furthermore, in order to improve the smoothness of the upper arm during extension and retraction and obtain better user experience, the adjustable slide rail device comprises a slide rail fixing seat and an extension slide rail. The sliding rail fixing seat is fixedly connected with the elbow joint motor base. One end of the telescopic sliding rail is embedded into the sliding rail fixing seat and is in rolling connection with the sliding rail fixing seat, and the other end of the telescopic sliding rail extends upwards and is connected with the upper arm connecting piece.
The working process and principle of the invention are as follows: the singlechip is connected with the motor for instruction input and drives the motor to rotate at a certain speed; the pressure sensor acquires a force signal sent by an operator; generating a corresponding motor driving signal according to the force application signal; the encoder is arranged on the output shaft of the motor and used for acquiring output information; according to the output signal, the motor controls the mechanical structure to move, so that the exoskeleton correspondingly moves; in the whole operation process, feedback signals of the nodes are obtained through the sensors, and the driving signals are adjusted in real time according to the feedback signals to form a closed loop system until the feedback signals are matched with the driving signals. In the aspect of the design of the touch perception structure, a motor motion auxiliary mode is adopted, and the relation between the safe flight level (the distance between the unmanned aerial vehicle and the barrier) of the unmanned aerial vehicle and the motor output upper limb motion auxiliary force is established, so that the unmanned aerial vehicle remote controller can perceive the strength of the upper limb motion auxiliary force and perceive the safety level of the unmanned aerial vehicle flight, and the touch perception type unmanned aerial vehicle flight control is realized.
Compared with the prior art, the invention also has the following advantages:
(1) the touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and method provided by the invention utilize the motor as auxiliary force to drive the exoskeleton joint to rotate, so that the flight of a remote unmanned aerial vehicle is controlled, the labor intensity of an operator is reduced, and the excessive dependence of the unmanned aerial vehicle remote operator on safe operation is reduced.
(2) The touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and method provided by the invention can accurately judge the upper limb movement intention of the operator through a large number of samples by establishing a movement relation equation and a database, thereby assisting and improving the real-time performance and accuracy of the assistance.
(3) The touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and method provided by the invention introduce the touch sense unmanned aerial vehicle flight, and break through the limitation that the unmanned aerial vehicle is controlled by adopting visual sensing in the past. Adopt the sense of touch design, establish unmanned aerial vehicle safe flight grade and motor output upper limbs motion auxiliary force relation to make unmanned aerial vehicle remote control person through the power of perception upper limbs motion auxiliary force, the security grade that unmanned aerial vehicle flies is acquireed in the perception, realizes sense of touch perception formula unmanned aerial vehicle flight control.
(4) The control system and the control method of the wearable upper limb exoskeleton unmanned aerial vehicle with the touch sensing function can also be applied to flight control of an agricultural aviation plant protection unmanned aerial vehicle, improve the endurance flight time of the plant protection unmanned aerial vehicle, and have the characteristics of high operation efficiency, lasting flight and the like.
(5) According to the touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and method provided by the invention, the elbow joint and the wrist joint are independent parts, each part adopts a parallel driving mode, the elbow adopts bevel gear transmission, the wrist adopts gear transmission, the movement accuracy and the movement range are increased, and the movement accuracy is improved by more than one time compared with the prior art.
(6) The touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control system and method provided by the invention are suitable for various exoskeleton controls with simple and complex structures. The control method for the upper limb exoskeleton unmanned aerial vehicle is simple in principle, complete in function, easy to maintain and use, high in response speed, strong in driving capability, low in power consumption and the like, and has high popularization and practicability.
Drawings
Fig. 1 is a general architecture overview diagram of the system of the haptic sensing wearable upper limb exoskeleton unmanned aerial vehicle control system and method provided by the invention.
Fig. 2 is a flowchart of implementing the haptic perception of the haptic perception wearable upper limb exoskeleton unmanned aerial vehicle control system and method provided by the invention.
Fig. 3 is a schematic diagram of the operation of the elbow joint of the haptic sensing wearable upper limb exoskeleton unmanned aerial vehicle control system and method provided by the invention.
Fig. 4 is a schematic overall structure diagram of the haptic sensing wearable upper limb exoskeleton unmanned aerial vehicle control system and method provided by the invention.
Fig. 5 is a flowchart of the overall structure of the haptic sensing wearable upper limb exoskeleton unmanned aerial vehicle control system and method provided by the invention.
Fig. 6 is a perspective view of the unmanned robot control mechanism of the wearable upper limb exoskeleton of the tactile sensation type provided by the invention.
Fig. 7 is a structural schematic diagram of the unmanned aerial vehicle control mechanical structure of the wearable upper limb exoskeleton of the tactile sensation type provided by the invention.
Figure 8 is a perspective view of a shoulder joint provided by the present invention.
Fig. 9 is a perspective view of an upper arm provided by the present invention.
Figure 10 is a perspective view of an elbow joint provided by the present invention.
Fig. 11 is a schematic structural view of an elbow joint provided by the present invention.
Fig. 12 is a perspective view of a forearm provided by the invention.
Fig. 13 is a first schematic structural diagram of a forearm according to the present invention.
Fig. 14 is a second schematic structural view of a forearm according to the present invention.
Fig. 15 is a perspective view of a hand grip provided by the present invention.
Fig. 16 is a schematic view of a hand grip configuration provided by the present invention.
The reference numerals in the above figures illustrate:
1-hand grip, 2-hand support plate, 3-bottom bearing block, 4-wrist connection, 5-forearm baffle, 6-rolling bearing, 7-spur gear, 8-gear, 9-forearm encoder, 10-forearm motor base, 11-forearm motor, 12-adjustment, 13-elbow joint connection bevel gear, 14-strain gage, 15-elbow connection, 16-motor coupling, 17-elbow joint encoder, 18-elbow joint motor base, 19-elbow joint motor, 20-adjustable slide rail device, 21-upper arm connection, 22-universal joint component, 23-shoulder small bearing, 24-shoulder joint connection shaft, 25-shoulder bearing block.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described below with reference to the accompanying drawings and examples.
Example 1:
as shown in fig. 1 to 16, the present embodiment discloses a wearable upper limb exoskeleton unmanned aerial vehicle control system with tactile sensation, which mainly includes:
the single chip microcomputer is connected with the motor for instruction input and drives the motor to rotate at a certain speed;
the pressure sensor is used for acquiring a force signal sent by an operator and generating a corresponding motor driving signal according to the force application signal;
the encoder is arranged on the output shaft of the motor, acquires output information, and enables the motor to control the mechanical structure to move according to the output signal so as to drive the exoskeleton to do corresponding movement;
the motors are used for assisting in movement and establishing the relationship between the safe flight level of the unmanned aerial vehicle and the upper limb movement assisting force output by the motors, so that an unmanned aerial vehicle remote controller can sense and acquire the flight safety level of the unmanned aerial vehicle by sensing the strength of the upper limb movement assisting force and realize the touch sensing type unmanned aerial vehicle flight control;
and the database is used for obtaining training samples and training data by carrying out corresponding movement by wearing the upper limb exoskeleton by a large number of users, and the experimenter executes corresponding actions and obtains corresponding data analysis and characteristic parameters, including posture information of the upper arm, the forearm, the elbow and the wrist of the wearer and joint angle information of the elbow of the wearer. Collecting experimental data analysis of different experimenters under the same and different environments, and acquiring the range of each characteristic parameter;
the encoders are respectively arranged at the positions of the elbow and the forearm of the exoskeleton of the upper limb and are used for acquiring elbow joint angle information and displacement information of the elbow joint and the forearm of a wearer in real time;
the motors are respectively arranged at the upper arm and the forearm, and are used for providing auxiliary force for the rotation of the elbow joint and adjusting the rotation speed of the joint;
the pressure sensors are respectively arranged at the positions of the forearm and the wrist and used for acquiring the interaction force information of the arm of the wearer in real time, namely the force provided by the upper limb exoskeleton to the wearer.
The single chip microcomputer receives the acquired information sent by the encoder, the pressure sensor, the motor and the like, and after filtering, sorting and calculating, the relevant characteristic parameters of the wearer are obtained, and are matched and compared with the characteristic parameters stored in the database, so that the movement intention of the operator is determined, and the size of the characteristic parameters required by the flight of the slave unmanned aerial vehicle is determined;
in the whole operation process, feedback signals of the nodes are obtained through the sensors, and the driving signals are adjusted in real time according to the feedback signals until the feedback signals are matched with the driving signals, so that a closed loop system is formed.
The invention also discloses a control method of the touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle, which mainly comprises the following specific steps:
step S1: the single chip microcomputer is used for controlling the motor to rotate at a certain speed, the pressure sensor acquires force change and generates corresponding driving signals, and then the exoskeleton elbow joint and the wrist joint are driven to rotate; the change of the joint angle and the displacement is used as the input quantity of an encoder, and the change of the joint angle and the displacement is circularly controlled;
in the first step, the unification of the upper limb movement and the exoskeleton movement is realized, different pressures are generated according to the difference of the upper limb movement, and the different pressures are reacted on the exoskeleton to control the remote unmanned aerial vehicle. After the signals are arranged and calculated, the movement direction and speed of the upper limb exoskeleton are obtained, and the unification of the upper limb exoskeleton movement and the unmanned aerial vehicle flight is realized through multiple tests and adjustments.
Step S2: respectively acquiring signals of the encoder, the motor and the strain gauge, transmitting the signals to the processor, filtering and extracting the signals by the processor, amplifying and sorting the preprocessed pressure electric signals, and then carrying out algorithm to obtain the movement direction and speed of the upper limb, and acquiring and analyzing the signals by the singlechip to drive the motor to correspondingly rotate;
and step two, controlling the flight attitude of the remote unmanned aerial vehicle, connecting the encoder with the motor through a shaft, and installing the encoder at the node position of the exoskeleton. At a node with complex force composition and motion, searching an optimal installation position through simulation and adjustment; after processing, filtering useless signals, and generating different instructions by outputting corresponding pulses; this pulse is gathered to the singlechip, and the analysis calculates and obtains corresponding unmanned aerial vehicle flight instruction, transmits for distal end unmanned aerial vehicle, carries out unmanned aerial vehicle's start, stops, flight attitude control.
Step S3: the exoskeleton drives the elbow joint and the wrist joint to move in the operation process, so that feedback signals of the nodes are obtained and fed back to the processing module to obtain a difference value, and the driving signals and the feedback signals are adjusted according to the difference value until the driving signals and the feedback signals are matched; increasing the increment of the drive signal when the force application signal increases; when the force application signal decreases, decreasing the increment of the driving signal; when the force application signal is zero, setting a driving signal bit to be zero;
and in the third step, the remote unmanned aerial vehicle is controlled, and the flight direction of the unmanned aerial vehicle is required to be clear. This ectoskeleton design controls distal end unmanned aerial vehicle flight gesture through upper limbs motion, rotates through the upper limbs and controls distal end unmanned aerial vehicle and turn round, realizes the correspondence of upper limbs motion and distal end unmanned aerial vehicle flight. Through changing the size and the direction of exerting at upper limbs power, the pulse phase difference and the pulse quantity of encoder terminal output are different to this changes the change of far-end unmanned aerial vehicle angle of flight and flying speed in the flight process. After pressure reaches certain extent, the far-end unmanned aerial vehicle flight attitude changes (subtle power can not cause the change), and this scheme makes it can keep stable flight attitude.
Step S4: the encoder coaxial with the motor outputs corresponding pulses, and the encoders at different positions and the number of the pulses affect the flight speed, the flight angle or other parameters of the unmanned aerial vehicle; finally, the singlechip gathers the electric pulse output of encoder and carries out the analysis and obtain the unmanned aerial vehicle flight order that corresponds to with signal arrangement, transmit for remote unmanned aerial vehicle, carry out the flight attitude control of unmanned aerial vehicle's start, stop.
In step four, to the start-up, keep and the landing of distal end unmanned aerial vehicle, need drive power setting range and size to the upper limbs, when making clear that unmanned aerial vehicle starts up, keeps and lands, the size of the required power of upper limbs. The optimal upper limb driving force is set (the phenomenon that the unmanned aerial vehicle can take off when the upper limb moves is avoided), so that the remote unmanned aerial vehicle takes off slowly; when the force changes within a certain range or disappears suddenly, the remote unmanned aerial vehicle keeps the flight attitude, and the labor intensity of an unmanned aerial vehicle operator is relieved; when the force is lower than the force when the unmanned aerial vehicle is started and starts to slowly decrease, the remote unmanned aerial vehicle receives a command to start slow landing; the whole process from starting to landing of the unmanned aerial vehicle is realized. In the design of wearable upper limbs ectoskeleton unmanned aerial vehicle teleoperation control system of sense of touch perception formula, the steady flight gesture of preferential assurance, when guaranteeing the upper limbs motion, press the corresponding signal transmission who produces and give distal end unmanned aerial vehicle, realize unmanned aerial vehicle's start, stop, flight attitude control.
Further, step S1 of the present invention further includes the step of the operator wearing the exoskeleton robot component, initializing the system, inputting the relevant basic information of the wearer through the user interface, and performing profiling storage.
Further, step S2 of the present invention further includes defining the upper limb exoskeleton movement condition and the unmanned aerial vehicle flight attitude control. The encoder is installed at ectoskeleton elbow and wrist, and the terminal gathers the encoder electric pulse and carries out the analysis and obtain the flight command that corresponds unmanned aerial vehicle, transmits for remote unmanned aerial vehicle.
As a preferable embodiment of the present invention, the step S3 further includes controlling the change of the output rotation speed of the motor by adjusting the signal input to the motor, so as to adjust the joint rotation speed. This ectoskeleton remote control unmanned aerial vehicle system, through both arms motion, elbow joint rotate to control from end unmanned aerial vehicle's flight gesture, the difference of front and back input displacement and angle for encoder output pulse phase difference is different with pulse quantity, changes the slew velocity of joint department with this.
As a preferable scheme of the present invention, the step S4 further includes setting a minimum power for the remote drone to take off. When the pressure exceeds the value, the unmanned aerial vehicle slowly takes off; when the pressure is within a certain range or suddenly drops, the unmanned aerial vehicle keeps the flight attitude; when the pressure is lower than the takeoff pressure of the unmanned aerial vehicle and starts to be slowly reduced, the remote unmanned aerial vehicle starts to slowly land; the reciprocating motion forms a closed loop system.
The invention also discloses a touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle control mechanical structure which mainly comprises a back container, and a shoulder joint, an upper arm, an elbow joint, a forearm, a wrist joint and a hand-holding 1 control part which are sequentially connected; the back container includes a battery pack and a controller electrically connected to the battery pack.
Specifically, the shoulder joint includes a shoulder pad, a shoulder bearing seat 25, a shoulder joint connecting shaft 24, and a universal joint assembly 22. The shoulder protection buckles on the shoulders, the shoulder bearing seat 25 is fixedly connected with the shoulder protection through bolts, and the lower surface of the shoulder bearing seat 25 is attached to the shoulder protection plastic plate. One end of the shoulder joint connecting shaft 24 is sleeved on the shoulder bearing seat 25 through a bearing hole, and the other end is connected with the universal joint assembly 22.
Specifically, the upper arm includes an upper arm connector 21 and an adjustable slide rail device 20, and the adjustable slide rail device 20 is in rolling contact with a steel ball. One end of the adjustable slide rail device 20 is connected with a universal joint component 22 through an upper arm connecting piece 21, and the other end is connected with an elbow joint.
Specifically, the elbow joint comprises an elbow joint motor 19, an elbow joint motor base 18, an elbow joint encoder 17, a motor coupler 16, an elbow connecting piece 15, a strain gauge 14 and an elbow joint connecting bevel gear 13. The two elbow joint connecting bevel gears 13 are arranged vertically and are meshed with each other for transmission, and the two elbow joint connecting bevel gears are respectively a vertical connecting bevel gear and a horizontal connecting bevel gear. The elbow joint motor base 18 is fixedly connected with an adjustable slide rail device 20. The elbow joint motor 19 is installed on the elbow joint motor base 18 downwards and is electrically connected with the controller, and the output end of the elbow joint motor is connected with the vertical connecting bevel gear through the motor coupler 16. The strain gauges 14 are respectively arranged on two sides of the motor coupling 16 and electrically connected with the controller. The elbow joint encoder 17 is mounted on the motor coupling 16 and is electrically connected with the controller. The horizontal connecting bevel gear is connected with the forearm through an elbow connecting piece 15.
Specifically, the forearm comprises a telescopic adjusting piece 12, a forearm motor 11, a forearm motor base 10, a forearm encoder 9, a gear 8, a spur gear 7, a rolling bearing 6 and a forearm baffle 5. Regulating part 12 includes fixed regulating block and flexible regulating block, the one end and the 15 fixed connection of elbow connecting piece of fixed regulating block, in the flexible regulating block of other end embedding, with flexible regulating block sliding connection. The forearm motor frame 10 is installed on flexible regulating block, the forearm motor is installed on forearm motor mount pad to be connected with the controller electricity, its output is connected with gear 8. The forearm encoder 9 is arranged at the output end of the forearm motor 11 and is electrically connected with the controller; the spur gear 7 is mounted on the outer ring of the rolling bearing 6, is located below the gear 8 and meshes with the gear 8. And the inner ring of the rolling bearing 6 is fixed on the telescopic adjusting block. One end of the forearm baffle 5 is fixed on the outer ring of the rolling bearing 6, and the other end extends forwards and is connected with the wrist joint.
Specifically, the wrist joint comprises a wrist connecting piece 4, a bottom bearing seat 3, a hand supporting plate 2 and a hand grip 1. One end of the wrist connecting piece 4 is arranged on the forearm baffle 5, and the other end is rotatably connected with the bottom bearing seat 3. The hand supporting plate is arranged on the bottom bearing seat 3 and is in shaft connection with the hole of the bottom bearing seat 3. The hand grip 1 is vertically fixed on the hand supporting plate 2.
Furthermore, in order to improve the connection strength between the elbow joint and the forearm and improve the overall rigidity, the elbow connector 15 of the invention is also provided with a reinforcing rib. The reinforcing ribs are designed in a right-angled triangle structure.
Further, in order to improve the smoothness of the upper arm during extension and retraction and obtain better user experience, the adjustable slide rail device 20 of the present invention includes a slide rail fixing seat and an extension slide rail. The slide rail fixing seat is fixedly connected with the elbow joint motor base 18. One end of the telescopic sliding rail is embedded into the sliding rail fixing seat and is in rolling connection with the sliding rail fixing seat, and the other end of the telescopic sliding rail extends upwards and is connected with the upper arm connecting piece 21.
The working process and principle of the invention are as follows: the invention defines the motion condition of the upper limbs and the flight and attitude control of the unmanned aerial vehicle, arranges the signals, transmits the signals to the remote unmanned aerial vehicle, and carries out the starting, stopping and flight attitude control of the unmanned aerial vehicle. In the aspect of the design of touch perception structure, adopt motor motion auxiliary mode, establish unmanned aerial vehicle safe flight level (the distance between unmanned aerial vehicle and the barrier) and motor output upper limbs motion auxiliary force relation to make the unmanned aerial vehicle teleoperation person through the power of perception upper limbs motion auxiliary force, the security level that the perception was acquireed unmanned aerial vehicle and is flown realizes touch perception formula unmanned aerial vehicle flight control, thereby alleviates the excessive dependence of unmanned aerial vehicle teleoperation flight control to the vision. The invention also has the advantages of simple structure, convenient operation and easy implementation.
Example 2:
with reference to fig. 1 to 16, the embodiment discloses a control method of a wearable upper limb exoskeleton unmanned aerial vehicle with tactile sensation, which includes the following steps:
the method comprises the following steps: the single chip microcomputer controls the motor to rotate, so that the elbow joint and the wrist joint are driven to rotate, pressure electric signal changes are obtained, an entering algorithm is finished, the motion direction and the motion speed of the upper limbs are obtained, the motor is driven to rapidly move, and the unification of the upper limb exoskeleton motion and the flight of the unmanned aerial vehicle is achieved.
Step two: and defining the motion condition of the exoskeleton of the upper limb and the flight attitude control of the unmanned aerial vehicle. The encoder is installed at ectoskeleton elbow and wrist, and the terminal gathers the encoder electric pulse and carries out the analysis and obtain the flight command that corresponds unmanned aerial vehicle, transmits for remote unmanned aerial vehicle.
Step three: the change of the output rotating speed of the motor is controlled by adjusting the signal input into the motor, and the rotating speed of the joint is adjusted. This ectoskeleton remote control unmanned aerial vehicle system, through both arms motion, elbow joint rotate to control from end unmanned aerial vehicle's flight gesture, the difference of front and back input displacement and angle for encoder output pulse phase difference is different with pulse quantity, changes the slew velocity of joint department with this.
Step four: and setting the minimum power for the takeoff of the remote unmanned aerial vehicle. When the pressure exceeds the value, the unmanned aerial vehicle slowly takes off; when the pressure is within a certain range or suddenly drops, the unmanned aerial vehicle keeps the flight attitude; when the pressure is lower than the takeoff pressure of the unmanned aerial vehicle and starts to be slowly reduced, the remote unmanned aerial vehicle starts to slowly land; the reciprocating motion forms a closed loop system.
In the first step, the unification of the upper limb movement and the exoskeleton movement is realized, different pressures are generated according to the difference of the upper limb movement, and the different pressures are reacted on the exoskeleton to control the remote unmanned aerial vehicle. After the signals are arranged and calculated, the movement direction and speed of the upper limb exoskeleton are obtained, and the unification of the upper limb exoskeleton movement and the unmanned aerial vehicle flight is realized through multiple tests and adjustments.
And step two, controlling the flight attitude of the remote unmanned aerial vehicle, connecting the encoder with the motor through a shaft, and installing the encoder at the node position of the exoskeleton. At a node with complex force composition and motion, searching an optimal installation position through simulation and adjustment; after processing, filtering useless signals, and generating different instructions by outputting corresponding pulses; this pulse is gathered to the singlechip, and the analysis calculates and obtains corresponding unmanned aerial vehicle flight instruction, transmits for distal end unmanned aerial vehicle, carries out unmanned aerial vehicle's start, stops, flight attitude control.
And in the third step, the remote unmanned aerial vehicle is controlled, and the flight direction of the unmanned aerial vehicle is required to be clear. This ectoskeleton design controls distal end unmanned aerial vehicle flight gesture through upper limbs motion, rotates through the upper limbs and controls distal end unmanned aerial vehicle and turn round, realizes the correspondence of upper limbs motion and distal end unmanned aerial vehicle flight. Through changing the size and the direction of exerting at upper limbs power, the pulse phase difference and the pulse quantity of encoder terminal output are different to this changes the change of far-end unmanned aerial vehicle angle of flight and flying speed in the flight process. After pressure reaches certain extent, the far-end unmanned aerial vehicle flight attitude changes (subtle power can not cause the change), and this scheme makes it can keep stable flight attitude.
In step four, to the start-up, keep and the landing of distal end unmanned aerial vehicle, need drive power setting range and size to the upper limbs, when making clear that unmanned aerial vehicle starts up, keeps and lands, the size of the required power of upper limbs. The optimal upper limb driving force is set (the phenomenon that the unmanned aerial vehicle can take off when the upper limb moves is avoided), so that the remote unmanned aerial vehicle takes off slowly; when the force changes within a certain range or disappears suddenly, the remote unmanned aerial vehicle keeps the flight attitude, and the labor intensity of an unmanned aerial vehicle operator is relieved; when the force is lower than the force when the unmanned aerial vehicle is started and starts to slowly decrease, the remote unmanned aerial vehicle receives a command to start slow landing; the whole process from starting to landing of the unmanned aerial vehicle is realized. In the design of wearable upper limbs ectoskeleton unmanned aerial vehicle teleoperation control system of sense of touch perception formula, the steady flight gesture of preferential assurance, when guaranteeing the upper limbs motion, press the corresponding signal transmission who produces and give distal end unmanned aerial vehicle, realize unmanned aerial vehicle's start, stop, flight attitude control.
Example 3:
as shown in fig. 1 to 16, the present embodiment discloses a wearable upper limb exoskeleton unmanned aerial vehicle control system with tactile sensation, which includes a data input module, a central processing module and an exoskeleton upper limb wearable component. Wearable upper limbs ectoskeleton sets up motor and encoder in wrist joint and elbow joint department, and the encoder is installed on the motor output shaft, and the bevel gear is adopted in the elbow connection, and the wrist is connected and is adopted the gear, realizes nimble rotation.
In consideration of the problem that the existing upper limb exoskeleton system is poor in operation comfort level, the control method of the wearable upper limb exoskeleton unmanned aerial vehicle with the touch sensing function is applied to the fields of medical rehabilitation, agricultural aviation, exoskeleton and the like, and can enable a user to control a remote unmanned aerial vehicle by wearing the exoskeleton, realize corresponding functions and realize the optimal application of the wearable upper limb exoskeleton.
Referring to fig. 1, a general architecture overview of a system of a haptic wearable upper limb exoskeleton unmanned aerial vehicle control system and method is shown, the method is executed by a central processing module of an upper limb exoskeleton system, the upper limb exoskeleton system comprises a processing module, a sensor, a motor and a mechanical structure, and the sensor and the motor are mounted on the mechanical structure; the motor is used for controlling the mechanical structure to rotate, one end of the encoder is connected with an output shaft of the motor, and the other end of the encoder is connected with the elbow bevel gear; the motor rotates to drive the exoskeleton elbow joint to rotate, and the encoder collects the angle change and the displacement change of the joint as input quantity; and in the operation process of the mechanical structure, the driving signal is adjusted in real time according to the feedback signal until the feedback signal is matched with the driving signal.
The encoders are respectively arranged at the elbow and forearm positions of the exoskeleton of the upper limb and are used for acquiring elbow joint angle information, elbow joints and displacement information of the forearm of a wearer in real time.
The motors are respectively arranged at the upper arm and the forearm position and are used for providing auxiliary force for the rotation of the elbow joint and adjusting the rotation speed of the joint.
The pressure sensors are respectively arranged at the positions of the forearm and the wrist and used for acquiring the interaction force information of the arm of the wearer in real time, namely the force provided by the upper limb exoskeleton to the wearer.
The database is obtained in the following mode: a large number of users wear upper limb exoskeletons to perform corresponding movement to obtain training samples and training data, and an experimenter executes corresponding actions to obtain corresponding data analysis and characteristic parameters, including posture information of upper arms, forearms, elbows and wrists of the wearer and joint angle information of the elbows of the wearer. And collecting the experimental data analysis of different experimenters under the same and different environments to obtain the range of each characteristic parameter.
The embodiment also discloses a control system method of the wearable upper limb exoskeleton unmanned aerial vehicle with the tactile sensation, which mainly comprises the following steps:
the method comprises the following steps: the operator wears the exoskeleton robot part, initializes the system, inputs relevant basic information of the operator through a user interface, and performs filing storage.
Step two: the single chip microcomputer is used for controlling the motor to rotate at a certain speed, the pressure sensor acquires force change and generates corresponding driving signals, and then the exoskeleton elbow joint and the wrist joint are driven to rotate; the changes of the joint angle and the displacement are used as input quantities of an encoder, and the changes of the joint angle and the displacement are circularly controlled.
Step three: the encoder, the motor and the strain gauge are used for acquiring signals and transmitting the signals to the processor, the processor is used for filtering and extracting the signals, the preprocessed pressure electric signals are amplified and sorted and then are carried into an algorithm to obtain the movement direction and the speed of the upper limb, and the motors are driven to rotate correspondingly through the acquisition and analysis of the single chip microcomputer;
step four: the exoskeleton drives the elbow joint and the wrist joint to move in the operation process, so that feedback signals of the nodes are obtained and fed back to the processing module to obtain a difference value, and the driving signals and the feedback signals are adjusted according to the difference value until the driving signals and the feedback signals are matched. Increasing the increment of the drive signal when the force application signal increases; when the force application signal decreases, decreasing the increment of the driving signal; and when the force application signal is zero, setting the driving signal bit to be zero.
Step five: the encoder coaxial with the motor outputs corresponding pulses, and the encoders at different positions and the number of the pulses affect the flight speed, the flight angle and the like of the unmanned aerial vehicle; finally, the singlechip gathers the electric pulse output of encoder and carries out the analysis and obtain the unmanned aerial vehicle flight command that corresponds to with signal arrangement, transmit for remote unmanned aerial vehicle, carry out unmanned aerial vehicle's start, stop, flight attitude control.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (6)
1. A wearable upper limbs ectoskeleton unmanned aerial vehicle control system of sense of touch perception formula characterized in that includes:
the single chip microcomputer is connected with the motor for instruction input and drives the motor to rotate at a certain speed;
the pressure sensor is used for acquiring a force signal sent by an operator and generating a corresponding motor driving signal according to the force application signal;
the encoder is arranged on the output shaft of the motor, acquires output information, and enables the motor to control the mechanical structure to move according to the output signal so as to drive the exoskeleton to do corresponding movement;
the motors are used for assisting in movement and establishing the relationship between the safe flight level of the unmanned aerial vehicle and the upper limb movement assisting force output by the motors, so that an unmanned aerial vehicle remote controller can sense and acquire the flight safety level of the unmanned aerial vehicle by sensing the strength of the upper limb movement assisting force and realize the touch sensing type unmanned aerial vehicle flight control;
a database, a large number of users wear upper limb exoskeletons to carry out corresponding movement to obtain training samples and training data, and experimenters execute corresponding actions to obtain corresponding data analysis and characteristic parameters, including posture information of upper arms, forearms, elbows and wrists of the wearers and joint angle information of elbows of the wearers; collecting experimental data analysis of different experimenters under the same and different environments, and acquiring the range of each characteristic parameter;
the encoders are respectively arranged at the positions of the elbow and the forearm of the exoskeleton of the upper limb and are used for acquiring elbow joint angle information and displacement information of the elbow joint and the forearm of a wearer in real time;
the motors are respectively arranged at the upper arm and the forearm, and are used for providing auxiliary force for the rotation of the elbow joint and adjusting the rotation speed of the joint;
the pressure sensors are respectively arranged at the positions of the forearm and the wrist and are used for acquiring the interaction force information of the arm of the wearer in real time, namely the force provided by the upper limb exoskeleton to the wearer;
the single chip microcomputer receives the acquired information sent by the encoder, the pressure sensor and the motor, and after filtering, sorting and calculating, the relevant characteristic parameters of the wearer are obtained, and are matched and compared with the characteristic parameters stored in the database, so that the movement intention of the operator is determined, and the size of the characteristic parameters required by the flight of the slave unmanned aerial vehicle is determined;
in the whole operation process, feedback signals of the nodes are obtained through the sensors, and the driving signals are adjusted in real time according to the feedback signals until the feedback signals are matched with the driving signals, so that a closed loop system is formed.
2. A control method of a touch sensing type wearable upper limb exoskeleton unmanned aerial vehicle is characterized by comprising the following steps:
step S1: the single chip microcomputer is used for controlling the motor to rotate at a certain speed, the pressure sensor acquires force change and generates corresponding driving signals, and then the exoskeleton elbow joint and the wrist joint are driven to rotate; the change of the joint angle and the displacement is used as the input quantity of an encoder, and the change of the joint angle and the displacement is circularly controlled;
step S2: respectively acquiring signals of the encoder, the motor and the strain gauge, transmitting the signals to the processor, filtering and extracting the signals by the processor, amplifying and sorting the preprocessed pressure electric signals, and then carrying out algorithm to obtain the movement direction and speed of the upper limb, and acquiring and analyzing the signals by the singlechip to drive the motor to correspondingly rotate;
step S3: the exoskeleton drives the elbow joint and the wrist joint to move in the operation process, so that feedback signals of the nodes are obtained and fed back to the processing module to obtain a difference value, and the driving signals and the feedback signals are adjusted according to the difference value until the driving signals and the feedback signals are matched; increasing the increment of the drive signal when the force application signal increases; when the force application signal decreases, decreasing the increment of the driving signal; when the force application signal is zero, setting a driving signal bit to be zero;
step S4: the encoder coaxial with the motor outputs corresponding pulses, and the encoders at different positions and the number of the pulses influence the flight speed and the flight angle of the unmanned aerial vehicle; finally, the singlechip gathers the electric pulse output of encoder and carries out the analysis and obtain the unmanned aerial vehicle flight order that corresponds to with signal arrangement, transmit for remote unmanned aerial vehicle, carry out the flight attitude control of unmanned aerial vehicle's start, stop.
3. The control method of the wearable upper limb exoskeleton unmanned aerial vehicle with tactile sensation of claim 2, wherein the step S1 further comprises the steps of wearing the exoskeleton robot component by the manipulator, initializing the system, inputting relevant basic information of the wearer through the user interface, and performing profiling storage.
4. The method of claim 2, wherein step S2 further comprises defining upper extremity exoskeleton motion and drone flight attitude control; the encoder is installed at ectoskeleton elbow and wrist, and the terminal gathers the encoder electric pulse and carries out the analysis and obtain the flight command that corresponds unmanned aerial vehicle, transmits for remote unmanned aerial vehicle.
5. The control method of the wearable upper limb exoskeleton unmanned aerial vehicle with tactile sensation of claim 2, wherein the step S3 further comprises controlling the change of the output rotation speed of the motor by adjusting the signal input to the motor, so as to adjust the joint rotation speed; this ectoskeleton remote control unmanned aerial vehicle system, through both arms motion, elbow joint rotate to control from end unmanned aerial vehicle's flight gesture, the difference of front and back input displacement and angle for encoder output pulse phase difference is different with pulse quantity, changes the slew velocity of joint department with this.
6. The control method of the haptic-aware wearable upper limb exoskeleton unmanned aerial vehicle as claimed in claim 2, wherein the step S4 further comprises setting a minimum power for the take-off of the remote unmanned aerial vehicle; when the pressure exceeds the value, the unmanned aerial vehicle slowly takes off; when the pressure is within a certain range or suddenly drops, the unmanned aerial vehicle keeps the flight attitude; when the pressure is lower than the takeoff pressure of the unmanned aerial vehicle and starts to be slowly reduced, the remote unmanned aerial vehicle starts to slowly land; the reciprocating motion forms a closed loop system.
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| CN111061368B (en) * | 2019-12-09 | 2023-06-27 | 华中科技大学鄂州工业技术研究院 | Gesture detection method and wearable device |
| CN111176458B (en) | 2020-02-07 | 2021-06-25 | 腾讯科技（深圳）有限公司 | Slippery sensation simulation device and control system |
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