WO2017211950A1

WO2017211950A1 - Haptic feedback devices for a manipulator system

Info

Publication number: WO2017211950A1
Application number: PCT/EP2017/063956
Authority: WO
Inventors: Gerhard Hietmann; Martin Riedel
Original assignee: Kuka Roboter Gmbh
Priority date: 2016-06-10
Filing date: 2017-06-08
Publication date: 2017-12-14
Also published as: DE202016003692U1

Abstract

The invention relates to a wearable haptic feedback device (100) for a manipulator system (1), comprising a plurality of haptic feedback elements (111, 112, 113, 121, 122, 123, 131, 132, 133, 141, 142, 143), which can be arranged substantially annularly in order to form a wearable feedback device (100). Said feedback device is designed to at least partially extend around a body part (55) of a user (50). Furthermore, each of the haptic feedback elements is designed to be controlled separately in order to provide a user (50) with a direction-specific haptic feedback that corresponds to manipulator information.

Description

HAPTIC RETROFITTING DEVICES FOR ONE

MANIPULATOR SYSTEM

Field of the invention

The invention relates to portable, haptic feedback devices for

Manipulator systems, and manipulator systems comprising at least one portable haptic feedback device, which is adapted to feed back manipulator information to a user and input commands for a

To provide control device of a manipulator. Background of the invention

Manipulator systems are typically used in industrial manufacturing, wherein a manipulator system at least one manipulator and a

Control unit, which is adapted to the at least one

To control manipulator. Typically, industrial robots are used as manipulators, which have a large number of freely programmable movement axes. Such industrial robots are designed to carry end effectors, such as tools or grippers. In addition to conventional manipulator systems, manipulators are used in industrial production for various work processes that enable a human-robot collaboration (MRC). This exploits that

People and robots / manipulators work closely together to increase productivity. At the same time, people can quickly switch to different ones

Set tasks and, above all, unpredictable events, while the advantages of the robot in the quick and precise execution of simple, often repetitive activities. The MRK advantageously combines both strengths. As examples of such MRK systems are i.a. to call manually guided manipulators and assistant robots. The former include manipulators, the one hand, for example, directly or via telemanipulation

Have manipulator, with the example, loads can be offset. Assist robots are manipulators that allow an operator without separating

Protective devices can work together. If the work spaces of humans and manipulators overlap, special safety precautions must be taken. One possibility is the

Providing specific feedback devices that inform the manipulator's / user's operator about possible hazards or planned movements of the manipulator. Likewise, when working with the manipulator, or during programming and / or "teaching" of the manipulator, it may be advantageous to receive a corresponding feedback.

In the human-robot collaboration, and in particular in hand-guided robots, it is known to control the manipulator in such a way that humans are able to

Guide the manipulator virtual guide aids haptically be reported. For example, the manipulator can not be moved beyond defined safety areas or the manipulator is switched to a predetermined trajectory "soft" and is the "harder", the further he moves from the

Movement path moves away. This is achieved by using the manipulator in the

Compliance rule is regulated. Since the haptic feedback is generated directly by the manipulator, their application is limited to cases in which the manipulator is immediately hand-guided.

Furthermore, programming devices are known, such as DE 10 2013 109 753 Ai, which haptic feedback, for example by means of a

Enable vibration alarms. However, these known handheld programmable handheld devices are unable to provide directional haptic feedback and provide input commands to a controller of a manipulator.

Object of the present invention is to at least partially overcome the disadvantages mentioned. Detailed description of the invention

The object is achieved by a portable, haptic feedback device according to claim 1 and a manipulator system according to claim 11.

In particular, the problem is solved by a portable haptic

Feedback device, in particular in the form of a bracelet, for a

A manipulator system comprising: a plurality of haptic feedback elements that are substantially annularly arrangeable to a portable one

Form feedback device, which is adapted to a body part of a User at least partially enclose, with each of the haptic

Feedback elements is adapted to be controlled separately to provide a user with a directional haptic feedback corresponding to a manipulator information. The feedback device further comprises at least one input element, which at the

Feedback device is arranged and adapted to provide input commands for a controller of a manipulator.

Haptic feedback devices are particularly suitable for use in manipulator systems because manipulator systems are often used in loud and confusing environments. Therefore, there is a danger that a user will miss / overhear warnings issued by corresponding feedback devices if these feedbacks are made acoustically or visually.

A haptic feedback has the advantage that it directly to a

specific user can be issued which the portable haptic

Confirmation device carries. For this purpose, the feedback device may at least partially enclose a body part of the user, wherein the body part may be, for example, an arm or a wrist, so that the portable haptic

Feedback device can be worn as a bracelet. The

Feedback device does not have to form a completely closed band, but may be open on one side, so that a C-shaped

Feedback device results. Likewise, the response device may enclose other body parts, such as an upper arm, a part of a leg, a part of the thorax and / or the head, etc. The haptic feedback elements are preferably adapted to

Transmit vibration signals to the user. Likewise, other haptic feedback can be generated, for example by means of gyroscopic forces, by the application of pressure and / or the like. In particular, the

Feedback elements so arranged to each other and preferably coupled to form a corresponding annular feedback device. By way of example, a first manipulator information, which describes, for example, a current and / or planned direction of movement of a manipulator, can be displayed by the separate actuation of the feedback elements. The at least one input element may be, for example, a wireless emergency stop switch, or corresponding switches and / or buttons, which are configured, for example, to start or stop a manipulator. Likewise, corresponding keys may be provided which, for example, set teach-in points in the path programming of a manipulator or provide other functions, such as the on / off of an end effector, the

Opening / closing a gripper and / or the like. In particular, a

Input element to be a consent switch, for example, allows the confirmation of a menu selection, especially in the programming of the manipulator. In addition to classic input elements such as buttons and switches can also

Selection wheels, joysticks and the like may be provided, for example, to control the manipulator directly.

In particular, the feedback device may further comprise an optical display which is adapted to display manipulator information and / or further information. In particular, the visual display may visually display the haptic feedback information to provide a redundant display, thereby increasing the security of the system. Alternatively or additionally, further information can be provided on the display.

For example, the optical display can be used to provide information which is used to program a trajectory or a

Flow logic of a manipulator system can be used.

Furthermore, the feedback device may comprise at least one touch-sensitive input element, which is preferably formed integrally with the optical display and / or one of the feedback elements. In particular, the feedback device, for example, comprise a touch-sensitive display, which is set up for corresponding inputs of a user. If the touch-sensitive input element is formed integrally with one of the feedback elements, it may, for example, be similar to a mouse button of a

Laptop computers are used. In particular, this configuration makes it possible to optimally arrange the touch-sensitive input element to allow a user easy accessibility and a good view of the optional

to provide the visual display provided.

In particular, the at least one touch-sensitive input element can be arranged between two adjacent feedback elements, wherein preferably a plurality of touch-sensitive input elements circumferentially distributed, each disposed between adjacent feedback elements, when the

Feedback device is arranged annularly.

If a plurality of touch-sensitive input elements are arranged on the feedback device and these are preferably distributed circumferentially, the feedback device can be used as a virtual input wheel. Such a virtual input wheel can be used to specify an orientation of an axis of the manipulator and / or to change a parameter for controlling the manipulator. For example, an allowable manipulator speed can be set. Other parameters can also be changed.

To specify an orientation and / or to set a parameter, it is detected in which time sequence and preferably in which direction the touch-sensitive input elements are touched. From this acquired data, a direction of rotation of the virtual input wheel can be determined. For example, if the touch-sensitive input elements are touched sequentially in a clockwise direction, or if the touch direction is directed clockwise, an input command may be provided to a controller of a manipulator that increases (or decreases) a corresponding parameter. Likewise, an axis of the manipulator may be oriented in accordance with the detected sense of rotation. In particular, the feedback device may comprise at least one sensor configured to determine the orientation and / or position of the feedback device in space, wherein the

Feedback device is preferably adapted to implement changes in orientation and / or position as input commands. A sensor which is adapted to the orientation and / or the position of

To determine feedback device in the room, allows a

directional haptic feedback regardless of the location of the haptic feedback device. If, for example, an axis of a manipulator is moved upwards, then the upward-oriented feedback element can always be actuated in order to make the corresponding movement to the user

report back. Consequently, the user needs the feedback from the

Feedback device is not converted, but it provides an immediate haptic, directional feedback. Possible sensors are acceleration sensors, or other sensors that provide a determination of

Orientation and / or position of the feedback device allow. Furthermore, such sensors can be used to generate input commands to a controller. For example, if a user wears a wearable haptic feedback device in the form of a bracelet, then rotating the forearm about its longitudinal axis may be considered a rotational movement of a virtual

Input wheels are interpreted and a corresponding input command to a

Control device of the manipulator system are sent. For example, a specific control mode can be switched on or off by the correspondingly detected rotation of the feedback device, or in another

Use case, an axis of the manipulator are moved in accordance with the movement performed by the user. Likewise, if the position of the

Feedback device can be determined by means of the sensors, a forward and / or backward movement of a user as pressing a switch

be interpreted, and appropriate commands are executed.

Furthermore, the haptic feedback elements of

Feedback device in a direction A of the feedback device to be arranged at least two rows. Due to the separate control of the individual feedback elements so direction-specific haptic feedback can be provided to a user.

In particular, the feedback device may be at least eight

Comprise feedback elements which are arranged in at least four rows, wherein the rows comprise at least two feedback elements, which rows are preferably distributed uniformly circumferentially when the portable

Feedback means at least partially surrounds a body part of a user, such as in the form of a bracelet. If the four rows are uniformly distributed circumferentially and, for example, attached to a forearm of a user, so are directional haptic

Feedback in six spatial degrees of freedom possible. For example, if it is confirmed in which direction an axis of a manipulator moves, it can be indicated by driving the corresponding row of feedback elements, in which direction the axis moves.

For example, a series of feedback elements is disposed on an upper surface of the lower arm, a second series of feedback elements on the underside of the lower arm, and the other two rows of feedback elements are disposed laterally on the lower arm. Moves an axis of a manipulator, for example, in Substantially to the series of feedback elements which are attached to the top of the forearm, so this series can be controlled to provide a corresponding haptic feedback. If the direction of movement of the axis is in the opposite direction, then the row of feedback elements which is arranged on the underside of the lower arm can be actuated.

For example, an axis of a manipulator moves obliquely to the one

corresponding rows of feedback elements, so adjacent rows can be controlled simultaneously, preferably with different intensity, so that an oblique movement of the axis of the manipulator can be fed back to the user. For example, if the axis moves substantially in a direction of the forearm, firstly a first element of a row and shortly thereafter a second element of the series can be driven to signal the user the direction of movement of the axis. If an opposite direction of movement is to be confirmed, first the second feedback element and then the first feedback element are activated.

In particular, the feedback elements may be addressed in a particular temporal sequence to provide directional haptic feedback in at least six spatial degrees of freedom.

In addition to the direction-dependent feedback described above, rotational movements of an axis and / or a manipulator can also be confirmed by corresponding time sequences. For example, a time sequence may provide for driving the uniformly circumferentially distributed rows.

This can be reported back by a corresponding timing of a first, second, third and fourth row a direction of rotation. If the rows are controlled in a different order, then an opposite direction of rotation can be confirmed.

In particular, the feedback elements with a different

Intensity can be controlled. For example, in the case of a vibration feedback, the amplitude of the vibration or the frequency of the vibration may be changed to, for example, the proximity of the feedback device to a

To signal back manipulator and so for example to warn of an imminent collision. Alternatively, by adjusting the amplitude and / or the frequency, for example, a speed of an axis of the manipulator or the

Manipulator itself be reported. In particular, the feedback device may be configured to provide feedback to a user about at least one of the following:

a current state of the manipulator;

a current and / or planned direction of movement of a manipulator and / or an axis of a manipulator;

an impending collision of a manipulator and / or an axis of a manipulator;

a force and / or direction, the force acting on a manipulator / axle and / or torque;

- reaching a working space border, a security area, a

planned trajectory and / or a predetermined pose of the manipulator,

a danger direction and / or

a current control mode of the manipulator. On the one hand temporal sequences can be used for this purpose

Feedback elements to control separately and / or the intensity of the control can be adjusted to provide a corresponding feedback.

In particular, the corresponding feedback of the feedback device depending on the intended feedback can be freely programmable to provide a universally applicable feedback device. This is the

Feedback device preferably configured to communicate with a control device of a manipulator system, in particular wireless, to

receive corresponding acknowledgment commands.

The current state of the manipulator, which can be confirmed, may, for example, relate to information as to whether the manipulator is switched on or off or in a standby state. If current or planned directions of movement of a manipulator and / or an axis of a manipulator are confirmed, the user can recognize a possible collision and move away from the corresponding danger zone. Likewise, others can

Danger directions are reported back. This is particularly advantageous if the user resides in a manipulator system, which includes a plurality of possibly mobile manipulators, which are, for example, in front of and behind the user, so that the user can not keep all manipulators in view. Threatens a danger, such as a collision, or moves a manipulator the user, so he can be informed by an appropriate feedback early on the movement and facing an imminent collision, or the potential

Danger be warned.

In particular, the manipulator system may include sensors that sense the location, i. monitor the position and orientation of the portable haptic feedback device in the manipulator system. Such sensors may be, for example, optical sensors, such as stereo cameras, which allow items to be "tracked." Thus, feedback may be output informing of actual distances between the manipulator and a feedback device Manipulator system comprising at least one feedback device, as described above, at least one manipulator and at least one

A controller configured to control the manipulator and send manipulator information to the feedback device to provide directional haptic feedback to a user, the controller preferably further configured to receive input commands from the feedback device.

The corresponding input commands can be generated both by the input elements of the feedback device or by a corresponding change in the position of the feedback device, as described above.

Detailed description of the figures

The invention will be described in more detail below with reference to the appended figures. Showing:

Fig. 1 is a portable haptic feedback device; Fig. 2 is a schematic view of another portable haptic

Feedback device; and

Fig. 3 is a schematic view of a manipulator system.

In particular, FIG. 1 shows a portable haptic feedback device 100 in the form of a manipulator system wristband comprising a plurality of haptic feedback elements 111, 121, 131, 132, 141, 142. The haptic

Feedback elements are substantially annularly arrangeable to a portable Form a feedback device 100 which is adapted to at least partially enclose a body part of a user (not shown).

The haptic feedback elements are arranged in four rows 110, 120, 130, 140, which are coupled to one another via intermediate elements 160.

For example, the intermediate elements may be touch-sensitive input elements 160. Likewise, touch-sensitive input elements may be formed integrally with the haptic feedback elements. The touch-sensitive input elements can be used, for example, as a virtual input wheel.

Furthermore, the feedback device 100 may comprise input elements 150, 151, 152, 153, 154, wherein the input elements 150, 151 may be, for example, confirmation buttons. The input elements 153, 154 may be, for example, a rocker switch or the like to make a selection of an input command, which is displayed on an optical display device 170, for example.

When the portable haptic feedback device 100 shown in FIG. 1 is worn as a wristband, the haptic feedback elements 111, 121, 131, 132, 141, 142 may be arranged such that one haptic feedback element on the underside and the top of the forearm respectively lie comes. Other haptic feedback elements may be arranged laterally on the forearm. Other arrangements and orientations of the haptic feedback elements are also possible. In particular, the arrangement of the intermediate elements 160, the

Input elements 150, 151, 152, 153, 154, the optical display device 170 and the sensors 180 relative to the haptic feedback elements 111, 121, 131, 132, 141, 142 differ from the representation shown in Fig. 1.

The optical display device 170 may be, for example, a touch-sensitive display. The input element 155 may be, for example, touch-sensitive and used as a kind of mouse button. The input element 152 may be, for example, an emergency stop switch which stops a manipulator by operation. Furthermore, the feedback device 100 may be a wireless

Communication interface 190 may receive and / or send commands, for example. Via the communication interface 190, the

Feedback device with a control device 20 of a

Manipulator system 1 communicate (see Fig. 3). Moreover, the

Feedback device 100 via sensors 180 which can determine the orientation and / or the position of the feedback device in the room. In Fig. 1, each of the rows no, 120, 130, 140 comprises two haptics

Feedback elements. Alternative feedback devices may comprise any number, in particular only a haptic feedback element. FIG. 2 shows another haptic feedback device 100 'comprising twelve feedback elements 111, 112, 113, 121, 131, 132, 133, 141, 142, 143. For example, the feedback elements may be configured to generate a vibration to provide haptic feedback to a user. The feedback elements are arranged in four rows 110, 120, 130, 140, each row comprising three feedback elements. The feedback elements can each have intermediate elements 160 which are, for example, touch-sensitive

Input elements may be coupled to an annular

Form feedback device. By suitable separate activation of the feedback elements, preferably in a time sequence, can

different directional feedback is provided to a user.

If, for example, an axis of a manipulator moves in the direction A, then initially one or all of the feedback elements 113, 133, 143 can be activated. Subsequently, the feedback elements 112, 132, 142 and thereon the feedback elements 111, 131, 141 can be controlled so that the vibration from the feedback elements 113, 133, 143 to the feedback elements 111, 131, 141 continues. By reversing the direction of the control, a corresponding opposite movement of the axis of the manipulator can be confirmed.

If, for example, a feedback element 111 subsequently enters

Feedback element 131 and then the feedback element 141 and

Subsequently, the feedback element 121 is driven, so, for example, a rotation of an axis of a manipulator can be confirmed. Alternative temporal sequences are also possible to different directional

To display haptic manipulator information. In particular, the frequency and / or the amplitude of the vibration can also be changed in order, for example, to haptically confirm a force acting on the manipulator, a speed or an imminent collision.

FIG. 3 shows a manipulator system which comprises at least one manipulator 10 which is controlled by a control device 20. The manipulator is MRK-enabled and works with a user 50 who has a haptic

Feedback device 100 in the form of a bracelet around an arm 55 carries. The haptic feedback device may be via a wireless

Communication interface 190 communicate with a wireless communication interface 25 of the controller 20 to exchange data such as feedback commands or input commands.

LIST OF REFERENCE NUMBERS

1 manipulator system

10 manipulator

20 control device

25 wireless communication interface

50 users

55 arm

100, 100 'haptic feedback device

110, 120, 130, 140 rows

111, 112, 113, 121, 122, 123, 131, 132, 133, 141, 142, 143 feedback elements 150, 151, 153, 154, 155 input elements

160 touch-sensitive input element (intermediate element)

170 optical display

180 sensor

190 wireless communication interface

Claims

Claims 1 to 11

1. Portable haptic feedback device (100), in particular in the form of a bracelet, for a manipulator system (1), comprising:

a plurality of haptic feedback elements (111, 112, 113, 121, 122, 123, 131, 132, 133, 141, 142, 143), which can be arranged essentially in a ring shape in order to form a portable feedback device (100), which can be used for this purpose is set up to at least partially enclose a body part (55) of a user (50), each of the haptic feedback elements (111, 112, 113, 121, 122, 123, 131, 132, 133, 141, 142, 143) being set up for this purpose is to be controlled separately in order to provide a user (50) with direction-specific haptic feedback which corresponds to manipulator information; and

at least one input element (150), which is arranged on the feedback device (100) and is designed to receive input commands for a

To provide control device (20) of a manipulator (10).

2. Feedback device (100) according to claim 1, wherein the

Feedback device (100) further comprises an optical display (170), which is set up to display manipulator information and / or further information.

3. Feedback device (100) according to one of the preceding claims, wherein the feedback device (100) further at least one

touch-sensitive input element (160), which is preferably formed integrally with the optical display and / or one of the feedback elements.

4. Feedback device (100) according to one of the preceding claims, wherein the at least one touch-sensitive input element (160) between two adjacent feedback elements (111, 112, 113, 121, 122, 123, 131, 132, 133, 141, 142, 143) is arranged, preferably several touch-sensitive

Input elements (160) distributed circumferentially, each between neighboring ones

Feedback elements (111, 112, 113, 121, 122, 123, 131, 132, 133, 141, 142, 143) are arranged when the feedback device (100) is arranged in a ring.

5. Feedback device (100) according to one of the preceding claims, wherein the feedback device (100) further comprises at least one sensor (180). which is set up to determine the orientation and/or the position of the feedback device (100) in space, and wherein the

Feedback device (100) is preferably designed to implement changes in orientation and/or position as input commands.

6. Feedback device (100) according to one of the preceding claims, wherein the haptic feedback elements are designed to transmit vibration signals to the user.

7. Feedback device (100) according to one of the preceding claims, wherein the haptic feedback elements (111, 112, 113, 121, 122, 123, 131, 132, 133, 141, 142, 143) in a direction (A) of the feedback device ( 100) are arranged at least in two rows.

8. Feedback device (100) according to one of the preceding claims, wherein the feedback device (100) comprises at least eight feedback elements (111, 112, 121, 122, 131, 132, 141, 142), which are arranged in at least four rows (110, 120, 130, 140), which rows (110, 120, 130, 140) each include at least two feedback elements, and which rows (110, 120, 130, 140)

are preferably distributed evenly around the circumference if the portable

Feedback device (100) at least partially encloses a body part (55) of a user (50).

9. Feedback device (100) according to one of the preceding claims, wherein the feedback elements (111, 112, 121, 122, 131, 132, 141, 142) are set up to be controlled in a specific time sequence in order to provide direction-specific haptic feedback in at least six spatial

To provide degrees of freedom.

10. Feedback device (100) according to one of the preceding claims, wherein the feedback device (100) is set up to give a user feedback about at least one of the following:

a current state of the manipulator;

a current and/or planned direction of movement of a manipulator and/or an axis of a manipulator; an impending collision of a manipulator and/or an axis of a manipulator;

a strength and/or direction of the forces and/or moments acting on a manipulator/axis;

- reaching a workspace boundary, a safety area, a planned trajectory and/or a predetermined pose of the manipulator,

a direction of danger and/or

a current control mode of the manipulator.

11. Manipulator system (1) comprising:

at least one feedback device (100) according to one of claims 1 to 10;

at least one manipulator (10);

at least one control device (20) which is set up for this purpose

Manipulator (10) to control and manipulator information to which

Send feedback device (100) to provide a user (50) with direction-specific haptic feedback, wherein the

Control device (20) is further set up to receive input commands from the feedback device (100).