CN103213143A - Multi-element touch sense interactive perceiving system with temperature perceiving function - Google Patents
Multi-element touch sense interactive perceiving system with temperature perceiving function Download PDFInfo
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- CN103213143A CN103213143A CN2013101408032A CN201310140803A CN103213143A CN 103213143 A CN103213143 A CN 103213143A CN 2013101408032 A CN2013101408032 A CN 2013101408032A CN 201310140803 A CN201310140803 A CN 201310140803A CN 103213143 A CN103213143 A CN 103213143A
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Abstract
The invention discloses a multi-element touch sense interactive perceiving system with a temperature perceiving function and belongs to the field of man-machine intelligent control sensing technology. The system comprises a robot flexible hand, a temperature sensor, a pressure sensor, a temperature sensing signal processing circuit, a pressure sensing signal processing circuit, a sensing signal transmitting system, a temperature perception reappearing system and a pressure perception reappearing system. The temperature sensor and the pressure sensor are used for collecting a temperature signal and a pressure signal of the environment where the mechanical flexible hand located. The collected signals are output to the temperature perception reappearing system and the pressure perception reappearing system through the sensing signal transmitting system. The reappearing systems enable temperature and pressure conditions to reappear. Therefore, multi-element touch sense interactive perception is achieved. According to the multi-element touch sense interactive perceiving system with the temperature perceiving function, the robot flexible hand is operated by a worker, temperature and pressure perceived by the robot flexible hand is perceived by the worker at the same time and the sense of immediacy is achieved.
Description
Technical field
The invention belongs to the human-machine intelligence and control field of sensing technologies, relate to a kind of polynary haptic interaction sensory perceptual system with temperature perceptional function.
Background technology
Multi-joint, multivariant multi-finger dexterous hand of robot are present robot field's research focuses, it is a kind of end effector of carrying out accurate operation, cooperate with robotic arm, multi-finger dexterous hand of robot can realize meticulous location or the operation with finish various flexibly, accurately the action.
At present, robot arm mainly contains two kinds of modes of operation: autonomous operation and distant operation.Autonomous operation utilizes the state of self-contained polytype sensor senses self and environment under unmanned situation for intervention, realize independent behaviour or action by planning and control algolithm.If operation itself is very complicated, need very strong discernment, judgment and actual job ability, can very high requirement be proposed to motion planning, control theory; Teleoperation robot is finished main frame (people's) respective operations at far-end, finishes senior identification, judges and assign operational order by the people.The advantage of teleoperation robot is: directly assign action command by the people, Dextrous Hand is by the action complete operation instruction of imitation staff.At present, teleoperation robot in the space, dangerous situation such as deep-sea and atomic pile obtained extensive application.
" master-slave mode " is the important operation mode in the teleoperation robot technology, this mode adopts the multi-connecting-rod mechanism identical with the actual job robot arm to serve as manipulation device, because it is corresponding with robot arm (from arm) position to handle operator's hand position of this device (principal arm), thereby the operator can be by directly to control manipulator near the form of operation.The advantage of master-slave mode is intuitively, and near the form of direct operation.Moreover, also can feed back to principal arm (force feedback type from the environmental forces that arm bore, sensors sense environmental power from the arm, principal arm carries out the control of power as desired value), realize two-way control, this mode can allow operator's sensation more near direct control, realizes " telepresenc ".It is respectively mechanical type master-slave type manipulator and servo type manipulator that the principal and subordinate controls in the manipulator of humanoid robot more typical two kinds.The mechanical type master slave manipulator is fairly simple, it does not have circuit part, principal arm and from fully mechanically combination of arm, this mode can allow the operator directly experience the environmental forces of experiencing from arm, but also limited simultaneously principal arm and from the distance of arm, both can not be separated by too far away (these have limited its application, and are for example inapplicable etc. in the strong occasion of radioactivity).Because the restriction of mechanical type master slave manipulator job area, scientists has been developed first servo type manipulator in 1954, the principal arm of this manipulator is electrically connected with adopting from the arm both sides, in order to realize the behavior command of principal arm, from the design of arm one side servo-drive system is arranged.The benefit of this manipulator is to have increased greatly job area, if but to want to experience from the suffered environmental forces of arm, principal arm one side also must design a cover servo-drive system and reappear from the suffered environmental forces of arm promptly so-called two-way control.
At present more be conceived to go to control with the action of staff the behavior of robot delicate about robot delicate in the research aspect the man-machine interaction, the haptic signal that the sensor on the Dextrous Hand is exported is also just passed to controller.The environmental factor that realization is perceived with the direct perception robot delicate of staff, and directly control the behavior of Dextrous Hand, with robot delicate really as the extension of staff, the ability of this man-machine interaction perception is carried out operation significant (can allow people's being operated object and promptly making a response of perception far-end in time, for example rapidly away from the High Temperature object) for the zone that can't arrive the mankind or deathtrap.Yet at the telepresenc technical elements, only part has realized force feedback control at present, and texture, the perception of attitude and temperature still is in the exploratory stage.In the middle of this, the mutual perception of temperature can allow the operator directly experience the true attribute of operand, in time avoids the High Temperature object for robot delicate on the other hand and guarantees that the safety of robot delicate is also significant.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of polynary haptic interaction sensory perceptual system with temperature perceptional function.This system can allow the people in the teleoperation robot Dextrous Hand, perceives the temperature and pressure that robot delicate perceives, and realizes so-called " telepresenc ".
For achieving the above object, the invention provides following technical scheme:
A kind of polynary haptic interaction sensory perceptual system with temperature perceptional function comprises machine Dextrous Hand, temperature sensor, pressure sensor, temperature sensor signal treatment circuit, pressure sensor signal treatment circuit, transducing signal transmission system, temperature perception playback system and pressure perception playback system; Temperature sensor and pressure sensor are fixedly set on the machine Dextrous Hand, temperature sensor is gathered the temperature signal of machine Dextrous Hand environment of living in, and transmit the signal to the temperature sensor signal treatment circuit, the temperature sensor signal treatment circuit is sent to the transducing signal transmission system after signal is handled, and the transducing signal transmission system exports this signal of telecommunication to temperature perception playback system; Pressure sensor is gathered mechanical hand pressure signal, and transmit the signal to the pressure sensor signal treatment circuit, the pressure sensor signal treatment circuit is sent to the transducing signal transmission system after signal is handled, and the transducing signal transmission system exports this signal to pressure perception playback system.
Further, described transducing signal transmission system is a wireless transmitting system.
Further, described machine Dextrous Hand is the virtual machine hand.
Further, described temperature perception playback system adopts the electrode stimulating mode to realize the temperature perception.
Further, described temperature perception playback system also comprises temperature indicating device.
Further, described pressure perception playback system adopts the electrode stimulating mode to realize the pressure perception.
Beneficial effect of the present invention is: the polynary haptic interaction sensory perceptual system with the mutual perceptional function of temperature that is applicable to the teleoperation robot Dextrous Hand that the present invention proposes, can allow the people in the teleoperation robot Dextrous Hand, perceive the temperature and pressure that robot delicate perceives, realize so-called " telepresenc ".This human-computer interaction technology can allow the operator realize that robot is difficult to planning and the decision of accomplishing in random environment, robot then can (nuclear radiation, seabed or the outer space) carry out accurate operation in the inaccessiable environment of people institute, make robot delicate become the extension of staff.
Description of drawings
In order to make purpose of the present invention, technical scheme and beneficial effect clearer, the invention provides following accompanying drawing and describe:
Fig. 1 is a structural representation of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
As shown in Figure 1, the polynary haptic interaction sensory perceptual system that the present invention proposes comprises machine Dextrous Hand, temperature sensor, pressure sensor, pressure sensor signal treatment circuit, transducing signal transmission system, temperature perception playback system and pressure perception playback system.Wherein, the machine Dextrous Hand is used for carrying out exercises at actual environment, and temperature sensor and pressure sensor are fixedly installed on the machine Dextrous Hand, is used to gather the temperature signal and the pressure signal of machine Dextrous Hand environment of living in.
Temperature sensor is gathered the temperature signal of machine Dextrous Hand environment of living in, pressure sensor is gathered the pressure signal of machine Dextrous Hand environment of living in, purpose is at control end, just the staff end carries out the temperature reproduction, so that the staff of control end perceives the temperature and pressure that robot delicate perceives, realize so-called " telepresenc ".The concrete workflow of system is: on the one hand, temperature sensor is gathered the temperature signal of machine Dextrous Hand environment of living in, and transmit the signal to the temperature sensor signal treatment circuit, the temperature sensor signal treatment circuit is sent to the transducing signal transmission system after signal is handled, the transducing signal transmission system exports this signal of telecommunication to temperature perception playback system as a kind of transmission intermediary.Temperature perception playback system is the device that is used to realize environment temperature reproduction when participating in the cintest, and it can adopt the mode of electrode stimulating to realize the temperature reproduction, also can adopt the servo-controlled mode of temperature to realize.Wherein, so-called electrical stimulus patterns is realized that temperature is reproduced to refer to and is come that by microelectrode electro photoluminescence is carried out at the staff position and realize the temperature sense of touch of staff with this, will allow the people produce specific touch feeling when the microelectrode stimulating apparatus is attached on hand and is connected with specific currents; The servo-controlled mode of so-called temperature is meant: adopt servo-control system to duplicate the temperature that temperature sensor perceives at staff one end, this servo-control system is a reference signal with the output signal of temperature sensor signal treatment circuit, and heater is close on the finger in the system.
On the other hand, pressure sensor is gathered machine Dextrous Hand pressure signal, and transmit the signal to the pressure sensor signal treatment circuit, the pressure sensor signal treatment circuit is sent to the transducing signal transmission system after signal is handled, and the transducing signal transmission system exports this signal to pressure perception playback system.Specifically, pressure sensor is gathered pressure signal, and converting the signal that collects to the signal of telecommunication, this signal of telecommunication carries out such as being sent to pressure perception playback system through the transducing signal transmission system after the processing such as amplification through pressure sensor signal treatment circuit.Pressure perception playback system, purpose are at control end, and just the staff end carries out pressure and reproduces, so that the staff of control end perceives the pressure that robot delicate perceives, realizes so-called " telepresenc ".Here, pressure perception playback system both can adopt the mode of electrode stimulating to realize that pressure reproduces, and also can adopt the mode of pressure servo control to realize.Wherein, so-called electrical stimulus patterns realizes that the pressure reproduction refers to by microelectrode to come electro photoluminescence is carried out with this pressure perception sense of touch that realizes staff in the staff position, will allow the people produce specific touch feeling when the microelectrode stimulating apparatus is attached on hand and is connected with specific currents; The mode of so-called pressure servo control is meant: adopt servo-control system to duplicate the temperature that pressure sensor perceives at staff one end, this servo-control system is a reference signal with the output signal of pressure sensor signal treatment circuit, and pressue device is close on above-mentioned heater or the finger in the system.
In the present embodiment, the transducing signal transmission system of transmitting intermediary as signal can adopt the wire signal transmission system, also can adopt wireless signal transmission system.In concrete application process, can select according to the needs of actual environment and actual conditions.
As a kind of improvement of present embodiment, in temperature perception playback system, also include temperature indicating device.This temperature indicating device is used for showing at the temperature value of control end to site environment, makes things convenient for the effector to understand the actual temp value of machine Dextrous Hand environment of living in.
Another kind as present embodiment improves, and the machine Dextrous Hand can adopt the virtual machine Dextrous Hand.The virtual machine Dextrous Hand can be used as a kind of simulation tool, realizes the test of mutual sensory perceptual system and training etc.
Explanation is at last, above preferred embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is described in detail by above preferred embodiment, but those skilled in the art are to be understood that, can make various changes to it in the form and details, and not depart from claims of the present invention institute restricted portion.
Claims (6)
1. the polynary haptic interaction sensory perceptual system with temperature perceptional function is characterized in that: comprise machine Dextrous Hand, temperature sensor, pressure sensor, temperature sensor signal treatment circuit, pressure sensor signal treatment circuit, transducing signal transmission system, temperature perception playback system and pressure perception playback system; Temperature sensor and pressure sensor are fixedly set on the machine Dextrous Hand, temperature sensor is gathered the temperature signal of machine Dextrous Hand environment of living in, and transmit the signal to the temperature sensor signal treatment circuit, the temperature sensor signal treatment circuit is sent to the transducing signal transmission system after signal is handled, and the transducing signal transmission system exports this signal of telecommunication to temperature perception playback system; Pressure sensor is gathered mechanical hand pressure signal, and transmit the signal to the pressure sensor signal treatment circuit, the pressure sensor signal treatment circuit is sent to the transducing signal transmission system after signal is handled, and the transducing signal transmission system exports this signal to pressure perception playback system.
2. the polynary haptic interaction sensory perceptual system with temperature perceptional function according to claim 1, it is characterized in that: described transducing signal transmission system is a wireless transmitting system.
3. the polynary haptic interaction sensory perceptual system with temperature perceptional function according to claim 1, it is characterized in that: described machine Dextrous Hand is the virtual machine hand.
4. the polynary haptic interaction sensory perceptual system with temperature perceptional function according to claim 1 is characterized in that: described temperature perception playback system adopts the electrode stimulating mode to realize the temperature perception.
5. the polynary haptic interaction sensory perceptual system with temperature perceptional function according to claim 4 is characterized in that: described temperature perception playback system also comprises temperature indicating device.
6. the polynary haptic interaction sensory perceptual system with temperature perceptional function according to claim 1 is characterized in that: described pressure perception playback system adopts the electrode stimulating mode to realize the pressure perception.
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| CN104669279A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Spatial manipulator joint controller with automatic temperature controlling function |
| CN105911861A (en) * | 2015-02-20 | 2016-08-31 | 发那科株式会社 | Human Cooperation Robot System In Which Robot Is Caused To Perform Retreat Operation |
| CN106625729A (en) * | 2016-12-19 | 2017-05-10 | 浙江大学 | Humanoid type mechanical finger with perceptive functions of temperature and touch force |
| CN108255301A (en) * | 2018-01-15 | 2018-07-06 | 宋豪杰 | Pressure sensing gloves and pressure perceive hand-type housing |
| CN112223242A (en) * | 2020-10-09 | 2021-01-15 | 河南理工大学 | Force feedback device for teleoperation system based on skin stimulation |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104669279A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Spatial manipulator joint controller with automatic temperature controlling function |
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| US9737989B2 (en) | 2015-02-20 | 2017-08-22 | Fanuc Corporation | Human cooperation robot system in which robot is caused to perform retreat operation |
| CN106625729A (en) * | 2016-12-19 | 2017-05-10 | 浙江大学 | Humanoid type mechanical finger with perceptive functions of temperature and touch force |
| CN108255301A (en) * | 2018-01-15 | 2018-07-06 | 宋豪杰 | Pressure sensing gloves and pressure perceive hand-type housing |
| CN108255301B (en) * | 2018-01-15 | 2021-01-26 | 宋豪杰 | Pressure sensing gloves and pressure sensing hand type overcoat |
| CN112223242A (en) * | 2020-10-09 | 2021-01-15 | 河南理工大学 | Force feedback device for teleoperation system based on skin stimulation |
| CN112223242B (en) * | 2020-10-09 | 2022-03-01 | 河南理工大学 | Force feedback device for teleoperation system based on skin stimulation |
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