CN105710885B - Service type mobile manipulator - Google Patents
Service type mobile manipulator Download PDFInfo
- Publication number
- CN105710885B CN105710885B CN201610206114.0A CN201610206114A CN105710885B CN 105710885 B CN105710885 B CN 105710885B CN 201610206114 A CN201610206114 A CN 201610206114A CN 105710885 B CN105710885 B CN 105710885B
- Authority
- CN
- China
- Prior art keywords
- mobile manipulator
- service type
- motion
- signal
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
Abstract
Target detection and positioning that service type mobile manipulator is moved for human body contact, arm is close to target and alignment target process, realize that the hand eye coordination of human visual and mobile mechanical arm is moved, described service type mobile manipulator mainly includes header information acquisition system 3, man-machine interactive system 8, mobile manipulator decision control system 9, human visual space orientation is constituted with the grade of position estimating system 10, described man-machine interactive system 8 is gathered with handling 8a by picture signal, eeg signal acquisition and processing 8b, electro-ocular signal is gathered and processing 8c, impetus Signal acquiring and processing 8d modules composition；Described human visual space orientation is with position estimating system 10 with eye gaze point feature formation target detection, space orientation and position based on electro-ocular signal and head movement data-evaluation target object, and mobile manipulator motion planning and motion control are formed on this basis, realize that the hand eye coordination of human body and mobile manipulator is moved.
Description
Technical field
The present invention relates to mobile manipulator and informatics, more particularly to the service type mobile manipulator neck help the disabled of helping the elderly
Domain.
Background technology
Disabled aiding robot help the elderly as a kind of ancillary technique and product, each of physical disabilities and life of elderly person has been expanded to
Individual field, some solved during they live are difficult.The clothes being made up of wheelchair mobile platform and the mechanical arm on wheelchair
Business type mobile mechanical arm（Or wheelchair mechanical arm）It is the important branch of disabled aiding robot of helping the elderly, because it has in unstructured family
Locomotor activity, arbitrary objects Grasping skill and multimodal human-computer interaction ability under the environment of front yard, can replace the mankind to complete clothes
It is engaged in old man, each task of disabled person and one of study hotspot as rehabilitation field.At present, the U.S., Germany, South Korea etc. are all right
Service type mobile manipulator puts into a large amount of funds and studied, the architecture of continuous improvement service type mobile manipulator, man-machine
The functions such as interaction, target navigation, and as China steps into well-off society, rehabilitation project has obtained the extensive concern of society,
In country《Development planning outline（2006-2020）》In, explicitly point out the war for first developing service robot as future
Slightly higher technology, the Eleventh Five-Year Plan period, 7 classes of National 863 program launched are helped the elderly disabled aiding robot system research, 2015 annual states
Family's 863 Program also study emphasis " movable operating arm Core Technology Research and Applied D emonstration " problem, therefore, service type moving machine
Tool hand not only turns into research emphasis as a kind of of service robot, also with preferable Social benefit and economic benefit.
Since Rancho " Golden " mechanical arm built from the 1960s U.S., the combination of wheelchair and mechanical arm
Extensive concern is obtained, at present, the MANUS arms of Dutch Exact Dynamics companies are mounted in more ripe one on wheelchair
Money mechanical arm, just like VICTORIA, Raptor, FRIEND, the M3S supported by European Union disabled person and the elderly's technical plan and
Mobile mechanical arm of many moneys such as FOCUS projects based on MANUS, in addition, South Korea etc. is also studied service type mobile mechanical arm,
It has developed KARES II that mobile mechanical arm and wheelchair are applied in combination etc..At home, many money service type mechanically movings also be have developed
Mobile health care robot, Shanghai Communications University and the wheelchair machinery of Shanghai electric group cooperative development of hand, such as Tsing-Hua University
Arm, the six degree of freedom motion arm being arranged on wheelchair of Harbin Institute of Technology's exploitation and towards modular mechanical of helping the disabled of helping the elderly
Arm, the vision guide of Southeast China University's research are helped the elderly service robot etc..
At present, the technical research of service type mobile manipulator is related to architecture, man-machine interaction, motion planning, motion control
Etc. key technology, and man-machine interaction and motion planning are certainly the key contents of the studies above, because mechanically moving
Hand or the object of robot service are the dyskinesia personage for having lacked part ability to act, and man-machine interaction mode selects direct shadow
People and the effect and efficiency of machine communication exchange are rung, meanwhile, service type mobile mechanical arm working environment is generally the presence of dynamic disorder
The unstructured moving grids of thing, the quality of motion planning strategy is directly connected to the security of system operation, and execution efficiency
Just；From the point of view of existing achievement in research, man-machine interaction mode still more to be used with the limb control mode of " machine is dominated ", such as mouse
Mark, keyboard, voice etc., but for the patient that brain and peripheral nerve muscle path are damaged, can not just drive the mechanically moving of the above
Hand, new challenge has been researched and proposed to service type mobile manipulator；And the tradition of motion planning also more to complete scheduled operation
Based on two-value control mode, it is difficult to meet being actually needed for specific environment and specific crowd.
The content of the invention
The invention provides a kind of service type mobile manipulator, with electro-ocular signal and head movement information realization target
The space orientation of object and location estimation, and the motion planning of mobile manipulator is formed on this basis；Using Mental imagery brain
Electric signal realizes that the distant object of mobile mechanical arm is approached；Based on EEG signals and visual image information formation target selection and
People moves with mechanical arm hand eye coordination, realizes the accurate alignment of close-in target object, effectively increases people and mobile manipulator
Sports coordination.
In order to solve the above technical problems, a kind of service type mobile manipulator of present invention offer, including electric wheelchair 1,
Header information acquisition system 2, three-joint mechanical arm 3, main control computer 4, video camera 5, clamper 6, supporting plate 7, man-machine interaction
System 8, mobile manipulator decision control system 9, human visual space orientation and position estimating system 10 are constituted；The video camera
5 are installed on the upper front end of three-joint mechanical arm 3, and the clamper 6 is installed on the front end face of three-joint mechanical arm 3；The master control meter
Calculation machine 4 is installed on the upper front end of electric wheelchair 1 by supporting plate 7；The man-machine interactive system 8 is believed by main control computer 4, head
Breath acquisition system 2 is constituted with video camera 5, can be selected and lock onto target object；The mobile manipulator decision control system 9 is by hand
Eye coordinate motion planning 9a and mobile manipulator motion control 9b is constituted, and realizes and each free degree of mobile manipulator is driven；It is described
Human visual space orientation and position estimating system 10 gathered by electro-ocular signal with handling 8c, impetus Signal acquiring and processing 8d
Composition, by measurement with merging human eye's blinkpunkt and head position information, realizes target object in service type mechanically moving
Positioning and location estimation in hand space.
Described service type mobile manipulator by two-wheel Differential Driving electric wheelchair 1 and to be installed on electric wheelchair 1 left front
The three-joint mechanical arm 3 in portion, clamper 6 are constituted, with 5DOF, and each free degree and clamper are driven by servomotor；It is described
Video camera 5 target object image information is gathered using binocular camera Eye-in-hand modes.
Described header information acquisition system 2 by EEG signals, electro-ocular signal and impetus signal acquisition sensor group into.
Described man-machine interactive system 8 is gathered with handling 8a, eeg signal acquisition and processing 8b, eye telecommunications by picture signal
Number collection with processing 8c, impetus Signal acquiring and processing 8d modules constitute.
The video image of video camera 5 is divided into four different zones by described picture signal collection with processing 8a to be included in master
Control on computer 4, user observes the location information of target object to be operated in the display, passes through Mental imagery EEG signals
Collection completes to select with locking target object with processing 8b.
Described human visual space orientation sets up base with location estimation 10 in two driving wheel midpoints of electric wheelchair 1
Coordinate system O, neck coordinate system O1, the coordinate system E1 of clamper 6, are closed according to electric wheelchair 1 and human body, electric wheelchair 1 and three
The parameters relationship between mechanical arm 3, clamper 6 is saved, the Parameter Switch mould of human body eyes eyeball and the coordinate system of clamper 6 is set up
Type, is combined with electro-oculogram signal parameter attribute and head movement information, estimates the visual space position of target object.
Described hand eye coordination motion planning 9a methods are as follows：1）Based on the motion of human body contact, using human arm
Some invariant features that contact motion has, fusion mechanical arm potential energy index, wrist immoderation index and change of configuration cost refer to
Mark forms mobile manipulator motion planning criterion:MinC=ApCp+AdCd+AmCm, wherein, Cp, Cd and Cm are mechanical arm respectively
Potential energy index, wrist immoderation index and change of configuration cost index, Ap, Ad and Am are the weight coefficient of These parameters respectively；2）
Mobile manipulator motion planning criterion is optimized using intelligent optimization algorithm, by the motion of mobile manipulator from working space
It is transformed into joint space；3）In joint space, each free degree movement locus is planned with quintic algebra curve, mobile manipulator is realized
Approximate straight line motion and rate curve of the end gripper from initial position to target location meet unimodal smooth " bell
Shape " feature.
Described human visual space orientation is realized remote with the guide service type mobile manipulator of position estimating system 10
Arm close to motion；The arm of the described guiding of man-machine interactive system 8 mobile manipulator closely is accurately aligned.
Described man-machine interactive system 8 is in the accurate alignment procedures of arm of mobile manipulator closely are guided, moving machine
The spatial movement of tool hand is divided into level（X-Y）With it is vertical（Z）Both direction adjustment motion, vertically（Z）The height adjustment in direction
Guided by eeg signal acquisition with processing 8b and human visual, horizontal direction（X-Y）Direction passes through shooting by mobile manipulator
Machine 5 and picture signal collection are with handling 8a from main modulation.
Beneficial effect：The present invention is by EEG signals, electro-ocular signal, impetus signal and the mutual fusion application of picture signal in wheel
Chair and the arm-and-hand system on wheelchair, use for reference the upper limbs arm contact movement mechanism of human visual guiding, human body are anticipated
Read control and automatically control combination with mechanical arm, realize wheelchair mobile platform cooperateed with manipulator motion, people and mechanically moving
The stationarity and compliance of the bionical contact motion of hand hand eye coordination.
Brief description of the drawings
Fig. 1 is service type mobile manipulator structural representation of the invention；
Fig. 2 is human eye binocular visual positioning schematic diagram；
Fig. 3 mobile manipulator hand eye coordination schematic diagrams；
In figure：1 electric wheelchair, 2 header information acquisition systems, 3 three-joint mechanical arms, 4 main control computers, 5 video cameras, 6
Clamper, 7 supporting plates, 8 man-machine interactive systems, 9 mobile manipulator decision control systems, 10 human visual space orientations and position
Estimating system.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Service type mobile manipulator, referring to Fig. 1, mainly includes electric wheelchair 1, header information acquisition system 2, three and closes
Save mechanical arm 3, main control computer 4, video camera 5, clamper 6, supporting plate 7, man-machine interactive system 8, mobile manipulator decision-making control
System 9 processed, human visual space orientation and position estimating system 10 are constituted.
（1）Header information acquisition system 2, by EEG signals, electro-ocular signal and impetus signal acquisition sensor group into, use
Emotiv EPOC brain wave acquisition equipment, is acquired and pre-processes to brain electricity EEG and the electric EOG signal of eye；Using electronic gyroscope
Instrument, gathers the movable information of human body head.
（2）Human visual space orientation and position estimating system 10, it is special with corresponding electro-ocular signal according to Rotation of eyeball angle
Mapping principle between levying, on head movement Information base, sets up human eye binocular visual positioning model, as shown in Figure 2；In wheel
The driving wheel midpoint of chair two sets up base coordinate system O, neck coordinate system O1And hand terminal-collecting machine coordinate system E1Deng, according to wheelchair with
Parameters relationship between human body, wheelchair and mechanical arm, builds the ginseng of human body eyes eyeball and robot arm end effector coordinate system
Number transformation model, according to the parameter attribute of electro-oculogram signal, solves the visual space location estimation of target object.Work as eye gaze
Point is in center and during without head movement, eyes sight level and parallel, then binocular vision is positioned at infinite point, moves
Dynamic manipulator keeps linear running.When blinkpunkt is glanced off, due to two groups of electrical potential differences horizontally and vertically, with
Rotation of eyeball angle may be considered linear functional relation, and the triangle relation computation vision position between eyes rotational angle is estimated
Meter.By building the coordinate conversion matrix of human eye, mobile manipulator, the dot position information of watching attentively of human eye is mapped to mechanical arm seat
Mark system, the desired position feedback information of mechanical arm is obtained from human-body biological vision.
（3）The human body moved towards contact-mobile manipulator hand eye coordination motion is main including two aspects, and one is long distance
From arm close to motion（Or be arm course of conveying）, another arm closely is accurately aligned.For remote
Arm is close to motion, based on human visual location estimation, builds mobile manipulator bionic movement planning strategy；For low coverage
From target alignment process, based on brain-computer interface and machine vision information, build human body-mechanical arm Compliance control strategy, formed
Target selection mechanism, realizes that human visual and machine vision are guided adaptive, and builds mechanical arm trick association on this basis
The dynamic Optimality Criteria of allocation and transportation, realizes the accurate alignment of target object, specific method is as follows：
1）According to neuro-physiology and human cinology, human arm has some invariant features close to motion, i.e., from first
Beginning, position moved to the approximate straight line motion of target location, and rate curve meets unimodal smooth " bell-shaped " feature.Human body is entering
When row contact is moved, arm posture is mainly by arm potential energy and comfort degree, to realize the bionic movement of mobile mechanical arm
Planning, the architectural feature based on mobile mechanical arm, which is built, includes mechanical arm potential energy index, wrist immoderation index and change of configuration
The Novel movable manipulator Optimality Criteria of cost index：MinC=ApCp+AdCd+AmCm, wherein, Cp, Cd and Cm are respectively machinery
Arm potential energy index, wrist immoderation index and change of configuration cost index, Ap, Ad and Am are respectively the weight coefficient of These parameters.
It is excellent using intelligence according to the architectural feature of the initial position of mobile manipulator, visual space location estimation and mobile manipulator
Change algorithm and bionic movement planning is carried out to mobile manipulator, complete turn of each joint space from working space to mobile manipulator
Change；
In joint space, based on course angle and each joint swing angle variable quantity, using each joint synchronous Motion,
Each oint motion trajectory is planned with quintic algebra curve, realizes the end gripper of mobile manipulator from initial position to target location
Approximate straight line motion and rate curve meet unimodal smooth " bell type " feature.
2）Brain electric information is gathered with EMOTIV EPOC, target object figure is gathered in binocular camera Eye-in-hand modes
As information, based on EEG signal and natural video frequency image information, man-machine interactive system is built, is intended to human body complex task
The software interface of expression and identification and video image interface, realize human body complex task intention detection and the figure comprising target object
As information gathering.It is four regions by video image boundary division, completes arm close to after motion, connect with Mental imagery brain machine
Mouth selected target object region, completes the selection, identification and locking of target to be operated.
3）Target object is identified, after locking, and the space orientation that can obtain target object by binocular vision system is believed
Breath, the accurate alignment procedures of target of mobile manipulator, are to match mobile manipulator distal point with target object location information
Journey, therefore, level is divided into by the spatial movement of mobile manipulator（X-Y）With it is vertical（Z）Both direction adjustment motion, vertically
（Z）The height adjustment in direction is guided by brain-computer interface by human visual, level（X-Y）Direction passes through binocular vision by mechanical arm
From main modulation, with horizontal direction binocular parallax θ1And θ2Be zero as optimization aim as shown in figure 3, realize human visual guiding under
Accurate alignment of the mobile manipulator end effector to target object.
The service type mobile manipulator that this example is provided, EEG signals, electro-ocular signal, impetus signal and image are believed
Number mutually fusion application controls mutually to tie in wheelchair and the arm-and-hand system on wheelchair with human visual guiding and idea
Close, improve stationarity and compliance that people moves with mobile manipulator hand eye coordination.
Above-described embodiment that the present invention is provided, the purpose of the present invention, technical scheme and feature are described in detail, and need
It is to be understood that the foregoing is only one embodiment of the present of invention, any modification under the technology of the present invention principle is with improving
Deng should be included in the scope of the protection.
Claims (5)
1. a kind of service type mobile manipulator, it is characterised in that：Service type mobile manipulator includes electric wheelchair（1）, head
Portion's information acquisition system（2）, three-joint mechanical arm（3）, main control computer（4）, video camera（5）, clamper（6）, supporting plate
（7）, man-machine interactive system（8）, mobile manipulator decision control system（9）, human visual space orientation and position estimating system
（10）Composition；The video camera（5）It is installed on three-joint mechanical arm（3）Upper front end；The man-machine interactive system（8）By master control
Computer（4）, header information acquisition system（2）With video camera（5）Composition, can be selected and lock onto target object；Described head
Information acquisition system（2）By EEG signals, electro-ocular signal and impetus signal acquisition sensor group into；Described man-machine interactive system
（8）Gathered by picture signal with handling（8a）, eeg signal acquisition and processing（8b）, electro-ocular signal collection with processing（8c）, head
Gesture Signal acquiring and processing（8d）Module is constituted；The mobile manipulator decision control system（9）By hand eye coordination motion planning
（9a）With mobile manipulator motion control（9b）Composition, realizes and each free degree of mobile manipulator is driven；Described human visual
Space orientation and position estimating system（10）Gathered by electro-ocular signal with handling（8c）, impetus Signal acquiring and processing（8d）Group
Into, by measure and merge human eye's blinkpunkt and head position information, realize target object in service type mobile manipulator
Positioning and location estimation in space；Described human visual space orientation and position estimating system（10）In electric wheelchair（1）
Two driving wheel midpoints set up basis coordinates system O, neck coordinate system O1, clamper（6）Coordinate system E1, according to Electric Motor Wheel
Chair（1）With human body, electric wheelchair（1）With three-joint mechanical arm（3）, clamper（6）Between parameters relationship, set up human body eyes
Eyeball and clamper（6）The Parameter Switch model of coordinate system, is combined with electro-oculogram signal parameter attribute and head movement information, is estimated
Calculate the visual space position of target object.
2. service type mobile manipulator according to claim 1, it is characterised in that：Described service type mechanically moving
Hand by two-wheel Differential Driving electric wheelchair（1）And it is installed on electric wheelchair（1）The three-joint mechanical arm in left front portion（3）, clamping
Device（6）Composition, with 5DOF, each free degree and clamper are driven by DC servo motor；Described video camera（5）Using
Binocular camera Eye-in-hand modes gather target object image information.
3. service type mobile manipulator according to claim 1, it is characterised in that：Described hand eye coordination motion rule
Draw（9a）Method is as follows：1）Based on the motion of human body contact, some invariant features having are moved using human arm contact,
Merge mechanical arm potential energy index, wrist immoderation index and change of configuration cost index formation mobile manipulator motion planning accurate
Then:MinC=ApCp+AdCd+AmCm, wherein, Cp, Cd and Cm are mechanical arm potential energy index, wrist immoderation index and structure respectively
Type change cost index, Ap, Ad and Am are the weight coefficient of These parameters respectively；2）Using intelligent optimization algorithm to mobile manipulator
Motion planning criterion is optimized, and the motion of mobile manipulator is transformed into joint space from working space；3）In joint space
In, each free degree movement locus is planned with quintic algebra curve.
4. service type mobile manipulator according to claim 1, it is characterised in that：Determine in described human visual space
Position and position estimating system（10）Guide service type mobile manipulator realizes remote arm close to motion；Described man-machine friendship
Mutual system（8）The arm of guiding mobile manipulator closely is accurately aligned.
5. the service type mobile manipulator according to claim 1 or 4, it is characterised in that：Described man-machine interaction system
System（8）In the accurate alignment procedures of arm of guiding mobile manipulator closely, the spatial movement of mobile manipulator is divided into water
It is flat（X-Y）With it is vertical（Z）Both direction adjustment motion, vertically（Z）The height adjustment in direction passes through eeg signal acquisition and processing
（8b）With human visual guiding, horizontal direction（X-Y）Direction by mobile manipulator by video camera 5 and picture signal collection with
Reason（8a）From main modulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610206114.0A CN105710885B (en) | 2016-04-06 | 2016-04-06 | Service type mobile manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610206114.0A CN105710885B (en) | 2016-04-06 | 2016-04-06 | Service type mobile manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105710885A CN105710885A (en) | 2016-06-29 |
| CN105710885B true CN105710885B (en) | 2017-08-11 |
Family
ID=56160667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610206114.0A Active CN105710885B (en) | 2016-04-06 | 2016-04-06 | Service type mobile manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105710885B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671084B (en) * | 2016-12-20 | 2019-11-15 | 华南理工大学 | A kind of autonomous householder method of mechanical arm based on brain-computer interface |
| CN107595505A (en) * | 2017-09-15 | 2018-01-19 | 华南理工大学 | A kind of electric wheelchair robot arm device |
| CN107553491A (en) * | 2017-09-15 | 2018-01-09 | 华南理工大学 | A kind of brain control wheelchair mechanical arm |
| CN107885124B (en) * | 2017-11-21 | 2020-03-24 | 中国运载火箭技术研究院 | Brain and eye cooperative control method and system in augmented reality environment |
| CN108309598B (en) * | 2018-01-30 | 2019-08-06 | 青岛市肿瘤医院 | A kind of sucked type automatic stari creeping ladder wheelchair |
| CN108309597B (en) * | 2018-01-30 | 2019-08-09 | 尹红云 | A kind of automatic stari creeping ladder wheelchair |
| CN109015635A (en) * | 2018-08-08 | 2018-12-18 | 西安科技大学 | A kind of service robot control method based on brain-machine interaction |
| CN109345542A (en) * | 2018-09-18 | 2019-02-15 | 重庆大学 | A kind of wearable visual fixations target locating set and method |
| CN109605385B (en) * | 2018-11-28 | 2020-12-11 | 东南大学 | Rehabilitation assisting robot driven by hybrid brain-computer interface |
| CN109262632B (en) * | 2018-12-05 | 2023-09-12 | 济南大学 | Multi-joint light wheelchair mechanical arm |
| CN109448835A (en) * | 2018-12-07 | 2019-03-08 | 西安科技大学 | A kind of disabled person's life brain control auxiliary system and method |
| CN109875777B (en) * | 2019-02-19 | 2021-08-31 | 西安科技大学 | Fetching control method of wheelchair with fetching function |
| CN110840666B (en) * | 2019-11-19 | 2022-09-09 | 华南理工大学 | Wheelchair mechanical arm integrated system based on electro-oculogram and machine vision and control method thereof |
| CN112099632B (en) * | 2020-09-16 | 2024-04-05 | 济南大学 | Human-robot cooperative interaction method for helping old accompany |
| CN113276113A (en) * | 2021-05-17 | 2021-08-20 | 南京航空航天大学 | Sight line positioning and voice control system and method for space manipulator on-orbit operation |
| CN116243795A (en) * | 2023-02-20 | 2023-06-09 | 南方科技大学 | Mixed reality-based object grabbing method and mixed reality equipment |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101308400A (en) * | 2007-05-18 | 2008-11-19 | 肖斌 | Novel human-machine interaction device based on eye-motion and head motion detection |
| CN101598973B (en) * | 2009-06-26 | 2011-01-05 | 安徽大学 | Human-computer interaction system based on electro-ocular signal |
| CN101980106B (en) * | 2010-10-15 | 2012-08-08 | 华南理工大学 | Two-dimensional cursor control method and device for brain-computer interface |
| US8761963B2 (en) * | 2010-12-01 | 2014-06-24 | John Hinkel, III | Wheelchair guiding |
| KR20150098560A (en) * | 2014-02-20 | 2015-08-28 | 공주대학교 산학협력단 | Wheel chair robot for user's safety and control method thereof |
| CN104090538B (en) * | 2014-06-12 | 2017-02-15 | 华南理工大学 | Wifi-based intelligent disability-assisting wheelchair control system and control method |
| CN104398346B (en) * | 2014-11-07 | 2017-02-15 | 上海交通大学 | Intelligent wheelchair capable of opening door independently and independent door opening method of intelligent wheelchair |
-
2016
- 2016-04-06 CN CN201610206114.0A patent/CN105710885B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105710885A (en) | 2016-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105710885B (en) | Service type mobile manipulator | |
| CN109623835A (en) | Wheelchair arm-and-hand system based on multimodal information fusion | |
| CN106671084B (en) | A kind of autonomous householder method of mechanical arm based on brain-computer interface | |
| CN103230664B (en) | Upper limb movement rehabilitation training system and method based on Kinect sensor | |
| CN104083258B (en) | A kind of method for controlling intelligent wheelchair based on brain-computer interface and automatic Pilot technology | |
| CN110840666B (en) | Wheelchair mechanical arm integrated system based on electro-oculogram and machine vision and control method thereof | |
| CN103271784A (en) | Man-machine interactive manipulator control system and method based on binocular vision | |
| CN110666791B (en) | RGBD robot nursing system and method based on deep learning | |
| CN111096796B (en) | Full-automatic vein puncture robot multilayer control system | |
| CN101436037A (en) | Dining room service robot system | |
| CN104825258A (en) | Shoulder-wearable functional auxiliary arm | |
| CN103612252A (en) | Intelligent remote social adjuvant therapy robot for autism children | |
| CN110189811A (en) | A kind of heart infarction first aid medicine feed robot and its working method | |
| CN108646915A (en) | The method and system of object is captured in conjunction with three-dimensional eye tracking and brain-computer interface control machinery arm | |
| CN102830798A (en) | Mark-free hand tracking method of single-arm robot based on Kinect | |
| CN102178540A (en) | Three-wheeled omnidirectional mobile control device and auxiliary system for autistic children custody | |
| CN114983791A (en) | Wearable cardiopulmonary resuscitation auxiliary system and method for cooperative monitoring of medical behaviors | |
| CN106691438A (en) | Integralheart three-dimensional mapping system for complex arrhythmias | |
| CN102198660A (en) | Robotic arm control system and action command control scheme based on brain-computer interface | |
| CN106125146A (en) | A kind of dislocation charge source real time position detection method | |
| CN209207525U (en) | Wheelchair arm-and-hand system based on multimodal information fusion | |
| CN102156994A (en) | Joint positioning method of single-view unmarked human motion tracking | |
| CN110134243A (en) | A kind of brain control mechanical arm shared control system and its method based on augmented reality | |
| CN204725501U (en) | Body sense mechanical arm comfort level checkout gear | |
| Li et al. | A dexterous hand-arm teleoperation system based on hand pose estimation and active vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230410 Address after: 250000 1-2304, building 7, Shandong Design Creative Industrial Park (North District), No. 868, Tangye West Road, Licheng District, Jinan City, Shandong Province Patentee after: Shandong Huagong Technology Development Group Co.,Ltd. Address before: No. 334 Nanxinzhuang West Road, Jinan City, Shandong Province, 250022 Patentee before: University of Jinan |