CN107049570A - Manipulator control system - Google Patents
Manipulator control system Download PDFInfo
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- CN107049570A CN107049570A CN201710147076.0A CN201710147076A CN107049570A CN 107049570 A CN107049570 A CN 107049570A CN 201710147076 A CN201710147076 A CN 201710147076A CN 107049570 A CN107049570 A CN 107049570A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
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- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The present invention provides a kind of manipulator control system, and it includes：Sensor, central processing module, motor, electric-motor drive unit and power supply, the induction end of sensor is connected on human body limb, sensor is electrically connected with the first input end of central processing module, the output end of central processing module is electrically connected with the input of electric-motor drive unit, and the output end of electric-motor drive unit is electrically connected with the input of motor；Sensor, for detecting electromyographic signal；Central processing module, for sending motor control signal to electric-motor drive unit according to electromyographic signal；Electric-motor drive unit, for being operated according to motor control signal motor, motor control switch has been electrically connected on electric-motor drive unit or motor.The embodiment of the present invention can control the electromyographic signal control machinery hand transmitted during finger movement to act according to human body, realize the Automated condtrol of manipulator behavior, be easy to that manipulator is carried out to use operation.
Description
Technical field
The present invention relates to mechano-electronic field, more particularly to a kind of manipulator control system.
Background technology
Today's society occurs needing individuals with disabilities due to reasons such as various accidents, natural calamity and diseases, wherein, permitted
Many individuals with disabilities are the situations for losing single armed or both arms, and arm has important effect in daily life, if without hand
Arm, almost daily life can not take care of oneself.In the prior art, although occur in that many artificial limb arms, but these artificial limb arms
It is merely capable of playing simple effect, mainly plays effect attractive in appearance in other words, and really can not be applied in life.
The content of the invention
The present invention provides a kind of manipulator control system, manual come control machinery by the muscle movement of human body to realize
Make.
To achieve these goals, the invention provides a kind of manipulator control system, including：
At least one sensor, central processing module, it is multiple be used for drive the motor of finger motion, each motor right respectively
An electric-motor drive unit and the power supply for being powered to the control system are answered, wherein, the induction end of the sensor is supported
It is connected on human body limb, the sensor is electrically connected with the first input end of the central processing module, the center processing mould
The output end of block is electrically connected with the input of the electric-motor drive unit, the output end of the electric-motor drive unit and the motor
Input electrical connection；The sensor, the myoelectricity letter produced when carrying out finger motion for detecting human body limb position
Number；The central processing module, the electromyographic signal for being detected according to the sensor is sent to the electric-motor drive unit
Motor control signal；The electric-motor drive unit, for driving the motor to operate according to the motor control signal；The electricity
One in machine driver element or one in any number of or described motor any number of have been electrically connected motor control
System switch, for being turned on or off the motor, the physical button of the motor control switch is arranged on the manipulator
Outer surface.
The manipulator control system that the present invention is provided, the flesh for controlling to be transmitted during finger movement by sensor for human detection
Electric signal, sends motor control to electric-motor drive unit from the electromyographic signal that central processing module is detected according to sensor and believes
Number, and then operated by electric-motor drive unit according to motor control signal motor.The embodiment of the present invention can be according to human body control
The electromyographic signal control machinery hand action transmitted during finger movement processed, realizes the Automated condtrol of manipulator behavior, is easy to pair
Manipulator carries out using operation.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
The structural representation for the manipulator control system that Fig. 1 is provided by the embodiment of the present invention one.
One of structural representation of manipulator control system that Fig. 2 is provided by the embodiment of the present invention two.
The two of the structural representation for the manipulator control system that Fig. 3 is provided by the embodiment of the present invention two.
The use state schematic diagram for the manipulator control system that Fig. 4 is provided by the embodiment of the present invention three.
The structural representation for the manipulator control system that Fig. 5 is provided by the embodiment of the present invention four.
The use state schematic diagram for the manipulator control system that Fig. 6 is provided by the embodiment of the present invention four.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
The manipulator control system of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
Embodiment one
As shown in figure 1, the structural representation for the manipulator control system that Fig. 1 is provided by the embodiment of the present invention one.This hair
The manipulator control system of bright embodiment includes：At least one sensor, central processing module, the electricity for driving finger motion
Mechanical, electrical machine driver element and the power supply for being powered to control system, wherein, the induction end of sensor is connected to human body limb
On, sensor is electrically connected with the first input end of central processing module, the output end and electric-motor drive unit of central processing module
Input electrical connection, the output end of electric-motor drive unit electrically connects with the input of motor；Sensor, for detecting human body limb
The body region electromyographic signal produced when carrying out finger motion；Central processing module, for the flesh detected according to sensor
Electric signal sends motor control signal to electric-motor drive unit；Electric-motor drive unit, for driving electricity according to motor control signal
Machine is operated.
The output end of above-mentioned central processing module can be GPIOA (universal input/output) access port, above-mentioned centre
Sorting unit access port can be converted for A/D (analog/digital) by managing the first input end of module.In addition, motor can be miniature
Direct current generator.
The sensor can be electromyographic signal sensor.Human body limb position counted on one's fingers and opened up refer to motion when,
Corresponding change can occur respectively for the electromyographic signal at human body limb position, and occurring respective change using electromyographic signal, this is special
Property, the induction end of sensor can be connected on human body limb, pass through the electromyographic signal of sensor for human detection's body part
Change, obtain the action wish at human body limb position.Wherein, human body limb can be human arm, for example, the sense of sensor
The introflexion muscle group position of the biceps position that can be connected to correspondence human arm or correspondence human arm should be held.Need explanation
, human body limb can also be human leg, for example, the induction end of sensor can be connected to the musculus vastus lateralis of correspondence leg
Position or correspondence leg tibialis anterior position, that is to say, that can also by other positions of human body come control machinery hand,
It is not limited to the muscle of arm segment.
The mechanical structure that above-mentioned control system is controlled is described below, the main actions of manipulator are to count on one's fingers and open up
Refer to, count on one's fingers and open up the main power source referred to and both be from above-mentioned motor, specifically, can be by as a kind of optional mechanical structure
The overall construction design of mechanical structure is：Motor output shaft drives the input shaft operating of decelerator, is slowed down by decelerator, slowed down
The output shaft of device is by transmission mechanism, to drive finger to be counted on one's fingers or open up the motion referred to, wherein it is possible to be directed to each finger
A special motor is equipped with, all fingers can also be driven by certain motor, it is in actual applications, more excellent
Selection of land, each finger is equipped with a motor, and each motor passes through multiple only equipped with an electric-motor drive unit, central processing module
Vertical GPIOA access ports control each electric-motor drive unit.Count on one's fingers and open up the motion referred to, the mainly rotating forward by controlled motor
Realized with reversion.Wherein, the transmission mechanism between the output shaft and finger structure of decelerator can using turbine and worm or
The structure of slide bolt nut, such structure has certain auto-lock function in itself, i.e., after motor stops power output, hand
Finger can maintain current posture, so as to realize the grasping to object.
Manipulator control system provided in an embodiment of the present invention, controls to be passed during finger movement by sensor for human detection
The electromyographic signal sent, the electromyographic signal detected according to sensor from central processing module sends motor control to electric-motor drive unit
Signal processed, and then operated by electric-motor drive unit according to motor control signal motor.The embodiment of the present invention can be according to people
Body controls the electromyographic signal control machinery hand action transmitted during finger movement, realizes the Automated condtrol of manipulator behavior, just
In to manipulator carry out use operation.
Embodiment two
As shown in Figures 2 and 3, Fig. 2 is embodiment two with respect to the increased element of institute of embodiment one and part in embodiment one
The principle schematic of unit connection, Fig. 3 is the structural representation of the control system of one finger of prosthetic hand.The present embodiment is with implementing
The difference of example one is that the manipulator control system of the present embodiment can also include being used to detect electric current in motor driving loop
It is worth detecting element, a certain degree of feedback control can be realized by such detecting element.
In actual applications, in the case of no feedback control, manipulator fully relies on the electromyographic signal of human arm
Control is acted accordingly, when crawl object, it is necessary to the crawl dynamics of manipulator user voluntarily anticipation manipulator, easily
Generation dynamics crosses senior general's object and grabs bad, or dynamics is too small causes object to slide in the robot.
In order to prevent the above-described problem from occurring, the embodiment of the present invention has made further improvement on the basis of embodiment one,
The manipulator control system of the present embodiment can also include detecting element, the input of motor and the output end of electric-motor drive unit
And the input of detecting element is electrically connected, the output end of detecting element is electrically connected with the second input of central processing module；
Detecting element, the current value for detecting input end of motor；Central processing module, for the electric current detected according to detecting element
Value and electromyographic signal, motor control signal is sent to electric-motor drive unit.Wherein, the 3rd input of premise central processing module
End can convert sorting unit access port for A/D.
Detecting element mentioned here is used for the current value for detecting input end of motor, refers to, in actual applications, motor exists
Under "on" position, when motor captures object from normal rotation state to manipulator and causes motor load state, the output of motor
Moment of torsion gradually increases, and the rotating speed of motor is gradually reduced, and the electric current of motor output end gradually increases.In order that the normal work of manipulator
Make, the output torque scope (maximum torque can be limited) of motor can be selected according to actual conditions, electricity is used as
Machine runs well and motor load operates and leveled off to the boundary stopped operating.It can be changed by changing the motor of high pulling torque
The torque range of motor, the output torque of motor and the electric current of input end of motor are directly proportional, and choose the critical torque model of motor
After enclosing, the critical current scope of input end of motor according to the relation being directly proportional between electric current and moment of torsion, can be calculated, can be with
A value is chosen in the range of the critical current calculated as pre-set current value.Motor output end is detected by detecting element
Current value, the current value detected and pre-set current value are compared, comparative result is drawn, electricity is sent to electric-motor drive unit
Machine control signal.
Above-mentioned detecting element can be current measuring element.Wherein, detecting element can be arranged on electric-motor drive unit
It is internal, naturally it is also possible to separately as a detection unit.
Above-mentioned central processing module can include：Default electricity is provided with control unit and comparing unit, comparing unit
Flow valuve, comparing unit is used to compare the current value of input end of motor with the pre-set current value set in comparing unit, and will
Comparative result is sent to control unit, and control unit is used for the comparison of the electromyographic signal and comparing unit detected according to sensor
As a result, motor control signal is sent to electric-motor drive unit.Wherein, the quantity of sensor can be with least two, wherein at least
One sensor is counted on one's fingers the first sensor of electromyographic signal for detection, and at least one sensor refers to the of electromyographic signal for detection exhibition
Two sensors.The quantity of sensor in the embodiment of the present invention is preferably two, the two sensors one of them be arranged on it is in the wrong
Electromyographic signal more muscle sites are produced when finger is acted, another is arranged on when exhibition refers to motion and produces the more portion of electromyographic signal
Position, due to different disabled person may the position blocked of arm be different, therefore, the position of actual setting sensor can be because
People and it is different, user can be allowed to first attempt to count on one's fingers and exhibition refers to motion, which part flesh once is then tested by detecting instrument
The electromyographic signal that meat is produced is more, and sensor is then set again.As a kind of easy mode, user can be allowed to feel to exist
Count on one's fingers and during exhibition refers to, then sensor is arranged at the position dynamic by which part muscle, afterwards, can be in peace
Fill after manipulator, can be adjusted according to the service condition of manipulator.In actual use, first can typically be passed
Sensor is connected on the outside of the biceps position of correspondence arm, and second sensor is connected on the inside of the biceps position of correspondence arm.
In addition, in robot manipulator structure, could be arranged to drive the finger of manipulator to carry out count on one's fingers motion, motor when motor is rotated forward
Drive the finger of manipulator to carry out exhibition when rotating backward and refer to motion, specific motor positive and inverse design can be tied according to specific machinery
Depending on structure.
It is mentioned here to be less than or equal to for the current value of input end of motor when detecting electromyographic signal and comparative result
In the case of pre-set current value, the motor control signal that being sent to electric-motor drive unit rotates motor includes：It is in the wrong when detecting
Refer in the case that electromyographic signal and comparative result be less than or equal to pre-set current value for the current value of input end of motor, to motor
Driver element sends the motor control signal for rotating forward motor；It is electricity when the exhibition of detecting refers to electromyographic signal and comparative result
In the case that the current value of machine input is less than or equal to pre-set current value, being sent to electric-motor drive unit rotates backward motor
Motor control signal.
In addition, as shown in figure 3, the voltage of power supply can be 8V, can be by power supply switched circuit by the confession of power supply
Piezoelectric voltage is converted to 1.8V, 3.3V and 5V, and 1.8V and 3.3V supply voltage are passed through in central processing module, wherein, 1.8V
Supply voltage be used for be central processing module in control unit and comparing unit power；It can be set in central processing module
It is equipped with for making the A/D of the mutual phase inversion of analog signal and both data signals convert sorting unit, 3.3V supply voltage is for being
A/D conversion sorting units in central processing module are powered；5V supply voltage is used to power for electric-motor drive unit.
In addition, above-mentioned central processing module can also include being provided with display unit, the back of the hand of manipulator being used for
The mounting hole of display unit is installed, display unit is arranged on manipulator the back of the hand by mounting hole, and display unit can be provided with
Display screen, display screen exposes manipulator the back of the hand at mounting hole.Comparing unit can be calculated based on the galvanometer of input end of motor
The moment of torsion of current motor.Display unit can be electrically connected with comparing unit, and the motor that display unit calculates comparing unit is defeated
Go out moment of torsion and be shown to manipulator user.The motor output torque that manipulator user can show according to display unit, with reference to
Actually the bearing of object outer wall to be captured carries power, stops sending to arm nerve by human brain control and counts on one's fingers wish.
Each part in above-mentioned central processing module, can be made up of single chip, can by part or
The whole unit of person is completed by the microprocessor of plug-in, for example, the microprocessor such as single-chip microcomputer, DSP.
A kind of optional mode of structure is constituted as above-mentioned central processing module, can also be by above-mentioned central processing module
Realized by integrated circuits such as FPGA.
In order to prevent other signals from being interfered to the human body electromyographic signal detected, the machinery of the embodiment of the present invention is manual
System processed can also include differential amplifier circuit and filter circuit is electrically connected, and the output end of sensor can be with differential amplification electricity
The input electrical connection on road, the output end of differential amplifier circuit can be electrically connected with the input of filter circuit, filter circuit
Output end can be electrically connected with the first input end of central processing module；Differential amplifier circuit, for detecting sensor
Electromyographic signal amplification；Filter circuit, for filtering the alternating component in electromyographic signal.
To be adapted the control signal of central processing module and electric-motor drive unit therebetween, central processing module
It can be electrically connected between output end and the input of electric-motor drive unit by level-conversion circuit, level-conversion circuit is used for
The motor control signal of the output end of central processing module is converted into the motor control signal being adapted with electric-motor drive unit,
For example, central processing module output is 0-3.3V motor control signals, driver element can only be when motor control signal be 5V
Controlled motor is rotated, and is at this moment accomplished by level-conversion circuit and the motor control signal in the range of 0-3.3V is converted into 5V, so as to
The motor control signal that central processing module is sent is received in driver element.In addition, when motor is stopped suddenly by rotary state, inspection
The induction end for surveying element is changed into off-position from "on" position so that self induction electromotive force, self induction electromotive force are produced in detecting element
Generation can cause detecting element scaling loss.In order to prevent detecting element scaling loss, the output end and central processing module of detecting element
The second input between can be electrically connected by resistance-capacitance network circuit, resistance-capacitance network circuit here is also capacitance-resistance bleed off electricity
Road, resistance-capacitance network circuit, the self induction electromotive force produced when being disconnected for absorption detecting element circuitry prevents that detecting element from being burnt
Damage.
The manipulator control system of the embodiment of the present invention, the moment of torsion of motor is detected by detecting element, tripartite is realized in real time
The beneficial effect in face：In a first aspect, can rational output torque, save power supply electric energy；Second aspect, can prevent motor from turning round
When square is excessive, motor damage is caused, motor is effectively protected；The third aspect, the moment of torsion of rational controlled motor, prevents manipulator
Object is grabbed bad, and prevents manipulator when capturing object, object is skidded off in the robot, causes object to be broken.Manipulator
It is that different objects can be captured to one suitable frictional force of object when capturing object, therefore in actual use
In, suitable electric current preset value can be selected, the crawl of object and the release of object are carried out by the control of comparing unit.
Embodiment three
As shown in figure 4, the use state schematic diagram for the manipulator control system that Fig. 4 is provided by the embodiment of the present invention three.
Control principle to the manipulator control system of the embodiment of the present invention is described in detail the present embodiment.In Fig. 4, manipulator
Palm is internally provided with cavity, and central processing module, motor, electric-motor drive unit and power supply can be arranged on manipulator palm
Cavity in.
Manipulator grasps object and the order of release object under exhibition finger-like state：Count on one's fingers-hold with a firm grip object-release object
And open up refer to-stretch finger.Human body is acted as follows after the manipulator of the embodiment of the present invention is worn：
(1) count on one's fingers：Sensor detects human body and sends the electromyographic signal counted on one's fingers, and the sensor electromyographic signal that will count on one's fingers is sent to
Central processing module, central processing module sends motor control signal of counting on one's fingers according to electromyographic signal of counting on one's fingers to electric-motor drive unit,
Electric-motor drive unit receives controlled motor after motor control signal of counting on one's fingers and carries out forward rotating movements, i.e. manipulator progress counts on one's fingers dynamic
Make.At the same time, detecting element detects the current value of input end of motor, and detecting element transmits the current value of input end of motor
To comparing unit, comparing unit is by the current value of input end of motor compared with the preset range of the electric current set in comparing unit
Compared with, and comparative result is sent to control unit, when detect electromyographic signal and comparative result be input end of motor electric current
Value be less than or equal to pre-set current value, sent to electric-motor drive unit make motor rotate forward motor control signal, motor continue into
Row forward rotating movements, manipulator proceeds action of counting on one's fingers；
(2) hold with a firm grip object：When detect the current value of electromyographic signal and comparative result for input end of motor be more than it is default
Current value, comparing unit sends the motor control signal for leaving the motor off rotation, motor stalls to electric-motor drive unit.This
When manipulator held object, and certain pressure is applied with to the outer wall of object.Because manipulator is double by bolt and nut
Layer turns back transmission mechanism transmission, and screw-and-nut mechanism has auto-lock function.Therefore, in motor stalls, manipulator
The state of current object of holding with a firm grip can be parked in.
(3) discharge object and open up and refer to：Sensor detects human body and sends release object and open up the electromyographic signal referred to, sensor
Object will be discharged and the electromyographic signal referred to is opened up and send central processing module to, central processing module is according to release object and exhibition refers to flesh
Electric signal send release object to electric-motor drive unit and open up the motor control signal that refers to, electric-motor drive unit receives release
Object simultaneously opens up controlled motor progress return motion after the motor control signal referred to, i.e. manipulator progress exhibition action.At the same time, examine
The current value of element testing input end of motor is surveyed, detecting element sends the current value of input end of motor to comparing unit, compared
The preset range of electric current of the unit by the current value of input end of motor with being set in comparing unit is compared, and comparative result is sent out
Give control unit, when detect release object and open up the electromyographic signal that refers to and comparative result be input end of motor current value
Less than or equal to pre-set current value, being sent to electric-motor drive unit makes the motor control signal of motor reversal, and motor proceeds
Return motion, manipulator proceeds exhibition and refers to action.
(4) finger is stretched：When detect the current value of electromyographic signal and comparative result for input end of motor be more than it is default
Current value, comparing unit sends the motor control signal for leaving the motor off rotation, motor stalls to electric-motor drive unit.This
When manipulator finger be in straight configuration.Due to manipulator by bolt and nut bilayer turn back transmission mechanism be driven, spiral shell
Screw-and-nut mechanism has auto-lock function.Therefore, in motor stalls, manipulator, which can be parked in, currently stretches finger
State.
Example IV
The present embodiment adds motor control switch on the basis of above-described embodiment.Specifically, the machinery of the present embodiment
In hand control system, the quantity of motor is multiple, and correspondingly, electric-motor drive unit is also multiple, and each motor corresponds to one respectively
Individual electric-motor drive unit, motor control switch is used to be turned on or off motor, wherein, motor control switch can be arranged on electricity
On machine, it can also be arranged on electric-motor drive unit, by the open and close of controlled motor driver element come indirect control electricity
The open and close of machine, unlatching mentioned here refers to that motor is in receive and instructs drive signal in other words and can transport
The state turned, and close and refer to motor regardless of whether receiving instruction or drive signal will not operate.Motor control switch
Quantity can be according to actual conditions depending on, can only for part motor therein set controlling switch, can also be to whole
One in motor control switch, i.e. electric-motor drive unit or one in any number of or motor any number of can divide
Motor control switch is not electrically connected with it.
As shown in figure 5, on specific circuit realiration, switch can be serially connected on the current supply circuit of motor or be concatenated
(being shown in Fig. 5 can at two on the transmission loop of motor control signal between electric-motor drive unit and central processing module
Set with setting at the position of switch, selection one), so as to realize the control of the opening and closing to motor.In addition,
It should be noted that the motor control switch is not by central processing module control, but by the physical button of motor control switch
The outer surface of manipulator is arranged on, is controlled manually for user.
Specifically, as a general manipulator, the quantity of motor is 5, and 5 mechanical fingers of driving are corresponded to respectively
Action.(only illustrate in figure as shown in fig. 6, the physical button of motor control switch can be separately positioned on each mechanical finger
Property the physical button for indicating the upper setting in little finger, nameless and forefinger position, in fact, as needed can be with
Physical button is set on any one finger or multiple fingers), certainly alternatively, machinery can also be arranged at
Hand outer surface any part, as long as user can be allowed to identify that each switch is to control the corresponding electricity of that mechanical finger respectively
Machine.The above-mentioned physical button referred to can be that button form can also be the forms such as toggle switch, those skilled in the art
As long as it should be appreciated that the physical arrangement for being that by switch control belongs to the physical button mentioned in the embodiment of the present invention
Category.
In the control system of the present embodiment, can by the control that is opened and closed for motor control switch, then
The action referred to reference to counting on one's fingers and opening up, to realize the different shape and function of finger.For example, can by by middle finger, it is nameless and
The motor of little finger is closed, and only retains thumb and forefinger, when user is counted on one's fingers and opens up the control referred to, only the two
Finger is moved, it is possible to achieve the action of crawl wisp, such as grabbing key or grab little tomato.For another example can only open
Open forefinger and close the motor of other fingers, it is possible to achieve the action singly referred to, can carry out hooking up object etc..In a word, user
Can neatly to this, each finger is opened and closed, coordinate and count on one's fingers and open up the muscle that refers to and control, variation can be realized
Finger movement combination.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to
The related hardware of programmed instruction is crossed to complete.Foregoing program can be stored in a computer read/write memory medium.The journey
Sequence upon execution, performs the step of including above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (9)
1. a kind of manipulator control system, it is characterised in that including：At least one sensor, central processing module, multiple it is used for
The motor of finger motion, each motor is driven to correspond to an electric-motor drive unit respectively and for being powered to the control system
Power supply, wherein,
The induction end of the sensor is connected on human body limb, the first input of the sensor and the central processing module
End electrical connection, the output end of the central processing module is electrically connected with the input of the electric-motor drive unit, and the motor drives
The output end of moving cell is electrically connected with the input of the motor；
The sensor, the electromyographic signal produced when carrying out finger motion for detecting human body limb position；
The central processing module, the electromyographic signal for being detected according to the sensor is sent to the electric-motor drive unit
Motor control signal；
The electric-motor drive unit, for driving the motor to operate according to the motor control signal；
One in the electric-motor drive unit or one on any number of or described motor any number of are electrically connected respectively
Motor control switch is connected to, for being turned on or off the motor, the physical button of the motor control switch is arranged on institute
State the outer surface of manipulator.
2. manipulator control system according to claim 1, it is characterised in that also including detecting element, the motor
Input is electrically connected with the output end of the electric-motor drive unit and the input of the detecting element, the detecting element
Output end is electrically connected with the second input of the central processing module；
The detecting element, the current value for detecting the input end of motor；
The central processing module, for the current value detected according to the detecting element and the electromyographic signal, to institute
State electric-motor drive unit and send motor control signal.
3. manipulator control system according to claim 2, it is characterised in that
The central processing module includes：Control unit and comparing unit,
Be provided with pre-set current value in the comparing unit, the comparing unit be used for by the current value of the input end of motor with
The pre-set current value set in the comparing unit is compared, and comparative result is sent into described control unit,
Described control unit is used for the comparative result of the electromyographic signal and comparing unit detected according to the sensor, to
The electric-motor drive unit sends motor control signal.
4. manipulator control system according to claim 3, it is characterised in that the flesh detected according to the sensor
The comparative result of electric signal and the comparing unit, sending motor control signal to the electric-motor drive unit includes：
When detect the current value of electromyographic signal and the comparative result for the input end of motor be less than or equal to it is described pre-
If in the case of current value, the motor control signal for rotating the motor is sent to the electric-motor drive unit；
It is more than the predetermined current when detecting electromyographic signal and the comparative result for the current value of the input end of motor
In the case of value, being sent to the electric-motor drive unit makes the motor control signal of the motor stalls.
5. manipulator control system according to claim 4, it is characterised in that the sensor at least two, wherein
At least one sensor is detects the first sensor for electromyographic signal of counting on one's fingers, and at least one sensor is that detection exhibition refers to electromyographic signal
Second sensor, the motor drives the finger to carry out motion of counting on one's fingers when rotating forward, the motor drives when rotating backward
The dynamic finger carries out exhibition and refers to motion,
It is described when detect electromyographic signal and the comparative result for the input end of motor current value less than or equal to institute
In the case of stating pre-set current value, the motor control signal that being sent to the electric-motor drive unit rotates the motor includes：
Described electromyographic signal is counted on one's fingers when detecting and the comparative result is less than or waited for the current value of the input end of motor
In the case of the pre-set current value, the motor control letter for rotating forward the motor is sent to the electric-motor drive unit
Number；
When detecting, the exhibition refers to electromyographic signal and the comparative result is less than or waited for the current value of the input end of motor
In the case of the pre-set current value, being sent to the electric-motor drive unit makes the counter-rotational motor control letter of the motor
Number.
6. manipulator control system according to claim 1, it is characterised in that
Also include differential amplifier circuit and filter circuit is electrically connected, the output end of the sensor and the differential amplifier circuit
Input electrical connection, the output end of the differential amplifier circuit electrically connects with the input of the filter circuit, the filtering
The output end of circuit is electrically connected with the first input end of the central processing module；
The differential amplifier circuit, for the electromyographic signal detected of the sensor to be amplified；
The filter circuit, for filtering the alternating component in the electromyographic signal.
7. manipulator control system according to claim 1, it is characterised in that
Pass through level-conversion circuit electricity between the input of the output end of the central processing module and the electric-motor drive unit
Connection, passes through resistance-capacitance network circuit electricity between the output end of the detecting element and the second input of the central processing module
Connection,
The level-conversion circuit, for by the motor control signal of the output end of the central processing module be converted into it is described
The motor control signal that electric-motor drive unit is adapted；
The resistance-capacitance network circuit, for the self induction electromotive force in absorption detecting element circuitry.
8. manipulator control system according to claim 1, it is characterised in that the quantity of the motor is 5, right respectively
The action of 5 mechanical fingers should be driven.
9. manipulator control system according to claim 8, it is characterised in that the physical button of the motor control switch
It is arranged on the mechanical finger.
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| CN201710147076.0A CN107049570A (en) | 2017-03-13 | 2017-03-13 | Manipulator control system |
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Application publication date: 20170818 |