CN107283386A - Man-machine synchronous method - Google Patents
Man-machine synchronous method Download PDFInfo
- Publication number
- CN107283386A CN107283386A CN201710395755.XA CN201710395755A CN107283386A CN 107283386 A CN107283386 A CN 107283386A CN 201710395755 A CN201710395755 A CN 201710395755A CN 107283386 A CN107283386 A CN 107283386A
- Authority
- CN
- China
- Prior art keywords
- data
- human body
- mechanical movement
- model
- motion
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39211—If operator on platform moves in certain direction, arm will follow
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of man-machine synchronous method, including：Gather the human body movement data of human body；The human body movement data is matched to the modelling of human body motion of the human body；The real-time mapping of the mechanical movement model of the modelling of human body motion and robot is realized, the mechanical movement data of the mechanical movement model are formed；By the mechanical movement data and the movable joint real-time matching of the robot, man-machine real-time synchronization motion is realized.
Description
Technical field
The present invention relates to ergonomic arts, more particularly to a kind of man-machine synchronous method.
Background technology
Ergonomics is the physiology and psychological characteristic from people, research people, machine, the correlation of environment and phase interaction
Rule, to optimize a science of people-machine-environment.It is currently based on the man-machine simulation technology of ergonomics
Apply in fields such as medical treatment, industrial production and space flight.But still suffer from the solution of some problems demands.
The content of the invention
Further to solve some problems in man-machine simulation analogue technique, the invention provides the man-machine synchronization side of one kind
Method, comprises the following steps：Gather the human body movement data of human body；Human body movement data is matched to the human motion mould of human body
Type；The real-time mapping of the mechanical movement model of modelling of human body motion and robot is realized, the machinery fortune of mechanical movement model is formed
Dynamic data；By mechanical movement data and the movable joint real-time matching of robot, man-machine real-time synchronization motion is realized.
In some embodiments of the invention, realize that the mechanical movement model of modelling of human body motion and robot reflects in real time
Penetrate, including：By real-time mapping algorithms, according to the mapping relations between modelling of human body motion and mechanical movement model, based on people
The human body movement data of body motion model, calculates corresponding mechanical movement data, completes modelling of human body motion and mechanical movement mould
The real-time mapping of type, the mapping relations between modelling of human body motion and mechanical movement model are human body movement data and mechanical movement
A corresponding preset data relation between data.
In some embodiments of the invention, real-time mapping algorithms include：Inertia is mapped and free degree mapping is carried out simultaneously
Data mapping.
In some embodiments of the invention, inertia mapping is, according to proportionate allocation, modelling of human body motion to be calculated respectively
With mutual corresponding movements of parts of the body data on mechanical movement model, the motion of the modelling of human body motion obtained according to calculating
The ratio relation of the exercise data of data and mechanical movement model, to determine human body movement data matching mechanical movement model
It is upper to complete mapping.
In some embodiments of the invention, free degree mapping is that, according to redundant degree of freedom scalping method, redundant degree of freedom is
One kind of the human body movement data of modelling of human body motion, it includes：Small movements redundant degree of freedom and remaining redundant degree of freedom, will
The small movements redundant degree of freedom data of certain body part are rejected on modelling of human body motion, then correspondence body on modelling of human body motion
The remaining redundant degree of freedom data motion of body region is matched on the joint of the corresponding body part of mechanical movement model and completed freely
The mapping of degrees of data.
In some embodiments of the invention, the mechanical movement model of modelling of human body motion and robot maps in real time, also
Including：By mechanical movement model being introduced in the fantasy sport environment constructed by the data of environmental model, form machinery fortune
Constraint between movable model and environmental model, exports mechanical movement data and is mapped to mechanical movement model.
In some embodiments of the invention, the constraint between mechanical movement model and environmental model is by environmental model number
Calculated according to the mechanical movement data with mechanical movement model, and its result of calculation is added to mechanical movement model, formed
Mechanical movement model and environmental model between corresponding relation.
In some embodiments of the invention, by mechanical movement data and the movable joint real-time matching of robot, also wrap
Include：By judging the mechanical movement model in fantasy sport environment the motion stabilization trend of robot, to waist movement data
Handled in real time, to correct the position of centre of gravity of robot.
In some embodiments of the invention, by mechanical movement data and the movable joint real-time matching of robot, including：
According to the corresponding relation between mechanical movement model and environmental model, the oint motion trajectory of calculating machine motion model, according to
The oint motion trajectory of joint data output relation pair mechanical movement model carries out movement decomposition, and by the joint motions decomposed
Track data is matched on the movable joint of robot, realizes its real time kinematics.
In some embodiments of the invention, data output relation in joint includes：Joint is transported according to motor output torque M
Dynamic rail mark carries out movement decomposition, and motor output torque M is：M=Iq, I are the rotary inertia of motion limbs, and q is joint rotation angles
Degree is removable to be divided into qx, qy, qz, qxRepresent joint around the anglec of rotation of X-axis, qyRepresent joint around the anglec of rotation of Y-axis, qzRepresent
The anglec of rotation of joint about the z axis.
Therefore, man-machine be synchronized with the movement is realized by real-time mapping algorithms；In addition, introducing the virtual fortune of environment geometric modeling
Rotating ring border, during to the real-time mapping of modelling of human body motion and the mechanical movement model of robot, the mechanical movement data of output are more
Plus it is accurate；Finally, when taking into full account man-machine be synchronized with the movement, the amendment of judgement and mechanical movement data to movement tendency is protected
The stability and balance during man-machine be synchronized with the movement are demonstrate,proved.
Brief description of the drawings
Fig. 1 diagrammatically illustrates synchronous method flow chart man-machine according to an embodiment of the invention.
Fig. 2 diagrammatically illustrates the operator in human body movement data gatherer process according to an embodiment of the invention.
Fig. 3 diagrammatically illustrates modelling of human body motion according to an embodiment of the invention.
Fig. 4 diagrammatically illustrates lower limb robot and corresponding mechanical movement model according to embodiments of the present invention.
The modelling of human body motion that Fig. 5 diagrammatically illustrates the embodiment of the present invention is illustrated according to human body movement data Walk Simulation
Figure.
Fig. 6 diagrammatically illustrates the original motion of knee joint data in real-time mapping process and the mapping of the embodiment of the present invention
Exercise data contrast curve afterwards.
Fig. 7 diagrammatically illustrates simulation of the mechanical movement model of the embodiment of the present invention in environmental model.
Tables of data in the mechanical movement data according to embodiments of the present invention of table 1 on movable joint corner.
Embodiment
Man-machine simulation technology based on ergonomics still suffers from the solution of some problems demands.For example, traditionally
Being synchronized with the movement for people and robot can not be realized using offline acquisition method, human body movement data is one of robot motion
With reference to.In addition, for robot lower extremity movement simultaneously balance keep there is also it is certain the problem of.
" Digital Human " is also referred to as " Performance Computers from Digitized Virtual Human ", i.e., the 3 D human body detailed construction synthesized in computer, total data
From real human body, be able to will simulate the metabolism of human body, grow, pathophysiological change etc..Digital moving people is absorbed
In the Digital Human of mimic human movements gait, it can be realized by the modelling of human body motion of foundation, to be advantageously applied to people
Anthropomorphic robot is studied and human engineering field.
Each action of people's walking step state emphasis is not a part of single movement of body, but in nervous system
Mass motion under being uniformly coordinated, includes the realization and the adjustment of figure of gait.In the method for tradition research robot motion,
Unified setting is not carried out to overall figure.The present invention makes part of data acquisition comprehensive by setting up modelling of human body motion
And it is detailed, accumulated and perfect in the formation of data use, more can be by accumulating the error number with being gathered in analysis knock-out experiment
According to the motion planning offer to robot is referred to and instructed, and some incorrect postures of human motion can also be corrected.
For the lower extremity movement of robot, it is possibility to have the problem of effect solves man-machine synchronization and balance and stability.
The present invention is directed to biped robot imitating human walking, it is proposed that a kind of man-machine technology of data mapping in real time, can reach man-machine
Be synchronized with the movement, and solve robot lower limb motion equilibrium problem can be used for design robot on duty, plant machinery people or even
Battlefield robot etc..Especially under the high-risk environments such as earthquake, explosion, nuclear radiation, remote control robot completes required movement.
Therefore, operator makes motor performance, the motion data collection element acquisition operations person motion number worn with
According to, enter data into modelling of human body motion, afterwards, human body movement data is mapped on mechanical movement model, then by machine
Tool exercise data calculates motion planning and robot control function, last control machine people motion.Specifically, human body movement data is reflected
It is mapped on mechanical movement model, when human motion, the motion data collection element worn with can collect people in real time
The exercise data of body, and corresponding exercise data on mechanical movement model is obtained by mapping calculation, it is defeated finally by controller
Going out control function makes robot realization be synchronized with the movement；Simultaneously as the working environment of people and robot is different, people is walking
What is experienced during motion is the environmental information where itself, thus motion when modelling of human body motion pin and ground correlation and
The correlation on mechanical movement model and ground is incoordinate, it is necessary to gather environmental data by robot sensor, then
Sole reaction force is faced to addition on mechanical movement model, the constraint formed between mechanical movement model and environmental model,
It so can more effectively ensure to export rational motion control data, and mechanical movement model when control function is calculated
Also reaction robotary that can be more strictly according to the facts, people from one side can see robotary by mechanical movement model, in unstability
When make adjustment in time.
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in further detail.
Embodiment of the invention discloses that a kind of man-machine synchronous method, comprises the following steps：Gather the human motion of human body
Data；The human body movement data is matched to the modelling of human body motion of the human body；Realize the modelling of human body motion and machine
The real-time mapping of the mechanical movement model of device people, forms the mechanical movement data of the mechanical movement model；The machinery is transported
Dynamic data and the movable joint real-time matching of the robot, realize man-machine real-time synchronization motion.
Fig. 1 diagrammatically illustrates synchronous method flow chart man-machine according to an embodiment of the invention.
As shown in figure 1, the method comprising the steps of S101~S104：
S101, the human body movement data for gathering human body；
S102, the modelling of human body motion that the human body movement data is matched to the human body；
S103, realize the modelling of human body motion and robot mechanical movement model real-time mapping, form the machine
The mechanical movement data of tool motion model；
S104, the movable joint real-time matching by the mechanical movement data and the robot, are realized man-machine same in real time
Step motion.
Fig. 2 diagrammatically illustrates the operator in human body movement data gatherer process according to an embodiment of the invention.
As shown in Fig. 2 in an embodiment of the present invention, exercise data is fixed on operator's body parts motion trunk
Collector obtains each joint motions data of human body, and patch myoelectric information collector obtains joint power at each large-scale muscle of body,
On ground, placement force detection means obtains sole motoricity.For example, in the man-machine synchronizing process for lower limb robot, first
Need to gather the related human body movement data of human body lower limbs motion, required human body movement data species summarizes the step of certain type
State type, and based on various gait types to action data collection and foot force collection etc., for example, can be walked including nature,
March, the various gait types such as beat walking, each gait types also corresponds to the walking process, OK of different friction speeds
Walk the content such as starting and speed change walking.The parameter of the free degree includes joint number and the position that people has significant change in motion
Put；Size includes human body head, upper lower trunk, upper arm, forearm, hand, thigh, shank, the dimensional parameters of foot, while also including walking
With the step-length under the state of jogging, cadence and leg speed；Inertia is human body head, upper lower trunk, upper arm, forearm, hand, thigh, shank, foot
Inertia index；Range of movement is comprising major joints such as human body shoulder, elbow, wrist, hip, knee, ankles in voltuntary movement and forced movement
Range of movement.Therefore, the data format of motion capture system output can substantially be divided into two classes.Primary sources form is only wrapped
Three-dimensional coordinate containing characteristic point, not comprising any framework information, this kind of data format is using Trc forms as representative.Another kind of data
The framework information and exercise data of operator is included simultaneously, and Asf/Amc forms, Bvh forms and HTR forms are representative.Therefore, lead to
Cross and the exercise data produced by the motor performance of operator is acquired, more can comprehensively obtain human body movement data
Initial data, it is ensured that the accuracy of data.
Human body movement data collection is to record biological motion situation by tracking the motion of some key points in time domain,
Available mathematic(al) representation is then converted into, a single 3D motion process is finally merged into.Motion pick is divided into two
Part：Capturing movement and torque capture.Wherein the collection content of capturing movement include for different objects, speed, move towards curve,
The movable information in each joint under the conditions of landform, walking accident etc.；The collection content of torque capture includes joint power and power of contacting to earth.
It can be acquired using one of methods such as mechanical, electromagnetic type, inertia-type, optical profile type.Add survey in optical profile type method
Exemplified by power platform, parameter acquisition is carried out using optical motion capture technique equipment, according to human engineering application demand, collection row
Walk, fall back, running, turning, sidesway, climb and fall, non-flat forms ground, a variety of behavior attitude datas such as soft ground, then logarithm
According to the editor that modifies.Therefore, the comprehensive and accuracy of human body movement data has just been further ensured that.
Fig. 3 diagrammatically illustrates modelling of human body motion according to an embodiment of the invention.
As shown in figure 3, in an embodiment of the present invention, the human body movement data collected to be matched to the people of human body
Body motion model.Firstly the need of according to trunk physical dimension, trunk inertia, joint freedom degrees, scope of activities etc. in characteristics of human body
Parameter sets up operator's modelling of human body motion, wherein basic exercise parameter, the size of human body, weight and matter according to normal person
The heart, inertial parameter of each limbs etc. set up the modelling of human body motion of operator, and for example normal person's kinematic parameter includes walking kind
Class, the step-length of walking parameter, cadence, leg speed etc. are all as the basic parameter for setting up modelling of human body motion.In addition, the chi of human body
Very little, weight and barycenter include size, weight and the barycenter of upper lower trunk, thigh, shank etc..For modelling of human body motion
Speech, it is another to be characterized by the matching to the inertial parameter of human body.The human body movement data collected is calculated, and sets up people accordingly
Body motion model.Modelling of human body motion is fitted according to the data of actual operator operational motion, and carries out mould by computer
The mathematical model of plan.Therefore, based on the preliminary treatment to human body movement data, corresponding human body can be matched exactly
Modelling of human body motion in.
Fig. 4 diagrammatically illustrates lower limb robot and corresponding mechanical movement model according to embodiments of the present invention.
As shown in figure 4, in an embodiment of the present invention, realizing the mechanical movement mould of the modelling of human body motion and robot
The real-time mapping of type, forms the mechanical movement data of the mechanical movement model.By certain mapping algorithm, by human motion
Human body movement data in model is handled, and the data processed result is mapped into default mechanical movement model.Wherein,
Processing to human body movement data, including the calculating to contents such as physical dimension, trunk inertia, joint freedom degrees, scopes of activities,
And redundant data therein is rejected, finally obtain it is complete include joint position, angle, angular speed, angular acceleration with
And the human body movement data of the information such as joint power, power of contacting to earth, finally by the human body movement data result after processing according to machinery
The corresponding position of motion model, sets up the model of mechanical movement in real time corresponding with modelling of human body motion.Mechanical movement model is
According to actual robot is corresponding one by one to operator's torso portion and mathematical model that simulated by computer.Wherein
Match the human body movement data of mechanical movement model, after being handled by calculating, formed for robot realize in real time with behaviour
The mechanical movement data that author is synchronized with the movement.
Therefore, it is based on embodiments of the invention, the mechanical movement data and the movable joint of the robot are real-time
Matching, realizes man-machine real-time synchronization motion.After the mechanical movement data of mechanical movement model are obtained, by the data result and machine
Device people realizes matching in itself, particularly with the corresponding data information of movable joint, so that ensure robot while motion, energy
Enough realized according to mechanical movement data is synchronized with the movement with operator.
The modelling of human body motion that Fig. 5 diagrammatically illustrates the embodiment of the present invention is illustrated according to human body movement data Walk Simulation
Figure.
As shown in figure 5, in an embodiment of the present invention, the mechanical movement model of modelling of human body motion and robot reflects in real time
Penetrate, including：By real-time mapping algorithms, according to the mapping relations between modelling of human body motion and mechanical movement model, based on people
The human body movement data of body motion model, calculates corresponding mechanical movement data, completes modelling of human body motion and mechanical movement mould
The real-time mapping of type, the mapping relations between the modelling of human body motion and mechanical movement model be the human body movement data with
A corresponding preset data relation between the mechanical movement data.As shown in figure 5, passing through the original motion data collected
Be normalized, filtering process, obtain complete including joint position, angle, angular speed, angular acceleration and joint
The human body movement data of the information such as power, power of contacting to earth, and match in operator's modelling of human body motion.Tested during due to gathered data
Subject sizes, locomitivity are different, and the information content difference that different acquisition mode is obtained according to modelling of human body motion, it is necessary to enter
Row data standardization.First to the abnormal human body movement data of collection, the part of mistake or missing is especially apparent according to mark
Quasi- human body movement data is augmented.Standardized human body's exercise data is the human body movement data correlation obtained by default experiment
Data standard.Then Data Format Transform is carried out, different acquisition modes obtains different data formats, and such as optical profile type method is adopted
The data integrated only include the three-dimensional coordinate of characteristic point, not comprising any framework information, such as Trc as node world coordinates data
Form；And the data that mechanical method is collected are joint motions data, while the framework information comprising subject and motion number
According to, but the curve movement without each joint in world coordinates, such as HTR forms.According to different acquisition demand and use demand, give
Go out mapping algorithm, the data result of two kinds of forms can mutually be changed, form the exercise data of unified form.Finally carry out
Gathered data is standardized, the difference of contrast operation person's modelling of human body motion and standardized human body's motion model, it is considered to the free degree, chi
The exercise data of collection, is standardized by the parameters such as very little, inertia, range of movement by corresponding proportion.Therefore, using real-time
Human body movement data after processing, accurately can be mapped on mechanical movement model by mapping algorithm, and this method is ensureing
In the case of real-time synchronization, further determined that the accuracy and repeatability of data so that real-time synchronization it is more efficient,
Speed is faster.
Fig. 6 diagrammatically illustrates the original motion of knee joint data in real-time mapping process and the mapping of the embodiment of the present invention
Exercise data contrast curve afterwards.
As shown in fig. 6, in embodiments in accordance with the present invention, the real-time mapping algorithms include：Inertia maps and the free degree
The data mapping that mapping is carried out simultaneously.The inertia mapping, according to proportionate allocation, calculates modelling of human body motion and machinery respectively
Mutual corresponding movements of parts of the body data on motion model, according to calculate the obtained exercise data of modelling of human body motion and
The ratio relation of the exercise data of mechanical movement model, is completed to determine to match human body movement data on mechanical movement model
Mapping；The free degree mapping, according to redundant degree of freedom scalping method, the redundant degree of freedom is the people of the modelling of human body motion
One kind of body exercise data, it includes：Small movements redundant degree of freedom and remaining redundant degree of freedom, by the modelling of human body motion
The small movements redundant degree of freedom data of certain upper body part are rejected, then the correspondence body on the modelling of human body motion
The remaining redundant degree of freedom data motion of position, which is matched on the joint of the corresponding body part of mechanical movement model, completes number of degrees of freedom,
According to mapping.Modelling of human body motion includes two parts with mechanical movement model mapping content：Inertia maps and free degree mapping.Enter
When row inertia maps, using proportional assignment method, the movement inertia of motion trunk is calculated respectively, the trunk for being not involved in motion is visual
Make one and be performed integrally model mapping.When carrying out free degree mapping, first using redundant degree of freedom scalping method, small movements
Redundant degree of freedom is rejected, then in remaining redundant degree of freedom Motion mapping to neighbouring joint, is only retained and deposited in mechanical movement model
Number of degrees of freedom, evidence, remove the unnecessary free degree., can be with for example, the free degree parameter of the human body movement data collected
It is related to 3 frees degree of hip, 2 frees degree of ankle, 1 free degree of knee, 2 frees degree of shoulder, 2 frees degree of wrist, elbow
2, the portion free degree, 3 frees degree of waist.Wherein, the rotation of waist is more complicated, at the position of the upper, middle and lower of chest three, can be with
Realize 4 respectively, 6,12 degree of front and rear song is stretched, and when having arrived waist, can reach that 20 degree of song is stretched.Lateral curvature amplitude with lower breast section most
Greatly, it is 8~9 degree, upper thoracic section is 6 degree, waist section is 6 degree.Swing backbone epimere is 9 degree to the maximum, and downward movable amplitude progressively subtracts
It is small, arrive lower waist section and be only left 2 degree, but increase to 5 degree again at waist sacrum.As shown in fig. 6, for example, to modelling of human body motion
Motion of knee joint initial data carry out real-time mapping algorithms processing after, eliminate the redundant degree of freedom data of small movements with
And abnormal number of degrees of freedom, evidence, robot leg measurement data is eventually formed, is applied in mechanical movement model.Accordingly, other
Relative motion data can also be handled by the method.Matched according to the human body movement data of modelling of human body motion
Mechanical movement exercise data, according to proportionate allocation, the exercise data and machinery that will calculate obtained modelling of human body motion are transported
The corresponding data ratio relation in each position of exercise data of movable model, human body movement data is finally matched mechanical movement model
On with complete inertia mapping.Concurrently, free degree parameter is handled, by with modelling of human body motion corresponding position it is surplus
On the joint of corresponding site of the remaining redundant degree of freedom Data Matching to mechanical movement model, man-machine real-time synchronization fortune is ensured that
It is dynamic.Therefore, real-time synchronization is mapped by means of inertia mapping and the free degree, it is ensured that real-time mapping algorithms are to man-machine real-time synchronization
Carry out.
Fig. 7 diagrammatically illustrates simulation of the mechanical movement model of the embodiment of the present invention in environmental model.
As shown in fig. 7, in an embodiment of the present invention, the mechanical movement model of modelling of human body motion and robot reflects in real time
Penetrate, in addition to：By mechanical movement model being introduced in the fantasy sport environment constructed by the data of environmental model, form machine
Constraint between tool motion model and environmental model, exports mechanical movement data and is mapped to mechanical movement model.By machinery fortune
The mapping relations of movable model and modelling of human body motion, export corresponding mechanical movement model sport data.Again by mechanical movement mould
Type is placed in virtual movement environment, introduces environment model data, and considers its influence brought, adds modelling of human body motion
Constraint between environmental model, such as making contact are constrained.According to kinesiology, introducing is collided accordingly with acquisition target
The parameters such as power hardness, power index, damping, frictional force.As shown in fig. 7, environment is with the main of robot during due to robot ambulation
Effect partial is ground, therefore environment model data mainly includes the parameters such as landing stiffness, coefficient of friction, ground line gradient, from
And build fantasy sport environment.Calculating processing is carried out according to mechanical movement data and environment model data so that mechanical movement mould
Type is in the fantasy sport environment of environment model data structure, fully takes into account motion of the operator in actual environment
Environment, such as frictional force so that simulation of the mechanical movement model to walking movement more conforms to real movement environment needs,
Data more true and accurate.Then sole reaction force is faced to addition on mechanical movement model, forms mechanical movement model
Constraint between environmental model.According to kinesiology, calculate with the corresponding impact force hardness of acquisition target, power index, resistance
The parameters such as Buddhist nun, frictional force, are added in mechanical movement model.Wherein, the pact between the mechanical movement model and environmental model
Beam is to be calculated the mechanical movement data of the environment model data and the mechanical movement model, and by its result of calculation
It is added to the mechanical movement model, the corresponding relation between the mechanical movement model and the environmental model of formation.Therefore, borrow
Help the introducing of environmental model so that mechanical movement model is in fantasy sport environment, and then ensure that man-machine real-time
In synchronizing process, the motion of robot more conforms to real external environment condition so that the motion of robot is more stable also more
Efficiently, it is to avoid robot athletic performance in motion process is excessively stiff.
Table 1 is the tables of data in the mechanical movement data according to the embodiment of the present invention on movable joint corner.
Table 1
As shown in table 1, embodiments in accordance with the present invention, it is described by the mechanical movement data and the movable joint of robot
Real-time matching, including：According to the corresponding relation between the mechanical movement model and the environmental model, the machinery fortune is calculated
The oint motion trajectory of movable model, is carried out according to the oint motion trajectory of mechanical movement model described in the data output relation pair of joint
Movement decomposition, and by the movable joint of the oint motion trajectory Data Matching decomposed to the robot, realize that its is real-time
Motion.Specifically, according to robot model's exercise data, Controlling model oint motion trajectory.When performing motion control, dynamic
Decompose, and calculate the function of controling power, for example, control left and right hip joint that the control function around tri- axles of XYZ need to be set, it is left
Right knee joint need to set control function about the z axis etc..Including parameters such as speed, acceleration, angular speed, angular acceleration.Such as
Shown in table 1, in mechanical movement data on movable joint corner parameter can according to the control function for being arranged at tri- axles of XYZ,
Each axial oint motion trajectory is decomposed, the machine is matched one by one to the oint motion trajectory data after decomposition
On the corresponding sports joint of device people, the activity in joint is realized freely.Therefore, by means of this, it can say that joint motions are split,
So that the process of extremities joint motion is more accurate, it is to avoid the generations of some abnormal operations.On the other hand, it can also enter
One step ensures operator, and directly Manipulation of the machine people carries out more efficient during motor performance in real time, and machine person's development is more
It hurry up.
Wherein, in an embodiment of the present invention, the joint data output relation includes：According to M pairs of motor output torque
The oint motion trajectory carries out movement decomposition, and the motor output torque M is：
M=Iq,
I is the rotary inertia of motion limbs, and q is joint rotation angle, removable to be divided into qx, qy, qz, qxRepresent joint around X-axis
The anglec of rotation, qyRepresent joint around the anglec of rotation of Y-axis, qzRepresent the anglec of rotation of joint about the z axis.
In an embodiment of the present invention, by the mechanical movement data and the movable joint real-time matching of the robot,
Also include：It is right by judging the mechanical movement model in the fantasy sport environment motion stabilization trend of the robot
Waist movement data are handled in real time, to correct the position of centre of gravity of the robot.Specifically, in robot kinematics
In, when unstable or even trend that is toppling over is moved in generation, operator can adjust itself action in time, pass through above-mentioned real-time synchronization
Method, is modified to the position of centre of gravity of robot in time, it is ensured that robot motion's stability.On the other hand, robot is in meter
When calculating the position of centre of gravity of itself, the center of gravity data of itself can also be handled, real-time adjustment of the binding operation person to action is entered
One step ensures the kinetic stability of robot.
Therefore, man-machine be synchronized with the movement is realized by real-time mapping algorithms by the present invention；In addition, introducing environmental model structure
The fantasy sport environment built, during to the real-time mapping of modelling of human body motion and the mechanical movement model of robot, the machinery of output
Exercise data is more accurate；Finally, when taking into full account man-machine be synchronized with the movement, judgement and mechanical movement data to movement tendency
Amendment, it is ensured that it is man-machine be synchronized with the movement during stability and balance.
Specific embodiment described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Explanation, it should be understood that the foregoing is only the specific embodiment of the present invention, be not intended to limit the invention, it is all at this
Within the spirit and principle of invention, any modification, equivalent substitution and improvements done etc. should be included in the protection model of the present invention
Within enclosing.
Claims (10)
1. a kind of man-machine synchronous method, comprises the following steps：
Gather the human body movement data of human body；
The human body movement data is matched to the modelling of human body motion of the human body；
The real-time mapping of the mechanical movement model of the modelling of human body motion and robot is realized, the mechanical movement model is formed
Mechanical movement data；
By the mechanical movement data and the movable joint real-time matching of the robot, man-machine real-time synchronization motion is realized.
2. man-machine synchronous method according to claim 1, the mechanical movement for realizing modelling of human body motion and robot
Model maps in real time, including：
By real-time mapping algorithms, according to the mapping relations between modelling of human body motion and mechanical movement model, based on human body fortune
The human body movement data of movable model, calculates corresponding mechanical movement data, completes modelling of human body motion and mechanical movement model
Mapping in real time, the mapping relations between the modelling of human body motion and mechanical movement model be the human body movement data with it is described
A corresponding preset data relation between mechanical movement data.
3. man-machine synchronous method according to claim 2, the real-time mapping algorithms include：Inertia is mapped and the free degree is reflected
Penetrate the data mapping while carrying out.
4. man-machine synchronous method according to claim 3, the inertia is mapped as：
According to proportionate allocation, the fortune of mutual corresponding body part on modelling of human body motion and mechanical movement model is calculated respectively
Dynamic data, are closed according to the exercise data and the ratio of the exercise data of mechanical movement model that calculate obtained modelling of human body motion
System, mapping is completed to determine to match human body movement data on mechanical movement model.
5. man-machine synchronous method according to claim 3, the free degree is mapped as：
According to redundant degree of freedom scalping method, the redundant degree of freedom is the one of the human body movement data of the modelling of human body motion
Kind, it includes：Small movements redundant degree of freedom and remaining redundant degree of freedom, by certain body part on the modelling of human body motion
Small movements redundant degree of freedom data are rejected, then the remaining redundancy of the correspondence body part on the modelling of human body motion from
The mapping of number of degrees of freedom, evidence is completed by degrees of data motion match to the joint of the corresponding body part of mechanical movement model.
6. man-machine synchronous method according to claim 1, the mechanical movement model of the modelling of human body motion and robot
Mapping in real time, in addition to：
By mechanical movement model being introduced in the fantasy sport environment constructed by the data of environmental model, form mechanical movement
Constraint between model and environmental model, exports mechanical movement data and is mapped to mechanical movement model.
7. man-machine synchronous method according to claim 6, the constraint between the mechanical movement model and environmental model is
The mechanical movement data of the environment model data and the mechanical movement model are calculated, and its result of calculation is added
To the mechanical movement model, the corresponding relation between the mechanical movement model and the environmental model of formation.
8. man-machine synchronous method according to claim 6, the motion by mechanical movement data and the robot is closed
Real-time matching is saved, in addition to：
By judging the mechanical movement model in the fantasy sport environment motion stabilization trend of the robot, to waist
Exercise data is handled in real time, to correct the position of centre of gravity of the robot.
9. man-machine synchronous method according to any one of claim 1 to 8, described by the mechanical movement data and machine
The movable joint real-time matching of people, including：
According to the corresponding relation between the mechanical movement model and the environmental model, the pass of the mechanical movement model is calculated
Movement locus is saved, movement decomposition is carried out according to the oint motion trajectory of mechanical movement model described in the data output relation pair of joint,
And by the movable joint of the oint motion trajectory Data Matching decomposed to the robot, realize its real time kinematics.
10. man-machine synchronous method according to claim 9, the joint data output relation includes：Exported according to motor
Torque M carries out movement decomposition to the oint motion trajectory, and the motor output torque M is：
M=Iq,
I is the rotary inertia of motion limbs, and q is joint rotation angle, removable to be divided into qx, qy, qz, qxRepresent rotation of the joint around X-axis
Gyration, qyRepresent joint around the anglec of rotation of Y-axis, qzRepresent the anglec of rotation of joint about the z axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710395755.XA CN107283386A (en) | 2017-05-27 | 2017-05-27 | Man-machine synchronous method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710395755.XA CN107283386A (en) | 2017-05-27 | 2017-05-27 | Man-machine synchronous method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107283386A true CN107283386A (en) | 2017-10-24 |
Family
ID=60094091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710395755.XA Pending CN107283386A (en) | 2017-05-27 | 2017-05-27 | Man-machine synchronous method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107283386A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109003666A (en) * | 2018-06-21 | 2018-12-14 | 珠海金山网络游戏科技有限公司 | Long-range remote sensing based on motion capture is accompanied and attended to the methods, devices and systems of robot |
| CN110653827A (en) * | 2019-11-11 | 2020-01-07 | 路邦科技授权有限公司 | Waist control system of bionic robot |
| CN112775931A (en) * | 2019-11-05 | 2021-05-11 | 深圳市优必选科技股份有限公司 | Mechanical arm control method and device, computer readable storage medium and robot |
| CN114848391A (en) * | 2022-04-28 | 2022-08-05 | 北京邮电大学 | Compliance control method for lower limb rehabilitation robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101412218A (en) * | 2008-10-28 | 2009-04-22 | 北京理工大学 | Human movement path-based method for evaluating similarity of robot rhythmic actions |
| US20110040405A1 (en) * | 2009-08-12 | 2011-02-17 | Samsung Electronics Co., Ltd. | Apparatus, method and computer-readable medium controlling whole-body operation of humanoid robot |
| CN103197671A (en) * | 2012-01-04 | 2013-07-10 | 中国人民解放军第二炮兵工程学院 | Humanoid robot gait planning and synthesizing method |
| CN103832504A (en) * | 2014-02-26 | 2014-06-04 | 南京航空航天大学 | Bionic foot-type robot comprehensive simulation strategy |
| CN104407611A (en) * | 2014-09-30 | 2015-03-11 | 同济大学 | Humanoid robot stable waling control method |
| CN106078752A (en) * | 2016-06-27 | 2016-11-09 | 西安电子科技大学 | Method is imitated in a kind of anthropomorphic robot human body behavior based on Kinect |
-
2017
- 2017-05-27 CN CN201710395755.XA patent/CN107283386A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101412218A (en) * | 2008-10-28 | 2009-04-22 | 北京理工大学 | Human movement path-based method for evaluating similarity of robot rhythmic actions |
| US20110040405A1 (en) * | 2009-08-12 | 2011-02-17 | Samsung Electronics Co., Ltd. | Apparatus, method and computer-readable medium controlling whole-body operation of humanoid robot |
| CN103197671A (en) * | 2012-01-04 | 2013-07-10 | 中国人民解放军第二炮兵工程学院 | Humanoid robot gait planning and synthesizing method |
| CN103832504A (en) * | 2014-02-26 | 2014-06-04 | 南京航空航天大学 | Bionic foot-type robot comprehensive simulation strategy |
| CN104407611A (en) * | 2014-09-30 | 2015-03-11 | 同济大学 | Humanoid robot stable waling control method |
| CN106078752A (en) * | 2016-06-27 | 2016-11-09 | 西安电子科技大学 | Method is imitated in a kind of anthropomorphic robot human body behavior based on Kinect |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109003666A (en) * | 2018-06-21 | 2018-12-14 | 珠海金山网络游戏科技有限公司 | Long-range remote sensing based on motion capture is accompanied and attended to the methods, devices and systems of robot |
| CN112775931A (en) * | 2019-11-05 | 2021-05-11 | 深圳市优必选科技股份有限公司 | Mechanical arm control method and device, computer readable storage medium and robot |
| CN110653827A (en) * | 2019-11-11 | 2020-01-07 | 路邦科技授权有限公司 | Waist control system of bionic robot |
| CN114848391A (en) * | 2022-04-28 | 2022-08-05 | 北京邮电大学 | Compliance control method for lower limb rehabilitation robot |
| CN114848391B (en) * | 2022-04-28 | 2023-08-29 | 北京邮电大学 | Flexible control method of lower limb rehabilitation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Xiang et al. | Optimization‐based dynamic human walking prediction: One step formulation | |
| CN107283386A (en) | Man-machine synchronous method | |
| CN101579238B (en) | Human motion capture three dimensional playback system and method thereof | |
| WO2017014294A1 (en) | Gait analysis method and gait analysis system | |
| CN106648116A (en) | Virtual reality integrated system based on action capture | |
| Molet et al. | Human motion capture driven by orientation measurements | |
| CN206497423U (en) | A kind of virtual reality integrated system with inertia action trap setting | |
| CN1947960A (en) | Environment-identification and proceeding work type real-man like robot | |
| Chen et al. | Real‐time human motion capture driven by a wireless sensor network | |
| CN110978064A (en) | Human body safety assessment method and system in human-computer cooperation | |
| Cafolla et al. | An experimental characterization of human torso motion | |
| CN104808510A (en) | Virtual astronaut multilayer movement control simulation method | |
| Danilov et al. | Zmp trajectory from human body locomotion dynamics evaluated by kinect-based motion capture system | |
| Tao et al. | Human modeling and real-time motion reconstruction for micro-sensor motion capture | |
| CN110609621A (en) | Posture calibration method and human motion capture system based on micro-sensor | |
| Li et al. | Wearable gait analysis system for ambulatory measurement of kinematics and kinetics | |
| CN110675936B (en) | Fitness compensation assessment method and system based on OpenPose and binocular vision | |
| Demircan et al. | Human motion reconstruction and synthesis of human skills | |
| Ji et al. | Motion trajectory of human arms based on the dual quaternion with motion tracker | |
| Maldonado et al. | From biomechanics to robotics | |
| Yang et al. | Biomechanics analysis of human walking with load carriage | |
| Uhlenberg et al. | Comparison of surface models and skeletal models for inertial sensor data synthesis | |
| Mallison | Plateosaurus in 3D: how CAD models and kinetic-dynamic modeling bring an extinct animal to life | |
| Molet et al. | An architecture for immersive evaluation of complex human tasks | |
| CN113283116A (en) | Multi-information fusion human motion analysis method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171024 |
|
| WD01 | Invention patent application deemed withdrawn after publication |