CN108942879A - A kind of wearable total joint bilateral force feedback integration closed loop control device and method - Google Patents
A kind of wearable total joint bilateral force feedback integration closed loop control device and method Download PDFInfo
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- CN108942879A CN108942879A CN201710360828.1A CN201710360828A CN108942879A CN 108942879 A CN108942879 A CN 108942879A CN 201710360828 A CN201710360828 A CN 201710360828A CN 108942879 A CN108942879 A CN 108942879A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- 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
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40318—Simulation of reaction force and moment, force simulation
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of wearable total joint bilateral force feedback integration closed loops to manipulate scheme, rotational angle based on each joint of human body, velocity of rotation and rotation acceleration (human body joint motion and kinetic parameter), and each joint of human body remote operating end equipment is comprehensively considered by force information (joint mechanics characterisitic parameter), to complete the action control to remote operating anthropomorphic robot, the operation precision and real-time levels of remote operating anthropomorphic robot greatly improved, delay should be acted by overcoming, and the sluggish sense of robot motion caused by movement delay.
Description
Technical field
The invention belongs to intelligent operation technical field more particularly to a kind of wearable total joint bilateral force feedback integrative closeds
Ring control device and method.
Background technique
Remote operating anthropomorphic robot is unique one kind in numerous robot classes, such robot uses remote control mode control
Tele-robotic processed makes robot complete various requirement movement, executes specific operation.Conventional remote operation is set using hand-held remote control
Standby to realize, this remote control technology needs operator by a large amount of professional trainings, manipulates flexibility and manipulation efficiency is lower, can control
Limited Number is acted, robot is difficult to complete compound action similar with people.
To solve the above problems, mostly using wearable servo-actuated remote operating equipment at present, such equipment passes through acquisition operating side
Personnel's joint action parameter carrys out remote control robot, makes robot completion and the completely the same movement of operating side personnel, thus
Robot is set to realize that fortune can only be acted according to the rules by solving common industrial robot to the precise manipulation of the task of actual environment
Capable defect, therefore the complex task that can carry out allow it to complete the same task that the mankind complete under hazardous environment, greatly
Extend the limit of power of the mankind.Relative to traditional robot technology, such robot endangers in aircraft in-orbit service, priming system
Dash forward at machine disposition, anti-terrorism etc. has unrivaled advantage.
But existing wearable servo-actuated remote operating equipment usually only acquires joint angles parameter, to its kinematics dynamics
Characterisitic parameter does not acquire, and causes robot motion kinematics kinetic characteristics poor.In addition, operator execute grasping,
When fine micro- hand motion such as unclamping, since finger-joint angle parameter changes smaller, accurately robot end can not be driven to hold
Row device causes biggish movement to postpone, so that wearable servo-actuated remote operating equipment can not execute fine inching operation, extreme influence
The application range of teleoperation robot.
Summary of the invention
Technology of the invention solves the problems, such as: it is anti-to overcome the deficiencies of the prior art and provide a kind of wearable total joint bidirectional force
Integrated closed loop control device and method are presented, the reality to operator's articular kinesiology kinetic parameter and stress is passed through
When detect, drive joint of robot and end effector to complete precise movement, while carrying out to robotic end joint mechanics state
It acquires and feeds back to operating side, operator is made accurately to perceive joint of robot stress, reach " people → robot " and " machine
The bilateral force feedback closed-loop control of device people → people ".
In order to solve the above-mentioned technical problem, the invention discloses a kind of wearable total joint bilateral force feedback integration closed loops
Control device, comprising: human body remote operating end equipment and remote operating anthropomorphic robot；
The human body remote operating end equipment, for capturing and acquiring human action parameter；The human action parameter is reflected
It is mapped to each corresponding joint of the remote operating anthropomorphic robot, realizes the action control to the remote operating anthropomorphic robot；Its
In, the human action parameter includes at least one of following parameter: the rotational angle in each joint of human body, velocity of rotation and being turned
Dynamic acceleration and each joint of human body remote operating end equipment by force information；
The remote operating anthropomorphic robot, for according to each corresponding joint for being mapped to the remote operating anthropomorphic robot
Human action parameter, executes movement；And the stress in each joint of the remote operating anthropomorphic robot is captured and acquires,
It obtains actuating station power and feels information, actuating station power feel information is fed back into the human body remote operating end equipment；
The human body remote operating end equipment is also used to feel information control human body remote operating end according to the actuating station power
The movement in each joint of equipment.
In above-mentioned wearable total joint bilateral force feedback integration closed loop control device, human body remote operating end is set
It is standby, comprising: the multiple force feedback mechanisms to match at position with human synovial are set, and, for by the human action
Parameter is mapped to the parameter output module of each corresponding joint of the remote operating anthropomorphic robot；
Wherein, the force feedback mechanism, comprising: force feedback joint, rotation sensor, acceleration transducer and operating side power
Feel sensor and internal contracting brake mechanism；
The force feedback joint matches setting with human synovial；
The rotation sensor, for capturing and acquiring the rotational angle and velocity of rotation of human synovial；
The acceleration transducer, for capturing and acquiring the rotation acceleration of human synovial；
The operating side force sensor, for capture and acquire each joint of human body remote operating end equipment by force information；
The internal contracting brake mechanism, for feeling that information controls each joint of human body remote operating end equipment according to the actuating station power
Movement.
In above-mentioned wearable total joint bilateral force feedback integration closed loop control device,
The internal contracting brake mechanism limits human body remote operating end equipment for the locking when feedback force is greater than the first given threshold
The movement of corresponding joint；Wherein, the feedback force are as follows: the actuating station power feels power indicated by information.
In above-mentioned wearable total joint bilateral force feedback integration closed loop control device,
It is described by force information, be used to indicate the human action power acted on the force feedback mechanism；
Wherein, the remote operating anthropomorphic robot, is used for:
When the human action power meets the second given threshold, according to the rotational angle in each joint of human body, velocity of rotation
And rotation acceleration, execute movement；
When the human action power meets third given threshold, according to described by force information, movement is executed；
When the human action power meets four given thresholds, according to the rotational angle in each joint of the human body, rotation
Speed and rotation acceleration and described by force parameter, execute movement.
In above-mentioned wearable total joint bilateral force feedback integration closed loop control device, the remote operating anthropomorphic machine
People is used for:
When the human action power meets third given threshold and human action power is gradually increased, continue to execute previous
It acts, and increases the operation force of the remote operating anthropomorphic robot according to the situation of change of human action power；
When the human action power meets third given threshold and human action power is gradually reduced, executes and moved with previous
Make opposite movement.
In above-mentioned wearable total joint bilateral force feedback integration closed loop control device, the remote operating anthropomorphic machine
People, comprising: actuating station force sensor；
The actuating station force sensor, the stress in each joint for capturing and acquiring the remote operating anthropomorphic robot
State obtains actuating station power and feels information, and actuating station power feel information is fed back to the human body remote operating end equipment.
Correspondingly, the invention also discloses a kind of wearable total joint bilateral force feedback integration closed loop control method, packet
It includes:
Human action parameter is captured and acquired by human body remote operating end equipment；Wherein, the human action parameter includes
At least one of following parameter: rotational angle, velocity of rotation and the rotation acceleration and the human body in each joint of human body are distant
Operate each joint of end equipment by force information；
The human action parameter is mapped to each corresponding joint of the remote operating anthropomorphic robot, control remote operating is quasi-
The movement of robot people；
Real-time monitoring is carried out to the motion conditions of remote operating anthropomorphic robot, captures and acquire the remote operating anthropomorphic machine
The stress in each joint of people obtains actuating station power and feels information；
Actuating station power feel information is fed back into the human body remote operating end equipment；
Feel that information controls the movement in each joint of human body remote operating end equipment according to the actuating station power.
The invention has the following advantages that
Compared with prior art, wearable total joint bilateral force feedback integration closed loop of the present invention manipulates scheme,
Rotational angle, velocity of rotation and rotation acceleration (human body joint motion and kinetic parameter) based on each joint of human body, with
And each joint of human body remote operating end equipment is comprehensively considered by force information (joint mechanics characterisitic parameter), to complete to distant
The action control for operating anthropomorphic robot, greatly improved the operation precision and real-time levels of remote operating anthropomorphic robot, overcomes
The sluggish sense of robot motion caused by delay and movement delay should be acted.
Secondly, wearable total joint bilateral force feedback integration closed loop of the present invention manipulates scheme, by each mechanism
Together with component effective integration, the volume size of human body remote operating end equipment is greatly reduced, improves human body remote operating end
The practicability and convenience of equipment, improve man-machine efficacy.
In addition, wearable total joint bilateral force feedback integration closed loop of the present invention manipulates scheme, use two-way
Force-feedback control: human action parameter feels that information is used to generate at human body end for controlling robot motion, the power of robotic end
Consistent power feels feedback, and the power for realizing people and machine feels bi-directional synchronization, promotes robot control synchronism effectively, improves and face
Field feeling of immersion, significantly increases personnel's operating accuracy, real-time, fault-tolerance.
Detailed description of the invention
Fig. 1 is a kind of structure of wearable total joint bilateral force feedback integration closed loop control device in the embodiment of the present invention
Block diagram；
Fig. 2 is a kind of structural schematic diagram of human body remote operating end equipment in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of force feedback mechanism in the embodiment of the present invention；
The step of Fig. 4 is a kind of wearable total joint bilateral force feedback integration closed loop control method in the embodiment of the present invention
Flow chart.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, public to the present invention below in conjunction with attached drawing
Embodiment is described in further detail.
Contemporary wearable controlling equipment is usually only acquired the articulation angle of human action, and directly by the ginseng
Number is output to each joint of robot, and driving robot generates movement identical with people, and to human body joint motion and dynamics
Parameter is without acquisition, to joint mechanics characterisitic parameter also without acquiring and utilizing, so that robot motion's characteristic and power
Characteristic and human action characteristic be not consistent.Especially for the minimum motion process of joint angles Parameters variation, (e.g., human body is grabbed
Hold/unclamp action process), existed using joint angles control and postponed compared with big-movement, caused significantly to manipulate sluggish sense, make machine
People is unable to complete the fine movement in particular space.
The invention discloses a kind of wearable total joint bilateral force feedback integration closed loop control devices and method can be right
Each articulation angle, velocity of rotation and the rotation acceleration of human action and each joint of human body remote operating end equipment by
Force information carries out capture acquisition, by the way that these human action parameters are mapped to each corresponding joint of robot, comprehensive all kinds of parameters
Realize the accurate control to anthropomorphic machine's human action.Meanwhile the stress in each joint of machine human body is acquired, and will hold
Row end power feels that information accurate feedback to operating side, is being operated by integrated force feedback device in the accurate playback robot in operating side
Actual forced status in environment, it is synchronous with the power feel of robot is steered to reach operator, complete operating side human body and by
Bidirectional closed-loop control between control terminal anthropomorphic robot is realized that the accurate closed loop in " people is in circuit " is servo-actuated remote operating control, is made
The comprehensive kinematic and dynamic modeling of robot motion is more bonded human physical characteristics.
Referring to Fig.1, a kind of wearable total joint bilateral force feedback integration closed loop manipulation in the embodiment of the present invention is shown
The structural block diagram of device.In the present embodiment, the wearable total joint bilateral force feedback integration closed loop control device, packet
It includes: human body remote operating end equipment 100 and remote operating anthropomorphic robot 200.
The human body remote operating end equipment 100, for capturing and acquiring human action parameter；By the human action parameter
It is mapped to each corresponding joint of the remote operating anthropomorphic robot, realizes the action control to the remote operating anthropomorphic robot.
The remote operating anthropomorphic robot 200, for the human body according to each corresponding joint for being mapped to the remote operating anthropomorphic robot
Action parameter executes movement；And the stress in each joint of the remote operating anthropomorphic robot is captured and acquires, it obtains
Actuating station power feels information, and actuating station power feel information is fed back to the human body remote operating end equipment.The human body remote operating
End equipment 100 is also used to feel that information controls the movement in each joint of human body remote operating end equipment according to the actuating station power.
In the present embodiment, the human action parameter includes at least one of following parameter: each joint of human body turns
Dynamic angle, velocity of rotation and rotation acceleration and each joint of human body remote operating end equipment by force information.
In a preferred embodiment of the invention, as shown in Figure 1, the human body remote operating end equipment can specifically include: setting
It sets in the multiple force feedback mechanisms 101 to match at position with human synovial, and, for the human action parameter to be mapped
To the parameter output module 102 of each corresponding joint of the remote operating anthropomorphic robot.Referring to Fig. 2, implementation of the present invention is shown
A kind of structural schematic diagram of human body remote operating end equipment in example.Such as Fig. 2, human body remote operating end equipment can be simply considered as
It is made of multiple force feedback mechanisms.Human body remote operating end equipment is wearable and is bonded human body, and its each main arm can be according to people
Body acts self-adapting stretching, guarantees that each feedback mechanism is consistent with human synovial position, and realization is servo-actuated human action parameter
Acquisition.That is, human body remote operating end equipment can feel that information controls the human body remote operating end equipment and respectively closes according to actuating station power
Save the movement of force feedback mechanism.
Preferably, referring to Fig. 3, a kind of structural schematic diagram of force feedback mechanism in the embodiment of the present invention is shown.In this reality
It applies in example, force feedback mechanism 101 can specifically include: force feedback joint 11, rotation sensor 12, acceleration transducer 13 and behaviour
Make end force sensor 14 and internal contracting brake mechanism 15.
As previously mentioned, the force feedback joint 11 matches setting with human synovial；The rotation sensor 12, for capturing
With the rotational angle and velocity of rotation of acquisition human synovial；The acceleration transducer 13, for capturing and acquiring human synovial
Rotation acceleration；The operating side force sensor 14, for capture and acquire each joint of human body remote operating end equipment by
Force information；The internal contracting brake mechanism 15, for feeling that information controls the human body remote operating end equipment and respectively closes according to the actuating station power
The movement of section.
Preferably, the internal contracting brake mechanism 15 is specifically used for the locking when feedback force is greater than the first given threshold, limits human body
The movement of remote operating end equipment corresponding joint.Wherein, the feedback force are as follows: the actuating station power feels power indicated by information.?
That is, after feeling that information resolves to the actuating station power for feeding back to human body remote operating end equipment, it can be according to calculation result (feedback
Power) internal contracting brake mechanism 15 is controlled, e.g., internal contracting brake mechanism 15 locking is controlled, and then limit the rotation in force feedback joint 11, make human body
Joint generates stress sense, reaches force feedback purpose, improves feeling of immersion when participating in the cintest, makes personnel's operating accuracy, real-time, fault-tolerance
It significantly increases.Wherein, which can be arranged according to the actual situation, the present embodiment to this with no restriction.
It is described by force information in a preferred embodiment of the invention, it specifically can serve to indicate that and act on the force feedback
Human action power in mechanism.Preferably, the remote operating anthropomorphic robot 200, specifically can be used for: when the human action
When power meets the second given threshold, according to the rotational angle in each joint of human body, velocity of rotation and rotation acceleration, movement is executed；
When the human action power meets third given threshold, according to described by force information, movement is executed；When the human action power
When meeting four given thresholds, according to the rotational angle in each joint of the human body, velocity of rotation and rotation acceleration and described
By force parameter, movement is executed.
For example, according to the rotational angle in each joint of human body, velocity of rotation and can turn when the human action power is zero
Dynamic acceleration, executes movement.When the human action power is not zero, and the rotational angle in each joint of human body, velocity of rotation and
The variation of rotation acceleration is smaller, or when can not survey, can execute movement according to described by force information.It is of course also possible to institute
When stating human action power four given threshold of satisfaction, added according to the rotational angle in each joint of the human body, velocity of rotation and rotation
Speed and the control acted by force parameter, comprehensive realization.Wherein, second given threshold, third given threshold and
4th given threshold can be the same or different, and value can be zero or be not zero that occurrence can be according to reality
Request determine, the present embodiment to this with no restriction.
Preferably, the remote operating anthropomorphic robot 200 can be specifically used for setting when the human action power meets third
Determine threshold value and when human action power is gradually increased, continues to execute previous movement, and increase according to the situation of change of human action power
The operation force of the remote operating anthropomorphic robot；When the human action power meet third given threshold and human action power by
Decrescence hour executes the movement opposite with previous movement.
In a preferred embodiment of the invention, the remote operating anthropomorphic robot 200 can specifically include the feel of actuating station power
Sensor 201.Wherein, the actuating station force sensor 201, for capturing and acquiring each of the remote operating anthropomorphic robot
The stress in joint obtains actuating station power and feels information, and actuating station power feel information is fed back to human body remote operating end
Equipment.
Based on the above embodiment, below by taking contact/grasping object process and disengaging/release object process as an example, to this hair
It is bright to be described in detail.
Connection before and after contact/grasping object process and disengaging/release object process, forms complete action process.It is described
The working principle of wearable total joint bilateral force feedback integration closed loop control device is as follows:
(1) human body remote operating end equipment is with human action, and mobile to being contacted or being grasped object, which is unloaded dynamic
Make.
(2) capture is acquired to human action parameter by the sensor under feedback mechanism.
In the present embodiment, specifically, the rotation sensor and acceleration transducer under feedback mechanism are to each joint of human body
Rotational angle, velocity of rotation and the rotation acceleration of movement are acquired capture；Meanwhile the operating side power under feedback mechanism feels biography
Sensor is acquired capture by force information to each joint of human body remote operating end equipment.At this point, due to internal contracting brake mechanism be activity (not
Locking) state, force feedback mechanism moves under the action of force feedback joint with human synovial, can be considered as human body remote operating
The uniform force in each joint of end equipment.
(3) output is driven to remote operating anthropomorphic robot after being resolved by parameter output module to human action parameter
Dynamic each joint of remote operating anthropomorphic robot is acted by with the consistent kinematics characteristic of human synovial.
(4) object is arrived in the end effector touching or grasping of remote operating anthropomorphic robot.
(5) remote operating anthropomorphic robot joint mechanics state is acquired by actuating station force sensor, obtains actuating station power
Feel the force feedback mechanism that human body remote operating end equipment is back to after information, row resolve；When actuating station power feels power indicated by information
When meeting the first given threshold, drives the internal contracting brake mechanism under force feedback mechanism to act (locking), limit human body remote operating end equipment
The movement in joint makes human synovial generate stress sense.
(6) human synovial counter motion, it is intended that disengaging, which is contacted or unclamped with object, grasps object.
(7) operating side force sensor acquisition acts on the human action power on the force feedback mechanism, works as human action
When power reduces (human body makes release movement), counteragent control parameter is output to remote operating anthropomorphic robot, drives distant behaviour
Making anthropomorphic machine person joint makes end effector fine motion disengaging that object is contacted or unclamped with object.
(8) human synovial continues counteragent, completely disengages remote operating anthropomorphic robot and contacts with object.
(9) capture is acquired to human action parameter by the sensor under feedback mechanism.
(10) repeat the above steps (3), carries out reversely being detached from unloaded movement, first before being returned to not in contact with or grasping object
Entire action process is completed in beginning position.
It can be obtained by above-mentioned process, when using the prior art, when grasping the operation of the fine movements such as object face to face, especially be grabbed
Process of loosing one's grip after tight rigid objects, since human finger only needs fine motion opening that can unclamp object, finger-joint is rotated at this time
Angle is minimum, does not often acquire data, it is necessary to can just collect finger-joint angle-data by continuing to magnify finger angle
To drive robotic end finger generation to act, there are apparent robot motion delay issues.For this problem, base of the present invention
In the rotational angle in each joint of human body, velocity of rotation and rotation acceleration, each joint of human body remote operating end equipment by force information,
And the actuating station power of the remote operating anthropomorphic robot feedback feels the synthesis of the parameter informations such as information, realizes to remote operating personification
The control of robot, human finger once make release movement, even if finger-joint angle has not occurred significant change, but close
Section pressure is reduced, and the present invention can realize the control to remote operating anthropomorphic robot by the reduction of joint pressure: control
Remote operating anthropomorphic robot finger processed makes rapidly release movement, greatly reduces movement delay.
In conclusion compared with prior art, wearable total joint bilateral force feedback integration closed loop of the present invention
Manipulation scheme, rotational angle, velocity of rotation and rotation acceleration (human body joint motion and dynamics based on each joint of human body
Parameter) and each joint of human body remote operating end equipment comprehensively considered by force information (joint mechanics characterisitic parameter), come
Complete the operation precision that the action control of remote operating anthropomorphic robot greatly improved remote operating anthropomorphic robot and real-time journey
Degree overcomes the sluggish sense of robot motion caused by should acting delay and movement delay.
Secondly, wearable total joint bilateral force feedback integration closed loop of the present invention manipulates scheme, by each mechanism
Together with component effective integration, the volume size of human body remote operating end equipment is greatly reduced, improves human body remote operating end
The practicability and convenience of equipment, improve man-machine efficacy.
In addition, wearable total joint bilateral force feedback integration closed loop of the present invention manipulates scheme, use two-way
Force-feedback control: human action parameter feels that information is used to generate at human body end for controlling robot motion, the power of robotic end
Consistent power feels feedback, and the power for realizing people and machine feels bi-directional synchronization, promotes robot control synchronism effectively, improves and face
Field feeling of immersion, significantly increases personnel's operating accuracy, real-time, fault-tolerance.
Correspondingly, the invention also discloses a kind of wearable total joint bilateral force feedback integration closed loop control methods.Ginseng
According to Fig. 4, the step of showing a kind of wearable total joint bilateral force feedback integration closed loop control method in the embodiment of the present invention
Flow chart.In the present embodiment, the wearable total joint bilateral force feedback integration closed loop control method, comprising:
Step 401, human action parameter is captured and acquired by human body remote operating end equipment.
In the present embodiment, the human action parameter includes at least one of following parameter: each joint of human body turns
Dynamic angle, velocity of rotation and rotation acceleration and each joint of human body remote operating end equipment by force information.
Step 402, the human action parameter is mapped to each corresponding joint of the remote operating anthropomorphic robot, is controlled
The movement of remote operating anthropomorphic robot.
Step 403, real-time monitoring is carried out to the motion conditions of remote operating anthropomorphic robot, captures and acquire the remote operating
The stress in each joint of anthropomorphic robot obtains actuating station power and feels information.
Step 404, actuating station power feel information is fed back into the human body remote operating end equipment.
Step 405, feel that information controls the movement in each joint of human body remote operating end equipment according to the actuating station power.
For embodiment of the method, since it is corresponding with Installation practice, so be described relatively simple, correlation
Place referring to Installation practice part explanation.
Various embodiments are described in a progressive manner in this explanation, the highlights of each of the examples are with its
The difference of his embodiment, the same or similar parts between the embodiments can be referred to each other.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (7)
1. a kind of wearable total joint bilateral force feedback integration closed loop control device characterized by comprising human body remote operating
End equipment and remote operating anthropomorphic robot；
The human body remote operating end equipment, for capturing and acquiring human action parameter；The human action parameter is mapped to
Each corresponding joint of the remote operating anthropomorphic robot realizes the action control to the remote operating anthropomorphic robot；Wherein, institute
Stating human action parameter includes at least one of following parameter: rotational angle, velocity of rotation and the rotation in each joint of human body add
Speed and each joint of human body remote operating end equipment by force information；
The remote operating anthropomorphic robot, for the human body according to each corresponding joint for being mapped to the remote operating anthropomorphic robot
Action parameter executes movement；And the stress in each joint of the remote operating anthropomorphic robot is captured and acquires, it obtains
Actuating station power feels information, and actuating station power feel information is fed back to the human body remote operating end equipment；
The human body remote operating end equipment is also used to feel that information controls the human body remote operating end equipment according to the actuating station power
The movement in each joint.
2. the apparatus according to claim 1, which is characterized in that the human body remote operating end equipment, comprising: setting with people
Body joint matches multiple force feedback mechanisms at position, and, for the human action parameter to be mapped to the distant behaviour
Make the parameter output module of each corresponding joint of anthropomorphic robot；
Wherein, the force feedback mechanism, comprising: force feedback joint, rotation sensor, acceleration transducer and operating side power, which are felt, to be passed
Sensor and internal contracting brake mechanism；
The force feedback joint matches setting with human synovial；
The rotation sensor, for capturing and acquiring the rotational angle and velocity of rotation of human synovial；
The acceleration transducer, for capturing and acquiring the rotation acceleration of human synovial；
The operating side force sensor, for capture and acquire each joint of human body remote operating end equipment by force information；
The internal contracting brake mechanism, for feeling that information controls the fortune in each joint of human body remote operating end equipment according to the actuating station power
It is dynamic.
3. the apparatus of claim 2, which is characterized in that
The internal contracting brake mechanism, for the locking when feedback force is greater than the first given threshold, limitation human body remote operating end equipment is corresponding
The movement in joint；Wherein, the feedback force are as follows: the actuating station power feels power indicated by information.
4. the apparatus of claim 2, which is characterized in that
It is described by force information, be used to indicate the human action power acted on the force feedback mechanism；
Wherein, the remote operating anthropomorphic robot, is used for:
When the human action power meets the second given threshold, according to the rotational angle in each joint of human body, velocity of rotation and turn
Dynamic acceleration, executes movement；
When the human action power meets third given threshold, according to described by force information, movement is executed；
When the human action power meets four given thresholds, according to the rotational angle in each joint of the human body, velocity of rotation
And rotation acceleration and described by force parameter, execute movement.
5. device according to claim 4, which is characterized in that the remote operating anthropomorphic robot is used for:
When the human action power meets third given threshold and human action power is gradually increased, previous movement is continued to execute,
And increase the operation force of the remote operating anthropomorphic robot according to the situation of change of human action power；
When the human action power meets third given threshold and human action power is gradually reduced, execute and previous movement phase
Anti- movement.
6. the apparatus according to claim 1, which is characterized in that the remote operating anthropomorphic robot, comprising: actuating station power is felt
Sensor；
The actuating station force sensor, the stress shape in each joint for capturing and acquiring the remote operating anthropomorphic robot
State obtains actuating station power and feels information, and actuating station power feel information is fed back to the human body remote operating end equipment.
7. a kind of wearable total joint bilateral force feedback integration closed loop control method characterized by comprising
Human action parameter is captured and acquired by human body remote operating end equipment；Wherein, the human action parameter includes as follows
At least one of parameter: rotational angle, velocity of rotation and the rotation acceleration in each joint of human body and the human body remote operating
Each joint of end equipment by force information；
The human action parameter is mapped to each corresponding joint of the remote operating anthropomorphic robot, controls remote operating personification machine
The movement of device people；
Real-time monitoring is carried out to the motion conditions of remote operating anthropomorphic robot, captures and acquire the remote operating anthropomorphic robot's
The stress in each joint obtains actuating station power and feels information；
Actuating station power feel information is fed back into the human body remote operating end equipment；
Feel that information controls the movement in each joint of human body remote operating end equipment according to the actuating station power.
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