CN109248011B - Motion control method and device based on tactile feedback and pressure feedback - Google Patents
Motion control method and device based on tactile feedback and pressure feedback Download PDFInfo
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6827—Feedback system for providing user sensation, e.g. by force, contact or position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a motion control method based on tactile feedback and pressure feedback, which comprises the steps of acquiring a tactile feedback signal and a pressure feedback signal in real time through a sensor which is arranged on a preset structure node in advance; sending the touch feedback signal and the pressure feedback signal to a corresponding processor on each preset structure node for analysis and processing; and (3) acting the pressure value generated after analysis and treatment and the current voltage value with frequency within a preset range on a preset structure node. According to the method, a large amount of operation is not needed, each component is provided with one CPU, all the data processed by the CPU are connected to the central processing unit through the can bus, the collected motion trail is completely copied by using the pid control mode, the purpose of copying is achieved, and the method has application multi-scene property and applicability. The invention also discloses a motion control device based on the tactile feedback and the pressure feedback.
Description
Technical Field
The invention relates to the technical field of sensors and computers, in particular to a motion control method and device based on tactile feedback and pressure feedback.
Background
The existing artificial limb has the defects of poor efficacy and quality, poor function, low control sensitivity and unsatisfactory accuracy. Thus, further research on myoelectric prostheses is essential for disabled people to be able to perform normal life and to better integrate into society. The identification of the arm movement mode of the surface electromyographic signals is the basis and key of the electromyographic artificial limb, and the research of the subject is gradually in depth at home and abroad along with the development of scientific technology in recent years, so that the electromyographic artificial limb is widely applied to the fields of clinical medicine, sports medicine, rehabilitation medicine, sports and the like. The current state of research abroad is that Gaupe first introduced a time series analysis technique into electromyographic signal research in 1975. He identified different muscle actions by modeling the electromyographic signals, which is a linear processing approach with an identification accuracy of up to 80%. Hudgins et al, 1993, proposed motion recognition and prosthesis control with some time domain indicators of electromyographic signals. At the end of the last century, constable et al utilized discrete wavelet transforms to perform time-frequency analysis and feature extraction of surface electromyographic signals, which is still widely used. The current state of research in China is Zhang Haihong et al, in 2000, pi2Sigma network is utilized to identify four actions of fist stretching, fist making, internal rotation and external rotation, and the identification rate is more than 80%. Luo Zhizeng, wang Rencheng in 2006 proposes a new feature extraction method-power spectrum ratio method according to the spectral characteristics of SEMG. 10 months 2010, luo Zhizeng, xiong Jing and Liu Zhihong propose a hand motion recognition method based on WPT and LVQ neural networks. Based on the method, a large amount of operations are required to be added in the control, and the simplicity and the rapidness of the operations are not realized.
Disclosure of Invention
Based on this, it is necessary to provide a motion control method and apparatus based on haptic feedback and pressure feedback in response to the problems of the conventional art. Specifically, the scheme disclosed by the invention does not need a large amount of operation, each component is provided with one cpu, all the data processed by the cpu are connected to the central processing unit through the can bus, and the collected motion trail is completely copied by using the pid control mode, so that the purpose of copying action is achieved. Of course, the simulated motion trail can be sent to the device in the computer, so that the aim of controlling the device according to the residual limb electromyographic signals through training is fulfilled. It should be noted that the device may be a complete exoskeleton including the trunk portion of the lower limb of the upper limb, or may be a supplementary portion of the residual limb, that is, if the collecting portion of the device is worn on the body of a normal person, the moving portion of the device may be made to duplicate the actions of the person completely, and the device is mainly applied to the aspects of network teleoperation, remote installation, explosion venting in dangerous environments, fire rescue, high-altitude operation, maintenance, underwater maintenance, etc. If the equipment is used, a part of the equipment can also be applied to the aspects of production line robot manufacturing, remote control mining and the like, and can also be applied to the aspects of functional compensation of disabled people, replication exercise rehabilitation of plant people and the like, so that the equipment has application multi-scene property and applicability.
In a first aspect, an embodiment of the present invention provides a motion control method based on haptic feedback and pressure feedback, the method including: acquiring a touch feedback signal and a pressure feedback signal in real time through a sensor which is arranged on a preset structure node in advance; the tactile feedback signals and the pressure feedback signals are sent to corresponding processors on each preset structure node for analysis and processing; and applying the pressure value generated after analysis and treatment and the current voltage value with frequency within a preset range to the preset structure node.
In one embodiment, the preset structure is an exoskeleton model structure composed of an upper limb trunk and a lower limb trunk, and the preset structure nodes are signal acquisition points which are arranged on the preset structure in advance.
In one embodiment, each of the preset structure nodes corresponds to one of the processors, and the processor is electrically connected to the central processing unit through the CAN bus for data processing.
In one embodiment, applying the pressure value generated after the analysis processing and the current-voltage value of the frequency in the preset range to the preset structure node includes: and in a preset time period, the copying operation of the motion trail is completed according to the pressure value generated after analysis and processing and the current voltage value of the frequency in a preset range by a PID control mode.
In one embodiment, the method further comprises: and completing the copying operation of the motion trail according to the motion trail simulation data received from the remote upper computer.
In one embodiment, the motion profile simulated data is generated by acquiring electrical signals of a plurality of exoskeleton ends and training the signals through a neural network.
In one embodiment, the number of the sensors is a plurality, and the sensors are pressure sensors.
In a second aspect, an embodiment of the present invention provides a computer readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the haptic feedback and pressure feedback based motion control method of the first aspect.
In a third aspect, embodiments of the present invention provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the first aspect described above.
In a fourth aspect, an embodiment of the present invention further provides an action control device based on haptic feedback and pressure feedback, where the device includes: the acquisition module is used for acquiring the touch feedback signal and the pressure feedback signal in real time through a sensor which is arranged on a preset structure node in advance; the analysis processing module is used for sending the tactile feedback signals and the pressure feedback signals to the corresponding processor on each preset structure node for analysis processing; and the control module is used for acting the pressure value generated after analysis and processing and the current voltage value with frequency in a preset range on the preset structure node.
According to the action control method and device based on the tactile feedback and the pressure feedback, the tactile feedback signal and the pressure feedback signal are obtained in real time through the sensor which is arranged on the preset structure node in advance; sending the touch feedback signal and the pressure feedback signal to a corresponding processor on each preset structure node for analysis and processing; and (3) acting the pressure value generated after analysis and treatment and the current voltage value with frequency within a preset range on a preset structure node. According to the method, a large amount of operation is not needed, each component is provided with one CPU, all the data processed by the CPU are connected to the central processing unit through the can bus, the collected motion trail is completely copied by using the pid control mode, and the purpose of copying action is achieved. Of course, the simulated motion trail can be sent to the device in the computer, so that the aim of controlling the device according to the residual limb electromyographic signals through training is fulfilled. It should be noted that the device may be a complete exoskeleton including the trunk portion of the lower limb of the upper limb, or may be a supplementary portion of the residual limb, that is, if the collecting portion of the device is worn on the body of a normal person, the moving portion of the device may be made to duplicate the actions of the person completely, and the device is mainly applied to the aspects of network teleoperation, remote installation, explosion venting in dangerous environments, fire rescue, high-altitude operation, maintenance, underwater maintenance, etc. If the equipment is used, a part of the equipment can also be applied to the aspects of production line robot manufacturing, remote control mining and the like, and can also be applied to the aspects of functional compensation of disabled people, replication exercise rehabilitation of plant people and the like, so that the equipment has application multi-scene property and applicability.
In a first aspect, an embodiment of the present invention provides a motion control method based on haptic feedback and pressure feedback, the method including: acquiring a touch feedback signal and a pressure feedback signal in real time through a sensor which is arranged on a preset structure node in advance; the tactile feedback signals and the pressure feedback signals are sent to corresponding processors on each preset structure node for analysis and processing; and applying the pressure value generated after analysis and treatment and the current voltage value with frequency within a preset range to the preset structure node.
In one embodiment, the preset structure is an exoskeleton model structure composed of an upper limb trunk and a lower limb trunk, and the preset structure nodes are signal acquisition points which are arranged on the preset structure in advance.
In one embodiment, each of the preset structure nodes corresponds to one of the processors, and the processor is electrically connected to the central processing unit through the CAN bus for data processing.
In one embodiment, applying the pressure value generated after the analysis processing and the current-voltage value of the frequency in the preset range to the preset structure node includes: and in a preset time period, the copying operation of the motion trail is completed according to the pressure value generated after analysis and processing and the current voltage value of the frequency in a preset range by a PID control mode.
In one embodiment, the method further comprises: and completing the copying operation of the motion trail according to the motion trail simulation data received from the remote upper computer.
In one embodiment, the motion profile simulated data is generated by acquiring electrical signals of a plurality of exoskeleton ends and training the signals through a neural network.
In one embodiment, the number of the sensors is a plurality, and the sensors are pressure sensors.
In a second aspect, an embodiment of the present invention provides a computer readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the haptic feedback and pressure feedback based motion control method of the first aspect.
In a third aspect, embodiments of the present invention provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the first aspect described above.
In a fourth aspect, an embodiment of the present invention further provides an action control device based on haptic feedback and pressure feedback, where the device includes: the acquisition module is used for acquiring the touch feedback signal and the pressure feedback signal in real time through a sensor which is arranged on a preset structure node in advance; the analysis processing module is used for sending the tactile feedback signals and the pressure feedback signals to the corresponding processor on each preset structure node for analysis processing; and the control module is used for acting the pressure value generated after analysis and processing and the current voltage value with frequency in a preset range on the preset structure node.
According to the action control method and device based on the tactile feedback and the pressure feedback, the tactile feedback signal and the pressure feedback signal are obtained in real time through the sensor which is arranged on the preset structure node in advance; sending the touch feedback signal and the pressure feedback signal to a corresponding processor on each preset structure node for analysis and processing; and (3) acting the pressure value generated after analysis and treatment and the current voltage value with frequency within a preset range on a preset structure node. According to the method, a large amount of operation is not needed, each component is provided with one CPU, all the data processed by the CPU are connected to the central processing unit through the can bus, the collected motion trail is completely copied by using the pid control mode, and the purpose of copying action is achieved. Of course, the simulated motion trail can be sent to the device in the computer, so that the aim of controlling the device according to the residual limb electromyographic signals through training is fulfilled. It should be noted that the device may be a complete exoskeleton including the trunk portion of the lower limb of the upper limb, or may be a supplementary portion of the residual limb, that is, if the collecting portion of the device is worn on the body of a normal person, the moving portion of the device may be made to duplicate the actions of the person completely, and the device is mainly applied to the aspects of network teleoperation, remote installation, explosion venting in dangerous environments, fire rescue, high-altitude operation, maintenance, underwater maintenance, etc. If the equipment is used, a part of the equipment can also be applied to the aspects of production line robot manufacturing, remote control mining and the like, and can also be applied to the aspects of functional compensation of disabled people, replication exercise rehabilitation of plant people and the like, so that the equipment has application multi-scene property and applicability.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling motion based on haptic feedback and pressure feedback according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a motion control device based on haptic feedback and pressure feedback according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating an example of an operation control device based on haptic feedback and pressure feedback according to an embodiment of the present invention;
fig. 4 is an application example diagram of a motion control device based on haptic feedback and pressure feedback according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following detailed description of the embodiments of the method and apparatus for controlling the motion based on haptic feedback and pressure feedback according to the present invention will be given by way of example with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The present disclosure relates to the field of sensor technology and computer technology, and is characterized by that it utilizes sensor technology and computer remote data transmission technology to implement remote control of mechanical arm and utilizes feedback of sensor real-time sensation force on the mechanical arm, and utilizes the data fed back to produce pressure or current voltage with a certain frequency at the correspondent position of operator so as to attain the effect identical to actual operation.
Fig. 1 is a schematic flow chart of a motion control method based on haptic feedback and pressure feedback in an embodiment. The method specifically comprises the following steps:
and 102, acquiring a touch feedback signal and a pressure feedback signal in real time through a sensor which is arranged on a preset structural node in advance. The number of the sensors is a plurality of the sensors, and the sensors are pressure sensors.
In one embodiment, the preset structure is an exoskeleton model structure composed of an upper limb trunk and a lower limb trunk, and the preset structure nodes are signal acquisition points which are arranged on the preset structure in advance. In addition, each preset structure node corresponds to a processor, and the processor is electrically connected to the central processing unit through the CAN bus for data processing.
And 104, sending the tactile feedback signals and the pressure feedback signals to corresponding processors on each preset structural node for analysis and processing.
And 106, applying the pressure value generated after analysis and processing and the current voltage value with the frequency in the preset range to a preset structure node.
In one embodiment, applying the pressure value generated after the analysis process to the predetermined structural node with the current voltage value at a frequency within a predetermined range includes: and in a preset time period, the copying operation of the motion trail is completed according to the pressure value generated after analysis and processing and the current voltage value of the frequency in a preset range by a PID control mode. Furthermore, in one embodiment, the motion control method based on haptic feedback and pressure feedback related to the present disclosure further includes: and completing the copying operation of the motion trail according to the motion trail simulation data received from the remote upper computer. The motion trail simulation data are generated by acquiring electric signals of a plurality of exoskeleton ends and training the electric signals through a neural network.
According to the action control method for haptic feedback and pressure feedback, a haptic feedback signal and a pressure feedback signal are obtained in real time through a sensor which is arranged on a preset structure node in advance; sending the touch feedback signal and the pressure feedback signal to a corresponding processor on each preset structure node for analysis and processing; and (3) acting the pressure value generated after analysis and treatment and the current voltage value with frequency within a preset range on a preset structure node. According to the method, a large amount of operation is not needed, each component is provided with one CPU, all the data processed by the CPU are connected to the central processing unit through the can bus, the collected motion trail is completely copied by using the pid control mode, and the purpose of copying action is achieved. Of course, the simulated motion trail can be sent to the device in the computer, so that the aim of controlling the device according to the residual limb electromyographic signals through training is fulfilled. It should be noted that the device may be a complete exoskeleton including the trunk portion of the lower limb of the upper limb, or may be a supplementary portion of the residual limb, that is, if the collecting portion of the device is worn on the body of a normal person, the moving portion of the device may be made to duplicate the actions of the person completely, and the device is mainly applied to the aspects of network teleoperation, remote installation, explosion venting in dangerous environments, fire rescue, high-altitude operation, maintenance, underwater maintenance, etc. If the equipment is used, a part of the equipment can also be applied to the aspects of production line robot manufacturing, remote control mining and the like, and can also be applied to the aspects of functional compensation of disabled people, replication exercise rehabilitation of plant people and the like, so that the equipment has application multi-scene property and applicability.
Based on the same inventive concept, a motion control device based on haptic feedback and pressure feedback is also provided. Because the principle of the device for solving the problem is similar to that of the action control method based on the tactile feedback and the pressure feedback, the implementation of the device can be realized according to the specific steps of the method, and the repetition is omitted.
Fig. 2 is a schematic structural diagram of an action control device based on haptic feedback and pressure feedback according to an embodiment. The motion control device 10 based on haptic feedback and pressure feedback includes: the system comprises an acquisition module 100, a division module 200, a first model building and training module 300, a second model building and training module 200, an analysis processing module 400 and a control module 600.
The acquisition module 200 is used for acquiring the touch feedback signal and the pressure feedback signal in real time through a sensor which is arranged on a preset structure node in advance; the analysis processing module 400 is configured to send the haptic feedback signal and the pressure feedback signal to a corresponding processor on each preset structure node for analysis processing; the control module 600 is configured to apply the pressure value generated after the analysis and the current voltage value with the frequency within the preset range to the preset structure node.
It can be understood that the scheme provided by the disclosure does not need a large amount of operation, one cpu is connected to the central processing unit through the can bus by using the data processed by each cpu, the acquired motion trail is completely copied by using the pid control mode, the purpose of copying motion is achieved, the purpose of controlling the device according to the training of the residual limb electromyographic signals can be achieved by simulating the motion trail in a computer and sending the motion trail to the device, the device can be a complete exoskeleton comprising the trunk part of the upper limb and the lower limb or can be a supplementary part of the residual limb, namely, if the acquisition part of the device is worn on the body of a normal person, the motion part of the device can be completely copied to the action of the person, and the device is mainly applied to the aspects of network teleoperation, remote installation, explosion discharge, fire rescue, high-altitude operation, maintenance, underwater maintenance and the like, and can also be applied to the aspects of robot manufacturing on a production line, remote control and mining and the like if a part of the device is used, and the aspects of functional compensation with disabled persons, copying motion of the plant persons and the like.
For a clearer understanding and application of the motion control device based on haptic feedback and pressure feedback proposed by the present invention, the following examples are made in connection with fig. 3-4. It should be noted that the protection scope of the present disclosure is not limited to the following examples.
Specifically, as shown in fig. 3, the bearings 1 to 5 form a 5-axis system, and any point in the range of arm extension is in the range of motion, so that the human arm operation can be completely simulated. This method was also used to simulate lower limb and torso parts and finger and toe movements. Further, as shown in fig. 4, in order to replicate the lower limbs incorporating the crotch movement mechanism, the movements of the crotch and waist can be replicated. And a tactile reflection may be generated from the feedback element. The training can reach a certain identification degree.
It should be noted that, the accuracy of the bearing encoder installed on the bearing is more than 360 degrees 360000 pulses according to the requirement, and the distributed structural scheme is adopted, namely, the parts connected with each bearing are independently duplicated, and the central processing unit only plays a role in limiting motion protection, so that the data volume is reduced, and the motion trail of the user can be completely duplicated.
It will be appreciated that an undergarment lining is a meshing matrix of nodes of about 16 to 256 points per square centimeter, with 256 nodes controlled by a processor. The potential and frequency between any two points can be controlled by matrix control, and a feedback effect is generated. It should be noted that the detection loops are about 16 to 256 detection loops per square centimeter of the gridding matrix nodes. Approximately 256 nodes are collected by a processor, to which pressure and temperature sensors are connected, while optical inspection equipment and angle sensors are connected.
According to the motion control device based on the tactile feedback and the pressure feedback, firstly, a tactile feedback signal and a pressure feedback signal are obtained in real time through a sensor which is arranged on a preset structure node in advance through an obtaining module; the haptic feedback signals and the pressure feedback signals are sent to corresponding processors on each preset structure node through an analysis processing module for analysis processing; and finally, the pressure value generated after analysis and processing and the current voltage value with frequency in a preset range are acted on a preset structure node through a control module. The device does not need a large amount of operation, each component is provided with a CPU, all the data processed by the CPU are connected to the central processing unit through the can bus, and the collected motion trail is completely copied by using a pid control mode, so that the purpose of copying action is achieved. Of course, the simulated motion trail can be sent to the device in the computer, so that the aim of controlling the device according to the residual limb electromyographic signals through training is fulfilled. It should be noted that the device may be a complete exoskeleton including the trunk portion of the lower limb of the upper limb, or may be a supplementary portion of the residual limb, that is, if the collecting portion of the device is worn on the body of a normal person, the moving portion of the device may be made to duplicate the actions of the person completely, and the device is mainly applied to the aspects of network teleoperation, remote installation, explosion venting in dangerous environments, fire rescue, high-altitude operation, maintenance, underwater maintenance, etc. If the equipment is used, a part of the equipment can also be applied to the aspects of production line robot manufacturing, remote control mining and the like, and can also be applied to the aspects of functional compensation of disabled people, replication exercise rehabilitation of plant people and the like, so that the equipment has application multi-scene property and applicability.
The embodiment of the invention also provides a computer readable storage medium. The computer readable storage medium has stored thereon a computer program that is executed by the processor of fig. 1.
Embodiments of the present invention also provide a computer program product comprising instructions. The computer program product, when run on a computer, causes the computer to perform the method of fig. 1 described above.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
The basic principles of the present disclosure have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present disclosure. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, since the disclosure is not necessarily limited to practice with the specific details described.
The block diagrams of the devices, apparatuses, devices, systems referred to in this disclosure are merely illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
In addition, as used herein, the use of "or" in the recitation of items beginning with "at least one" indicates a separate recitation, e.g., "at least one of A, B or C" recitation means a or B or C, or AB or AC or BC, or ABC (i.e., a and B and C). Furthermore, the term "exemplary" does not mean that the described example is preferred or better than other examples.
It is also noted that in the systems and methods of the present disclosure, components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered equivalent to the present disclosure.
Various changes, substitutions, and alterations are possible to the techniques described herein without departing from the teachings of the techniques defined by the appended claims. Furthermore, the scope of the claims of the present disclosure is not limited to the particular aspects of the process, machine, manufacture, composition of matter, means, methods and acts described above. The processes, machines, manufacture, compositions of matter, means, methods, or acts, presently existing or later to be developed that perform substantially the same function or achieve substantially the same result as the corresponding aspects described herein may be utilized. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or acts.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the disclosure to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (3)
1. A method of motion control based on haptic feedback and pressure feedback, the method comprising:
acquiring a touch feedback signal and a pressure feedback signal in real time through a sensor which is arranged on a preset structure node in advance;
the tactile feedback signals and the pressure feedback signals are sent to corresponding processors on each preset structure node for analysis and processing;
the pressure value generated after analysis and processing and the current voltage value of the frequency in the preset range are acted on the preset structure node;
the preset structure is an exoskeleton model structure composed of an upper limb trunk and a lower limb trunk, and the preset structure nodes are signal acquisition points which are arranged on the preset structure in advance;
each preset structure node corresponds to one processor, and the processor is electrically connected to the central processing unit through the CAN bus for data processing;
the step of acting the pressure value generated after the analysis and the current voltage value with the frequency in the preset range on the preset structure node comprises the following steps:
in a preset time period, completing the copying operation of the motion trail according to the pressure value generated after analysis and processing and the current voltage value of the frequency in a preset range by a PID control mode;
further comprises: completing the copying operation of the motion trail according to the motion trail simulation data received from the remote upper computer;
the motion trail simulation data are generated by acquiring electric signals of a plurality of exoskeleton ends and training through a neural network;
the number of the sensors is a plurality of the sensors, and the sensors are pressure sensors.
2. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method of claim 1.
3. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of claim 1 when executing the program.
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| CN201811086667.2A CN109248011B (en) | 2018-09-18 | 2018-09-18 | Motion control method and device based on tactile feedback and pressure feedback |
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| CN110811940B (en) * | 2019-10-31 | 2020-11-24 | 中国科学院长春光学精密机械与物理研究所 | Intelligent artificial limb device and control method |
| CN110946683B (en) * | 2019-11-25 | 2021-02-02 | 西安交通大学 | Electric stimulation driving method and system for artificial finger tip pressure and joint angle feedback |
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