CN109521784A - A kind of wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula and method - Google Patents
A kind of wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula and method Download PDFInfo
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- CN109521784A CN109521784A CN201811527615.4A CN201811527615A CN109521784A CN 109521784 A CN109521784 A CN 109521784A CN 201811527615 A CN201811527615 A CN 201811527615A CN 109521784 A CN109521784 A CN 109521784A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 124
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 230000008447 perception Effects 0.000 claims abstract description 14
- 210000002310 elbow joint Anatomy 0.000 claims description 62
- 210000000245 forearm Anatomy 0.000 claims description 57
- 210000000707 wrist Anatomy 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 210000003857 wrist joint Anatomy 0.000 claims description 15
- 238000004458 analytical method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 8
- 239000011888 foil Substances 0.000 claims description 8
- 238000012549 training Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004422 calculation algorithm Methods 0.000 claims description 5
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- 238000007405 data analysis Methods 0.000 claims description 4
- 238000002474 experimental method Methods 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 230000032258 transport Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 description 11
- 230000008859 change Effects 0.000 description 10
- 238000013461 design Methods 0.000 description 10
- 210000000323 shoulder joint Anatomy 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000001012 protector Effects 0.000 description 6
- 230000001105 regulatory effect Effects 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
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- 238000005859 coupling reaction Methods 0.000 description 3
- 230000004438 eyesight Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
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- 230000004888 barrier function Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000016776 visual perception Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
The invention discloses a kind of wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula and methods, for the purpose of controlling unmanned plane during flying, ensure that the flight stability and operability of distant manipulation.This method comprises: computer end connection motor carries out instruction input, driving motor is rotated with certain speed；Pressure sensor obtains the force signal that manipulator issues；According to force signal, corresponding motor drive signal is generated；Encoder is mounted on motor output shaft, acquires output information；According to output signal, motor control machinery structure motion moves ectoskeleton accordingly with this；During operation, adjustment in real time based on the feedback signal, until reaching the demand of ectoskeleton movement, feedback signal matches with driving signal, smoothly controls unmanned plane during flying.The present invention may make the motion intention of the more accurate perception manipulator of upper limb exoskeleton system, and the synchronization extent of upper limb ectoskeleton and unmanned plane is higher, and then reinforce manipulator to the distant manipulation from end unmanned plane.
Description
Technical field
The present invention relates to outside ectoskeleton intelligent control technology field more particularly to a kind of wearable upper limb of tactilely-perceptible formula
Bone unmanned aerial vehicle control system and control method.
Background technique
As exoskeleton robot is widely used in daily life field, by wearable device, tactilely-perceptible
The novel unmanned plane remote operating control of UAV Intelligent control field is merged, proposed with researchs such as UAV Flight Controls,
To its control method, higher requirements are also raised.
Current unmanned plane remote operating control, mainly uses handheld operation disk, depends on vision unduly and realizes unmanned plane safety
Control problem.The present invention proposes a kind of control method of wearable ectoskeleton unmanned plane of tactile, realizes the distant of distal end unmanned plane
Operation control.The research for carrying out tactilely-perceptible formula ectoskeleton unmanned plane remote operating control system and control method, can not only subtract
Few manipulator's upper limb feeling of fatigue can also mitigate the excessive vision that the distant manipulator of unmanned plane is safety operation by tactilely-perceptible
Dependence etc. has stronger realistic meaning, while making the synchronization extent of upper limb ectoskeleton and unmanned plane higher.
Existing design method is difficult effectively to acquire the phases such as motion intention and exoskeleton device joint angles, the displacement of user
The variation of data is closed, it is accurate and stable to be difficult output for interference of the data-signal of these sensors acquisition vulnerable to extraneous factor
Signal come drive from end unmanned plane during flying, for man-machine coordination functional effect realize it is bad, cause manipulator's experience sense compared with
Difference significantly reduces the efficiency and flight stability of ectoskeleton.
Therefore, the prior art requires further improvement and perfect.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of manipulations to be easy, tactile feel easy to operate
Know the wearable upper limb ectoskeleton unmanned aerial vehicle control system of formula.
Another object of the present invention is to overcome the deficiencies of the prior art and provide a kind of control based on above-mentioned control system
Method
The purpose of the invention is achieved by the following technical solution:
A kind of wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula, the control system specifically include that
One single-chip microcontroller, connection motor carry out instruction input, and driving motor is rotated with certain speed；
One pressure sensor obtains the force signal that manipulator issues, and according to force signal, generates corresponding motor driven letter
Number；
One encoder is mounted on motor output shaft, and acquiring output information according to output signal makes motor control machinery knot
Structure movement, and then ectoskeleton is driven to make corresponding movement；
Several motors establish unmanned plane safe flight grade and motor export upper extremity exercise auxiliary force to move auxiliary
Relationship, to make the distant manipulator of unmanned plane by the power of perception upper extremity exercise auxiliary force, perception obtains the peace of unmanned plane during flying
Congruent grade realizes tactilely-perceptible formula UAV Flight Control；
One database goes move accordingly to obtain training sample and training by a large number of users wearing upper limb ectoskeleton
Data, experimenter execute corresponding movement, obtain corresponding data analysis and characteristic parameter, including wearer's upper arm, forearm, elbow
Portion, wrist posture information, the joint angles information of wearer's ancon；Different experiments person is collected under identical, varying environment
Analysis of experimental data obtains the range of each characteristic parameter；
The encoder is respectively arranged at upper limb ectoskeleton ancon and forearm positions, for obtaining wearer's elbow joint in real time
The displacement information of angle information, elbow joint and forearm；
The motor is respectively arranged at upper arm and forearm positions, provides auxiliary force for the rotation to elbow joint, rises simultaneously
To the effect of adjustment articulation speed；
The pressure sensor is respectively arranged at forearm and wrist position, for obtaining the reciprocal force of wearer's arm in real time
The size that information, i.e. upper limb ectoskeleton are supplied to the power of wearer；
The single-chip microcontroller receives the acquisition information of the transmissions such as the encoder, pressure sensor, motor, is filtered, is whole
After reasons and calculating, the relevant feature parameters of wearer are obtained, it is subjected to matching comparison with the characteristic parameter stored in database,
The motion intention of manipulator is specified, determines the size from characteristic parameter needed for the unmanned plane during flying of end；
Entire operation process obtains the feedback signal of node by each sensor, based on the feedback signal the letter of adjustment driving in real time
Number, until feedback signal matches with driving signal, form closed loop circuit system.
Another object of the present invention is achieved through the following technical solutions:
A kind of wearable upper limb ectoskeleton unmanned aerial vehicle (UAV) control method of tactilely-perceptible formula, which mainly includes having as follows
Body step:
Step S1: it is rotated using single-chip microcontroller control motor with certain speed, pressure sensor obtains power variation, generates corresponding
Driving signal, and then drive exoskeleton elbow joint and wrist joint rotation；The variation of joint angles and displacement is as encoder
Input quantity carries out loop control to the variation of joint angles and displacement；
The unification that upper extremity exercise and ectoskeleton movement are realized in step 1 generates different pressures according to the otherness of upper extremity exercise
Power reacts on ectoskeleton to manipulate distal end unmanned plane.Signal is collated, calculate after, obtain the upper limb ectoskeleton direction of motion and
Speed realizes the unification of upper limb ectoskeleton movement and unmanned plane during flying through test of many times and adjustment.
Step S2: are carried out by signal acquisition, and is transferred to processor for encoder, motor, foil gauge respectively, processor carries out
Extracted after filtering, by pretreated electric pressure signal, amplified, arrange after bring algorithm into, obtain upper extremity exercise direction and speed
Degree, by single-chip microcontroller collection analysis, driving motor makees corresponding rotation；
Unmanned plane during flying posture in distal end is controlled in step 2, encoder is connected by axis with motor, and encoder is mounted on outer
The node location of bone.It is constituted at the node with complicated movement in power, passes through analogue simulation, adjusts and find optimal installation position
It sets；After processing, useless signal is filtered out, generates different instruction by output corresponding pulses；Single-chip microcontroller acquires the pulse,
Analytical calculation obtains corresponding unmanned plane during flying instruction, is transferred to distal end unmanned plane, carries out the starting of unmanned plane, stops, flight appearance
State control.
Step S3: ectoskeleton during operation, drives elbow joint and wrist joint to be moved, and then obtains the anti-of node
Feedback signal simultaneously feeds back to processing module acquisition difference, driving signal and feedback signal is adjusted according to difference, until the two phase
Match；When the signal that exerts a force increases, increase the increment of driving signal；When the signal that exerts a force reduces, reduce the increment of driving signal；When
When the signal that exerts a force is zero, driving signal position zero is set；
Distal end unmanned plane is manipulated in step 3, it need to be clear to unmanned plane during flying direction.The design of this ectoskeleton is transported by upper limb
It moves to manipulate distal end unmanned plane during flying posture, control distal end unmanned plane is rotated by upper limb and is turned round, realizes upper extremity exercise and distal end
The correspondence of unmanned plane during flying.The size and Orientation of upper limb power, the pulse phase difference of encoder terminal output are applied to by changing
It is different with number of pulses, change the variation of distal end unmanned plane flight angle and flying speed in flight course with this.Pressure
After reaching a certain range, distal end unmanned plane during flying posture changes (subtle power will not cause to change), this scheme makes it
It can keep stable flight attitude.
Step S4: the encoder output corresponding pulses with motor coaxle, different location encoder and number of pulses influence nothing
Man-machine flying speed and flight angle or other parameters；Finally, the electric pulse output of single-chip microcontroller acquisition encoder is analyzed
It obtains corresponding unmanned plane during flying order, and signal is arranged, be transferred to distal end unmanned plane, carry out the starting of unmanned plane, stop
Flight attitude control.
For the starting, holding and landing of distal end unmanned plane in step 4, need to upper limb driving force setting range and big
It is small, when specifying unmanned plane starting, keeping and land, the size of power needed for upper limb.It sets optimal upper limb driving force and (avoids upper limb
The phenomenon that one is dynamic, and unmanned plane will take off) so that distal end unmanned plane slowly takes off；The power changes in a certain range or dashes forward
When so disappearing, distal end unmanned plane keeps the flight attitude, alleviates unmanned plane manipulator labor intensity；The power starts lower than unmanned plane
When power and start slowly reduce when, distal end unmanned plane receive order start slowly landing；Realize that unmanned plane starts to landing
Overall process.It is preferential to guarantee steadily in the design of the wearable upper limb ectoskeleton unmanned plane remote operating control system of tactilely-perceptible formula
Flight attitude, guarantee upper extremity exercise when, the corresponding signal for pressing generation is transferred to distal end unmanned plane, realizes opening for unmanned plane
Dynamic, stopping, flight attitude control.
Further, step S1 of the present invention further includes that manipulator dresses exoskeleton robot component, initializes system,
The relevant rudimentary information that wearer is inputted by user interface, carries out storage of filing.
Further, step S2 of the present invention further includes to upper limb ectoskeleton motion conditions and the control of unmanned plane during flying posture
System is defined.Encoder is mounted on ectoskeleton ancon and wrist, and terminal acquisition encoder electric pulse carries out analysis and obtains correspondence
The flight orders of unmanned plane are transferred to distal end unmanned plane.
As a preferred solution of the present invention, step S3 of the present invention further includes the signal by adjusting input motor, control
The variation of motor output speeds processed adjusts articulation speed.The ectoskeleton remote control UAV system, is transported by both arms
Dynamic, elbow joint rotates to control the flight attitude from end unmanned plane, the difference of front and back input displacement and angle, so that encoder is defeated
Pulse phase difference and number of pulses difference out, change the velocity of rotation of joint with this.
As a preferred solution of the present invention, step S4 of the present invention further includes the most petty action for setting distal end unmanned plane and taking off
Power.When pressure is more than the value, unmanned plane slowly takes off；For pressure in a certain range or when rapid drawdown, unmanned plane keeps flight appearance
State；When pressure takes off pressure and beginning slowly reduction lower than unmanned plane, distal end unmanned plane starts slowly to land；And so on transport
It is dynamic, constitute closed loop circuit system.
The invention also discloses a kind of wearable upper limb ectoskeleton unmanned plane Mechanical course structure of tactilely-perceptible formula, the structures
It mainly include back pack and sequentially connected shoulder joint, upper arm, elbow joint, forearm, wrist joint and holding manipulation part；
The back pack includes battery pack and the controller that is electrically connected with battery pack.
Specifically, the shoulder joint includes shoulder protector, shoulder bearing block, shoulder joint connecting shaft and cardan universal joint component.The shield
Shoulder ride is buckled on shoulder, and the shoulder bearing block is fixedly connected by bolt with shoulder protector, makes lower surface and the shield of shoulder bearing block
The fitting of shoulder plastic plate.One end of the shoulder joint connecting shaft is socketed on shoulder bearing block by bearing hole, the other end with it is universal
Save component connection.
Specifically, the upper arm includes upper arm connector and adjustable railroad, the adjustable railroad uses steel ball
It is in rolling contact.Described adjustable railroad one end is connect by upper arm connector with cardan universal joint component, and the other end and elbow joint connect
It connects.
Specifically, the elbow joint includes elbow joint motor, elbow joint electric machine stand, elbow joint encoder, motor shaft coupling
Device, ancon connector, foil gauge connect bevel gear with elbow joint.The elbow joint connection bevel gear is set as two, is mutually perpendicular to
It is arranged and transmission of intermeshing, respectively connection bevel gear and horizontal connection bevel gear vertically.The elbow joint electric machine stand with
Adjustable railroad is fixedly connected.The elbow joint motor is mounted on downward on elbow joint electric machine stand, and is connected with controller
It connects, output end connect bevel gear connection with vertical by motor coupler.The foil gauge is separately positioned on motor coupler
Two sides, and be electrically connected with the controller.The elbow joint encoder is mounted on motor coupler, and is connected with controller.
The horizontal connection bevel gear is connect by ancon connector with forearm.
Specifically, the forearm includes telescopic regulating part, forearm motor, forearm electric machine stand, forearm encoder, tooth
Wheel, spur gear, rolling bearing and forearm baffle.The regulating part includes secured adjusted block and telescopic adjustment block, the fixed tune
One end of locking nub is fixedly connected with ancon connector, and the other end is embedded in telescopic adjustment block, is slidably connected with telescopic adjustment block.Institute
Forearm electric machine stand is stated to be mounted on telescopic adjustment block, the forearm motor is mounted on forearm motor mount, and with control
Device connection, output end are connect with gear.The forearm encoder is arranged on the output end of forearm motor, and connects with controller
It connects；The spur gear is mounted on the outer ring of rolling bearing, is located at below gear and is engaged with gear.The rolling bearing it is interior
Circle is fixed on telescopic adjustment block.One end of the forearm baffle is fixed on the outer ring of rolling bearing, and the other end extends forward
And it is connect with wrist joint.
Specifically, the wrist joint includes wrist connector, bottom bearings, hand supporting plate and holding.The wrist
One end of connector is mounted on forearm baffle, and the other end is rotatably connected with bottom bearings.The hand supporting plate setting exists
In bottom bearings, with bottom bearings hole axis connection.The holding is vertically fixed on hand supporting plate.
Further, in order to improve the bonding strength between elbow joint and forearm, integral rigidity, elbow of the present invention are improved
Portion's connector is additionally provided with reinforcing rib.The reinforcing rib is designed using triangular structure of right angle.
Further, in order to improve upper arm it is flexible when smooth degree, obtain better user experience, it is of the present invention can
Adjusting railroad includes sliding track holder and flexible sliding rail.The sliding track holder is fixedly connected with elbow joint electric machine stand.Institute
It states in one end insertion sliding track holder of flexible sliding rail, rolls and connect with sliding track holder, the other end upwardly extends and and upper arm
Connector connection.
Working process and principle of the invention are: single-chip microcontroller connects motor and carries out instruction input, and driving motor is with certain
Speed rotation；Pressure sensor obtains the force signal that manipulator issues；According to force signal, corresponding motor driven letter is generated
Number；Encoder is mounted on motor output shaft, acquires output information；According to output signal, motor control machinery structure motion, with this
So that ectoskeleton moves accordingly；The feedback signal of node is obtained in entire operation process by sensor, based on the feedback signal
Adjustment driving signal in real time, so as to form closed loop circuit system, until feedback signal matches with driving signal.In tactilely-perceptible
Structure design aspect establishes unmanned plane safe flight grade (between unmanned plane and barrier using motor movement supplementary mode
Distance) and motor output upper extremity exercise auxiliary force relationship, so that the distant manipulator of unmanned plane be made to pass through perception upper extremity exercise auxiliary force
Power, perception obtain unmanned plane during flying security level, realize tactilely-perceptible formula UAV Flight Control.
Compared with prior art, it also have the advantage that
(1) the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method utilize electricity
Rotation of the machine as auxiliary power drive ectoskeleton joint reduces manipulator's labor intensity to control the flight of distal end unmanned plane,
Mitigating the distant manipulator of unmanned plane is depending on unduly for safety operation.
(2) the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method are by building
Vertical movement relation equation and database accurately judge that manipulator's upper extremity exercise is intended to by great amount of samples, to carry out auxiliary
It helps, improves the real-time and accuracy of auxiliary.
(3) the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method introduce touching
Feel among unmanned plane during flying, breaks through the limitation for manipulating unmanned plane using visual perception in the past.It is designed using sense of touch, establishes nothing
Man-machine safety flying grade and motor export upper extremity exercise auxiliary force relationship, so that the distant manipulator of unmanned plane be made to pass through perception upper limb
The power of auxiliary force is moved, perception obtains the security level of unmanned plane during flying, realizes tactilely-perceptible formula UAV Flight Control.
(4) the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method can also answer
The flight control for using agricultural aviation plant protection drone, improves the plant protection drone duration flight time, has operating efficiency high, winged
The features such as row is lasting.
(5) the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method are due to elbow
Joint and wrist joint are individual components, and each component is all made of the mode of parallel drive, and ancon uses Bevel Gear Transmission, wrist
Portion uses gear drive, increases the accuracy and motion range of movement, kinematic accuracy is doubled compared with the prior art
More than.
(6) the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method are suitable for
Simple, the complicated ectoskeleton control of various structures.The upper limb ectoskeleton unmanned aerial vehicle (UAV) control Method And Principle that designs herein is simple, function
It is complete, easy to maintain and use, have the characteristics that fast response time, driving capability are strong, low in energy consumption, have stronger generalization with
Practicability.
Detailed description of the invention
Fig. 1 is that the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method are
General frame of uniting summarizes figure.
Fig. 2 is the touching of the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method
Feel perception implementation flow chart.
Fig. 3 is the elbow of the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method
Joint operation schematic diagram.
Fig. 4 is the whole of the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method
Body structural schematic diagram.
Fig. 5 is the whole of the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula provided by the present invention and method
Body structure flow chart.
Fig. 6 is the solid of the wearable upper limb ectoskeleton unmanned aerial vehicle (UAV) control mechanical structure of tactilely-perceptible formula provided by the present invention
Figure.
Fig. 7 is the structure of the wearable upper limb ectoskeleton unmanned aerial vehicle (UAV) control mechanical structure of tactilely-perceptible formula provided by the present invention
Schematic diagram.
Fig. 8 is the perspective view of shoulder joint provided by the present invention.
Fig. 9 is the perspective view of upper arm provided by the present invention.
Figure 10 is the perspective view of elbow joint provided by the present invention.
Figure 11 is the structural schematic diagram of elbow joint provided by the present invention.
Figure 12 is the perspective view of forearm provided by the present invention.
Figure 13 is the structural schematic diagram one of forearm provided by the present invention.
Figure 14 is the structural schematic diagram two of forearm provided by the present invention.
Figure 15 is the perspective view of holding provided by the present invention.
Figure 16 is the structural schematic diagram of holding provided by the present invention.
Label declaration in above-mentioned attached drawing:
1- is held, 2- hand supporting plate, 3- bottom bearings, 4- wrist connector, 5- forearm baffle, 6- rolling bearing,
7- spur gear, 8- gear, 9- forearm encoder, 10- forearm electric machine stand, 11- forearm motor, 12- regulating part, 13- elbow joint
Connect bevel gear, 14- foil gauge, 15- ancon connector, 16- motor coupler, 17- elbow joint encoder, 18- elbow joint electricity
Machine base, 19- elbow joint motor, 20- is adjustable railroad, 21- upper arm connector, 22- cardan universal joint component, the small axis of 23- shoulder
It holds, 24- shoulder joint connecting shaft, 25- shoulder bearing block.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is described further.
Embodiment 1:
As shown in Fig. 1 to Figure 16, present embodiment discloses a kind of wearable upper limb ectoskeleton unmanned plane controls of tactilely-perceptible formula
System processed, the control system specifically include that
One single-chip microcontroller, connection motor carry out instruction input, and driving motor is rotated with certain speed；
One pressure sensor obtains the force signal that manipulator issues, and according to force signal, generates corresponding motor driven letter
Number；
One encoder is mounted on motor output shaft, and acquiring output information according to output signal makes motor control machinery knot
Structure movement, and then ectoskeleton is driven to make corresponding movement；
Several motors establish unmanned plane safe flight grade and motor export upper extremity exercise auxiliary force to move auxiliary
Relationship, to make the distant manipulator of unmanned plane by the power of perception upper extremity exercise auxiliary force, perception obtains the peace of unmanned plane during flying
Congruent grade realizes tactilely-perceptible formula UAV Flight Control；
One database goes move accordingly to obtain training sample and training by a large number of users wearing upper limb ectoskeleton
Data, experimenter execute corresponding movement, obtain corresponding data analysis and characteristic parameter, including wearer's upper arm, forearm, elbow
Portion, wrist posture information, the joint angles information of wearer's ancon.Different experiments person is collected under identical, varying environment
Analysis of experimental data obtains the range of each characteristic parameter；
The encoder is respectively arranged at upper limb ectoskeleton ancon and forearm positions, for obtaining wearer's elbow joint in real time
The displacement information of angle information, elbow joint and forearm；
The motor is respectively arranged at upper arm and forearm positions, provides auxiliary force for the rotation to elbow joint, rises simultaneously
To the effect of adjustment articulation speed；
The pressure sensor is respectively arranged at forearm and wrist position, for obtaining the reciprocal force of wearer's arm in real time
The size that information, i.e. upper limb ectoskeleton are supplied to the power of wearer.
The single-chip microcontroller receives the acquisition information of the transmissions such as the encoder, pressure sensor, motor, is filtered, is whole
After reasons and calculating, the relevant feature parameters of wearer are obtained, it is subjected to matching comparison with the characteristic parameter stored in database,
The motion intention of manipulator is specified, determines the size from characteristic parameter needed for the unmanned plane during flying of end；
Entire operation process obtains the feedback signal of node by each sensor, based on the feedback signal the letter of adjustment driving in real time
Number, until feedback signal matches with driving signal, form closed loop circuit system.
The invention also discloses a kind of wearable upper limb ectoskeleton unmanned aerial vehicle (UAV) control method of tactilely-perceptible formula, the control methods
Mainly comprise the following specific steps that:
Step S1: it is rotated using single-chip microcontroller control motor with certain speed, pressure sensor obtains power variation, generates corresponding
Driving signal, and then drive exoskeleton elbow joint and wrist joint rotation；The variation of joint angles and displacement is as encoder
Input quantity carries out loop control to the variation of joint angles and displacement；
The unification that upper extremity exercise and ectoskeleton movement are realized in step 1 generates different pressures according to the otherness of upper extremity exercise
Power reacts on ectoskeleton to manipulate distal end unmanned plane.Signal is collated, calculate after, obtain the upper limb ectoskeleton direction of motion and
Speed realizes the unification of upper limb ectoskeleton movement and unmanned plane during flying through test of many times and adjustment.
Step S2: are carried out by signal acquisition, and is transferred to processor for encoder, motor, foil gauge respectively, processor carries out
Extracted after filtering, by pretreated electric pressure signal, amplified, arrange after bring algorithm into, obtain upper extremity exercise direction and speed
Degree, by single-chip microcontroller collection analysis, driving motor makees corresponding rotation；
Unmanned plane during flying posture in distal end is controlled in step 2, encoder is connected by axis with motor, and encoder is mounted on outer
The node location of bone.It is constituted at the node with complicated movement in power, passes through analogue simulation, adjusts and find optimal installation position
It sets；After processing, useless signal is filtered out, generates different instruction by output corresponding pulses；Single-chip microcontroller acquires the pulse,
Analytical calculation obtains corresponding unmanned plane during flying instruction, is transferred to distal end unmanned plane, carries out the starting of unmanned plane, stops, flight appearance
State control.
Step S3: ectoskeleton during operation, drives elbow joint and wrist joint to be moved, and then obtains the anti-of node
Feedback signal simultaneously feeds back to processing module acquisition difference, driving signal and feedback signal is adjusted according to difference, until the two phase
Match；When the signal that exerts a force increases, increase the increment of driving signal；When the signal that exerts a force reduces, reduce the increment of driving signal；When
When the signal that exerts a force is zero, driving signal position zero is set；
Distal end unmanned plane is manipulated in step 3, it need to be clear to unmanned plane during flying direction.The design of this ectoskeleton is transported by upper limb
It moves to manipulate distal end unmanned plane during flying posture, control distal end unmanned plane is rotated by upper limb and is turned round, realizes upper extremity exercise and distal end
The correspondence of unmanned plane during flying.The size and Orientation of upper limb power, the pulse phase difference of encoder terminal output are applied to by changing
It is different with number of pulses, change the variation of distal end unmanned plane flight angle and flying speed in flight course with this.Pressure
After reaching a certain range, distal end unmanned plane during flying posture changes (subtle power will not cause to change), this scheme makes it
It can keep stable flight attitude.
Step S4: the encoder output corresponding pulses with motor coaxle, different location encoder and number of pulses influence nothing
Man-machine flying speed and flight angle or other parameters；Finally, the electric pulse output of single-chip microcontroller acquisition encoder is analyzed
It obtains corresponding unmanned plane during flying order, and signal is arranged, be transferred to distal end unmanned plane, carry out the starting of unmanned plane, stop
Flight attitude control.
For the starting, holding and landing of distal end unmanned plane in step 4, need to upper limb driving force setting range and big
It is small, when specifying unmanned plane starting, keeping and land, the size of power needed for upper limb.It sets optimal upper limb driving force and (avoids upper limb
The phenomenon that one is dynamic, and unmanned plane will take off) so that distal end unmanned plane slowly takes off；The power changes in a certain range or dashes forward
When so disappearing, distal end unmanned plane keeps the flight attitude, alleviates unmanned plane manipulator labor intensity；The power starts lower than unmanned plane
When power and start slowly reduce when, distal end unmanned plane receive order start slowly landing；Realize that unmanned plane starts to landing
Overall process.It is preferential to guarantee steadily in the design of the wearable upper limb ectoskeleton unmanned plane remote operating control system of tactilely-perceptible formula
Flight attitude, guarantee upper extremity exercise when, the corresponding signal for pressing generation is transferred to distal end unmanned plane, realizes opening for unmanned plane
Dynamic, stopping, flight attitude control.
Further, step S1 of the present invention further includes that manipulator dresses exoskeleton robot component, initializes system,
The relevant rudimentary information that wearer is inputted by user interface, carries out storage of filing.
Further, step S2 of the present invention further includes to upper limb ectoskeleton motion conditions and the control of unmanned plane during flying posture
System is defined.Encoder is mounted on ectoskeleton ancon and wrist, and terminal acquisition encoder electric pulse carries out analysis and obtains correspondence
The flight orders of unmanned plane are transferred to distal end unmanned plane.
As a preferred solution of the present invention, step S3 of the present invention further includes the signal by adjusting input motor, control
The variation of motor output speeds processed adjusts articulation speed.The ectoskeleton remote control UAV system, is transported by both arms
Dynamic, elbow joint rotates to control the flight attitude from end unmanned plane, the difference of front and back input displacement and angle, so that encoder is defeated
Pulse phase difference and number of pulses difference out, change the velocity of rotation of joint with this.
As a preferred solution of the present invention, step S4 of the present invention further includes the most petty action for setting distal end unmanned plane and taking off
Power.When pressure is more than the value, unmanned plane slowly takes off；For pressure in a certain range or when rapid drawdown, unmanned plane keeps flight appearance
State；When pressure takes off pressure and beginning slowly reduction lower than unmanned plane, distal end unmanned plane starts slowly to land；And so on transport
It is dynamic, constitute closed loop circuit system.
The invention also discloses a kind of wearable upper limb ectoskeleton unmanned aerial vehicle (UAV) control mechanical structure of tactilely-perceptible formula, the structures
It mainly include back pack and sequentially connected shoulder joint, upper arm, elbow joint, 1 manipulation part of forearm, wrist joint and holding；
The back pack includes battery pack and the controller that is electrically connected with battery pack.
Specifically, the shoulder joint includes shoulder protector, shoulder bearing block 25, shoulder joint connecting shaft 24 and cardan universal joint component 22.
The shoulder protector snaps on shoulder, and the shoulder bearing block 25 is fixedly connected by bolt with shoulder protector, makes shoulder bearing block 25
Lower surface is bonded with shoulder protector plastic plate.One end of the shoulder joint connecting shaft 24 is socketed on shoulder bearing block 25 by bearing hole
On, the other end is connect with cardan universal joint component 22.
Specifically, the upper arm includes upper arm connector 21 and adjustable railroad 20, the adjustable railroad 20 is adopted
It is in rolling contact with steel ball.Described 20 one end of adjustable railroad is connect by upper arm connector 21 with cardan universal joint component 22, another
End is connect with elbow joint.
Specifically, the elbow joint includes elbow joint motor 19, elbow joint electric machine stand 18, elbow joint encoder 17, electricity
Machine shaft coupling 16, ancon connector 15, foil gauge 14 connect bevel gear 13 with elbow joint.The elbow joint connection bevel gear 13 is set
It is two, is arranged in a mutually vertical manner and transmission of intermeshing, respectively connection bevel gear and horizontal connection bevel gear vertically.The elbow
Joint motor base 18 is fixedly connected with adjustable railroad 20.The elbow joint motor 19 is mounted on elbow joint motor machine downward
It on seat 18, and is electrically connected with the controller, output end connect bevel gear connection with vertical by motor coupler 16.The strain
Piece 14 is separately positioned on the two sides of motor coupler 16, and is electrically connected with the controller.The elbow joint encoder 17 is mounted on electricity
On machine shaft coupling 16, and it is electrically connected with the controller.The horizontal connection bevel gear is connect by ancon connector 15 with forearm.
Specifically, the forearm includes telescopic regulating part 12, forearm motor 11, forearm electric machine stand 10, forearm volume
Code device 9, gear 8, spur gear 7, rolling bearing 6 and forearm baffle 5.The regulating part 12 includes secured adjusted block and telescopic adjustment
One end of block, the secured adjusted block is fixedly connected with ancon connector 15, and the other end is embedded in telescopic adjustment block, with flexible tune
Locking nub is slidably connected.The forearm electric machine stand 10 is mounted on telescopic adjustment block, and the forearm motor is mounted on forearm motor
It in mounting base, and is electrically connected with the controller, output end is connect with gear 8.The forearm encoder 9 is arranged in forearm motor 11
Output end on, and be electrically connected with the controller；The spur gear 7 is mounted on the outer ring of rolling bearing 6, is located at 8 lower section of gear
And it is engaged with gear 8.The inner ring of the rolling bearing 6 is fixed on telescopic adjustment block.One end of the forearm baffle 5 is fixed on
On the outer ring of rolling bearing 6, the other end extends forward and connect with wrist joint.
Specifically, the wrist joint includes wrist connector 4, bottom bearings 3, hand supporting plate 2 and holding 1.It is described
One end of wrist connector 4 is mounted on forearm baffle 5, and the other end is rotatably connected with bottom bearings 3.The hand supporting plate
It is arranged in bottom bearings 3, with 3 hole axis connection of bottom bearings.The holding 1 is vertically fixed on hand supporting plate 2.
Further, in order to improve the bonding strength between elbow joint and forearm, integral rigidity, elbow of the present invention are improved
Portion's connector 15 is additionally provided with reinforcing rib.The reinforcing rib is designed using triangular structure of right angle.
Further, in order to improve upper arm it is flexible when smooth degree, obtain better user experience, it is of the present invention can
Adjusting railroad 20 includes sliding track holder and flexible sliding rail.The sliding track holder and the fixed company of elbow joint electric machine stand 18
It connects.The flexible sliding rail one end insertion sliding track holder in, with sliding track holder roll connect, the other end upwardly extend and with
Upper arm connector 21 connects.
Working process and principle of the invention are: the present invention passes through to upper extremity exercise situation and unmanned plane during flying and posture control
System is defined, and signal is arranged, and is transferred to distal end unmanned plane, is carried out the starting of unmanned plane, is stopped, flight attitude control.
Unmanned plane safe flight grade (unmanned plane and barrier are established using motor movement supplementary mode in tactilely-perceptible structure design aspect
Hinder the distance between object) upper extremity exercise auxiliary force relationship is exported with motor, so that the distant manipulator of unmanned plane be made to pass through perception upper limb
The power of auxiliary force is moved, perception obtains the security level of unmanned plane during flying, realize tactilely-perceptible formula UAV Flight Control, from
And mitigates unmanned plane distant manipulation flight control and vision is depended on unduly.Also there is the present invention structure to be simple and convenient to operate, be easy
The advantages of implementation.
Embodiment 2:
In conjunction with shown in Fig. 1 to Figure 16, present embodiment discloses a kind of wearable upper limb ectoskeleton unmanned planes of tactilely-perceptible formula
Control method, including the following steps:
Step 1: single-chip microcontroller control motor is rotated, and then drives elbow joint and carpal rotation, to be pressed
Force electrical signal variation, substitutes into algorithm after arrangement, obtains upper extremity exercise direction and speed, and upper limb is realized in driving motor quick acting
The unification of ectoskeleton movement and unmanned plane during flying.
Step 2: upper limb ectoskeleton motion conditions and unmanned plane during flying gesture stability are defined.Encoder is mounted on
Ectoskeleton ancon and wrist, terminal acquisition encoder electric pulse carry out the flight orders that analysis obtains corresponding unmanned plane, are transferred to
Distal end unmanned plane.
Step 3: the signal by adjusting input motor controls the variation of motor output speeds, adjustment articulation speed
Degree.The ectoskeleton remote control UAV system controls the flight appearance from end unmanned plane by both arms movement, elbow joint rotation
State, the difference of front and back input displacement and angle are changed with this so that encoder output pulse phase difference and number of pulses are different
The velocity of rotation of joint.
Step 4: the minimum power that setting distal end unmanned plane takes off.When pressure is more than the value, unmanned plane slowly takes off；
For pressure in a certain range or when rapid drawdown, unmanned plane keeps flight attitude；It takes off when pressure lower than unmanned plane and pressure and starts to delay
When slow reduction, distal end unmanned plane starts slowly to land；It and so on moves, constitutes closed loop circuit system.
The unification that upper extremity exercise and ectoskeleton movement are realized in step 1 generates different pressures according to the otherness of upper extremity exercise
Power reacts on ectoskeleton to manipulate distal end unmanned plane.Signal is collated, calculate after, obtain the upper limb ectoskeleton direction of motion and
Speed realizes the unification of upper limb ectoskeleton movement and unmanned plane during flying through test of many times and adjustment.
Unmanned plane during flying posture in distal end is controlled in step 2, encoder is connected by axis with motor, and encoder is mounted on outer
The node location of bone.It is constituted at the node with complicated movement in power, passes through analogue simulation, adjusts and find optimal installation position
It sets；After processing, useless signal is filtered out, generates different instruction by output corresponding pulses；Single-chip microcontroller acquires the pulse,
Analytical calculation obtains corresponding unmanned plane during flying instruction, is transferred to distal end unmanned plane, carries out the starting of unmanned plane, stops, flight appearance
State control.
Distal end unmanned plane is manipulated in step 3, it need to be clear to unmanned plane during flying direction.The design of this ectoskeleton is transported by upper limb
It moves to manipulate distal end unmanned plane during flying posture, control distal end unmanned plane is rotated by upper limb and is turned round, realizes upper extremity exercise and distal end
The correspondence of unmanned plane during flying.The size and Orientation of upper limb power, the pulse phase difference of encoder terminal output are applied to by changing
It is different with number of pulses, change the variation of distal end unmanned plane flight angle and flying speed in flight course with this.Pressure
After reaching a certain range, distal end unmanned plane during flying posture changes (subtle power will not cause to change), this scheme makes it
It can keep stable flight attitude.
For the starting, holding and landing of distal end unmanned plane in step 4, need to upper limb driving force setting range and big
It is small, when specifying unmanned plane starting, keeping and land, the size of power needed for upper limb.It sets optimal upper limb driving force and (avoids upper limb
The phenomenon that one is dynamic, and unmanned plane will take off) so that distal end unmanned plane slowly takes off；The power changes in a certain range or dashes forward
When so disappearing, distal end unmanned plane keeps the flight attitude, alleviates unmanned plane manipulator labor intensity；The power starts lower than unmanned plane
When power and start slowly reduce when, distal end unmanned plane receive order start slowly landing；Realize that unmanned plane starts to landing
Overall process.It is preferential to guarantee steadily in the design of the wearable upper limb ectoskeleton unmanned plane remote operating control system of tactilely-perceptible formula
Flight attitude, guarantee upper extremity exercise when, the corresponding signal for pressing generation is transferred to distal end unmanned plane, realizes opening for unmanned plane
Dynamic, stopping, flight attitude control.
Embodiment 3:
As shown in Fig. 1 to Figure 16, present embodiment discloses a kind of wearable upper limb ectoskeleton unmanned plane controls of tactilely-perceptible formula
System processed, it includes data input module, central processing module and the wearable component of ectoskeleton upper limb.Wearable upper limb ectoskeleton
It is mounted on motor output shaft in wrist joint and elbow joint setting motor and encoder, encoder, ancon connection is using cone tooth
Wheel, wrist connection use gear, realize flexible rotation.
In view of the problem that existing upper limb exoskeleton system operational comfort is poor, a kind of tactilely-perceptible provided by the invention
The wearable upper limb ectoskeleton unmanned aerial vehicle (UAV) control method of formula, applies to the fields such as medical rehabilitation, agricultural aviation, ectoskeleton, may make
User manipulates distal end unmanned plane by wearing ectoskeleton, realizes corresponding function, realizes the optimal of wearable upper limb ectoskeleton
Change application.
The system of a kind of wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula and method shown in Figure 1
General frame summarizes figure, and this method is executed by the central processing module of upper limb exoskeleton system, and upper limb exoskeleton system includes place
Reason module, sensor, motor and mechanical structure, sensor and motor are installed in mechanical structure；Motor is for controlling mechanical knot
Structure rotation, encoder one end connect motor output shaft, and one end connects ancon bevel gear；Motor rotation, drives exoskeleton elbow joint
Rotation, encoder acquires joint angles variation and change in displacement, as input quantity；In mechanical structure operation process, according to feedback
Signal adjusts driving signal in real time, until feedback signal and driving signal match.
The encoder is respectively arranged at upper limb ectoskeleton ancon and forearm positions, for obtaining wearer's elbow joint in real time
The displacement information of angle information, elbow joint and forearm.
The motor is respectively arranged at upper arm and forearm positions, provides auxiliary force for the rotation to elbow joint, rises simultaneously
To the effect of adjustment articulation speed.
The pressure sensor is respectively arranged at forearm and wrist position, for obtaining the reciprocal force of wearer's arm in real time
The size that information, i.e. upper limb ectoskeleton are supplied to the power of wearer.
The acquisition modes of the database are as follows: go move accordingly to obtain by a large number of users wearing upper limb ectoskeleton
Training sample and training data, experimenter execute corresponding movement, obtain corresponding data analysis and characteristic parameter, including wearing
Person's upper arm, forearm, ancon, wrist posture information, the joint angles information of wearer's ancon.Different experiments person is collected in phase
Analysis of experimental data same, under varying environment, obtains the range of each characteristic parameter.
The present embodiment also discloses a kind of wearable upper limb ectoskeleton unmanned aerial vehicle (UAV) control system, method of tactilely-perceptible formula, main to wrap
Include following steps:
Step 1: manipulator dresses exoskeleton robot component, initializes system, inputs wearer's by user interface
Relevant rudimentary information carries out storage of filing.
Step 2: it is rotated using single-chip microcontroller control motor with certain speed, pressure sensor obtains power variation, generates corresponding
Driving signal, and then drive exoskeleton elbow joint and wrist joint rotation；The variation of joint angles and displacement is as encoder
Input quantity carries out loop control to the variation of joint angles and displacement.
Step 3: encoder, motor, foil gauge carry out signal acquisition, are transferred to processor, processor mentions after being filtered
Take, by pretreated electric pressure signal, amplified, arrange after bring algorithm into, obtain upper extremity exercise direction and speed, pass through list
Piece machine collection analysis, driving motor make corresponding rotation；
Step 4: ectoskeleton during operation, drives elbow joint and carpal movement, and then obtain the feedback of node
Signal simultaneously feeds back to processing module acquisition difference, driving signal and feedback signal is adjusted according to difference, until the two matches.
When the signal that exerts a force increases, increase the increment of driving signal；When the signal that exerts a force reduces, reduce the increment of driving signal；When applying
When force signal is zero, driving signal position zero is set.
Step 5: the encoder output corresponding pulses with motor coaxle, different location encoder and number of pulses influence nothing
Man-machine flying speed and flight angle etc.；Finally, the electric pulse output of single-chip microcontroller acquisition encoder carries out analysis and obtains correspondence
Unmanned plane during flying order, and signal is arranged, is transferred to distal end unmanned plane, carried out the starting of unmanned plane, stop, flight attitude
Control.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (6)
1. a kind of wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula characterized by comprising
One single-chip microcontroller, connection motor carry out instruction input, and driving motor is rotated with certain speed；
One pressure sensor obtains the force signal that manipulator issues, and according to force signal, generates corresponding motor drive signal；
One encoder is mounted on motor output shaft, acquires output information, according to output signal, transports motor control machinery structure
It is dynamic, and then ectoskeleton is driven to make corresponding movement；
Several motors are assisted to move, and establish unmanned plane safe flight grade and motor exports upper extremity exercise auxiliary force relationship,
To make the distant manipulator of unmanned plane by the power of perception upper extremity exercise auxiliary force, perception obtains safety of unmanned plane during flying etc.
Grade realizes tactilely-perceptible formula UAV Flight Control；
One database goes to carry out to move acquisition training sample and training number accordingly by a large number of users wearing upper limb ectoskeleton
According to experimenter executes corresponding movement, obtains corresponding data analysis and characteristic parameter, including wearer's upper arm, forearm, elbow
Portion, wrist posture information, the joint angles information of wearer's ancon；Different experiments person is collected under identical, varying environment
Analysis of experimental data obtains the range of each characteristic parameter；
The encoder is respectively arranged at upper limb ectoskeleton ancon and forearm positions, for obtaining wearer's Angle of Elbow Joint in real time
The displacement information of information, elbow joint and forearm；
The motor is respectively arranged at upper arm and forearm positions, provides auxiliary force for the rotation to elbow joint, while playing tune
The effect of whole articulation speed；
The pressure sensor is respectively arranged at forearm and wrist position, and the reciprocal force for obtaining wearer's arm in real time is believed
The size that breath, i.e. upper limb ectoskeleton are supplied to the power of wearer；
The single-chip microcontroller receives the acquisition information of the transmissions such as the encoder, pressure sensor, motor, be filtered, arrange and
After calculating, the relevant feature parameters of wearer are obtained, it is subjected to matching comparison with the characteristic parameter stored in database, it is clear
The motion intention of manipulator determines the size from characteristic parameter needed for the unmanned plane during flying of end；
Entire operation process obtains the feedback signal of node by each sensor, adjusts driving signal in real time based on the feedback signal,
Until feedback signal matches with driving signal, closed loop circuit system is formed.
2. a kind of wearable upper limb ectoskeleton unmanned aerial vehicle (UAV) control method of tactilely-perceptible formula, which comprises the steps of:
Step S1: it is rotated using single-chip microcontroller control motor with certain speed, pressure sensor obtains power variation, generates corresponding drive
Dynamic signal, and then drive exoskeleton elbow joint and wrist joint rotation；Input of the variation of joint angles and displacement as encoder
Amount carries out loop control to the variation of joint angles and displacement；
Step S2: are carried out by signal acquisition, and is transferred to processor for encoder, motor, foil gauge respectively, processor is filtered
After extract, by pretreated electric pressure signal, amplified, arrange after bring algorithm into, obtain upper extremity exercise direction and speed, lead to
Single-chip microcontroller collection analysis is crossed, driving motor makees corresponding rotation；
Step S3: ectoskeleton during operation, drives elbow joint and wrist joint to be moved, and then obtains the feedback letter of node
Number and feed back to processing module obtain difference, driving signal and feedback signal are adjusted according to difference, until the two matches；When
When the signal that exerts a force increases, increase the increment of driving signal；When the signal that exerts a force reduces, reduce the increment of driving signal；Work as force
When signal is zero, driving signal position zero is set；
Step S4: the encoder output corresponding pulses with motor coaxle, different location encoder and number of pulses influence unmanned plane
Flying speed and flight angle or other parameters；Finally, the electric pulse output of single-chip microcontroller acquisition encoder, which analyze, obtains
Corresponding unmanned plane during flying order, and signal is arranged, is transferred to distal end unmanned plane, carries out the starting of unmanned plane, flying of stopping
Row gesture stability.
3. the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula according to claim 2, which is characterized in that
The step S1 further includes that manipulator dresses exoskeleton robot component, initializes system, inputs wearer by user interface
Relevant rudimentary information, carry out storage of filing.
4. the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula according to claim 2, which is characterized in that
The step S2 further includes being defined to upper limb ectoskeleton motion conditions and unmanned plane during flying gesture stability；Encoder is mounted on
Ectoskeleton ancon and wrist, terminal acquisition encoder electric pulse carry out the flight orders that analysis obtains corresponding unmanned plane, are transferred to
Distal end unmanned plane.
5. the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula according to claim 2, which is characterized in that
The step S3 further includes the signal by adjusting input motor, controls the variation of motor output speeds, adjustment articulation speed
Degree；The ectoskeleton remote control UAV system controls the flight appearance from end unmanned plane by both arms movement, elbow joint rotation
State, the difference of front and back input displacement and angle are changed with this so that encoder output pulse phase difference and number of pulses are different
The velocity of rotation of joint.
6. the wearable upper limb ectoskeleton unmanned aerial vehicle control system of tactilely-perceptible formula according to claim 2, which is characterized in that
The step S4 further includes the minimum power for setting distal end unmanned plane and taking off；When pressure is more than the value, unmanned plane slowly takes off；
For pressure in a certain range or when rapid drawdown, unmanned plane keeps flight attitude；It takes off when pressure lower than unmanned plane and pressure and starts to delay
When slow reduction, distal end unmanned plane starts slowly to land；It and so on moves, constitutes closed loop circuit system.
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| CN110096066A (en) * | 2019-04-18 | 2019-08-06 | 华南农业大学 | A kind of power tactile regeneration ectoskeleton structure and unmanned plane during flying attitude control method |
| CN111061368A (en) * | 2019-12-09 | 2020-04-24 | 华中科技大学鄂州工业技术研究院 | Gesture detection method and wearable device |
| WO2021155689A1 (en) * | 2020-02-07 | 2021-08-12 | 腾讯科技（深圳）有限公司 | Slip sense simulation device and control system |
| US11868533B2 (en) | 2020-02-07 | 2024-01-09 | Tencent Technology (Shenzhen) Company Limited | Slip sensation simulation apparatus and control system |
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