CN109986538A - A kind of astronaut's spatial manipulation training system - Google Patents
A kind of astronaut's spatial manipulation training system Download PDFInfo
- Publication number
- CN109986538A CN109986538A CN201910082308.8A CN201910082308A CN109986538A CN 109986538 A CN109986538 A CN 109986538A CN 201910082308 A CN201910082308 A CN 201910082308A CN 109986538 A CN109986538 A CN 109986538A
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- China
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- human body
- astronaut
- mechanical arm
- virtual reality
- exoskeleton system
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- 238000012549 training Methods 0.000 title claims abstract description 27
- 230000003993 interaction Effects 0.000 claims abstract description 6
- 238000004458 analytical method Methods 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000009877 rendering Methods 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 15
- 239000012636 effector Substances 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 3
- 210000000988 bone and bone Anatomy 0.000 claims description 2
- 239000011521 glass Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 230000005486 microgravity Effects 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a kind of astronaut's spatial manipulation training systems, including mechanical arm, human body exoskeleton system, virtual reality head-mounted display and console；Mechanical arm is multi-degree-of-freemechanical mechanical arm, and one end is fixed, and the other end connects human body exoskeleton system；Mechanical arm, human body exoskeleton system are connected with virtual reality head-mounted display console；Human body exoskeleton system is used to assist the movement in each joint of human body, captures human body operational motion, provides touch feedback for human body；Virtual reality head-mounted display virtual space environment and manipulation object for rendering；Console receives feedback information, and carries out comprehensive analysis processing to feedback information and form command information, then transmits command information outward.Safe microgravity training environment is provided for astronaut training, meanwhile astronaut's operational motion is precisely captured, touch feedback is provided for astronaut, the manipulation object that virtual outer space environment and real-time change are presented to astronaut enhances telepresenc and the interaction sense of astronaut.
Description
Technical field
The invention belongs to astronaut training's equipment technical fields, are related to a kind of astronaut's spatial manipulation training system.
Background technique
With the development of space technology, needs to be performed spatial manipulation task by astronaut and become increasingly complex, it is such as in-orbit
Maintenance, in-orbit fittage etc..In order to guarantee that spatial manipulation task is smoothly implemented, astronaut need to carry out a large amount of ground simulation instruction
Practice.
Environment currently used for astronaut training mainly has these types: neutral buoyancy pond allows astronaut to put on suit
After, in pond by with the comparable buoyancy of gravity, obtain a microgravity environment.Freely falling body aircraft, passes through aircraft
Freely falling body realizes microgravity environment, and astronaut takes to after meters altitude and dived suddenly by aircraft, for astronaut provide one it is micro-
Gravity environment, but this mode microgravity state duration is short, is not suitable for astronaut and carries out complicated in-orbit manipulation times
Business training.Another method is using wind-tunnel, and manufacture wind-tunnel is blown upwards by air-flow, and the gravity of people and air-flow is made to blow dynamic balance,
To provide microgravity environment.
But above-mentioned training environment has the disadvantage that: system complex, and training is at high cost.Danger coefficient is big, easily causes space
Boat person injures unexpectedly.The simulation space environment especially in terms of astronaut's stress, do not fully consider the telepresenc of astronaut by.
Summary of the invention
It is an object of the invention to overcome the above-mentioned prior art, a kind of astronaut's spatial manipulation training system is provided
System.
In order to achieve the above objectives, the present invention is achieved by the following scheme:
A kind of astronaut's spatial manipulation training system, including mechanical arm, human body exoskeleton system, virtual reality wear display
Device and console；
Mechanical arm is multi-degree-of-freemechanical mechanical arm, and one end is fixed, and end effector is arranged in the other end, and end effector passes through solid
Online structure connects human body exoskeleton system；Mechanical arm, human body exoskeleton system and virtual reality head-mounted display are and console
Connection；
Human body exoskeleton system is used to assist the movement in each joint of human body, captures human body operational motion, provides touching for human body
Feel feedback；
Virtual reality head-mounted display virtual space environment and manipulation object for rendering；
Console receives the feedback information of mechanical arm, human body exoskeleton system and virtual reality head-mounted display, and to anti-
Feedforward information carries out comprehensive analysis processing and forms command information, and command information is then transferred to mechanical arm, human body exoskeleton system
With virtual reality head-mounted display.
A further improvement of the present invention lies in that:
Connecting firmly mechanism includes connecting firmly mechanism body；Setting end effector mounting hole in mechanism body is connected firmly, end executes
Device mounting hole is for installing end effector；Four protrusions of setting on mechanism body side are connected firmly, are respectively provided with three in each protrusion
A ectoskeleton location hole, ectoskeleton location hole are connect with human body exoskeleton system.
Mechanical arm is the mechanical arm of six degree of freedom or the mechanical arm greater than six degree of freedom.
Inertial sensor and power and torque sensor be installed, inertial sensor and power and torque on human body exoskeleton system
Sensor is all connected with console；
Inertial sensor is used to acquire the movement state information in each limbs of astronaut and joint；
Power and torque sensor for acquire each joint moment information of human body exoskeleton system and human body exoskeleton system with
Interaction force information between human body.
Virtual reality head-mounted display is virtual implementing helmet or virtual reality glasses.
Virtual reality head-mounted display connects console by wired or wireless communication modes.
Console is electronic computer.
Compared with prior art, the invention has the following advantages:
By the way that ground is fixed in multi-degree-of-freemechanical mechanical arm bottom, mechanical arm tail end is up to three-dimensional space achievable in domain
The arbitrary motion of interior six degree of freedom, mechanical arm tail end connect human body exoskeleton system, can provide for astronaut training safe
Microgravity training environment.The movement in each joint of human body is assisted by human body exoskeleton system, is captured astronaut's operational motion, is
Astronaut provides touch feedback, can be realized the accurate capture to astronaut's operational motion.Virtual reality head-mounted display is worn
In the head of astronaut, console instruction is received by wired or wireless communication, virtual outer space environment is presented to astronaut
And the manipulation object of real-time change, enhance telepresenc and the interaction sense of astronaut, so that astronaut has impression on the spot in person.
Meanwhile this system has the advantages of simple structure and easy realization, it is at low cost.
Further, inertial sensor and power and torque sensor are installed on skeletal system out of the human body, acquire aerospace
It is mutual between each limbs of member and each joint moment information of movement state information and ectoskeleton and ectoskeleton and human body in joint
Act on force information；To which the movement of human body is fed back to manipulation training system with by force information, realize manipulation training system to people
The active compliance of body movement also enhances the telepresenc and feeling of immersion of trainee while preferably protection trainee.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention；
Fig. 2 connects firmly structural scheme of mechanism for of the invention.
Wherein: 1- mechanical arm；2- exoskeleton system；3- virtual reality head-mounted display；4- astronaut；5- connects firmly mechanism sheet
Body；6- end effector mounting hole；7- ectoskeleton location hole.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
The invention will be described in further detail with reference to the accompanying drawing:
Referring to Fig. 1, a kind of astronaut's spatial manipulation training system of the present invention, including mechanical arm 1, human body exoskeleton system 2,
Virtual reality head-mounted display 3 and console；Mechanical arm 1 is multi-degree-of-freemechanical mechanical arm, and one end is fixed, and other end setting end is held
Row device, end effector connect human body exoskeleton system 2 by connecting firmly mechanism；Connecting firmly mechanism includes connecting firmly mechanism body 5；It connects firmly
End effector mounting hole 6 is set in mechanism body 5, and end effector mounting hole 6 is for installing end effector；Connect firmly mechanism
Four protrusions are set on 5 side of ontology, are respectively provided with three ectoskeleton location holes 7, ectoskeleton location hole 7 and human body in each protrusion
Exoskeleton system 2 connects.Mechanical arm 1, human body exoskeleton system 2 and virtual reality head-mounted display 3 are connect with console；People
Exoskeleton system 2 is used to assist the movement in each joint of human body, captures human body operational motion, provides touch feedback for human body；It is empty
Quasi- reality head-mounted display 3 virtual space environment and manipulation object for rendering；Console receives mechanical arm 1, human body dermoskeleton
The feedback information of bone system 2 and virtual reality head-mounted display 3 carries out comprehensive analysis processing to feedback information and forms order letter
Breath, is transferred to mechanical arm 1, human body exoskeleton system 2 and virtual reality head-mounted display 3 for command information.
Ground is fixed in the optional industrial machinery arm greater than six degree of freedom of mechanical arm 1, bottom, passes through each joint of mechanical arm 1
Movement, realize and the space six-freedom motion of human body exoskeleton system 2 controlled, thus for the space of wearing exoskeleton system 2
Boat person 4 provides microgravity environment.
Human body exoskeleton system 2 is worn on the body of astronaut 4, to assist the movement in each joint of astronaut 4, captures space
Boat person 4 executes operational motion when in-orbit manipulation tasks, and provides touch feedback for astronaut 4.Pacify on human body exoskeleton system 2
Inertial sensor and power and torque sensor equipped with tracking 4 control action of astronaut.Inertial sensor is for acquiring astronaut 4
The movement state information in each limbs and joint, power and torque sensor for acquire each joint moment information of exoskeleton system 2 and
Interaction force information between exoskeleton system 2 and astronaut 4.
Virtual reality head-mounted display 3 is worn on the head of astronaut 4, can be virtual implementing helmet, virtual reality eye
The equipment such as mirror can receive console instruction by wired or wireless mechanics of communication, for astronaut 4 present virtual space environment and
Virtual manipulation object.
Console receives the feedback information of mechanical arm 2, human body exoskeleton system 2 and virtual reality head-mounted display 4, to anti-
Feedforward information carries out comprehensive analysis processing, ultimately forms command information and is transferred to mechanical arm 1, human body exoskeleton system 2 and virtual
Real head-mounted display 3, so that spacefarer 5 be assisted to complete in-orbit manipulation training mission.
By the way that ground is fixed in multivariant 1 bottom of mechanical arm, top can be achieved in three-dimensional space up in domain
The arbitrary motion of six degree of freedom, upper end connect human body exoskeleton system 2, can for astronaut 4 it is trained provide it is safe micro-
Gravitational training environment.The movement in each joint of human body is assisted by human body exoskeleton system 2, is captured 4 operational motion of astronaut, is
Astronaut 4 provides touch feedback, can enough realize the accurate capture to 4 operational motion of astronaut.Virtual reality head-mounted display 3
Be worn on the head of astronaut 4, console instruction received by wired or wireless communication, to astronaut 4 present it is virtual it is outer too
The manipulation object of Altitude and real-time change enhances telepresenc and the interaction sense of astronaut 4, so that there is astronaut 4 body to face it
The impression in border.Meanwhile this system has the advantages of simple structure and easy realization, it is at low cost.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (7)
1. a kind of astronaut's spatial manipulation training system, which is characterized in that including mechanical arm (1), human body exoskeleton system (2),
Virtual reality head-mounted display (3) and console；
Mechanical arm (1) is multi-degree-of-freemechanical mechanical arm, and one end is fixed, and end effector is arranged in the other end, and end effector passes through solid
Online structure connects human body exoskeleton system (2)；Mechanical arm (1), human body exoskeleton system (2) and virtual reality head-mounted display
(3) it is connect with console；
Human body exoskeleton system (2) is used to assist the movement in each joint of human body, captures human body operational motion, provides tactile for human body
Feedback；
Virtual reality head-mounted display (3) virtual space environment and manipulation object for rendering；
Console receives the feedback information of mechanical arm (1), human body exoskeleton system (2) and virtual reality head-mounted display (3), and
Comprehensive analysis processing is carried out to feedback information and forms command information, command information is then transferred to mechanical arm (1), human body dermoskeleton
Bone system (2) and virtual reality head-mounted display (3).
2. astronaut's spatial manipulation training system according to claim 1, which is characterized in that the mechanism that connects firmly includes solid
Join mechanism body (5)；Setting end effector mounting hole (6) on mechanism body (5) is connected firmly, end effector mounting hole (6) is used
In installation end effector；Four protrusions of setting on mechanism body (5) side are connected firmly, are respectively provided with three ectoskeletons in each protrusion
Location hole (7), ectoskeleton location hole (7) are connect with human body exoskeleton system (2).
3. astronaut's spatial manipulation training system according to claim 1, which is characterized in that the mechanical arm (1) is six
The mechanical arm of freedom degree or mechanical arm greater than six degree of freedom.
4. astronaut's spatial manipulation training system according to claim 1, which is characterized in that the human body exoskeleton system
(2) inertial sensor and power and torque sensor are installed, inertial sensor and power and torque sensor are all connected with console on；
Inertial sensor is used to acquire the movement state information in each limbs of astronaut and joint；
Power and torque sensor are for acquiring each joint moment information of human body exoskeleton system (2) and human body exoskeleton system (2)
Interaction force information between human body.
5. astronaut's spatial manipulation training system according to claim 1, which is characterized in that the virtual reality is worn aobvious
Show that device (3) are virtual implementing helmet or virtual reality glasses.
6. astronaut's spatial manipulation training system according to claim 1, which is characterized in that the virtual reality is worn aobvious
Show that device (3) connect console by wired or wireless communication modes.
7. astronaut's spatial manipulation training system according to claim 1, which is characterized in that the console is electrometer
Calculation machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910082308.8A CN109986538A (en) | 2019-01-28 | 2019-01-28 | A kind of astronaut's spatial manipulation training system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910082308.8A CN109986538A (en) | 2019-01-28 | 2019-01-28 | A kind of astronaut's spatial manipulation training system |
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| CN109986538A true CN109986538A (en) | 2019-07-09 |
Family
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| CN201910082308.8A Pending CN109986538A (en) | 2019-01-28 | 2019-01-28 | A kind of astronaut's spatial manipulation training system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752298A (en) * | 2021-09-16 | 2021-12-07 | 三一建筑机器人(西安)研究院有限公司 | Exoskeleton suspension device and workshop |
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|---|---|---|---|---|
| EP0911015A1 (en) * | 1997-10-27 | 1999-04-28 | Benito Ferrati | Orthopedic rehabilitation apparatus using virtual reality units |
| US20100240454A1 (en) * | 2009-03-14 | 2010-09-23 | Quan Xiao | Methods and apparatus to provide user a somatosensory experience for thrill seeking jumping like activities |
| CN102656091A (en) * | 2009-09-19 | 2012-09-05 | 肖泉 | Method and apparatus of variable g force experience and create immersive VR sensations |
| EA201600137A1 (en) * | 2015-12-23 | 2017-06-30 | Владислав Анатольевич ЛУКАШЕВИЧ | SYSTEM AND METHOD OF RESTORING HUMAN MOTOR ACTIVITY |
| CN108339256A (en) * | 2018-02-26 | 2018-07-31 | 张石均 | Virtual reality body-building device and its control method |
| CN208340092U (en) * | 2018-04-25 | 2019-01-08 | 袁午 | A kind of VR equipment |
-
2019
- 2019-01-28 CN CN201910082308.8A patent/CN109986538A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0911015A1 (en) * | 1997-10-27 | 1999-04-28 | Benito Ferrati | Orthopedic rehabilitation apparatus using virtual reality units |
| US20100240454A1 (en) * | 2009-03-14 | 2010-09-23 | Quan Xiao | Methods and apparatus to provide user a somatosensory experience for thrill seeking jumping like activities |
| CN102656091A (en) * | 2009-09-19 | 2012-09-05 | 肖泉 | Method and apparatus of variable g force experience and create immersive VR sensations |
| EA201600137A1 (en) * | 2015-12-23 | 2017-06-30 | Владислав Анатольевич ЛУКАШЕВИЧ | SYSTEM AND METHOD OF RESTORING HUMAN MOTOR ACTIVITY |
| CN108339256A (en) * | 2018-02-26 | 2018-07-31 | 张石均 | Virtual reality body-building device and its control method |
| CN208340092U (en) * | 2018-04-25 | 2019-01-08 | 袁午 | A kind of VR equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752298A (en) * | 2021-09-16 | 2021-12-07 | 三一建筑机器人(西安)研究院有限公司 | Exoskeleton suspension device and workshop |
| CN113752298B (en) * | 2021-09-16 | 2023-01-13 | 三一建筑机器人(西安)研究院有限公司 | Exoskeleton suspension device and workshop |
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Application publication date: 20190709 |
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