CN110103226A - A kind of auxiliary robot control method and system - Google Patents
A kind of auxiliary robot control method and system Download PDFInfo
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- CN110103226A CN110103226A CN201910490216.3A CN201910490216A CN110103226A CN 110103226 A CN110103226 A CN 110103226A CN 201910490216 A CN201910490216 A CN 201910490216A CN 110103226 A CN110103226 A CN 110103226A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a kind of auxiliary robot control method and systems, are related to robotic technology field.This method comprises: obtaining expected motion trajectory；Obtain the motion profile of lower a moment of prediction；Calculate track position difference；Obtain motion compensation power；Obtain actual motion power；Obtain actual motion track；Calculate differential force；Calculate movement position；Calculate movement position difference；The motor of auxiliary robot is controlled according to movement position difference；Actual motion power and actual motion track are updated, and recalculates differential force；When movement position difference is zero, stop control motor.This method acquires the expected motion trajectory and actual motion ability of auxiliary object simultaneously, the movement of auxiliary object is given by comparing the two deviation control auxiliary robot and is assisted, realize the on-demand auxiliary to auxiliary object, while giving full play to auxiliary object locomitivity, certain motion compensation is given, movement effects are reinforced.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of auxiliary robot control method and system.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.The existing controlling party to auxiliary robot
Using the movement of standard robotic as template, control auxiliary robot is repeated method, does not account for auxiliary robot auxiliary object
Motion intention.
Summary of the invention
The object of the present invention is to provide a kind of auxiliary robot control method and systems, solve and do not account for auxiliary object
Motion intention the problem of.
To achieve the above object, the present invention provides following schemes:
A kind of auxiliary robot control method, comprising:
Obtain the expected motion trajectory of the auxiliary object of auxiliary robot；
Obtain the motion profile of lower a moment of the auxiliary object of prediction；
Calculate the track position difference of the expected motion trajectory and the motion profile of lower a moment；
Motion compensation power is obtained according to the track position difference；
Obtain actual motion power；
Obtain the actual motion track of the auxiliary robot；The actual motion track includes the auxiliary robot
Actual motion position；
Calculate the differential force of the actual motion power Yu the motion compensation power；
The movement position of the auxiliary robot is calculated according to the differential force；
Movement position difference is obtained according to the movement position and the actual motion position；
Judge whether the movement position difference is zero, obtains the first judging result；
When first judging result is no, the electricity of the auxiliary robot is controlled according to the movement position difference
Machine；
Update the actual motion power and the actual motion track, and return " calculate the actual motion power with it is described
The differential force of motion compensation power "；
When first judging result, which is, is, stops controlling the motor, complete the auxiliary object of the prediction
Motion profile of lower a moment；
Judge whether to complete the expected motion trajectory, obtains the second judging result；
When second judging result is no, the motion profile of lower a moment is updated, and returns and " calculates the expectation fortune
The track position difference of dynamic rail mark and the motion profile of lower a moment "；
When second judging result, which is, is, issues and complete signal.
Optionally, the expected motion trajectory for obtaining the auxiliary object of auxiliary robot, specifically includes:
The expected motion trajectory for obtaining the standard object, specifically includes:
Obtain the standard electric signal and standard movement data of the standard object；
The standard electric signal is pre-processed, pretreated standard electric signal is obtained；
Extract the standard electrical feature of the pretreated standard electric signal；
Model is recognized by track according to the standard electrical feature and the standard movement data and obtains the standard object
Expected motion trajectory；
The expected motion trajectory phase of the expected motion trajectory of the standard object of the standard robotic and the auxiliary object
It is corresponding.
Optionally, the motion profile of lower a moment of the auxiliary object for obtaining prediction, specifically includes:
Obtain the electric signal and exercise data of the auxiliary object；
The electric signal is pre-processed, pretreated electric signal is obtained；
Extract the electrical feature of the pretreated electric signal；
The auxiliary object predicted according to the electrical feature and the exercise data by trajectory predictions model
Lower a moment motion profile.
Optionally, described that motion compensation power is obtained according to the track position difference, it specifically includes:
Passed through according to the track position differenceObtain the motion compensation
Power；
τ indicates the motion compensation power in formula；The mass matrix of M (q) expression auxiliary object；Q indicates the auxiliary pair
The position of elephant；Indicate the acceleration of the auxiliary object；Expression section formula torque battle array and centrifugal force matrix；Indicate institute
State the speed of auxiliary object；G (q) indicates gravitation vector；The position, the speed and the acceleration pass through the movement
Position difference is calculated.
Optionally, the acquisition actual motion power, specifically includes: multiple pressure sensings being arranged on the auxiliary robot
Device, the actual motion power are the average value of multiple pressure sensors.
Optionally, the movement position that the auxiliary robot is calculated according to the differential force, specifically includes:
Passed through according to the differential forceIt calculates and obtains the motion bit
It sets；
Δ F indicates the differential force in formula；The elastic coefficient matrix of K expression impedance controller；Xd indicates the auxiliary
The movement position of robot；X indicates the actual motion track of the auxiliary robot；B is the damped coefficient square of impedance controller
Battle array；Indicate the movement velocity obtained by the actual motion track and time diffusion；M is the stiffness coefficient square of damping controller
Battle array；Indicate the acceleration of motion obtained by the movement velocity and the time diffusion.
A kind of auxiliary robot control system, comprising:
Expected motion trajectory obtains module, the expected motion trajectory of the auxiliary object for obtaining auxiliary robot；
The motion profile of lower a moment of prediction obtains module, moves rail for obtaining lower a moment of the auxiliary object of prediction
Mark；
Track position difference calculating module, for calculating the rail of the expected motion trajectory and the motion profile of lower a moment
Mark position difference；
Motion compensation power obtains module, for obtaining motion compensation power according to the track position difference；
Actual motion power obtains module, for obtaining actual motion power；
Actual motion track obtains module, for obtaining the actual motion track of the auxiliary robot；The practical fortune
Dynamic rail mark includes the actual motion position of the auxiliary robot；
Differential force computing module, for calculating the differential force of the actual motion power Yu the motion compensation power；
Movement position computing module, for calculating the movement position of the auxiliary robot according to the differential force；
Movement position difference obtains module, for obtaining motion bit according to the movement position and the actual motion position
Set difference；
First judging result module obtains the first judging result for judging whether the movement position difference is zero；
Auxiliary robot control module is used for when first judging result is no, according to the movement position difference
Control the motor of the auxiliary robot；
Update module for updating the actual motion power and the actual motion track, and returns to the differential force meter
Calculate module；
Stop control module, controls the motor for stopping when first judging result, which is, is, complete described pre-
The motion profile of lower a moment for the auxiliary object surveyed；
Second judging result module completes the expected motion trajectory for judging whether, obtains the second judging result；
Return module, for updating the motion profile of lower a moment, and return to institute when second judging result is no
State track position difference calculating module；
Module is completed, for issuing and completing signal when second judging result, which is, is.
Optionally, the expected motion trajectory acquisition module includes:
The expected motion trajectory unit for obtaining standard object, for obtaining the expected motion trajectory of standard object；
It is described obtain standard object expected motion trajectory unit include:
Normal data subelement is obtained, for obtaining the standard electric signal and standard movement data of the standard object；
Standard pre-processes subelement and obtains pretreated standard telecommunications for pre-processing to the standard electric signal
Number；
Standard extracts subelement, for extracting the standard electrical feature of the pretreated standard electric signal；
The expected motion trajectory subelement for obtaining standard object, for according to the standard electrical feature and the standard movement
Data recognize model by track and obtain the expected motion trajectory of the standard object；
Expected motion trajectory corresponding unit, for by the expected motion trajectory of the standard object of the standard robotic and institute
The expected motion trajectory for stating auxiliary object is corresponding.
Optionally, motion profile of the lower a moment acquisition module of the prediction includes:
Auxiliary data subelement is obtained, for obtaining the electric signal and exercise data of the auxiliary object；
Auxiliary pretreatment subelement, pre-processes the electric signal, obtains pretreated electric signal；
Assisted extraction subelement, for extracting the electrical feature of the pretreated electric signal；
The motion profile of lower a moment of prediction obtains subelement, for passing through rail according to the electrical feature and the exercise data
The motion profile of lower a moment for the auxiliary object that mark prediction model is predicted.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The present invention provides a kind of auxiliary robot control method, comprising: obtains the expectation of the auxiliary object of auxiliary robot
Motion profile；Obtain the motion profile of lower a moment of the auxiliary object of prediction；Calculate the auxiliary of expected motion trajectory and prediction
The track position difference of the motion profile of lower a moment of object；Motion compensation power is obtained according to track position difference；Obtain practical fortune
Power；Obtain the actual motion track of auxiliary robot；Actual motion track includes the actual motion position of auxiliary robot；Meter
Calculate the differential force of actual motion power and motion compensation power；The movement position of auxiliary robot is calculated according to differential force；According to movement
Position and actual motion position obtain movement position difference；Judge whether movement position difference is zero, obtains the first judging result；
When the first judging result is no, the motor of auxiliary robot is controlled according to movement position difference；Update actual motion power and reality
Border motion profile, and return to " differential force for calculating actual motion power and motion compensation power "；When the first judging result, which is, is, stop
Motor is only controlled, the motion profile of lower a moment of the auxiliary object of prediction is completed；Judge whether to complete expected motion trajectory, obtains
Two judging results；When the second judging result, which is, is, the motion profile of lower a moment of the auxiliary object of prediction is updated, and returns to " meter
Calculate the track position difference of the motion profile of lower a moment of the auxiliary object of expected motion trajectory and prediction "；When the second judging result
When being no, auxiliary object completes expected motion trajectory.This method acquires the expected motion trajectory and practical fortune of auxiliary object simultaneously
Kinetic force is given the movement of auxiliary object by comparing the two deviation control auxiliary robot and is assisted, realizes to auxiliary pair
The on-demand auxiliary of elephant gives certain motion compensation while giving full play to auxiliary object locomitivity, reinforces movement effect
Fruit.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is auxiliary robot control method flow chart provided by the embodiment of the present invention 1；
Fig. 2 is the system construction drawing of auxiliary robot control system provided by the embodiment of the present invention 2；
Fig. 3 is that hand robot control method flow chart is assisted provided by the embodiment of the present invention 3；
Fig. 4 is finger-joint figure provided by the embodiment of the present invention 3；
Fig. 5 is hand bending-stretching routine relevant surfaces distribution of electrodes figure provided by the embodiment of the present invention 3.
Wherein, 9-1, musculus flexor carpi ulnaris electrode；9-2, musculus extensor carpi ulnaris electrode；9-3, extensor muscle of fingers electrode；9-4, carpi radialis
Musculus flexor electrode；9-5, musculus flexor digitorum sublimis electrode；96, remote finger tip；97, nearly finger tip；98, metacarpophalangeal joints.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Embodiment 1
The present embodiment 1 provides a kind of auxiliary robot control method, and Fig. 1 is auxiliary machine provided by the embodiment of the present invention 1
Device people's control method flow chart.Auxiliary robot is for assisting auxiliary object to be moved, referring to Fig. 1, auxiliary robot control
Method includes:
Step 101, the expected motion trajectory of the auxiliary object of auxiliary robot is obtained.
Step 101, it specifically includes:
The expected motion trajectory for obtaining standard object specifically includes:
Obtain the standard electric signal and standard movement data of standard object.
Standard electric signal is pre-processed, pretreated standard electric signal is obtained.
Extract the standard electrical feature of pretreated standard electric signal.
Model is recognized by track according to standard electrical feature and standard movement data and obtains the desired motion rail of standard object
Mark.
The expected motion trajectory of the standard object of standard robotic and the expected motion trajectory of auxiliary object are corresponding.Pass through
The expected motion trajectory of standard object is obtained, the expectation fortune of auxiliary object corresponding with the expected motion trajectory of standard object is obtained
Dynamic rail mark.
Step 102, the motion profile of lower a moment of the auxiliary object of prediction is obtained.
Obtain the motion profile of lower a moment of the auxiliary object of prediction, comprising:
Obtain the electric signal and exercise data of auxiliary object.
Electric signal is pre-processed, pretreated electric signal is obtained.
Extract the electrical feature of pretreated electric signal.
The lower a moment for the auxiliary object predicted according to electrical feature and exercise data by trajectory predictions model moves rail
Mark.
Step 103, the track position for calculating the motion profile of lower a moment of the auxiliary object of expected motion trajectory and prediction is poor
Value.
Step 104, motion compensation power is obtained according to track position difference.
Motion compensation power is obtained according to track position difference, comprising:
Passed through according to track position differenceObtain motion compensation power.
τ indicates motion compensation power in formula；The mass matrix of M (q) expression auxiliary object；The position of q expression auxiliary object；Indicate the acceleration of auxiliary object；Expression section formula torque battle array and centrifugal force matrix；Indicate the speed of auxiliary object；G
(q) gravitation vector is indicated.Expected motion trajectory in the present embodiment, prediction auxiliary object motion profile of lower a moment and track position
Setting includes location information in difference, and position and time diffusion obtain speed, and speed and time diffusion obtain acceleration.Movement is mended
Repaying power is the power for assisting robot assisted auxiliary object to complete expected motion trajectory.
Step 105, actual motion power is obtained.Obtaining actual motion power includes: that multiple pressure are arranged on auxiliary robot to pass
Sensor, actual motion power are the average value of multiple pressure sensors, are specifically as follows the man-machine of auxiliary object and auxiliary robot
Reciprocal force.
Step 106, the actual motion track of auxiliary robot is obtained.It can be equipped on auxiliary robot position encoded
Device obtains actual motion track by position coder.Actual motion track includes the actual motion position letter of auxiliary robot
Breath.
Step 107, the differential force of actual motion power and motion compensation power is calculated.Differential force is poor for reducing movement position
Value, and then auxiliary object is assisted to complete expected motion trajectory.
Step 108, the movement position of auxiliary robot is calculated according to differential force.
The movement position of auxiliary robot is calculated according to differential force, comprising:
Passed through according to differential forceIt calculates and obtains movement position.
DF indicates differential force in formula；The elastic coefficient matrix of K expression impedance controller；XdIndicate the phase of auxiliary robot
Hope motion profile, i.e. movement position；The actual motion track of X expression auxiliary robot；B is the damped coefficient square of impedance controller
Battle array；Indicate the movement velocity obtained by actual motion track and time diffusion；M is the stiffness coefficient matrix of damping controller；Indicate the acceleration of motion obtained by movement velocity and time diffusion.
Step 109, movement position difference is obtained according to movement position and actual motion position.
Step 110, judge whether movement position difference is zero, obtains the first judging result.
Step 111, when the first judging result is no, the motor of auxiliary robot is controlled according to movement position difference.
Step 112, actual motion power and actual motion track, and return step 107 are updated.
Step 113, when the first judging result, which is, is, stop control motor, complete lower a moment of the auxiliary object of prediction
Motion profile.
Step 114, judge whether to complete expected motion trajectory, obtain the second judging result.
Judge whether that completing expected motion trajectory includes:
The expected motion trajectory of auxiliary object is divided into N number of motion profile, the auxiliary pair for the prediction that judgment step 113 is completed
Whether the motion profile of lower a moment of elephant is n-th motion profile, when the fortune of lower a moment of the auxiliary object for the prediction that step 113 is completed
When dynamic rail mark is not n-th motion profile, then expected motion trajectory is not completed；When the auxiliary object for the prediction that step 113 is completed
Motion profile of lower a moment be n-th motion profile when, then complete expected motion trajectory.
Step 115, when the second judging result is no, the motion profile of lower a moment of the auxiliary object of prediction is updated, and return
Return step 103.
Step 116, it when the second judging result, which is, is, issues and completes signal.
Embodiment 2
The present embodiment 2 provides a kind of auxiliary robot control system.Fig. 2 is auxiliary machine provided by the embodiment of the present invention 2
The system construction drawing of device people's control system.Referring to fig. 2, auxiliary robot control system includes:
Expected motion trajectory obtains module 201, the expected motion trajectory of the auxiliary object for obtaining auxiliary robot.
Expected motion trajectory obtains module 201
The expected motion trajectory unit for obtaining standard object, for obtaining the expected motion trajectory of standard object.
Obtain standard object expected motion trajectory unit include:
Normal data subelement is obtained, for obtaining the standard electric signal and standard movement data of standard object.
Standard pre-processes subelement and obtains pretreated standard electric signal for pre-processing to standard electric signal.
Standard extracts subelement, for extracting the standard electrical feature of pretreated standard electric signal.
The expected motion trajectory subelement for obtaining standard object, for being passed through according to standard electrical feature and standard movement data
Track identification model obtains the expected motion trajectory of standard object.
Expected motion trajectory corresponding unit, for by the expected motion trajectory of the standard object of standard robotic and auxiliary pair
The expected motion trajectory of elephant is corresponding, obtains the desired motion rail of auxiliary object corresponding with the expected motion trajectory of standard object
Mark.
Predict that motion profile of lower a moment obtains module 202, the motion profile of lower a moment of the auxiliary object for obtaining prediction.
Predict that motion profile of lower a moment obtains module 202 and includes:
Auxiliary data subelement is obtained, for obtaining the electric signal and exercise data of auxiliary object.
Auxiliary pretreatment subelement, pre-processes electric signal, obtains pretreated electric signal.
Assisted extraction subelement, for extracting the electrical feature of pretreated electric signal.
Predict that motion profile of lower a moment obtains subelement, for passing through trajectory predictions model according to electrical feature and exercise data
The motion profile of lower a moment for the auxiliary object predicted.
Track position difference calculating module 203, lower a moment of the auxiliary object for calculating expected motion trajectory and prediction
The track position difference of motion profile.
Motion compensation power obtains module 204, for obtaining motion compensation power according to track position difference.
Motion compensation power is obtained according to track position difference, comprising:
Passed through according to track position differenceObtain motion compensation power.
τ indicates motion compensation power in formula；The mass matrix of M (q) expression auxiliary object；The position of q expression auxiliary object；Indicate the acceleration of auxiliary object；Expression section formula torque battle array and centrifugal force matrix；Indicate the speed of auxiliary object；
G (q) indicates gravitation vector.Expected motion trajectory in the present embodiment, prediction auxiliary object motion profile of lower a moment and movement
It include location information in the difference of position, position and time diffusion obtain speed, and speed and time diffusion obtain acceleration.Movement
Balancing force is the power for assisting robot assisted auxiliary object to complete expected motion trajectory.
Actual motion power obtains module 205, for obtaining actual motion power.
Obtaining actual motion power includes: that multiple pressure sensors are arranged on auxiliary robot, and actual motion power is multiple pressures
The human-computer interaction power of the average value of force snesor, specially auxiliary object and auxiliary robot.
Actual motion track obtains module 206, for obtaining the actual motion track of auxiliary robot.On auxiliary robot
Position coder can be installed, actual motion track is obtained by position coder.Actual motion track includes auxiliary machinery
The actual motion location information of people.
Differential force computing module 207, for calculating the differential force of actual motion power Yu motion compensation power.Differential force is for contracting
Small movement position difference, and then auxiliary object is assisted to complete expected motion trajectory.
Movement position computing module 208, for calculating the movement position of auxiliary robot according to differential force.
The movement position of auxiliary robot is calculated according to differential force, comprising:
Passed through according to differential forceIt calculates and obtains movement position.
DF indicates differential force in formula；The elastic coefficient matrix of K expression impedance controller；XdIndicate the fortune of auxiliary robot
Dynamic position；The actual motion track of X expression auxiliary robot；B is the damped coefficient matrix of impedance controller；It indicates by reality
The movement velocity that motion profile and time diffusion obtain；M is the stiffness coefficient matrix of damping controller；It indicates by movement velocity
The acceleration of motion obtained with time diffusion.
Movement position difference obtains module 209, poor for obtaining movement position according to movement position and actual motion position
Value.
First judging result module 210 obtains the first judging result for judging whether movement position difference is zero.
Auxiliary robot control module 211, for being controlled according to movement position difference auxiliary when the first judging result is no
Help the motor of robot.
Update module 212 for updating actual motion power and actual motion track, and returns to differential force computing module 207.
Stop control module 213, for when the first judging result, which is, is, stopping control motor, completes the auxiliary of prediction
The motion profile of lower a moment of object.
Second judging result module 214 completes expected motion trajectory for judging whether, obtains the second judging result.
Judge whether that completing expected motion trajectory includes:
The expected motion trajectory of auxiliary object is divided into N number of motion profile, judges to stop the prediction that control module 213 is completed
The motion profile of lower a moment of auxiliary object whether be n-th motion profile, when stopping the auxiliary of prediction that control module 213 is completed
When the motion profile of lower a moment of object being helped not to be n-th motion profile, then expected motion trajectory is not completed；When stopping control module
When the motion profile of lower a moment of the auxiliary object of 213 predictions completed is n-th motion profile, then expected motion trajectory is completed.
Return module 215, for when the second judging result is no, updating movement of the lower a moment rail of the auxiliary object of prediction
Mark, and return to track position difference calculating module.
Module 216 is completed, for issuing and completing signal when the second judging result, which is, is.
Embodiment 3
The present embodiment 3 provides a kind of auxiliary hand robot control method, the difference of the present embodiment 3 and embodiment 1
It is, auxiliary robot control method is applied to a kind of hand robot by the present embodiment, and specially one kind may be worn on hand
Exoskeleton-type hand robot.
One pressure sensor is installed with hand robotic contact position using the finger back of every finger of object, finger pulp with
Hand robotic contact position is equipped with a pressure sensor, and pressure sensor is for measuring human-computer interaction power, i.e. embodiment 1
In actual motion power.
Servo motor is installed, servo motor uses push rod servo motor, hand robot on hand machine back of people's hand
Four fingers of thumb are removed, every finger is all connected with a push rod servo motor.Each push rod servo motor installs one
Position coder, position coder are used to obtain the actual motion track and actual motion position of hand robot.
Fig. 4 is finger-joint figure provided by the embodiment of the present invention 3, referring to fig. 4, four hands of thumb is removed using object
Refer to, there are three joint, respectively remote finger tip 96, nearly finger tip 97 and metacarpophalangeal joints 98, remote finger tips 96,97 and of nearly finger tip for each finger
These three joints of metacarpophalangeal joints 98 carry out coupled motions, i.e. a joint motions other two joint synchronous is moved, then often
Root finger has one degree of freedom.
The hand robot of the present embodiment includes standard hand robot and auxiliary hand robot.It the use of object include mark
Quasi- hand and nondominant hand, Plays hand wear standard hand robot, and nondominant hand wears auxiliary hand robot.
Fig. 3 is that hand robot control method flow chart is assisted provided by the embodiment of the present invention 3.Referring to Fig. 3, nondominant hand
Portion's robot control method includes:
Step 301, the expected motion trajectory of the nondominant hand of auxiliary hand robot is obtained.
The expectation of the expected motion trajectory of the nondominant hand of hand robot and the standard hand of standard hand robot is assisted to transport
Dynamic rail mark is corresponding.Preferably standard hand wears standard hand robot and carries out desired motion according to the movement of setting, in standard
After hand completes desired motion, nondominant hand wears auxiliary hand robot and repeats desired motion.
The expected motion trajectory of acquisition standard hand specifically includes:
The standard electric signal and standard movement data of acquisition standard hand.Wherein, the standard electric signal of the standard hand of acquisition is
Standard hand carries out standard electromyography signal when expected motion trajectory, when standard movement data are that standard hand carries out expected motion trajectory
Digital flexion angle and the finger movement time.
The method that the present embodiment uses source signal fusion is improved to be intended to and locomitivity using objective metric hands movement
Discrimination avoids causing the damage using object to match the identification that standard hands movement is intended in standard hand because discrimination is low
When wearing capturing movement equipment and myoelectricity acquisition equipment completion desired motion, according to the movement of myoelectricity-track identification model and capture
Two aspects of data judge come the angle for being bent or stretching to standard hand hand, improve discrimination.
Fig. 5 is hand bending-stretching routine relevant surfaces distribution of electrodes figure provided by the embodiment of the present invention 3.Referring to figure
5, the present embodiment acquires standard electromyography signal using myoelectricity acquisition equipment, and myoelectricity acquires equipment using Delsys four-point silver bar electricity
Pole equipment, the electrode of Delsys four-point silver bar electrode equipment include: musculus flexor carpi ulnaris electrode 9-1, musculus extensor carpi ulnaris electrode 9-
2, extensor muscle of fingers electrode 9-3, musculus flexor carpi radialis electrode 9-4 and musculus flexor digitorum sublimis electrode 9-5.Musculus flexor carpi ulnaris electrode 9-1 is for acquiring
The electromyography signal of musculus flexor carpi ulnaris, musculus extensor carpi ulnaris electrode 9-2 are used to acquire the electromyography signal of musculus extensor carpi ulnaris, extensor muscle of fingers electrode
9-3 is used to acquire the electromyography signal of extensor muscle of fingers, and musculus flexor carpi radialis electrode 9-4 is used to acquire the electromyography signal of musculus flexor carpi radialis, refers to
Musculus flexor superficialis electrode 9-5 is used to acquire the electromyography signal of musculus flexor digitorum sublimis.
Standard electric signal is pre-processed, pretreated standard electric signal is obtained.Standard electric signal is the standard of acquisition
Musculus flexor carpi ulnaris standard electromyography signal, the musculus extensor carpi ulnaris standard electromyography signal of standard hand, the extensor muscle of fingers standard of standard hand of hand
The musculus flexor digitorum sublimis standard electromyography signal of electromyography signal, the musculus flexor carpi radialis standard electromyography signal of standard hand and standard hand.To standard
Electric signal carries out pretreated purpose are as follows: original electromyography signal, that is, the musculus flexor carpi ulnaris standard electromyography signal acquired, ulnar side wrist are stretched
Flesh standard electromyography signal, extensor muscle of fingers standard electromyography signal, musculus flexor carpi radialis standard electromyography signal and musculus flexor digitorum sublimis standard myoelectricity letter
Number noise it is relatively low, be highly prone to the influence of ambient signals, and these noise unstability can seriously affect prediction model
Generalization ability, so needing to carry out original electromyography signal pretreatment removal interference.
Extract the standard electrical feature of pretreated standard electric signal.Specifically: extract the mark of pretreated standard electric signal
Quasi- myoelectricity feature obtains standard integral myoelectricity value.
In above formula, iEMGMarkIndicate that standard integral myoelectricity value, standard integral myoelectricity value are asked after referring to electromyography signal rectifying and wave-filtering
The summation of area under unit time inner curve, it can reflect the strong and weak variation of electromyography signal at any time；EMG(t)MarkAfter pretreatment
Standard electromyography signal；T is the analytical cycle of electromyography signal；T indicates the time.
Standard integral myoelectricity difference is calculated by standard integral myoelectricity value:
DiEMG(i)Mark=iEMG (i-1)Mark-iEMG(i)Mark；
In above formula, DiEMG (i)MarkIndicate standard integral myoelectricity difference, standard integral myoelectricity difference being capable of description standard myoelectricity
Variation tendency of the signal energy on time dimension；I indicates periodicity；iEMG(i-1)MarkThe standard integral of a cycle in expression
Myoelectricity value；iEMG(i)MarkIndicate the standard integral myoelectricity value of current period.
For the ease of the variation of the standard integral myoelectricity value and standard integral myoelectricity difference index of standard of comparison electromyography signal
Standard integral myoelectricity value and standard integral myoelectricity difference are normalized trend:
In above formula, NiEMGMarkStandard integral myoelectricity value after indicating normalization carries out primary standard integral myoelectricity value
Scaling makes the range of primary standard integral myoelectricity value between 0-1；iEMGMax markFor the maximum value of standard integral myoelectricity value；
iEMGMin markFor the minimum value of standard integral myoelectricity value；NDiEMGMarkStandard integral myoelectricity difference after indicating normalization；
DiEMGMax markFor the maximum value of standard integral myoelectricity difference；DiEMGMin markFor the minimum value of standard integral myoelectricity difference.
Model is recognized by track according to standard electrical feature and standard movement data and obtains the expected motion trajectory of standard hand.
Specifically: standard integral myoelectricity difference input myoelectricity-track after the standard integral myoelectricity value and normalization after normalization is distinguished
Know model, obtain the digital flexion angle of standard hand, according to run duration, the mean motion speed of standard hand finger can be obtained
Degree.Expected motion trajectory is the expected angle that the average movement velocity of standard hand finger is multiplied with the current kinetic time.
Step 302, the motion profile of lower a moment of the nondominant hand of the auxiliary hand robot of prediction is obtained.
The motion profile of lower a moment of nondominant hand for obtaining prediction includes:
Obtain the electric signal and exercise data of nondominant hand.Wherein, the auxiliary electric signal of the nondominant hand of acquisition be nondominant hand into
Auxiliary electromyography signal when row expected motion trajectory, finger when synkinesia data are nondominant hand progress expected motion trajectory are curved
Bent angle and finger movement time.
The present embodiment obtains the method for auxiliary electromyography signal and synkinesia data and obtains standard electromyography signal and standard
The method of exercise data is identical.Specially using Delsys four-point silver bar electrode equipment acquisition auxiliary electromyography signal, obtain auxiliary
It is the musculus flexor carpi ulnaris electromyography signal of assistant, the musculus extensor carpi ulnaris electromyography signal of nondominant hand, the extensor muscle of fingers electromyography signal of nondominant hand, auxiliary
The musculus flexor carpi radialis electromyography signal of assistant and the musculus flexor digitorum sublimis electromyography signal of nondominant hand.
Electric signal is pre-processed, pretreated electric signal is obtained.Electric signal include: musculus flexor carpi ulnaris electromyography signal,
Musculus extensor carpi ulnaris electromyography signal, extensor muscle of fingers electromyography signal, musculus flexor carpi radialis electromyography signal and musculus flexor digitorum sublimis electromyography signal.
Extract the electrical feature of pretreated electric signal.Specifically: the myoelectricity feature for extracting pretreated electric signal is accumulated
Divide myoelectricity value.
In above formula, iEMG indicates to ask the unit time after integral myoelectricity value, integral myoelectricity value refer to electromyography signal rectifying and wave-filtering
The summation of area under inner curve, it can reflect the strong and weak variation of electromyography signal at any time；EMG (t) is pretreated myoelectricity letter
Number；T is the analytical cycle of surface electromyogram signal；T indicates the time.
Integral myoelectricity difference is calculated by integrating myoelectricity value:
DiEMG (i)=iEMG (i-1)-iEMG (i)；
In above formula, DiEMG (i) indicate integral myoelectricity difference, integral myoelectricity difference can describe electromyography signal energy when
Between variation tendency in dimension；I indicates periodicity；The integral myoelectricity value of a cycle in iEMG (i-1) expression；IEMG (i) table
Show the integral myoelectricity value of current period.
For the ease of comparing the integral myoelectricity value of electromyography signal and integrating the variation tendency of myoelectricity difference index, flesh will be integrated
Electric value and integral myoelectricity difference are normalized:
In above formula, NiEMG indicates the integral myoelectricity value after normalization, i.e., zooms in and out original integral myoelectricity value, make original
The range for the integral myoelectricity value that begins is between 0-1；iEMGmaxFor the maximum value for integrating myoelectricity value；iEMGminMost for integral myoelectricity value
Small value；NDiEMG indicates the integral myoelectricity difference after normalization；DiEMGmaxFor the maximum value for integrating myoelectricity difference；DiEMGminFor
Integrate the minimum value of myoelectricity difference.
According to the lower a moment for the auxiliary hand robot that electrical feature and exercise data are predicted by trajectory predictions model
Motion profile.Specifically: integral myoelectricity difference input myoelectricity-track after the integral myoelectricity value and normalization after normalization is pre-
Survey model, the digital flexion angle of lower a moment for the nondominant hand predicted, that is, the motion profile of lower a moment for the nondominant hand predicted.
The present embodiment is improved using the method for source signal fusion using object nondominant hand motion intention and locomitivity
Discrimination avoids leading to damage using object because discrimination is low.Identification for nondominant hand locomitivity, source signal packet
It includes: according to myoelectricity-trajectory predictions model prediction motion profile of lower a moment, assisting hand finger and assist the man-machine of hand robot
Reciprocal force, and the finger tips movement velocity that differential obtains is carried out to finger position.
It assists hand finger and the human-computer interaction power of hand robot is assisted to pass through the pressure sensor of auxiliary hand robot
It obtains.The variation of human-computer interaction power can indicate that digital flexion-stretching, extension is intended to.
Assuming that four finger synchronizations of nondominant hand are moved, human-computer interaction power FintThe pressure sensor measurement referred to for four
The sum of data average value.The average value of human-computer interaction powerAre as follows:
In above formula, Fint1It indicates index finger and assists the human-computer interaction power of hand robot；Fint2Indicate middle finger and auxiliary hand
The human-computer interaction power of robot；Fint3Indicate the nameless human-computer interaction power with auxiliary hand robot；Fint4Indicate little finger with
Assist the human-computer interaction power of hand robot.
When the average value of the human-computer interaction power of pressure sensor corresponding with back is referred to becomes larger, auxiliary hand finger has stretching, extension to anticipate
Figure；When the average value of the human-computer interaction power of pressure sensor corresponding with finger pulp becomes larger, auxiliary hand finger has bending to be intended to.
The finger tips movement velocity that differential obtains is carried out to finger position specifically:
Assuming that four finger synchronizations of nondominant hand are moved, the control servo electricity of four fingers of nondominant hand hand robot
Machine equally synchronizes movement, therefore a selected finger measures finger tips movement velocity.By being measured to position coder
Finger position carry out differential obtain finger tips movement velocity, finger tips movement velocity are as follows:Wherein, θ table
Show finger tips bending angle, i.e. angle between the line of wrist and the back of the hand and the line of wrist and finger tips.
In bending motion, when finger tips movement velocity becomes larger, nondominant hand has bending motion intention, works as finger tips
When movement velocity becomes smaller, nondominant hand has stretching, extension to be intended to.
By the motion profile of lower a moment of prediction and human-computer interaction power characteristic results and finger tips movement velocity feature knot
Fruit compares and analyzes, if the result of three is identical, using motion profile of lower a moment of prediction as final nondominant hand hand
Locomitivity；If the result of three is not identical, the result for regaining three is compared and analyzed.Merge source signal method
Obtained locomitivity is more more acurrate than the result of Individual forecast reliable, improves the discrimination to nondominant hand locomitivity, simultaneously
Avoid the damage caused because differentiating fault to the abnormal caused auxiliary hand muscle of auxiliary hand robot control.
Step 303, the track position difference of the motion profile of lower a moment of expected motion trajectory and prediction is calculated.
Step 304, motion compensation power is obtained according to track position difference.Specifically: using track position difference as input,
It exports to obtain motion compensation power by torque compensation model.The locomitivity of nondominant hand is weaker, and motion compensation power is bigger.
The torque compensation model being related in the present embodiment is human hands kinetic model:
τ indicates motion compensation power in above formula in the present embodiment；The mass matrix of M (q) expression nondominant hand；Q indicates nondominant hand
Joint position；Indicate the acceleration of auxiliary swivel of hand；Expression section formula torque battle array and centrifugal force matrix；Indicate auxiliary
The speed in assistant joint；G (q) indicates gravitation vector；Position, velocity and acceleration pass through track position difference and are calculated,
Specially in expected motion trajectory, the motion profile of lower a moment of prediction and track position difference include location information, position with
Time diffusion obtains speed, and speed and time diffusion obtain acceleration.The movement position of the present embodiment is robot, nondominant hand portion
The angle position in each joint.Human hands kinetic model in the present embodiment passes through the existing matrix factory of application (or square
Battle array laboratory, matrix&laboratory, MATLAB), machinery system dynamics automatically analyze (Automatic Dynamic
Analysis of Mechanical Systems, ADAMS) etc. softwares to human hands carry out Dynamic Modeling.
Step 305, actual motion power is obtained.Obtaining actual motion power includes: that multiple pressures are arranged in auxiliary hand robot
Force snesor, actual motion power are the average value of multiple pressure sensors, the i.e. average value of human-computer interaction power
Step 306, the actual motion track of auxiliary hand robot is obtained.Actual motion track includes auxiliary hand machine
The actual motion location information of people.
Step 307, the differential force of actual motion power and motion compensation power is calculated.
Step 308, the movement position of auxiliary hand robot is calculated according to differential force.
The movement position of auxiliary hand robot is calculated according to differential force, comprising:
Differential force DF can be converted to the deviation delta E of track by impedance Control Model.Specifically use impedance control mould
Impedance relationship formula in type.
Impedance relationship formula are as follows:
In above formula, K indicates the elastic coefficient matrix of impedance controller；Δ E=Xd- X, XdIndicate auxiliary hand robot
Movement position, i.e. expected motion trajectory, X indicate the actual motion track of auxiliary hand robot；B is the damping of impedance controller
Coefficient matrix；Indicate the speed obtained by actual motion track and time diffusion；M is the stiffness coefficient square of damping controller
Battle array；Indicate the acceleration obtained by actual motion speed and time diffusion.
Step 309, movement position difference is obtained according to movement position and actual motion position.
Step 309 includes: to obtain movement position difference according to movement position and actual motion position, in conjunction with auxiliary hand machine
Device people's kinematics model, obtains the position deviation of servo motor.
Step 310, judge whether movement position difference is zero.
Step 311, when answer is no, the motor of auxiliary robot is controlled according to movement position difference.Step 311 packet
It includes: according to the output of movement position difference and the position deviation of servo motor control servo motor, making to assist hand robot auxiliary
Nondominant hand is helped to complete desired motion.
Step 312, it updates actual motion power and assists the actual motion track of hand robot, and execute step 307.
Step 313, when movement position difference is zero, stop the motor of control auxiliary robot.
The foundation that hand robot kinematics model is assisted in the present embodiment, by between auxiliary each component of hand robot
Length can be obtained in conjunction with existing hand robot kinematics method for establishing model.
Using object using movement technique when hand robot control method being assisted to carry out synkinesia of the present embodiment
Are as follows:
Standard hand wears hand electromyographic signal collection equipment first, and completes the movement of setting, hand electromyographic signal collection
Equipment obtains the myoelectricity in the electromyography signal input step 301 of acquisition-track identification model using right according to run duration
The motion intention of elephant.
Nondominant hand wears hand electromyographic signal collection equipment, and the movement of repeatedly setting, hand electromyographic signal collection equipment will
Myoelectricity-trajectory predictions model in the electromyography signal input step 302 of acquisition, obtains digital flexion angle of lower a moment, that is, assists
The locomitivity of hand.
According to the difference between the locomitivity of the motion intention and nondominant hand that use object, control system is according to step
Human hands kinetic model in 304 and the impedance relationship formula in step 307 assist hand by control Serve Motor Control
Motion compensation power of the robot according to needed for using object carries out motion compensation to nondominant hand.
Control system includes: hand electromyographic signal collection equipment, host computer, slave computer, pressure sensor, servo-drive
Device, position coder, servo motor, data transmission set and power supply unit.Hand electromyographic signal collection equipment, pressure sensing
Device and position coder are for acquiring data.Host computer, which is behaved, can directly issue the computer of manipulation command, preferably personal meter
Calculation machine (personal computer, PC).Host computer is electrically connected with hand electromyographic signal collection equipment, servo motor respectively.Under
Position machine is used to obtain the data of pressure sensor and position coder acquisition, and transfers data to host computer.Slave computer can be with
For the computer for directly controlling device and acquisition device situation, programmable logic controller (PLC) (Programmable is generally referred to
Logic Controller, PLC), single-chip microcontroller etc..Hand electromyographic signal collection equipment, upper computer and lower computer are passed by data
Transfer device carry out data exchange, data transmission set preferably use TCP/IP protocol suite (TCP/IP Protocol Suite,
TCP/IP) Data Transport Protocol.Servo-driver is for driving servo motor.Power supply unit is used to power to control system.This
Hand electromyographic signal collection equipment acquisition electromyography signal is removed in the movement technique of embodiment and Serve Motor Control assists hand
Remaining step of robot executes in host computer.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (9)
1. a kind of auxiliary robot control method characterized by comprising
Obtain the expected motion trajectory of the auxiliary object of auxiliary robot；
Obtain the motion profile of lower a moment of the auxiliary object of prediction；
Calculate the track position difference of the expected motion trajectory and the motion profile of lower a moment；
Motion compensation power is obtained according to the track position difference；
Obtain actual motion power；
Obtain the actual motion track of the auxiliary robot；The actual motion track includes the reality of the auxiliary robot
Movement position；
Calculate the differential force of the actual motion power Yu the motion compensation power；
The movement position of the auxiliary robot is calculated according to the differential force；
Movement position difference is obtained according to the movement position and the actual motion position；
Judge whether the movement position difference is zero, obtains the first judging result；
When first judging result is no, the motor of the auxiliary robot is controlled according to the movement position difference；
The actual motion power and the actual motion track are updated, and returns and " calculates the actual motion power and the movement
The differential force of balancing force "；
When first judging result, which is, is, stop controlling the motor, under the auxiliary object for completing the prediction
A moment motion profile；
Judge whether to complete the expected motion trajectory, obtains the second judging result；
When second judging result is no, the motion profile of lower a moment is updated, and return and " calculate the desired motion rail
The track position difference of mark and the motion profile of lower a moment "；
When second judging result, which is, is, issues and complete signal.
2. auxiliary robot control method according to claim 1, which is characterized in that obtain the auxiliary pair of auxiliary robot
The expected motion trajectory of elephant, specifically includes:
The expected motion trajectory for obtaining the standard object of the standard robotic, specifically includes:
Obtain the standard electric signal and standard movement data of the standard object；
The standard electric signal is pre-processed, pretreated standard electric signal is obtained；
Extract the standard electrical feature of the pretreated standard electric signal；
Model is recognized by track according to the standard electrical feature and the standard movement data and obtains the phase of the standard object
Hope motion profile；
The expected motion trajectory of the standard object of the standard robotic is corresponding with the expected motion trajectory of the auxiliary object.
3. auxiliary robot control method according to claim 1, which is characterized in that the auxiliary for obtaining prediction
The motion profile of lower a moment of object, specifically includes:
Obtain the electric signal and exercise data of the auxiliary object；
The electric signal is pre-processed, pretreated electric signal is obtained；
Extract the electrical feature of the pretreated electric signal；
The auxiliary object predicted according to the electrical feature and the exercise data by trajectory predictions model it is next
Carve motion profile.
4. auxiliary robot control method according to claim 1, which is characterized in that described poor according to the track position
Value obtains motion compensation power, specifically includes:
Passed through according to the track position differenceObtain the motion compensation power；
τ indicates the motion compensation power in formula；The mass matrix of M (q) expression auxiliary object；Q indicates the auxiliary object
Position；Indicate the acceleration of the auxiliary object；Expression section formula torque battle array and centrifugal force matrix；Indicate described auxiliary
Help the speed of object；G (q) indicates gravitation vector；The position, the speed and the acceleration pass through the movement position
Difference is calculated.
5. auxiliary robot control method according to claim 4, which is characterized in that the acquisition actual motion power, tool
Body includes: that multiple pressure sensors are arranged on the auxiliary robot, and the actual motion power is multiple pressure sensors
Average value.
6. auxiliary robot control method according to claim 1, which is characterized in that described to be calculated according to the differential force
The movement position of the auxiliary robot, specifically includes:
Passed through according to the differential forceIt calculates and obtains the movement position；
DF indicates the differential force in formula；The elastic coefficient matrix of K expression impedance controller；XdIndicate the auxiliary robot
Movement position；X indicates the actual motion track of the auxiliary robot；B is the damped coefficient matrix of impedance controller；Table
Show the movement velocity obtained by the actual motion track and time diffusion；M is the stiffness coefficient matrix of damping controller；Table
Show the acceleration of motion obtained by the movement velocity and the time diffusion.
7. a kind of auxiliary robot control system characterized by comprising
Expected motion trajectory obtains module, the expected motion trajectory of the auxiliary object for obtaining auxiliary robot；
The motion profile of lower a moment of prediction obtains module, the motion profile of lower a moment of the auxiliary object for obtaining prediction；
Track position difference calculating module, for calculating the track position of the expected motion trajectory and the motion profile of lower a moment
Set difference；
Motion compensation power obtains module, for obtaining motion compensation power according to the track position difference；
Actual motion power obtains module, for obtaining actual motion power；
Actual motion track obtains module, for obtaining the actual motion track of the auxiliary robot；The actual motion rail
Mark includes the actual motion position of the auxiliary robot；
Differential force computing module, for calculating the differential force of the actual motion power Yu the motion compensation power；
Movement position computing module, for calculating the movement position of the auxiliary robot according to the differential force；
Movement position difference obtains module, poor for obtaining movement position according to the movement position and the actual motion position
Value；
First judging result module obtains the first judging result for judging whether the movement position difference is zero；
Auxiliary robot control module, for being controlled according to the movement position difference when first judging result is no
The motor of the auxiliary robot；
Update module for updating the actual motion power and the actual motion track, and returns to the differential force and calculates mould
Block；
Stop control module, controls the motor for stopping when first judging result, which is, is, complete the prediction
The motion profile of lower a moment of the auxiliary object；
Second judging result module completes the expected motion trajectory for judging whether, obtains the second judging result；
Return module, for updating the motion profile of lower a moment, and return to the rail when second judging result is no
Mark position difference calculating module；
Module is completed, for issuing and completing signal when second judging result, which is, is.
8. auxiliary robot control system according to claim 7, which is characterized in that the expected motion trajectory obtains mould
Block includes:
The expected motion trajectory unit for obtaining standard object, for obtaining the expected motion trajectory of standard object；
It is described obtain standard object expected motion trajectory unit include:
Normal data subelement is obtained, for obtaining the standard electric signal and standard movement data of the standard object；
Standard pre-processes subelement and obtains pretreated standard electric signal for pre-processing to the standard electric signal；
Standard extracts subelement, for extracting the standard electrical feature of the pretreated standard electric signal；
The expected motion trajectory subelement for obtaining standard object, for according to the standard electrical feature and the standard movement data
Model, which is recognized, by track obtains the expected motion trajectory of the standard object；
Expected motion trajectory corresponding unit, for by the expected motion trajectory of the standard object of the standard robotic with it is described auxiliary
Help the expected motion trajectory of object corresponding.
9. auxiliary robot control system according to claim 7, which is characterized in that lower a moment of the prediction moves rail
Mark obtains module
Auxiliary data subelement is obtained, for obtaining the electric signal and exercise data of the auxiliary object；
Auxiliary pretreatment subelement, pre-processes the electric signal, obtains pretreated electric signal；
Assisted extraction subelement, for extracting the electrical feature of the pretreated electric signal；
The motion profile of lower a moment of prediction obtains subelement, for pre- by track according to the electrical feature and the exercise data
Survey the motion profile of lower a moment for the auxiliary object that model is predicted.
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