CN110625591A - Teleoperation system and method based on exoskeleton data gloves and teleoperation rod - Google Patents
Teleoperation system and method based on exoskeleton data gloves and teleoperation rod Download PDFInfo
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- CN110625591A CN110625591A CN201910281645.XA CN201910281645A CN110625591A CN 110625591 A CN110625591 A CN 110625591A CN 201910281645 A CN201910281645 A CN 201910281645A CN 110625591 A CN110625591 A CN 110625591A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000009471 action Effects 0.000 claims abstract description 13
- 210000003811 finger Anatomy 0.000 claims description 77
- 210000000707 wrist Anatomy 0.000 claims description 29
- 244000060701 Kaempferia pandurata Species 0.000 claims description 23
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 23
- 210000003813 thumb Anatomy 0.000 claims description 20
- 238000005259 measurement Methods 0.000 claims description 6
- 230000000875 corresponding effect Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 3
- 210000004932 little finger Anatomy 0.000 claims description 3
- 238000004886 process control Methods 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 3
- 238000012545 processing Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 7
- 210000001145 finger joint Anatomy 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention provides a force feedback teleoperation system and method based on an exoskeleton data glove and a teleoperation rod. The exoskeleton hand data glove and the remote control lever are respectively used for tracking the finger joint angle and the hand position of a user and simultaneously realizing the force feedback which can be sensed on the finger position and the whole arm, the processing and control unit comprises a sensor circuit and an upper computer system, and the upper computer analyzes and processes the collected user action information and sends a control signal to the remote robot arm controller to complete corresponding operation; in addition, the force sensor on the manipulator can transmit the pressure at the tail end of the manipulator to an upper computer system in real time, and then the pressure is fed back to a wearer through the exoskeleton data glove and the remote control lever, so that more comprehensive and real force feedback is realized. The invention can be applied to the fields of aviation, industry, medical treatment, teaching, entertainment and the like.
Description
Technical Field
The invention relates to the technical field of teleoperation of robots. In particular to a teleoperation system and a method based on an exoskeleton data glove and a teleoperation rod.
Background
With the rapid development of space and ocean technologies, master and slave teleoperation robot technologies in an interactive control mode become a research hotspot, such as intelligent robots working in dangerous environments, telemedicine, remote teaching, virtual reality entertainment facilities in daily life, and the like. In the teleoperation technology, the force telepresence can enable an operator to operate the telerobot with force sense to complete various complex and fine operations, and the force feedback technology enables the operator to make correct decisions and effectively control the robot to complete complex tasks in the teleoperation process.
Chinese utility model patent publication No.: CN 207096930U, name: a control system for a haptic feedback exoskeleton. The utility model provides an ectoskeleton owner hand tactile feedback control system, the system can acquire and trail finger action information to can realize comparatively real tactile feedback through the pressure to the finger. However, the exoskeleton master hand is only limited to acquiring the motion information of each joint of the finger, and cannot track the motions of translation, rotation and the like of the hand, so that the application range of the exoskeleton master hand in teleoperation is limited. In addition, in reality, when a human hand completes a certain task, such as pushing a box, not only the finger part but also the whole arm of the operator can feel stressed. The utility model is based on finger tip on the tactile feedback, and the comprehensiveness and reality of the force feedback still need to be improved.
Disclosure of Invention
In order to acquire more master hand action information and improve comprehensiveness and reality of force feedback, the invention provides a force feedback teleoperation system and a method based on exoskeleton hand data gloves and a teleoperation rod, and the force feedback teleoperation system and the method can be applied to the fields of aviation, industry, medical treatment, teaching, entertainment and the like.
The system consists of an exoskeleton hand data glove, a remote control stick, a remote robot arm unit and a processing control unit. The exoskeleton data glove comprises a wrist fixing base frame, a hand back fixing base frame, 5 human-simulated fingers, a position sensor and an exoskeleton glove microcontroller.
The fixed bed frame of back of the hand one end is connected with the root of the finger of 4 imitative people's fingers except thumb through spherical hinge, and the other end links to each other with the fixed bed frame of wrist through 4 adjustable chains of length, the fixed bed frame of wrist is connected with the thumb root through spherical hinge.
The hand back and the wrist fixing base frame are respectively fixed on the palm and the wrist of a wearer by bandages made of elastic materials, so that the fixing function is realized.
The exoskeleton data glove comprises three sections of simulated human fingers except for a thumb: a finger tip section, a finger middle section and a finger root section. The finger tip section is connected with the finger middle section through a pin hinge, the finger middle section is composed of two parts, the two parts are connected through a screw nut, the length of the finger part of the exoskeleton glove can be adjusted, the finger middle section is connected with the finger root section through the pin hinge, and the other end of the finger root section is connected with the hand back fixing base frame through a spherical hinge.
The thumb of the exoskeleton data glove also includes three sections: the finger tip section, the finger middle section and the finger root section are different from the four fingers in that the finger root section is a crank connecting rod to meet the specificity of the thumb structure, and the tail end of the crank connecting rod is connected with the wrist fixing base frame through a spherical hinge.
Fixed pulleys are arranged above the pin hinge joint of each section of joint of the 5 human-simulated fingers, the driving rope fixed at the finger tip is connected with a driving motor arranged on the hand back fixing base frame through the two fixed pulleys of the finger middle section and the finger root section respectively, and the exoskeleton data glove microcontroller realizes the loosening and tightening of the driving rope by controlling the rotation of the driving motor, so that the function of partial force feedback is realized.
In addition, 5 imitative people's finger point sections are the parcel type structure, and its inside bottom is installed an elasticity preforming, and the preforming passes through the lead screw and links to each other with driving motor to adjust the degree of compressing tightly of preforming through driving motor's positive and negative rotation, give the user with comparatively real tactile feedback.
The position sensor comprises two types, wherein one type is positioned at the spherical hinge joint of the finger root part, and can meet the measurement requirements of 2 degrees of freedom (bending/stretching, abduction/adduction) of the finger root part. The other type is positioned at the joint connected with the pin hinge, and the measurement requirement of 1 degree of freedom of the joint is met. The position sensor at each joint is not limited to a sensor with a specific model, and the requirement of the number of degrees of freedom to be measured can be met.
The exoskeleton glove microcontroller is fixed on the wrist fixing base frame, and data acquisition of the position sensor and control of the driving motor are achieved.
The wrist fixing base frame is provided with a remote control rod handle clamping unit which comprises a supporting plate, an adjusting screw and a clamping gasket and is used for fixing an operating handle of the remote control rod, so that the exoskeleton data glove and the remote control rod can be conveniently matched for use.
The remote control rod can realize the tracking of the whole space action of the hand of an operator and can perform sensible force feedback on the whole arm of the operator.
The far-end robot arm unit can be an independent robot arm or a certain arm of a robot, a humanoid manipulator (matched with the near-end exoskeleton data glove) is arranged at the tail end of the far-end robot arm unit, and a force sensor is attached to the manipulator and used for collecting pressure information in the grabbing process in real time.
The processing control unit mainly comprises a sensor circuit and an upper computer. The sensor circuit is to: (1) collecting real-time action information data of an operator and transmitting the real-time action information data to an upper computer; (2) and acquiring real-time force data of the tail end of the far-end robot arm and transmitting the data to the upper computer. The upper computer processing process comprises: (1) processing the collected real-time action information data of the operator to obtain an angle control signal, and transmitting the angle control signal to a remote robot controller; (2) and the force fed back from the tail end of the robot arm is processed, a control signal is sent to the remote control lever and the exoskeleton data glove microcontroller, the driving motors of all parts are controlled, and the acting force is fed back to a wearer through the exoskeleton data glove and the remote control lever.
The invention has the advantages that: (1) the exoskeleton data glove is provided with a remote control lever handle clamping unit which can realize the tracking of finger actions and hand position information of an operator in cooperation with the remote control lever; (2) in the operation process, the exoskeleton glove can realize force feedback of finger parts through feedback acting force provided by the five-finger driving rope and the fingertip wrapping structure, and meanwhile, the remote control lever can finish force feedback which can be sensed by the whole arm of a user, so that more comprehensive and real force feedback is realized.
Drawings
Fig. 1 is a schematic structural diagram of a force feedback teleoperation system based on an exoskeleton data glove and a telejoystick, in which, a1 proximal devices comprise a1-1 exoskeleton data glove and a1-2 telejoystick, a2 distal robotic arm unit, and a3 processing control unit;
fig. 2 is a schematic structural diagram of an exoskeleton data glove, wherein b1 to b5 are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger of the exoskeleton data glove, b6 a back-of-hand fixing base frame, b7 a wrist fixing base frame, b8 a back-of-hand fixing base frame elastic bandage, b9 a wrist fixing base frame elastic bandage, b10 a base frame connecting bar, b11 an exoskeleton glove microcontroller, b12 a rope driving motor, and b13 a joystick handle clamping unit;
fig. 3 is a schematic structural diagram of four fingers of an exoskeleton data glove, wherein c1 to c3 are finger tips, finger middle and finger root parts of the four fingers, c4 pin hinges, c5 adjusting lead screws, c6 adjusting nuts, c7 spherical hinges, c8 position sensors, c9 fixed pulleys, c10 driving ropes, c11 finger tip driving motors, c12 elastic pressing sheets and c13 four-finger elastic bandages respectively;
fig. 4 is a schematic diagram of a thumb structure of an exoskeleton data glove, wherein d1 to d3 are respectively a fingertip, a middle finger and a root of a thumb, a d4 pin hinge, a d5 adjusting screw rod, a d6 adjusting nut, a d7 spherical hinge, a d8 position sensor, a d9 fixed pulley, a d10 driving rope, a d11 fingertip driving motor, a d12 elastic pressing sheet and a d13 thumb elastic bandage;
fig. 5 is a finger tip structure diagram of five fingers of the exoskeleton data glove, wherein, e1 elastic pressing sheet, e2 adjusting screw rod and e3 driving motor are shown;
FIG. 6 is a schematic diagram of the structure of the root joint of the five fingers of the exoskeleton data glove, wherein f1 is the root, f2 is the spherical hinge base, f3 is the position sensor, and f4 is the sensor baffle;
fig. 7 is a schematic structural diagram of a joystick handle clamping unit of the exoskeleton data glove, wherein g1 adjusting screw, g2 support plate, g3 clamping washer, g4 joystick handle;
fig. 8 is a functional overview of the system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further described in more detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, the present embodiment discloses a force feedback teleoperation system based on exoskeleton data glove and telejoystick, comprising exoskeleton hand data glove a1-1, telejoystick a1-2, remote robotic arm unit a2 and process control unit a 3.
As shown in fig. 2, the exoskeleton data glove includes a wrist mounting base frame b7, a dorsal mounting base frame b6, 5 humanoid fingers (thumb b1, index finger b2, middle finger b3, ring finger b4, little finger b 5), a position sensor, and an exoskeleton data glove microcontroller b 11.
One end of the back of the hand fixing base frame b6 is connected with the root of the 4 fingers except the thumb through a spherical hinge, the other end is connected with the wrist fixing base frame b7 through 4 chains b10 with adjustable length, and the wrist fixing base frame is connected with the root of the thumb b1 through a spherical hinge.
The back of the hand b6 and the wrist fixing base frame b7 are respectively fixed on the palm and the wrist of the wearer by bandages b8 and b9 made of elastic materials, so that the fixing function is realized.
As shown in fig. 3, the exoskeleton data glove includes three segments of 4 simulated human fingers except for the thumb: finger tip segment c1, finger mid segment c2, and finger root segment c 3. The finger tip section c1 is connected with the finger middle section c2 through a pin hinge c4, the finger middle section c2 is composed of two parts, the two parts are connected with c6 through a screw rod c5 and a nut, the length of the finger part of the exoskeleton glove can be adjusted, the finger middle section c2 is connected with the finger root section c3 through the pin hinge, and the other end of the finger root section c3 is connected with the hand back fixing base frame b6 through a spherical hinge c 7.
As shown in fig. 4, the thumb of the exoskeleton data glove also includes three sections: the finger tip section d 1), the finger middle section d2 and the finger root section d3 are different from the four fingers in that the finger root section is a crank connecting rod d3 to meet the specificity of the thumb structure, and the tail end of the crank connecting rod is connected with a wrist fixing base frame b7 through a spherical hinge d 7.
As shown in fig. 3 and 4, fixed pulleys c9 and d9 are mounted above pin hinge joints c4 and d4 of each segment of joints of the 5 simulated human fingers, driving ropes c10 and d10 fixed at fingertips c1 and d1 respectively pass through two fixed pulleys of a middle segment c2 and d2 and a base segment c3 and d3 and are connected with a driving motor b12 mounted on a back of the hand or a wrist fixing base frame b7, and an exoskeleton data glove microcontroller b11 controls the rotation of the driving motors to realize the loosening and tightening of the driving ropes, so that a part of force feedback functions are realized.
In addition, as shown in fig. 5, the finger tip sections of the 5 human-simulated fingers are all of a wrapping type structure, an elastic pressing sheet e1 is arranged at the inner bottom end of the finger tip sections, and the pressing sheet is connected with a driving motor e3 through a lead screw e2, so that the pressing degree of the pressing sheet is adjusted through the forward and reverse rotation of the driving motor e3, and a real tactile feedback is provided for a user.
The position sensor comprises two types, wherein one type is positioned at the joint of a spherical hinge at the position f1 of the finger root (as shown in figure 6), a spherical hinge base f2 and a sensor baffle f4 are fixed on the back of a hand or a wrist fixing base frame (b 6 or b 7), and a position sensor f3 is arranged on the sensor baffle f4, so that the measurement requirement of 2 degrees of freedom (bending/stretching, abduction/adduction) of the finger root can be met. Another position sensor (c 8, d 8) is positioned at the joint connected by the pin hinge and meets the measurement requirement of 1 degree of freedom of the joint.
The exoskeleton glove microcontroller b11 is fixed on the wrist fixing base frame, so that data acquisition of the position sensor and control of the driving motor are realized.
As shown in fig. 7, a joystick handle clamping unit is disposed on the wrist fixing base frame, and includes a supporting plate g2, an adjusting screw g1 and a clamping washer g3, which is used to fix an operating handle of the joystick, so that the exoskeleton data glove and the joystick can be conveniently used in cooperation.
The remote control stick a1-2 can realize the tracking of the whole space motion of the hand of the operator, and can simultaneously carry out the sensible force feedback on the whole arm of the operator.
The far-end robot arm unit a2 can be an independent robot arm or a certain operation arm of a robot, the tail end of the far-end robot arm unit a2 is provided with a humanoid manipulator (matched with the near-end exoskeleton data glove), and a force sensor is attached to the manipulator and used for acquiring pressure information in the grabbing process in real time.
The processing control unit a3 mainly comprises a sensor circuit and an upper computer. The sensor circuit is to: (1) collecting real-time action information data of an operator and transmitting the real-time action information data to an upper computer; (2) acquiring real-time force data of the tail end of the far-end robot arm a2 and transmitting the data to an upper position
A machine is provided. The upper computer processing process comprises: (1) processing the collected real-time action information data of the operator to obtain an angle control signal, and transmitting the angle control signal to a remote robot controller; (2) and the force fed back from the tail end of the robot arm is processed, a control signal is sent to the remote control lever and the exoskeleton data glove microcontroller, the driving motors of all parts are controlled, and the acting force is fed back to a wearer through the exoskeleton data glove and the remote control lever.
Further, the general functional diagram of the teleoperation system is shown in fig. 7, a user wears the exoskeleton data glove, fixes the handle of the teleoperation lever on the clamping unit, and ensures that the information communication of the whole system is normal, the finger action information of the user is acquired by the position sensor of the exoskeleton data glove and is transmitted to the upper computer, the whole spatial position information of the hand of the user is acquired by the teleoperation lever and is transmitted to the upper computer, the upper computer analyzes and synthesizes the acquired data, sends a corresponding control signal to the remote robot arm controller, and controls the manipulator and the robot arm to complete corresponding actions. In addition, a force sensor arranged on the manipulator can collect the compression force of the manipulator in real time and transmit the compression force to an upper computer system as a feedback force, and the upper computer sends a control signal to the exoskeleton data glove controller through operation, so that a driving motor is controlled to drive a driving cable and a pressing sheet in a fingertip, and the force feedback of the corresponding size of the finger part is realized. In addition, the upper computer also sends the force feedback control signal obtained by operation to the remote control lever to complete the force feedback which can be sensed on the whole arm of the user, thereby realizing more comprehensive and real force feedback.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (9)
1. A force feedback teleoperation system based on exoskeleton data gloves and telejoysticks, characterized in that the teleoperation system is composed of exoskeleton hand data glove a1-1, telejoystick a1-2, remote robotic arm unit a2 and process control unit a 3.
2. The exoskeleton data glove and joystick based force feedback teleoperation system of claim 1 wherein the exoskeleton data glove comprises a wrist fixed base b7, a dorsal fixed base b6, 5 humanoid fingers (thumb b1, index finger b2, middle finger b3, ring finger b4, little finger b 5), a position sensor and an exoskeleton data glove microcontroller b 11.
3. The force feedback teleoperation system based on exoskeleton data gloves and telejoysticks of claim 2 wherein the exoskeleton data glove dorsal fixation pedestal b6 is connected at one end to the base of the 4 simulated human fingers except thumb by spherical hinges and at the other end to the wrist fixation pedestal b7 by 4 adjustable length chains b10, said wrist fixation pedestal being connected to the base of thumb b1 by spherical hinges; the back of the hand b 6) and the wrist fixing base frame b7 are respectively fixed on the palm and the wrist of the wearer by bandages b8 and b9 made of elastic materials.
4. The exoskeleton data glove and joystick based force feedback teleoperation system of claim 2 wherein the 4 humanoid fingers of the exoskeleton data glove, except the thumb, each comprise three segments: a finger tip section c1, a finger middle section c2 and a finger root section c 3; the finger tip section c1 is connected with a finger middle section c2 through a pin hinge c4, the finger middle section c2 is composed of two parts, the two parts are connected with c6 through a screw rod c5 nut, the length of the finger part of the exoskeleton glove can be adjusted, the finger middle section c2 is connected with a finger root section c3 through a pin hinge, and the other end of the finger root section c3 is connected with the hand back fixing base frame b6 through a spherical hinge c 7; the thumb of the exoskeleton data glove also includes three sections: the difference between the finger tip section d1, the finger middle section d2 and the finger root section d3 is that the finger root section is a crank connecting rod d3, and the tail end of the crank connecting rod is connected with a wrist fixing base frame b7 through a spherical hinge d 7.
5. The force feedback teleoperation system based on the exoskeleton data glove and the telejoystick as claimed in claim 2, wherein fixed pulleys c9 and d9 are respectively installed above pin hinge joints c4 and d4 of each segment of joints of 5 simulated human fingers of the exoskeleton data glove, driving ropes c10 and d10 fixed at finger tips c1 and d1 are respectively connected with a driving motor b12 installed on a back of the hand or a wrist fixing base frame b7 through two fixed pulleys of a middle segment c2 and d2 and a root segment c3 and d3, and the exoskeleton data glove microcontroller 11 controls the rotation of the driving motors to realize the loosening and tightening of the driving ropes, thereby realizing a partial force feedback function.
6. The force feedback teleoperation system based on exoskeleton data gloves and telejoysticks as claimed in claim 2, wherein 5 finger tip segments of the exoskeleton data gloves are all wrapped structures, and an elastic pressing sheet e1 is installed at the bottom end inside the exoskeleton data gloves, and the pressing sheet is connected with a driving motor e3 through a lead screw e2, so that the degree of compression of the pressing sheet is adjusted through the forward and backward rotation of the driving motor e3, and more real tactile feedback is provided to users.
7. The force feedback teleoperation system based on exoskeleton data gloves and telejoysticks of claim 2, wherein the position sensors comprise two kinds, one kind is located at the position f1 of finger root, the spherical hinge base f2 and the sensor baffle f4 are fixed on the hand back or wrist fixing base frames b6 and b7, the position sensor f3 is mounted on the sensor baffle f4, and the measurement requirements of 2 degrees of freedom of bending/extending, abduction/adduction of the finger root can be met; and another position sensor c8 and d8 is positioned at the joint connected by the pin hinge, and meets the measurement requirement of 1 degree of freedom of the joint.
8. The exoskeleton data glove and joystick based force feedback teleoperation system of claim 2, wherein the wrist fixing base b7 of the exoskeleton data glove is provided with a telejoystick handle clamping unit comprising a support plate g2, an adjusting screw g1 and a clamping washer g3 for fixing the operation handle of the telejoystick, thereby facilitating the cooperation of the exoskeleton data glove and the telejoystick.
9. A force feedback teleoperation method based on exoskeleton data gloves and a teleoperation rod is characterized in that a user wears the exoskeleton data gloves, a handle of the teleoperation rod is fixed on a clamping unit of the exoskeleton data gloves, normal information communication of the whole system is guaranteed, an operator sends out control action at a near end, corresponding action tracking is completed through a mechanical arm at the end and a mechanical arm through communication between an upper computer and a lower computer, and force feedback which can be sensed on the whole arm of the user is achieved through the exoskeleton data gloves and the teleoperation rod.
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| CN201910281645.XA CN110625591A (en) | 2019-04-09 | 2019-04-09 | Teleoperation system and method based on exoskeleton data gloves and teleoperation rod |
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| CN201910281645.XA CN110625591A (en) | 2019-04-09 | 2019-04-09 | Teleoperation system and method based on exoskeleton data gloves and teleoperation rod |
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Cited By (5)
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| CN111941401A (en) * | 2020-09-16 | 2020-11-17 | 南京工业职业技术大学 | Exoskeleton type data glove with high universality |
| CN113288074A (en) * | 2021-05-17 | 2021-08-24 | 上海交通大学 | Multi-degree-of-freedom position-adjustable pulse-taking mechanical arm device |
| CN113855482A (en) * | 2021-09-30 | 2021-12-31 | 中国科学院自动化研究所 | Hand rehabilitation device and hand thumb control device based on spherical connecting rod mechanism |
| CN113867542A (en) * | 2021-10-22 | 2021-12-31 | 国网上海市电力公司 | Somatosensory operation glove with force feedback effect |
| CN115107064A (en) * | 2022-05-20 | 2022-09-27 | 华南理工大学 | Six-degree-of-freedom mechanical arm teleoperation system and method thereof |
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| CN113288074B (en) * | 2021-05-17 | 2022-03-15 | 上海交通大学 | Multi-degree-of-freedom position-adjustable pulse-taking mechanical arm device |
| CN113855482A (en) * | 2021-09-30 | 2021-12-31 | 中国科学院自动化研究所 | Hand rehabilitation device and hand thumb control device based on spherical connecting rod mechanism |
| CN113855482B (en) * | 2021-09-30 | 2022-07-01 | 中国科学院自动化研究所 | Hand rehabilitation device and hand thumb control device based on spherical connecting rod mechanism |
| CN113867542A (en) * | 2021-10-22 | 2021-12-31 | 国网上海市电力公司 | Somatosensory operation glove with force feedback effect |
| CN115107064A (en) * | 2022-05-20 | 2022-09-27 | 华南理工大学 | Six-degree-of-freedom mechanical arm teleoperation system and method thereof |
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