CN202776646U - Upper artificial limb hand gesture self-balancing control system - Google Patents
Upper artificial limb hand gesture self-balancing control system Download PDFInfo
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- CN202776646U CN202776646U CN 201220379067 CN201220379067U CN202776646U CN 202776646 U CN202776646 U CN 202776646U CN 201220379067 CN201220379067 CN 201220379067 CN 201220379067 U CN201220379067 U CN 201220379067U CN 202776646 U CN202776646 U CN 202776646U
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- hand
- artificial limb
- controller
- obliquity sensor
- upper artificial
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Abstract
The utility model discloses an upper artificial limb hand gesture self-balancing control system. The upper artificial limb hand gesture self-balancing control system comprises a hand balancing controller and a voltage type double-shaft tilt angle sensor which is fixed on an upper artificial limb front arm, and the hand balancing controller is connected with a front arm twist actuator and a wrist pitch actuator of the upper artificial limb through a serial port. The hand balancing controller is formed by connection of a microgrammed control unit (MCU), an analog-digital conversion circuit, a power management module and the serial port. When a person carries out arm motion, the sensor sends real-time detected front arm gesture change data information to the controller through the analog-digital conversion circuit in the controller, the controller can automatically adjust rotating directions and rotating angles of the front arm twist actuator and the wrist pitch actuator according to inclination angles detected by the sensor, and therefore the thumb-index web direction of an upper artificial limb hand can keep upward in a vertical mode. Thus, the upper artificial limb hand gesture self-balancing control system can automatically keep hand gesture of upper artificial limbs or mechanical arms balanced and stable when arms carry out upper and lower, left and right and front and back motion freely.
Description
Technical field
This utility model relates to upper artificial limb or robot mechanical arm for disabled persons, relates in particular to the artificial limb hand is kept posture balancing automatically in movement control technology.
Background technology
Usually, people's one glass of water from the desk upper end is put into the mouth and drinks, and must keep the attitude of water tumbler to remain unchanged in moving process, otherwise water will spill.This is a very simple usual action for the people, and can implement for robot or upper artificial limb just has very large difficulty.
Robot or upper artificial limb will be finished some pick-and-place operations, must describe out in advance initial state (annotate: so-called " state " comprise position and two kinds of information of attitude) and the dbjective state of hand so that so that its hand can accurately grab object and it is put into the place of needs with the attitude that requires.And for some such special pick-and-place operations of end water tumbler, initial state and the dbjective state of hand not only will be described, also need to indicate the state at the some approach points place between initial state and dbjective state in the hand moving process, to guarantee water tumbler attitude stabilization in moving process, be unlikely to run-off the straight and unrestrained water in the cup, this will carry out continuous path planning to the motion of mechanical hand.
Trajectory planning generally has dual mode, and a kind of is to carry out trajectory planning at joint space, and a kind of is to carry out trajectory planning at cartesian space.
Trajectory planning in joint space although computational speed is fast, is easy to carry out in real time, but often can't guarantee keeping of hand attitude in the moving process, and significant discomfort is used in the such work of end water tumbler.
Realize that the water in the cup is not unrestrained in the hand moving process, must in cartesian space, carry out trajectory planning.And at the trajectory planning of cartesian space, need between cartesian space and joint space, shine upon in real time, this is a task that amount of calculation is very large, usually causes the control interval of growing; Moreover, be ill by cartesian space to the conversion of joint space, it is not man-to-man mapping; In addition, because initial state and the dbjective state of the target of doing evil through another person all are at random, even be difficult to realize for the description of initial state and dbjective state, and difficult especially to the description of its approach state point.So keep holding remaining unchanged of water tumbler moving process hand attitude very difficult.
The utility model content
The purpose of this utility model is to disclose a kind of hand attitude of artificial limb or mechanical hand that guarantees automatically to keep the control system of balance in motor process.By this system, can when arm is done arbitrarily top to bottom, left and right, front and rear motion, can both automatically keep the hand posture balancing of artificial limb or mechanical hand stable.
The technical solution of the utility model is: a kind of upper artificial limb hand attitude Self-balance Control System, it comprises hand balance controller and the obliquity sensor that is fixed on the artificial limb forearm, and the hand balance controller is connected with the wrist pitch-control motor with the front brachiostrophosis steering wheel of upper artificial limb by serial ports;
Described hand balance controller is connected to form by MCU, analog to digital conversion circuit, power management module and serial ports.
Above-mentioned obliquity sensor is a kind of voltage-type double-shaft tilt angle sensor, is existing structure.
Method of work of the present utility model is as follows:
The first step: the installation of obliquity sensor
Obliquity sensor is installed on some positions of the forearm that is subjected to front brachiostrophosis servo driving, the obliquity sensor installation requirement is as follows: obliquity sensor allows to change at the upper-lower position of forearm, but must guarantee the X-axis of obliquity sensor and plane and the residing plane parallel of hand tiger’s jaw this moment that Y-axis consists of, and the direction of X-axis that must guarantee obliquity sensor is parallel with the axis of forearm, and the direction of Y-axis is vertical with the axis of forearm;
Second step: artificial limb hand attitude keeps balance in the control, specifically is divided into following two aspects:
One: control wrist pitch-control motor keeps balance
Under the hand balance controller receives the X axis of the obliquity sensor that the obliquity sensor Real-time Measuring gets, depart from horizontal plane and and horizontal plane shape in an angle the time, then the hand balance controller will be controlled and lift corresponding angle on the wrist pitch-control motor; In like manner, the hand balance controller receive depart from the X axis of the obliquity sensor that the obliquity sensor Real-time Measuring gets horizontal plane and and horizontal plane shape in an angle the time, then the hand balance controller will be controlled the wrist pitch-control motor corresponding angle that falls; When the hand balance controller receives the X-axis of the obliquity sensor that the obliquity sensor Real-time Measuring gets when parallel with horizontal plane, then the hand balance controller does not just need to control the wrist pitch-control motor and rotates.
Two: the brachiostrophosis steering wheel keeps balance before the control
Under the hand balance controller receives the Y-axis of the obliquity sensor that the obliquity sensor Real-time Measuring gets, depart from horizontal plane and and horizontal plane shape in an angle the time, illustrate that artificial limb hand tiger’s jaw is to the inboard inclination of health, the hand balance controller will be controlled front brachiostrophosis steering wheel and rotate to the health outside, the obliquity sensor that drives forearm and mounted thereto rotates to the health outside, the Y direction that makes obliquity sensor by the dried up plane of downward bias gradually to parallel variation with horizontal plane; On the hand balance controller receives the Y-axis of the obliquity sensor that the obliquity sensor Real-time Measuring gets, depart from horizontal plane and and horizontal plane shape in an angle the time, illustrate that artificial limb hand tiger’s jaw tilts to the health outside, the hand balance controller will be controlled front brachiostrophosis steering wheel and rotate to health is inboard, the obliquity sensor that drives forearm and mounted thereto rotates to health is inboard, the Y direction that makes obliquity sensor by upwards depart from horizontal plane gradually to be that plane parallel changes; When the hand balance controller receives the Y-axis of obliquity sensor when parallel with horizontal plane, the tiger’s jaw perpendicular direction of artificial limb hand this moment is described upwards, the hand balance controller does not just need to control front brachiostrophosis steering wheel rotation like this.
The below illustrates good effect of the present utility model according to operation principle.
The purpose of this utility model mainly is that the upper artificial limb of control or mechanical hand hand tiger’s jaw direction in some special operational processes remain vertically upward, based on this mechanism, operation principle of the present utility model is, about arm is done, about, when motion is waited in front and back, the analog to digital conversion circuit that the forearm attitude delta data information exchange that obliquity sensor will detect is in real time crossed hand balance controller inside sends in the hand balance controller, the hand balance controller can be according to X-axis and the Y-axis difference angle of inclination with respect to the horizontal plane of obliquity sensor, automatically the direction of rotation of brachiostrophosis steering wheel and wrist pitch-control motor and corner size before regulating, so that the tiger’s jaw direction of upper artificial limb hand keeps vertically upward, keep the balance of hand attitude to keep; Above-mentioned forearm attitude delta data information comprises two angles of inclination, the one, the X-axis of obliquity sensor angle of inclination with respect to the horizontal plane, be the fore-and-aft direction of human body, the 2nd, the Y-axis of obliquity sensor angle of inclination with respect to the horizontal plane, the i.e. left and right directions of human body.Therefore by this system, when having realized that arm is done arbitrarily top to bottom, left and right, front and rear motion, can both automatically keep the hand posture balancing of artificial limb or mechanical hand stable, solve a for a long time insurmountable difficult problem of people.
Description of drawings
The below on the right side artificial limb as example illustrates embodiment of the present utility model.
Fig. 1 is upper artificial limb hand attitude self-balancing control principle block diagram;
Fig. 2 is the installation site graph of a relation of upper artificial limb obliquity sensor and upper artificial limb when naturally drooping;
Fig. 3 is forearm when upwards being raised to horizontal level, and the hand tiger’s jaw is sketch map up;
Fig. 4 is forearm when upwards being raised to horizontal level, and the hand tiger’s jaw is sketch map inwardly;
Fig. 5 is forearm when upwards being raised to horizontal level, and the hand tiger’s jaw is sketch map outwardly;
Fig. 6 lifts an angle but when also not arriving horizontal level, the wrist pitch-control motor is not made hand attitude sketch map before the balanced adjustment on the forearm;
Fig. 7 lifts an angle but when also not arriving horizontal level, the wrist pitch-control motor is made hand attitude sketch map behind the balanced adjustment on the forearm;
Fig. 8 is when lifting an angle on the forearm and surpassing horizontal level, and the wrist pitch-control motor is not made hand attitude sketch map before the balanced adjustment;
Fig. 9 is when lifting an angle on the forearm and surpassing horizontal level, and the wrist pitch-control motor is made hand attitude sketch map behind the balanced adjustment;
Figure 10 is X-axis and the Y direction sketch map on the obliquity sensor;
Figure 11 is the circuit block diagram of hand balance controller.
Among the figure: 1-hand balance controller, brachiostrophosis steering wheel before the 2-obliquity sensor, 3-, 4-wrist pitch-control motor, the X-axis of 5-obliquity sensor, the Y-axis of 6-obliquity sensor, 7-MCU, 8-power management module, 9-serial ports, 10-analog to digital conversion circuit.
The specific embodiment
The below further specifies embodiment of the present utility model with reference to the accompanying drawings.
As shown in Figure 1 and Figure 2, artificial limb hand attitude Self-balance Control System on this utility model, that forearm at upper artificial limb is fixed with obliquity sensor 2, it also includes hand balance controller 1, and hand balance controller 1 is connected with the wrist pitch-control motor with the front brachiostrophosis steering wheel 3 of upper artificial limb by serial ports 9 and is connected; The analog to digital conversion circuit 10 that the forearm attitude delta data information exchange that obliquity sensor 2 will detect is in real time crossed hand balance controller 1 inside sends in the hand balance controller 1, the direction of motion and the angle of front brachiostrophosis steering wheel 3 and wrist pitch-control motor 4 are adjusted in real time control of hand balance controller 1, thereby hand tiger’s jaw direction is kept vertically upward; Above-mentioned forearm attitude delta data information comprises two angles of inclination, as shown in figure 10, the one, X-axis 5 angle of inclination with respect to the horizontal plane of obliquity sensor 2, the i.e. fore-and-aft direction of human body, the 2nd, Y-axis 6 angle of inclination with respect to the horizontal plane of obliquity sensor 2, the i.e. left and right directions of human body; Wherein:
As shown in figure 11, described hand balance controller 1 is connected to form by MCU7, power management module 8, serial ports 9 and analog to digital conversion circuit 10.
For the ease of implementing, the operation principle of embodiment is described according to Fig. 2-10 again.
One, the installation requirement of obliquity sensor 2
Naturally droop under the state condition when the ancon joint is in, brachiostrophosis steering wheel 3 and wrist pitch-control motor 4 before adjusting make artificial limb hand and forearm be in the straight state of nature and tiger’s jaw direction level towards the place ahead of human body.Obliquity sensor 2 is installed on some positions of the forearm that is subjected to front brachiostrophosis steering wheel 3 drivings, its upper-lower position at forearm can change, but must guarantee the X-axis 5 of obliquity sensor 2 and plane and the residing plane parallel of hand tiger’s jaw this moment that Y-axis 6 consists of, and the direction of X-axis 5 that must guarantee obliquity sensor 2 is parallel with the axis of forearm, the direction of Y-axis 6 is vertical with the axis of forearm, such as Fig. 2 institute not.
With obliquity sensor 2 can sensing itself X-axis 5 and the angle of inclination of Y-axis 6 and horizontal plane (its expression be the spatial attitude of forearm), be made as α and β here, measuring range is 0 °-180 °.When forearm naturally droops, as shown in Figure 2, α=0 ° (this moment, X-axis 5 directions of obliquity sensor 2 were in the vertical state); When lifting to horizontal attitude on the forearm, as shown in Figure 3, α=90 ° (this moment, X-axis 5 directions of obliquity sensor 2 were in level); When current arm held upward is extremely vertical, α=180 ° (this moment, X-axis 5 directions of obliquity sensor 2 were in vertically upward state); When forearm is held level with both hands and artificial limb hand and forearm are in the straight state of nature, the tiger’s jaw that brachiostrophosis steering wheel 3 makes the artificial limb hand before rotating is vertically upward the time, as shown in Figure 3, and β=90 ° (this moment, Y-axis 6 directions of obliquity sensor 2 were in level); When forearm is held level with both hands and artificial limb hand and forearm are in the straight state of nature, when brachiostrophosis steering wheel 3 makes the tiger’s jaw direction level of artificial limb hand point to the health inboard before rotating, as shown in Figure 4, β=0 ° (this moment, Y-axis 6 directions of obliquity sensor 2 were in the downward vertical state of arrow); When forearm is held level with both hands and artificial limb hand and forearm are in the straight state of nature, when brachiostrophosis steering wheel 3 makes the tiger’s jaw direction level of artificial limb hand point to the health outside before rotating, as shown in Figure 5, β=180 ° (this moment, Y-axis 6 directions of obliquity sensor 2 were in vertically upward state of arrow).
Two, wrist pitch-control motor 4 keeps equilibrium principle
When hand balance controller 1 receives α＜90 ° (as shown in Figure 6) that obliquity sensor 2 Real-time Measurings get, then hand balance controller 1 will be controlled the angle value of lifting on the wrist pitch-control motor 4 and is | and α-90 ° |, after 4 motions of wrist pitch-control motor put in place, the attitude of artificial limb hand will be as shown in Figure 7;
When hand balance controller 1 receives α＞90 ° (as shown in Figure 8) that obliquity sensor 2 Real-time Measurings get, then hand balance controller 1 will be controlled the angle value that wrist pitch-control motor 4 falls and is | and α-90 ° |, after 4 motions of wrist pitch-control motor put in place, the attitude of artificial limb hand will be as shown in Figure 9;
When hand balance controller 1 receives α=90 ° (as shown in Figure 3) that obliquity sensor 2 Real-time Measurings get, then hand balance controller 1 will be controlled the angle value that wrist pitch-control motor 4 rotates and is | and α-90 ° |=0 °, i.e. this moment, wrist pitch-control motor 4 does not need to rotate the tiger’s jaw perpendicular direction that just can guarantee the artificial limb hand and makes progress.
One, front brachiostrophosis steering wheel 3 keeps equilibrium principle
When hand balance controller 1 receives the β that obliquity sensor 2 Real-time Measurings get＜90 ° (as shown in Figure 4), illustrate that artificial limb hand tiger’s jaw is to the inboard inclination of health, hand balance controller 1 will be controlled front brachiostrophosis steering wheel 3 and rotate to the health outside, the obliquity sensor 2 that drives forearm and mounted thereto rotates to the health outside, the value that makes the β that obliquity sensor 2 Real-time Measurings get by β＜90 ° to β=90 ° variation;
When current brachiostrophosis steering wheel 2 arrived equilbrium positions (β=90 °), artificial limb hand attitude will be as shown in Figure 3; When hand balance controller 1 receives the β that obliquity sensor 2 Real-time Measurings get＞90 ° (as shown in Figure 5), illustrate that artificial limb hand tiger’s jaw tilts to the health outside, hand balance controller 1 will be controlled front brachiostrophosis steering wheel 3 and rotate to health is inboard, the obliquity sensor 2 that drives forearm and mounted thereto rotates to health is inboard, the value that makes the β that obliquity sensor 2 Real-time Measurings get by β＞90 ° to β=90 ° variation;
When current brachiostrophosis steering wheel 3 arrived equilbrium positions (β=90 °), artificial limb hand attitude will be as shown in Figure 3; When hand balance controller 1 receives the β that obliquity sensor 2 Real-time Measurings get=90 °, as shown in Figure 3, the tiger’s jaw perpendicular direction of artificial limb hand this moment is described upwards, hand balance controller 1 just can not be controlled front brachiostrophosis steering wheel 3 rotations like this.
Claims (1)
1. go up artificial limb hand attitude Self-balance Control System for one kind, it comprises hand balance controller and the obliquity sensor that is fixed on the artificial limb forearm, and the hand balance controller is connected with the wrist pitch-control motor with the front brachiostrophosis steering wheel of upper artificial limb by serial ports;
Described hand balance controller is connected to form by MCU, analog to digital conversion circuit, power management module and serial ports;
Above-mentioned obliquity sensor is a kind of voltage-type double-shaft tilt angle sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220379067 CN202776646U (en) | 2012-07-20 | 2012-07-20 | Upper artificial limb hand gesture self-balancing control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220379067 CN202776646U (en) | 2012-07-20 | 2012-07-20 | Upper artificial limb hand gesture self-balancing control system |
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| CN202776646U true CN202776646U (en) | 2013-03-13 |
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| CN 201220379067 Expired - Fee Related CN202776646U (en) | 2012-07-20 | 2012-07-20 | Upper artificial limb hand gesture self-balancing control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102764166A (en) * | 2012-07-20 | 2012-11-07 | 山东科技大学 | Upper prosthetic hand pose self-balancing control system and working method thereof |
| CN104988878A (en) * | 2015-07-02 | 2015-10-21 | 洛阳理工学院 | Garbage pick-up device in mountainous scenic area |
-
2012
- 2012-07-20 CN CN 201220379067 patent/CN202776646U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102764166A (en) * | 2012-07-20 | 2012-11-07 | 山东科技大学 | Upper prosthetic hand pose self-balancing control system and working method thereof |
| CN104988878A (en) * | 2015-07-02 | 2015-10-21 | 洛阳理工学院 | Garbage pick-up device in mountainous scenic area |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130313 Termination date: 20140720 |
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| EXPY | Termination of patent right or utility model |