CN206869888U - A kind of mobile machine arm system based on surface electromyogram signal - Google Patents
A kind of mobile machine arm system based on surface electromyogram signal Download PDFInfo
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- CN206869888U CN206869888U CN201720150388.2U CN201720150388U CN206869888U CN 206869888 U CN206869888 U CN 206869888U CN 201720150388 U CN201720150388 U CN 201720150388U CN 206869888 U CN206869888 U CN 206869888U
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Abstract
The utility model provides a kind of mobile machine arm system based on surface electromyogram signal.The system gathers ring, inertial measuring unit, computer and mobile robotic arm subsystem by wearable surface myoelectric and formed.The system controls the direction of motion of the mobile robotic arm in distal end, robotic arm and the work of clamper by operator's difference gesture, the movement velocity of mobile robotic arm is controlled by changing arm rigidity, use inertial measuring unit capture operation person's arm posture, remote controlled robotic arm.The utility model realizes changes arm posture, gesture and muscle activity remote control of machine arm, the direction of motion and speed of mobile platform by operator, improves the use range and efficiency of mobile robotic arm.
Description
Technical field
The utility model belongs to robot and biological myoelectricity field.Human upper limb posture and surface are utilized more particularly to one kind
The technology of the mobile robotic arm motion of electromyographic signal control.
Background technology
With the development of society and the progress of science and technology, robot is not only in industrial circle, while in medical rehabilitation, meal
Drink-service is engaged in, and the fields such as military affairs are explored play increasing effect.In the control mode of robot, man-machine interaction and remote operating by
To extensive concern.In some dangerous and complicated working environments, robot gradually replaces the mankind.Most of robot
Using button, handle and the remote operating of remote control mode, man-machine interaction is not friendly enough in these modes.
At present, existing substantial amounts of experiment utilizes gyroscope and capture device（Kinect）Pass through seizure Deng external equipment
Human body limb action carrys out the motion of control machine arm, but can only be fixed on static work of the existing technology to robotic arm is put down
Platform.The EEG signals and electromyographic signal of the mankind control moveable robot movement also in fast development, but can only by these methods
The specific motion state of robot is controlled, and the motion speed of mobile robot can not be controlled effectively and in real time
Degree.With the development of wearable device, if the control of robotic arm and mobile robot is combined, realize that one kind can be controlled remotely
The mobile robotic arm of system, gives full play to two kinds of technical advantages, to realize the remote operating effect of high quality.
At present, the patent controlled on the remote operating of robot mainly has：
Chinese publication number：CN105014676, title：A kind of motion planning and robot control method.The invention devises one
The system of the remote controlled robot motion of kind, is made up of Myo armlets and remote mobile robot.On Myo armlets collection human body
The electromyographic signal of limb sends computer or smart mobile phone to by bluetooth, and the SDK then provided by Myo identifies operator's
Gesture.Single-chip microcomputer controls the motor or ostrich machine in mobile-robot system by the gesture information received.The invention utilizes
The surface dynamoelectric signal of human body identifies gesture, and then control machine people, has that discrimination is high, cost is cheap, man-machine interaction is good
The advantages of with ambient noise interference can be overcome.But the invention function is not complete, with the direction of motion of gesture control robot,
The environment residing for robot is not accounted for, is travelled when robot is in open and crowded environment with same speed, it is bright
The aobvious service efficiency for reducing robot.
Chinese publication number：CN103991492, title：A kind of intelligent carriage based on Kinect technologies.The invention is set
A kind of intelligent carriage based on Kinect technologies is counted, by domain, rotating shaft assembly, wheel set, Kinect sensor, computer
Formed with slave computer.The limb action of operating personnel is collected using Kinect vision sensors or the voice of operating personnel refers to
After order, computer is passed to.After computer parses to the limb action or voice messaging that are received, sent to slave computer
Instruction, and then control the motion state of intelligent carriage.The invention, can be accurate by identifying action or the voice of operator
Control dolly.But the invention function is excessively simple, does not account for the environment residing for dolly, when school bus is in the open and stream of people
Intensive environment is travelled with same speed, hence it is evident that reduce the operating efficiency of machine dolly, moreover, when have noise or Kinect with
When having barrier between operator, the invention will be unable to work on.
The content of the invention
The purpose of this utility model is：With existing wearable device, the myoelectricity of operator's arm surface is made full use of to believe
Number and arm posture, realize a kind of system and method for the remote controlled mobile robotic arm direction of motion and speed.The system
It is made up of the mobile robotic arm subsystem of a near-end control subsystem and a distal end.Near-end control subsystem includes biological myoelectricity
Acquisition module and attitude data acquisition module.Biological myoelectricity acquisition module is made up of wearable surface myoelectric collection ring, such as accompanying drawing 2
Shown, attitude data collection is completed by inertial measuring unit.Mobile robotic arm subsystem is by mobile platform, supporting plate, two machines
Device arm and clamper composition.
The technical solution of the utility model is as follows：
A kind of mobile machine arm system based on arm surface electromyographic signal, it is characterised in that it is by wearable surface myoelectric
Gather ring, inertial measuring unit, computer and mobile robotic arm subsystem composition, wearable surface myoelectric collection ring, inertia measurement
Device and mobile mechanical arm subsystem wirelessly connect computer respectively.Wearable surface myoelectric collection ring is by N pieces biology
Myoelectric sensor is respectively embedded in N number of cuboid block, and N number of cuboid block once links, and forms an annulus, wearable in one's hands
It is used for the surface electromyogram signal for detecting operator on arm.Mobile robotic arm subsystem is installed respectively in the left and right sides of mobile platform
The five degree of freedom robotic arm of one anthropoid arm, a clamper is installed respectively in the end of robotic arm, in mobile platform
A supporting plate is installed at rear, robotic arm using or the article fetched can put on the supporting plate, wherein N represents number of components can
Think one or more.
Estimated by using the electromyographic signal of the wearable surface myoelectric collection ring acquisition arm surface of operator's wearing
Arm muscles activity, establishes the relation of muscle activity and operator's arm rigidity, and operator is passed through by adjusting the rigidity of arm
Wireless network can control the movement velocity of robotic arm in mobile robotic arm subsystem with real time remote.Passed using N number of biological myoelectricity
Sensor, average amplitude is taken to N group data, then calculated using average filter method, so as to ensure robot movement velocity control
Stationarity.Robotic arm and clamper work are decided whether using operator's gesture, when not needing robotic arm work, behaviour
Author's arm can be placed arbitrarily, prevent arm from working too long muscular fatigue and increase robotic arm utilization ratio, it is necessary to grip thing
During product, operator is i.e. controllable by gesture.The upper arm of operator's left and right arm two inertial measuring units of each band, respectively arm
And underarm, 5 joint angles of every arm shoulder joint of operator and elbow joint can be calculated, joint angles are passed through into wireless network
Network is sent to mobile robotic arm subsystem, and the control to two robotic arm motions can be achieved.
Near-end control subsystem passes through acquisition operations person's arm posture and arm surface electromyographic signal, remote control moving machine
The motion of device arm subsystem, as shown in Figure 1.
Specific control method：
Two wearable surface myoelectric collection rings are worn over left and right underarm by operator, can detect by biological myoelectric sensor
To the electromyographic signal of operator's arm surface.Processing of both being carried out to the electromyographic signal collected：First, pass through study
Algorithm identifies the gesture of operator；Second, electromyographic signal and arm rigidity model are established, by estimating arm rigidity to movement
Platform carries out speed control.The gesture of operator is resolved to, first is used to control the mobile robotic arm subsystem direction of motion in distal end；
Second, the switch to be worked with a gesture as robotic arm；3rd, to the work of gesture control robotic arm end gripper.
Speed control gain is used for the movement velocity of remote control movement robotic arm subsystem.Meanwhile by four wearable inertia measurements
Device respectively band operator's left and right arm upper arm and underarm, for calculating the arm attitude data of operator.It is calculated
The arm joint angle of operator is sent to the mobile robotic arm subsystem in distal end, the fortune for control machine arm by wireless network
It is dynamic.
The utility model discloses a kind of system and control method of remote controlled mobile robotic arm, the system can be real
Existing one movable machine arm of operator's remote control that experience is controlled without robot.The utility model makes full use of
The upper limbs of human body carries out operable control.First, identify the gesture of operator to distal end using the electromyographic signal of arm surface
The direction of motion of robotic arm subsystem, the operating switch of robotic arm, the clamper of robotic arm end are controlled.Second, pass through
Detect operator's the muscles of the arm activity and remote operating control is carried out to the movement velocity of REMOTE MACHINE arm subsystem.3rd, pass through
To the Attitude Calculation of operator's upper arm and forearm, the motion of remote control of machine arm.
Brief description of the drawings
Fig. 1 is the utility model control method flow chart；
Fig. 2 gathers ring for wearable surface myoelectric of the present utility model；
Fig. 3 is inertial measuring unit of the present utility model；
Fig. 4 is the overall schematic that the utility model moves robotic arm subsystem；
Fig. 5 is the overall front view that the utility model moves robotic arm subsystem；
Fig. 6 is the overall front view that the utility model moves robotic arm subsystem；
Fig. 7 is the overall top view that the utility model moves robotic arm subsystem.
Wherein 1 is mobile platform；2 be supporting plate；3 be robotic arm；4 be clamper.
Embodiment
Specific embodiment of the present utility model is：The each arm of operator two inertial measuring units of each band, difference position
In the upper arm and underarm of arm.The data measured using inertial measuring unit, operator's shoulder joint and elbow joint can be calculated
Five joint angles, so that it is determined that the arm posture of operator.
Two wearable surface myoelectric collection rings are worn over to the left and right underarm of operator respectively.One of arm collects
Electromyographic signal be used to parse the gesture of operator, the electromyographic signal that another surface myoelectric collection ring collects, which is used to estimate, to be grasped
Author's the muscles of the arm activity.Processing carried out to electromyographic signal simultaneously of both：First, by learning algorithm, believed by myoelectricity
Number parsing operator gesture；Second, electromyographic signal is averaged, filter, sampled, operator is estimated by electromyographic signal
The muscles of the arm activity, and then calculating speed control gain, computational methods are as follows：
It is u that N number of biological myoelectric sensor of wearable surface electromyogram signal acquisition ring, which detects to obtain signal,i(k), i =
1,2...N, k represents sampling instant.
1. calculate electromyographic signal average amplitude
2. pair amplitude uses average filter method
Here M is a positive integer, can take M=20
3. the mapping established between electromyographic signal and muscle activity
, A is the Nonlinear Mapping factor.
4. calculating speed controls gain
Gain (k) represents speed control gain, GainmaxAnd GainminRepresent maximum respectively with minimum speed control to increase
Benefit, it can be calculated before operation. αmaxAnd αmaxMuscle activity maximal and minmal value is represented respectively, can be measured before operation
Arrive.
Computer is by 5 joint angles, the gesture parsed by electromyographic signal and the speed control being calculated of operator
Gain is sent to the mobile robotic arm subsystem in distal end by wireless network.The different hand signals received are used for three aspects：
First is used for the direction of motion of remote control movement robotic arm subsystem；One controlling switch to be worked as robotic arm 3；The
Three, the work of the end gripper 4 of control machine arm 3.Speed control gain signal carrys out remote control movement robotic arm subsystem
Movement velocity.By changing 5 joint angles of operator's arm come remote operating robotic arm 3.
Motor message of 6 kinds of gestures as REMOTE MACHINE arm subsystem is set in this example.6 gestures（The right hand）It can divide
Not Wei forefinger stretched with thumb contact and remaining finger（OK gestures）, clench fist, palm inwardly, palm-outward, middle finger and thumb
Double-click and deploy palm.
Wherein, preceding 4 gestures represent mobile robot and stop, advancing, turn left, turn right successively；Middle finger is double with thumb
The working condition for selecting control machine arm 3 is hit, double-click once makes robotic arm 3 enter working condition, double-clicks again, can make machine
Device arm 3 is in resting state；Deploy the work that palm is used for control machine arm clamper 4.
Two wearable surface electromyogram signal acquisition rings are worn over to two underarms of operator respectively, meanwhile, operating
The upper arm and underarm of person's right hand put on inertial measuring unit respectively.The electromyographic signal and inertia that surface myoelectric collection ring is collected
The data of measurement apparatus collection are sent to computer.Wherein, the electromyographic signal of the right hand is used for the gesture for parsing operator, the flesh of left hand
Electric signal is used for calculating speed control gain.5 joints of the data calculating operation person's right arm gathered with inertial measuring unit
Angle, determine the posture of right arm.Then gesture information, speed control gain and 5 joint angles are sent by wireless network
To the mobile robotic arm subsystem in distal end.
On detecting that operator clenches fist, mobile robotic arm advances；When detecting that operator is in OK gestures, moving machine
Device arm stops；When detecting that operator's right hand palm is inside, mobile robotic arm is turned left；When detecting operator's right hand palm
When outside, mobile robotic arm is turned right；When operator increases the rigidity of arm, the movement velocity of mobile robotic arm is accelerated；Work as behaviour
Author weakens the rigidity of arm, and the movement velocity of mobile robotic arm slows down.When need robotic arm 3 work when, operator's middle finger with
Thumb is double-clicked, and operator can be with remote operating robotic arm 3.When operator refers to again to be double-clicked with thumb, robotic arm 3 stops work
Make.When operator needs to take object with the clamper 4 of robotic arm 3, when operator deploys palm, control machine arm folder can control
The work of holder 4.
Above-described embodiment is the preferable embodiment of the utility model, but embodiment of the present utility model is not by above-mentioned
The limitation of embodiment, it is other any without departing from the change made under Spirit Essences and principle of the invention, modification, replacement, group
Close, simplify, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (1)
1. a kind of mobile machine arm system based on arm surface electromyographic signal, it is characterised in that it is adopted by wearable surface myoelectric
Collect ring, inertial measuring unit, computer and mobile robotic arm subsystem composition, wearable surface myoelectric collection ring, inertia measurement dress
Put and wirelessly connect computer respectively with mobile mechanical arm subsystem；Described wearable surface myoelectric gathers ring by N pieces
Biological myoelectric sensor is respectively embedded in N number of cuboid block, and N number of cuboid block once links, and forms an annulus, wearable
It is used for the surface electromyogram signal for detecting operator on to arm, the wearable surface myoelectric worn by using operator gathers
Ring obtains the electromyographic signal of arm surface to estimate arm muscles activity, establishes the pass of muscle activity and operator's arm rigidity
System, operator can control machine in mobile robotic arm subsystem by adjusting the rigidity of arm, by wireless network with real time remote
The movement velocity of device arm；Described mobile robotic arm subsystem installs an anthropoid hand in the left and right sides of mobile platform respectively
The five degree of freedom robotic arm of arm, a clamper is installed respectively in the end of robotic arm, one is installed at the rear of mobile platform
Supporting plate, robotic arm using or the article fetched can put on the supporting plate, decide whether machine using operator's gesture
Arm and clamper work, when not needing robotic arm work, operator's arm can be placed arbitrarily, prevent the too long flesh of arm work
, it is necessary to when gripping article, operator is i.e. controllable by gesture for meat fatigue and increase robotic arm utilization ratio.
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| CN201720150388.2U CN206869888U (en) | 2017-02-20 | 2017-02-20 | A kind of mobile machine arm system based on surface electromyogram signal |
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| CN201720150388.2U CN206869888U (en) | 2017-02-20 | 2017-02-20 | A kind of mobile machine arm system based on surface electromyogram signal |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110119207A (en) * | 2019-05-14 | 2019-08-13 | 重庆大学 | Virtual reality machines people interactive system and exchange method based on human body natural's signal |
| CN110134242A (en) * | 2019-05-17 | 2019-08-16 | 北京理工大学 | A kind of arm rigidity discrimination method and system based on surface electromyogram signal |
| US10779740B1 (en) | 2020-02-28 | 2020-09-22 | Center For Quantitative Cytometry | System and method to enhance self-recovery of nerve-muscle damage |
| CN114848315A (en) * | 2022-05-05 | 2022-08-05 | 广东工业大学 | Intelligent wheelchair man-machine cooperative control system based on surface electromyogram signals |
-
2017
- 2017-02-20 CN CN201720150388.2U patent/CN206869888U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110119207A (en) * | 2019-05-14 | 2019-08-13 | 重庆大学 | Virtual reality machines people interactive system and exchange method based on human body natural's signal |
| CN110134242A (en) * | 2019-05-17 | 2019-08-16 | 北京理工大学 | A kind of arm rigidity discrimination method and system based on surface electromyogram signal |
| US10779740B1 (en) | 2020-02-28 | 2020-09-22 | Center For Quantitative Cytometry | System and method to enhance self-recovery of nerve-muscle damage |
| CN114848315A (en) * | 2022-05-05 | 2022-08-05 | 广东工业大学 | Intelligent wheelchair man-machine cooperative control system based on surface electromyogram signals |
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