EP1616245A1 - Procede et dispositif d'interaction pour l'assistance au geste manuel pendant le travail d'une matiere - Google Patents
Procede et dispositif d'interaction pour l'assistance au geste manuel pendant le travail d'une matiereInfo
- Publication number
- EP1616245A1 EP1616245A1 EP04742486A EP04742486A EP1616245A1 EP 1616245 A1 EP1616245 A1 EP 1616245A1 EP 04742486 A EP04742486 A EP 04742486A EP 04742486 A EP04742486 A EP 04742486A EP 1616245 A1 EP1616245 A1 EP 1616245A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- tool
- work
- model
- worked
- digital
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 239000000463 material Substances 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000002452 interceptive effect Effects 0.000 title 1
- 230000000694 effects Effects 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims abstract description 9
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 230000006870 function Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 5
- 230000000750 progressive effect Effects 0.000 claims description 3
- 230000001953 sensory effect Effects 0.000 claims 3
- 230000004807 localization Effects 0.000 claims 1
- 230000001902 propagating effect Effects 0.000 claims 1
- 238000003754 machining Methods 0.000 abstract description 5
- 230000003287 optical effect Effects 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 4
- 238000001356 surgical procedure Methods 0.000 abstract 1
- 230000033458 reproduction Effects 0.000 description 7
- 230000009466 transformation Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000003340 mental effect Effects 0.000 description 2
- 238000013518 transcription Methods 0.000 description 2
- 230000035897 transcription Effects 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/283—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for dentistry or oral hygiene
Definitions
- the present invention relates to a method and a device for computer-assisted learning and teaching of the manual gesture during the work of a material, with the aim either of reproducing a
- the present invention is capable of being integrated or arranged in a chain of conception or transformation of matter, in particular in the fields of plastic arts, design, industrial machining, paramedical, surgical but not
- the invention relates more particularly to a method based on a device which implements, for the aid and learning of the gesture, a digital representation of the shape to be reproduced and the material to be worked.
- Another approach consists in keeping the skilled person at the heart of the loop of the reproduction process by continuously providing him with all the necessary and sufficient information to enable him to intervene in complete safety on the matter.
- patent FR2808366 (AZERAD J., BLANCHARD J., MAURIN Y.) describes a learning process in virtual reality made up of various elements: capturing spatial position information of a real organ held in the hand, a three-dimensional representation of a digital object, a supply of '' a digital tool capable of operating on the digital object. At no time does the process allow the machining of real material, let alone a possible rise in the machining of real material in a digital model, thus allowing conceptual intervention in both worlds. Therefore, it is impossible to inform a complete learning through a manual gesture during the work of a subject. Consequently, this process does not meet the needs expressed by the trades working the material.
- the purpose of the present invention is to propose an iterative action / information process based on a device allowing assistance with manual gesture in order to give a material a form approaching a digital model.
- a device allowing assistance with manual gesture in order to give a material a form approaching a digital model.
- Another object of the invention is to propose a learning device for assisting manual gesture during the work of the material allowing on the one hand an analysis of the methodology of the gesture and on the other hand a reading of the result under the form of a digital model of the worked material.
- the invention relates to a device which implements one or more digital models among which a distinction is made: the model to be reached, called “mother model”, constructed from a source model (digitization data, CAD model). ) enriched with business information and / or transformed (scaling, simplification, etc.) the material to be worked model, called “material to be worked model” constructed from information from a physical volume or data numerical specifying the dimensions of the material to be worked.
- the “tool model” specifying the physical and geometric parameters of the work tool (reaction reserve, tool diameter, eccentricity, etc.). This model is used for calculating the effect of the tool on the material, and the result of this calculation is used for the continual updating of the "worked material model”.
- the "gesture model” contains the description of the tool configurations during the work of the material.
- the “worked material model” is the result of the actions of the tool on the material to be worked. These models allow those skilled in the art to express their needs and explore the possible alternatives in the space to be worked.
- Figure 1 shows a schematic overview of the aid and learning device for assistance with manual gesture in a volume, according to the invention.
- Figures 2 and 3 show possible visual information and display examples (video projection and monitor screen) according to the invention.
- the aid and learning device for manual gesture in a volume is intended to be used in several ways depending on the field of application.
- a first way consists in working the material 19 without relying on a "mother model” Ml, in this case the manual gesture freed from all constraints allows a work of direct creation, and the result from it is stored in the “Worked material model” M4.
- the iterative method of the present invention allows this result to be reused after adaptation as a "mother model” M l for reproduction.
- a second way consists in representing, continuously, the action of the tool 3 on the material 19 by a transformation of the state of the “worked material model” M4.
- Another use of this result is the monitoring over time of the evolution of work.
- a third way consists, from the position measurements of the tool 3 provided by the metrological system 4, in specifying the elements for the generation of a reference movement with a view to its re-execution by a automatic system such as a robot. In reality, this device could be presented as a design tool and / or an educational and fun tool.
- the device mainly consists of the following elements: an operator 1. a work station 9, to which is associated an absolute three-dimensional coordinate system RI, composed of a material support, modeled by a three-dimensional coordinate system R3, a tool calibration system 16 modeled by a three-dimensional coordinate system R2 and a set of target objects 20 used for registration, respectively defined with respect to the absolute three-dimensional coordinate system RI. a computer (of the microcomputer type) 2 integrating the data of the models and their effects.
- a tool 3 modeled by a three-dimensional reference R4 placed on a metrological system 4 (an articulated arm or follower) associated with a three-dimensional reference R5 defined with respect to the absolute three-dimensional reference RI, continuously supplying the computer 2 with information relating to the position and l orientation of the tool 3.
- a stimuli generator 5 composed of optical 6, acoustic 7 and / or haptic 8 channels informing the operator 1 of the effect of his gestures on the material 19.
- the microcomputer type calculator 2 which integrates the data of the digital models and their effects comprises a hardware part, consisting of highly integrated electronic circuits, and software.
- the function of a computer is limited to ordering, classifying, calculating, sorting, searching, editing, representing information which has previously been coded according to a binary representation.
- the device consists, in its metrological system 4, of a measurement arm with several degrees of freedom continuously informing the computer 2 of all the displacements of the free end induced by the manual gesture . From this information, the computer 2 updates all of the models.
- the first function of the metrological system 4 is to serve for the measurement of benchmarks such as the material benchmark R3, the benchmark R2 of the tool calibration system 16, in order to calibrate the station. work 9. Thanks to the set of target objects 20, the position of the metrological system 4 is modular, thereby allowing the intervention space to be increased beyond its own work volume.
- the second function of the metrological system 4 is to serve for the measurement, continuously, of the position and the orientation of a tool 3 with respect to the worked material 19.
- the tool 3 intended to work the material 19 is rigidly linked to the . metrological system 4. It can consist of a bur, disc, spherical spatula or any other working tool depending on the applications and materials chosen. Thanks to the measurement, the effect of the tool 3 is translated into the “worked material model” M4 through the “tool model” M3 by relying on the “mother model” M 1 placed in the “material model to working »M2.
- the metrological system 4 could be an optical or magnetic “follower” type location system, preferable for certain applications or for certain work phases.
- the metrological system 4 must be able to be manipulated manually and freely.
- the metrological system 4 is balanced by an adjustable recall system, such as a balancer or lift 10, giving the operator's gestures increased fluidity.
- This lift assembly 10 is installed above the arm by means of a rotary bracket 11 whose axis of rotation is aligned with the base axis of the measuring arm.
- the device consists of a work station 9 which is a rigid system allowing the operator to adjust the height of the material support.
- the tool calibration system is composed of a trihedron 16 serving as a reference in the calibration of the tools 3 installed at the end of the arm.
- an optical stimulus can be a video projection 6 of the digital models on one or more views 13 and 13 'characterized inter alia by a point of view and a scaling factor programmable by the operator 1 , in which the tool 3 is continuously represented and in all its displacements, displayed with a reaction sphere 14 programmable as a function of the density / scale factor of the material to be worked, the representation of the latter is enriched by the materialization of the axis of the support 15 of the tool and of the shortest path 22 separating the tool from the nearest possible point contact in the "mother model” Ml.
- An important feature of the visualization is to be locally of better definition 21, by adjusting certain characteristics such as surface dressing or light, to the exact course of the movements of the tool in space, allowing the operator 1 the continual interpretation of the situations of the tool M3 in relation to the “mother model” Ml and to the form worked in the material 19.
- an acoustic stimulus is transmitted by modular sounds 7 fig.3 and received in headphones 7 'fig. l; these sounds are adjustable in frequency and amplitude.
- the frequency is determined, continuously during the work of the material, as a function of the distance of the tool and its reserve M3 to the nearest possible point contact calculated in the "mother model" Ml.
- the frequency and distance scales are programmable by the operator.
- the amplitude is manually adjustable according to the noise level in the environment of the work station.
- a haptic stimulus 8 can be generated by a recall in effort as a function of the distance of the tool and of its reserve M3 to the closest possible point contact calculated in the “mother model” Ml.
- the effort recall could be ensured by a system consisting of a bracelet 17 positioned on the wrist of the operator 1 or on the metrological system 4 connected by a flexible link 18 to a motorization which exerts a restoring force so progressive until the end of the tool M3 reaches a point of the envelope of the "mother model” Ml.
- the invention relates to a method of assisting and learning the manual gesture of an operator for working with a material in that it comprises on the one hand the following elements:
- Stage 1 the creation of the “mother model” M1 aims to convert the geometric envelope of the volume to be reproduced into three-dimensional coordinates which can be manipulated by a computer.
- a digital model created can be enriched, simplified or sectored according to the specific needs of each profession. This step can be carried out independently of the other steps.
- Step 2 the calibration of the work station 9 makes it possible to specify, by measurements carried out in the absolute three-dimensional reference RI, on the one hand the three-dimensional reference R3 of the material support and the three-dimensional reference R2 of the tool calibration system, and on the other hand the three-dimensional coordinate system R5 of the metrological system.
- Step 3 the creation of the "material to be worked model” M2 is obtained either by acquiring digital data from a preexisting external volume, or by determining the volume to be worked corresponding to the external envelope of the volume to be reproduced.
- Step 3: the calibration of the tool 3 consists in relying on a reference surface 16 of the calibration system previously calibrated in the absolute three-dimensional frame RI to determine some of the parameters of the “tool model” M3 such as the length , eccentricity and to specify the other parameters such as the reaction sphere. This step requires that the workstation 9 be calibrated.
- Step 4 the placement of the “mother model” M1 with respect to the “material to be worked” model M2 allows a computer-assisted positioning of the digital representation of the shape to be reached within the digital representation of the block of material to be worked .
- the setting of the position, the orientation and the scale of the shape to reach in relation to the block of material allows a quick placement to make reproductions identically (scale 1) or with enlargement (scale> 1) or with reduction (scale ⁇ 1).
- the “mother model” M 1 is inscribed for the duration of the work in the “material to be worked model” M2 either by having the obligation to respect the dimensions of the volume to be reproduced (identical, larger, smaller) or by respecting the volume of the material to best include the volume to be reproduced.
- Stage 5 the work of the material can be carried out according to two possible approaches: the creation of shape in direct size which requires that the three stages 2, 3 and 4 are accomplished, the reproduction which requires the four stages 1, 2, 3 and 4.
- the operator 1 having previously chosen and adjusted the stimuli 5 (6, 7 and 8) which he wishes to have in return, the position and the orientation of the tool 3 in space are processed at all times by the computer 2 which, from the knowledge of the different models Ml, M2, M3 and M4, calculates the characteristic quantities (collisions, minimum distance, swept volume) of the effect of the tool 3 on the material 19. This effect is then translated into the form of stimuli 5 sent to the operator.
- the operator can know, at any time, on the one hand the position of the tool 3 relative to the shape to reach Ml and on the other hand the effect of the tool on the material through the evolution of the "worked material model" M4.
- the operator has the possibility of suspending the work of the material at any time to analyze the results provided by the digital models of the worked material (M4) and of the gesture (M5) and / or change tools 3 according to the 'evolution of the work carried out and / or save on the computer 2 all the information reflecting the progress of his work.
- Tool change 3 involves performing a tool calibration (see step 3) in order to determine the parameters of the new tool 3. This step being carried out, the propagation of the identified changes is done automatically and the resumption of the work of material 19 is made possible.
- the operator 1 will have to carry out on the material 19 the same operations as those usually practiced by his trade.
- One of the main unavoidable difficulties in obtaining a work of high quality material is the mental transcription of the shape to be achieved in the material that the operator must constantly achieve. Thanks to the adaptation of the various stimuli sent to the operator according to the position of the tool relative to the material, the operator receives permanent assistance in his gesture, the quality of which is independent of the ambient conditions of the environment. of work. This relieves the operator of the work of mental transcription and allows him to concentrate on the work of the material made transparent.
- the device has measurement means which allow learning of the gesture for training, educational, gesture analysis or programming of robotic systems, among others.
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- General Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Mathematical Physics (AREA)
- Medicinal Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Algebra (AREA)
- Computational Mathematics (AREA)
- Public Health (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Medical Informatics (AREA)
- Pure & Applied Mathematics (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Epidemiology (AREA)
- Human Computer Interaction (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0304804A FR2853983A1 (fr) | 2003-04-17 | 2003-04-17 | Procede et dispositif d'interaction pour l'assistance au geste "metier-matiere" |
PCT/FR2004/000903 WO2004095249A1 (fr) | 2003-04-17 | 2004-04-13 | Procede et dispositif d’interation pour l’assistance au geste manuel pendant le travail d’une matiere |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1616245A1 true EP1616245A1 (fr) | 2006-01-18 |
Family
ID=33041933
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP04742486A Ceased EP1616245A1 (fr) | 2003-04-17 | 2004-04-13 | Procede et dispositif d'interaction pour l'assistance au geste manuel pendant le travail d'une matiere |
Country Status (6)
Country | Link |
---|---|
US (1) | US20070005187A1 (fr) |
EP (1) | EP1616245A1 (fr) |
JP (1) | JP2006523873A (fr) |
CN (1) | CN100442205C (fr) |
FR (1) | FR2853983A1 (fr) |
WO (1) | WO2004095249A1 (fr) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8204623B1 (en) * | 2009-02-13 | 2012-06-19 | Hrl Laboratories, Llc | Planning approach for obstacle avoidance in complex environment using articulated redundant robot arm |
DE102010009065B4 (de) | 2010-02-23 | 2018-05-24 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Eingabevorrichtung für medizinische minimal-invasive Roboter oder medizinische Simulatoren sowie medizinisches Gerät mit Eingabevorrichtung |
CN103392196A (zh) * | 2011-03-02 | 2013-11-13 | 皇家飞利浦有限公司 | 用于用户的认知增强的装置和方法 |
FR2977819B1 (fr) | 2011-07-11 | 2013-07-12 | Lithias | Procede de sculpture assistee par ordinateur et systeme de mise en oeuvre |
WO2017159562A1 (fr) * | 2016-03-14 | 2017-09-21 | オムロン株式会社 | Dispositif de génération d'information d'action |
CN108172100B (zh) * | 2017-12-22 | 2019-03-22 | 江苏凤凰知慧教育科技有限公司 | 一种数控综合实训系统 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4453221A (en) * | 1982-05-13 | 1984-06-05 | Cincinnati Milacron Inc. | Manipulator with adaptive velocity controlled path motion |
US4531192A (en) * | 1982-09-23 | 1985-07-23 | Crc Welding Systems, Inc. | Apparatus and method for sensing a workpiece with an electrical arc |
KR900008539B1 (ko) * | 1985-05-30 | 1990-11-24 | 마쯔시다덴기산교 가부시기가이샤 | 로보트의 연속경로 제어방법 |
EP0658265A1 (fr) * | 1993-07-06 | 1995-06-21 | Cybernet Systems Corporation | Procede de simulation d'actes medicaux y compris par realite virtuelle, et methode de controle et systeme associes |
US6463361B1 (en) * | 1994-09-22 | 2002-10-08 | Computer Motion, Inc. | Speech interface for an automated endoscopic system |
JP2000501033A (ja) * | 1995-11-30 | 2000-02-02 | ヴァーチャル テクノロジーズ インコーポレイテッド | 触覚をフィードバックする人間/機械インターフェース |
US5688118A (en) * | 1995-12-27 | 1997-11-18 | Denx Ltd. | Image sound and feeling simulation system for dentistry |
US6451027B1 (en) * | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
US6084371A (en) * | 1999-02-19 | 2000-07-04 | Lockheed Martin Energy Research Corporation | Apparatus and methods for a human de-amplifier system |
FR2808366B1 (fr) * | 2000-04-26 | 2003-12-19 | Univ Paris Vii Denis Diderot | Procede et systeme d'apprentissage en realite virtuelle, et application en odontologie |
FR2809048B1 (fr) * | 2000-05-18 | 2002-10-11 | Commissariat Energie Atomique | Bras de commande |
US6681151B1 (en) * | 2000-12-15 | 2004-01-20 | Cognex Technology And Investment Corporation | System and method for servoing robots based upon workpieces with fiducial marks using machine vision |
DE10305384A1 (de) * | 2003-02-11 | 2004-08-26 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zur Visualisierung rechnergestützter Informationen |
US6804580B1 (en) * | 2003-04-03 | 2004-10-12 | Kuka Roboter Gmbh | Method and control system for controlling a plurality of robots |
-
2003
- 2003-04-17 FR FR0304804A patent/FR2853983A1/fr not_active Withdrawn
-
2004
- 2004-04-13 EP EP04742486A patent/EP1616245A1/fr not_active Ceased
- 2004-04-13 WO PCT/FR2004/000903 patent/WO2004095249A1/fr active Application Filing
- 2004-04-13 CN CNB2004800168187A patent/CN100442205C/zh not_active Expired - Fee Related
- 2004-04-13 US US10/553,468 patent/US20070005187A1/en not_active Abandoned
- 2004-04-13 JP JP2006505795A patent/JP2006523873A/ja active Pending
Non-Patent Citations (1)
Title |
---|
See references of WO2004095249A1 * |
Also Published As
Publication number | Publication date |
---|---|
CN1806218A (zh) | 2006-07-19 |
US20070005187A1 (en) | 2007-01-04 |
JP2006523873A (ja) | 2006-10-19 |
WO2004095249A1 (fr) | 2004-11-04 |
FR2853983A1 (fr) | 2004-10-22 |
CN100442205C (zh) | 2008-12-10 |
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