GB2610283B - Control handle capable of realizing measurement of six-dimensional force and motion state - Google Patents

Control handle capable of realizing measurement of six-dimensional force and motion state Download PDF

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Publication number
GB2610283B
GB2610283B GB2209771.1A GB202209771A GB2610283B GB 2610283 B GB2610283 B GB 2610283B GB 202209771 A GB202209771 A GB 202209771A GB 2610283 B GB2610283 B GB 2610283B
Authority
GB
United Kingdom
Prior art keywords
motion state
control handle
dimensional force
handle capable
realizing measurement
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.)
Active
Application number
GB2209771.1A
Other versions
GB2610283A (en
GB202209771D0 (en
Inventor
Yu Weiwei
Long Lin
Wang Yanen
Liu Yezhou
He Zhijie
Yang Xiaoxu
Zhao Feng
Sun Zeyu
Li Zhenjie
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian Yubo Robot System Tech Co Ltd
Northwestern Polytechnical University
Original Assignee
Xian Yubo Robot System Tech Co Ltd
Northwestern Polytechnical University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Xian Yubo Robot System Tech Co Ltd, Northwestern Polytechnical University filed Critical Xian Yubo Robot System Tech Co Ltd
Publication of GB202209771D0 publication Critical patent/GB202209771D0/en
Publication of GB2610283A publication Critical patent/GB2610283A/en
Application granted granted Critical
Publication of GB2610283B publication Critical patent/GB2610283B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/223—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to joystick controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
    • G05G1/10—Details, e.g. of discs, knobs, wheels or handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
    • A61B5/224—Measuring muscular strength
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • 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
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
    • A61B2505/09—Rehabilitation or training
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0247—Pressure sensors

Landscapes

  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • General Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Geometry (AREA)
  • Physiology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Prostheses (AREA)
GB2209771.1A 2021-07-05 2022-07-04 Control handle capable of realizing measurement of six-dimensional force and motion state Active GB2610283B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110755572.0A CN113485521B (en) 2021-07-05 2021-07-05 Control handle capable of measuring six-dimensional force and motion state

Publications (3)

Publication Number Publication Date
GB202209771D0 GB202209771D0 (en) 2022-08-17
GB2610283A GB2610283A (en) 2023-03-01
GB2610283B true GB2610283B (en) 2023-11-01

Family

ID=77940837

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2209771.1A Active GB2610283B (en) 2021-07-05 2022-07-04 Control handle capable of realizing measurement of six-dimensional force and motion state

Country Status (2)

Country Link
CN (1) CN113485521B (en)
GB (1) GB2610283B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114323128A (en) * 2021-12-21 2022-04-12 北京罗森博特科技有限公司 Operation measurement analysis handle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06201495A (en) * 1992-06-30 1994-07-19 Kawasaki Heavy Ind Ltd Multiaxis multiple force sensor used in aircraft operating device
GB2319590A (en) * 1996-11-26 1998-05-27 Christopher Mark Barron Electronic hand controller
WO2006016138A1 (en) * 2004-08-09 2006-02-16 Peratech Limited Full-axis sensor for detecting input force and torque
WO2010006741A1 (en) * 2008-07-16 2010-01-21 Carl Zeiss Meditec Ag Control element for one-hand operation of ophthalmological devices
CN111467781A (en) * 2020-05-20 2020-07-31 河北工业大学 Capacitive touch handle based on multi-sensing system and manufacturing method thereof
CN111488060A (en) * 2020-06-09 2020-08-04 深圳市虚拟现实技术有限公司 Interactive handle

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3240251A1 (en) * 1982-10-30 1984-05-03 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln METHOD FOR PROGRAMMING MOVEMENTS AND, IF REQUIRED, MACHINING FORCES OR -MOMENTS OF A ROBOT OR MANIPULATOR AND DEVICE FOR CARRYING OUT THIS
CN106932123B (en) * 2015-12-30 2019-07-09 佛山市禾才科技服务有限公司 A kind of wrist sensor
CN107066028A (en) * 2017-06-09 2017-08-18 河北工业大学 The grand dynamic sextuple controller of single control handle
CN108187310B (en) * 2017-12-21 2019-05-31 东南大学 Feel that the limb motion of information and posture information is intended to understand and upper-limbs rehabilitation training robot and its control method based on power
KR20210136185A (en) * 2019-04-08 2021-11-17 엘지전자 주식회사 Handle assemblies and carts for carts with power assist function
KR102080767B1 (en) * 2019-07-18 2020-05-29 (주)쏘일테크엔지니어링 Portable measurement apparatus of penetration resistance
CN212308786U (en) * 2019-12-09 2021-01-08 北京智融康成科技有限公司 Upper limb rehabilitation assistance training instrument
CN111281394B (en) * 2020-03-07 2022-08-19 西北工业大学 Wrist joint movement function evaluating and rehabilitation robot
CN111610865B (en) * 2020-05-20 2022-03-22 河北工业大学 Control method of capacitive touch handle based on multi-sensing system
CN112077816B (en) * 2020-09-24 2023-12-19 上海交通大学 Device and method for testing force feedback function of teleoperation equipment
CN112338939B (en) * 2020-10-28 2021-09-14 武汉大学 Six-dimensional operating handle for mechanical arm control

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06201495A (en) * 1992-06-30 1994-07-19 Kawasaki Heavy Ind Ltd Multiaxis multiple force sensor used in aircraft operating device
GB2319590A (en) * 1996-11-26 1998-05-27 Christopher Mark Barron Electronic hand controller
WO2006016138A1 (en) * 2004-08-09 2006-02-16 Peratech Limited Full-axis sensor for detecting input force and torque
WO2010006741A1 (en) * 2008-07-16 2010-01-21 Carl Zeiss Meditec Ag Control element for one-hand operation of ophthalmological devices
CN111467781A (en) * 2020-05-20 2020-07-31 河北工业大学 Capacitive touch handle based on multi-sensing system and manufacturing method thereof
CN111488060A (en) * 2020-06-09 2020-08-04 深圳市虚拟现实技术有限公司 Interactive handle

Also Published As

Publication number Publication date
GB2610283A (en) 2023-03-01
GB202209771D0 (en) 2022-08-17
CN113485521A (en) 2021-10-08
CN113485521B (en) 2022-11-01

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