KR20190000686A - Development of manipulation mechanism of auxiliary robot arm for the disabled based on ultrasonic sensor and joystick - Google Patents

Development of manipulation mechanism of auxiliary robot arm for the disabled based on ultrasonic sensor and joystick Download PDF

Info

Publication number
KR20190000686A
KR20190000686A KR1020170080009A KR20170080009A KR20190000686A KR 20190000686 A KR20190000686 A KR 20190000686A KR 1020170080009 A KR1020170080009 A KR 1020170080009A KR 20170080009 A KR20170080009 A KR 20170080009A KR 20190000686 A KR20190000686 A KR 20190000686A
Authority
KR
South Korea
Prior art keywords
robot arm
joystick
disabled person
present
ultrasonic sensor
Prior art date
Application number
KR1020170080009A
Other languages
Korean (ko)
Inventor
장준환
Original Assignee
장준환
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 장준환 filed Critical 장준환
Priority to KR1020170080009A priority Critical patent/KR20190000686A/en
Publication of KR20190000686A publication Critical patent/KR20190000686A/en

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B25J13/065—Control stands, e.g. consoles, switchboards comprising joy-sticks

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to development of a mechanism to operate an auxiliary robot arm for a disabled person based on an ultrasonic sensor and a joystick. According to the present invention, an operation mechanism is developed to represent five degrees of freedom of a robot arm with two ultrasonic sensors and one joystick, and a forgetting factor and angle change-based operation method is presented to consider operation responsiveness in accordance with an inconvenience degree of a disabled person. A forgetting factor is applied to extract an average value in data acquisition of the sensor and the joystick, thereby considering operation inconvenience of a disabled person with a high inconvenience degree to realize reasonable operation. Moreover, the present invention forms an actual robot arm and applies an operation mechanism for each part to estimate performance. As a result, the developed operation mechanism is able to reasonably adjust the responsiveness. Moreover, it will be required to check the performance of the operation mechanism based on complex action of the actual robot arm and perform advanced researches of the mechanism based on a use result of an actual disabled person. Accordingly, the present invention is able to be used as an operation mechanism of an auxiliary device and a machine system, capable of assisting the disabled person in accordance with the inconvenience degree.

Description

초음파 센서와 조이스틱 기반 거동약자를 위한 보조 로봇팔의 조작 메커니즘 개발{Development of manipulation mechanism of auxiliary robot arm for the disabled based on ultrasonic sensor and joystick}BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an ultrasonic sensor and joystick-

로봇기술, 초음파센서Robot technology, ultrasonic sensor

현대 사회의 기술발전과 더불어 사회적 약자(보행약자와 거동약자 등)의 불편함을 해소할 수 있는 기술들은 다양한 분야에서 융복합적으로 발전하고 적용되고 있다. 단편적인 예로서 로봇팔은 거동약자 중 팔이 불편한 사람 혹은 기능을 상실한 사람들을 위한 보조기구로서 활용되고 있으며 의학적 용도로써의 로봇팔의 응용 또한 주목할 만한 분야이다. 하지만 작동기로써의 정밀한 로봇팔 일지라도 조작하는 사람의 조작 불안정성이 크다면 아무리 고성능의 보조기구로서의 로봇팔은 합리적인 거동약자의 보조를 할 수 없을 것이다. 그러므로 본 발명은 거동약자 중 팔의 기능이 원활하지 못한 사람들에게 집중하여 보조기기인 로봇팔을 조작하는 메커니즘을 개발하였다. 조작 메커니즘을 구성하는 센서는 초음파 센서와 2자유도 조이스틱이며, 조작하는 거동약자의 불편도에 따라 로봇팔의 반응성을 다르게 적용하여 합리적인 보조가 가능할 수 있도록 메커니즘의 적응성을 고려하였다. Technologies that can solve the inconveniences of social weaknesses (such as walking and weakness) as well as the technological development of modern society are being developed and applied in various fields. As a fragmentary example, robotic arms are used as assistive devices for people with weak arms or those who have lost their functions, and applications of robotic arms for medical purposes are also noteworthy. However, even if a precise robot arm is used as an actuator, the robotic arm as a high-performance auxiliary device will not be able to assist a rational behavior weakener if the manipulator's instability is large. Therefore, the present invention has developed a mechanism for manipulating the robot arm, which is an auxiliary device, by concentrating on the persons whose arms are not functioning smoothly among the weak abilities. The sensors constituting the manipulation mechanism are an ultrasonic sensor and a two-degree-of-freedom joystick, and the flexibility of the mechanism is considered so that the reactivity of the robot arm can be differently applied according to the inconvenience of the manipulator.

본 발명은 초음파 센서와 조이스틱을 이용하여 거리의 조작 및 조이스틱의 조작을 기반으로 로봇팔의 자유도를 구현함으로 거동약자의 불편함을 해소하는 것을 목적으로 한다The object of the present invention is to solve the inconvenience of the robot by implementing the degree of freedom of the robot arm based on the operation of the distance and the operation of the joystick by using the ultrasonic sensor and the joystick

거동약자의 불편도를 4가지 단계로 나누어 정의하고, 각 불편도에 따라 조작 이질감을 최소화할 수 있도록 반응성을 최적화 하였다. 이를 기반으로 불편도가 다른 거동약자들을 위한 최적화된 조작 메커니즘을 적용할 수 있고, 향후 다양한 분야에서의 조작메커니즘으로 확장될 수 있을 것이라 기대한다.The degree of discomfort of the weakest person is divided into four stages, and the reactivity is optimized so as to minimize manipulation heterogeneity according to each discomfort level. Based on this, it is expected that the optimized manipulation mechanism can be applied to other disadvantages and it can be extended to manipulation mechanisms in various fields in the future.

본 발명에서 제안된 forgetting factor 와 각도 변화량이 거동약자의 조작 효율성을 향상시킬 수 있는지에 대한 성능평가를 수행하기 위해 로봇팔의 finger 파트를 기반으로 forgetting factor, lambda 와 각도변화량,

Figure pat00001
의 변화에 따른 반응성을 확인하였다. 초음파 센서의 거리 경계값은 성능을 고려하여 15 cm로 정의하였으며, 0~15 cm 에서는 각도의 감소 그리고 15~40 cm에서는 각도가 증가되도록 구성하였다. 조이스틱 신호는 5 volt 신호가 아두이노의 분해능에 의해 0~1023의 값으로 변환되기 때문에 300과 900을 경계값으로 작은값과 큰값일 때 각도가 감소 및 증가되도록 구성하였다.In order to evaluate whether the forgetting factor and the angular variation proposed in the present invention can improve the manipulation efficiency of the moving abacus, the forgetting factor, lambda,
Figure pat00001
The reactivity was confirmed by the change of. The distance boundary value of the ultrasonic sensor was defined as 15 cm considering the performance, and the angle was decreased at 0 ~ 15 cm and increased at 15 ~ 40 cm. The joystick signal is configured such that the angle is reduced and increased when the 5 volt signal is converted to a value between 0 and 1023 by the resolution of the arduo,

도면1은 본 발명의 실시 예.1 is an embodiment of the present invention.

실제 로봇팔의 자유도를 모사하기 위해 초음파 센서 1 은 팔꿈치의 움직임, 초음파 센서 2 는 손목, 초음파 센서 1과 2 는 손가락의 거동을 조작할 수 있도록 구성하였다. 그리고 적용된 조이스틱은 x, y 2자유도를 갖기 때문에 직관적으로 조작이 가능한 x축 조작은 로봇팔의 z 축 회전과 y축 조작은 로봇팔의 어깨조작이 가능할 수 있도록 구성되었다. 이렇게 초음파 센서 2개와 조이스틱 1개를 이용하여 5자유도 로봇팔을 조작할 수 있도록 조작 메커니즘을 구성하였다.In order to simulate the degree of freedom of the actual robot arm, the ultrasonic sensor 1 is configured to manipulate the elbow motion, the ultrasonic sensor 2 to manipulate the wrist, and the ultrasonic sensors 1 and 2 to manipulate the finger motion. Since the applied joystick has x and y degrees of freedom, the x-axis manipulation, which allows intuitive manipulation, is constructed so that the robot arm's z-axis rotation and y-axis manipulation can manipulate the shoulder of the robot arm. The manipulation mechanism was constructed to manipulate the robot arm with five degrees of freedom using two ultrasonic sensors and one joystick.

본 발명의 핵심인 거동약자의 불편도에 따른 합리적인 조작이 가능할 수 있도록 forgetting factor를 이용한 재귀 평균값을 적용하여 초음파센서와 조이스틱 입력에 의해 획득된 거리정보와 전압신호가 변환된 0~1023 (아두이노의 0~5 volt 신호에 대한 분해능) 신호의 평균값을 도출하였다. 적용된 총 5개의 forgetting factor는 로봇팔의 5자유도에 대해 정의된 값이며, 0~1 사이의 값을 갖도록 정의 하였다. Forgetting factor 값이 1에 가까울수록 평균값 계산 시 이전 데이터에 대한 가중치가 현재 획득된 데이터와의 가중치와 비슷하게 적용되며, 0 에 가까울수록 현재 획득된 정보에 대한 가중치가 상대적으로 크게 적용된다. 그러므로 forgetting factor 를 이용하여 데이터의 노이즈에 대한 민감성 조절 및 반응성 조절할 수 있다. 그러므로 본 발명에서는 거동약자의 불편도에 따라 forgetting 를 다르게 적용함으로써 불편도에 따라 합리적으로 로봇팔을 조작할 수 있도록 조작 메커니즘을 구성하였다. 적용된 forgetting factor 기반 재귀평균 계산 수식은 다음과 같다. The recursive mean value using the forgetting factor is applied so that the operation can be rationally operated according to the discomfort of the behavioral weak person, which is the core of the present invention, and the distance information obtained by the ultrasonic sensor and the joystick input is 0 to 1023 Resolution of 0 to 5 volt signals of the signal. A total of five forgetting factors were defined for the 5 degrees of freedom of the robot arm, and were defined to have values between 0 and 1. When the Forgetting factor value is close to 1, the weight of the previous data is applied to the weight of the current data, and the weight of the currently obtained data is applied to the weight of the currently obtained data. Therefore, the forgetting factor can be used to control the sensitivity and reactivity of the data to noise. Therefore, according to the present invention, the manipulation mechanism is configured so that the robot arm can be reasonably manipulated according to the inconvenience by applying the forgetting differently according to the discomfort of the dynamic abductor. The recalculation average calculation formula based on the forgetting factor applied is as follows.

Figure pat00002
Figure pat00002

Figure pat00003
는 데이터의 평균, k 는 데이터 획득 횟수,
Figure pat00004
은 계측값(초음파센서 거리정보, 조이스틱 전압정보), 그리고
Figure pat00005
는 forgetting factor를 의미한다. 정의된 재귀평균 수식을 이용하여 초음파 센서 1과 2, 조이스틱의 x축과 y축 전압정보의 평균을 계산하게 되며 forgetting factor의 정의에 따라 현재 계측결과 값에 따른 평균값의 반응성을 변화시킬 수 있다. 그러므로 거동약자는 불편도에 따라 보조기기인 보롯팔을 조작할 수 있는 능력이 다르기 때문에 합리적인 조작성능을 확보하기 위해 불편도를 4가지 단계로 나누어 정의하고, 각 단계에 합리적으로 적용 가능한 forgetting factor를 정의하였다. 다음은 거동약자의 4단계로 정의된 불편도를 나타낸다.
Figure pat00003
Is the average of the data, k is the number of data acquisitions,
Figure pat00004
(Ultrasonic sensor distance information, joystick voltage information), and
Figure pat00005
Means forgetting factor. Using the defined recursive mean expression, the average of the x and y axis voltage information of the ultrasonic sensors 1 and 2 and the joystick are calculated. The forgetting factor can be used to change the reactivity of the mean value according to the present measurement result. Therefore, since the abbreviation of the behavior has different abilities to manipulate the auxiliary device, the auxiliary device, according to the inconvenience, the inconvenience is divided into four stages in order to ensure a reasonable operation performance, and a forgetting factor Respectively. The following shows the degree of discomfort defined by the four levels of weakness.

Level-1 : 팔이 없는 사람들(사고)Level-1: People without arms (accident)

Level-2 : 팔이 마비된 상태Level-2: The arm is paralyzed

Level-3 : 팔의 움직임이 제한적인 상태Level-3: Limited arm motion

Level-4 : 팔의 조절이 불편한 상태Level-4: Incompatible arms

정의된 불편도 4 가지는 수치가 낮을수록 불편도가 높은 것을 의미한다. 그러므로 불편도가 높을수록 본 발명에서는 상대적으로 높은 forgetting factor를 정의하여 미세한 조절이 불가능하더라도 로봇팔이 쉽게 반응하지 않도록 설계되었다. 다음은 각 불편도에 따라 정의된 forgetting factor들을 나타낸다. Four defined discomforts mean that the lower the value, the higher the discomfort. Therefore, according to the present invention, a relatively high forgetting factor is defined so that the robot arm is not easily reacted even if the fine adjustment is impossible. The following shows the forgetting factors defined according to each discomfort.

lambda          lambda

Level-1 : 0.95Level-1: 0.95

Level-2 : 0.8Level-2: 0.8

Level-3 : 0.65Level-3: 0.65

Level-4 : 0.5Level-4: 0.5

정의된 forgetting factor들은 로봇팔과 개발된 조작 메커니즘 기반 성능평가가 이루어졌으며 합리적인 반응성을 확보할 수 있었다. 다음은 도출된 재귀평균을 기반으로 이루어지는 판단파트에 대한 설명을 나타낸다. The defined forgetting factors were evaluated based on robot arm and developed manipulation mechanism, and reasonable reactivity was secured. The following explains the decision part based on the derived recursive average.

생략skip

Claims (1)

초음파 센서와 조이스틱을 이용하여 거동약자를 위한 로봇팔의 조작메커니즘 개발에 한함.
Development of robot arm manipulation mechanism for moving abductor using ultrasonic sensor and joystick.
KR1020170080009A 2017-06-23 2017-06-23 Development of manipulation mechanism of auxiliary robot arm for the disabled based on ultrasonic sensor and joystick KR20190000686A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020170080009A KR20190000686A (en) 2017-06-23 2017-06-23 Development of manipulation mechanism of auxiliary robot arm for the disabled based on ultrasonic sensor and joystick

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020170080009A KR20190000686A (en) 2017-06-23 2017-06-23 Development of manipulation mechanism of auxiliary robot arm for the disabled based on ultrasonic sensor and joystick

Publications (1)

Publication Number Publication Date
KR20190000686A true KR20190000686A (en) 2019-01-03

Family

ID=65022209

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020170080009A KR20190000686A (en) 2017-06-23 2017-06-23 Development of manipulation mechanism of auxiliary robot arm for the disabled based on ultrasonic sensor and joystick

Country Status (1)

Country Link
KR (1) KR20190000686A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111515971A (en) * 2020-04-28 2020-08-11 郑州海赛人工智能科技有限公司 Intelligent robot for old people

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111515971A (en) * 2020-04-28 2020-08-11 郑州海赛人工智能科技有限公司 Intelligent robot for old people

Similar Documents

Publication Publication Date Title
WO2021047522A1 (en) Surgical robot, and control method and control device for distal instrument thereof
CN109953761B (en) Lower limb rehabilitation robot movement intention reasoning method
Hu et al. Development of sensory-motor fusion-based manipulation and grasping control for a robotic hand-eye system
Xiong et al. A novel HCI based on EMG and IMU
Xiao et al. Control an exoskeleton for forearm rotation using FMG
Ruzaij et al. Auto calibrated head orientation controller for robotic-wheelchair using MEMS sensors and embedded technologies
CN110703604A (en) Exoskeleton dynamic model parameter identification method and exoskeleton device
Sahadat et al. Optimization of tongue gesture processing algorithm for standalone multimodal tongue drive system
Upender et al. A hand gesture based wheelchair for physically handicapped person with emergency alert system
Dharaskar et al. Robotic arm control using gesture and voice
Popescu et al. Force observer-based control for a rehabilitation hand exoskeleton system
KR20190000686A (en) Development of manipulation mechanism of auxiliary robot arm for the disabled based on ultrasonic sensor and joystick
Parga et al. Tele-manipulation of robot arm with smartphone
Sridevi et al. Automated Gesture Based Wireless Wheelchair Control by Means of Accelerometer
Kim et al. Development of a wearable HCI controller through sEMG & IMU sensor fusion
Ababneh et al. Gesture controlled mobile robotic arm for elderly and wheelchair people assistance using kinect sensor
Al-Okby et al. Development and testing of intelligent low-cost wheelchair controller for quadriplegics and paralysis patients
Lee et al. A control scheme to minimize muscle energy for power assistant robotic systems under unknown external perturbation
CN105813011A (en) Manipulator device on-site sensing signal detection method based on mobile phone client
Al-Okby et al. Development and testing of intelligent wheelchair controller for quadriplegic patients
Fegade et al. Wireless gesture controlled semi-humanoid robot
Sahadat et al. Standalone assistive system to employ multiple remaining abilities in people with tetraplegia
Fikri et al. Arm exoskeleton for rehabilitation following stroke by learning algorithm prediction
Ivanov et al. Human-machine interface with motion capture system for prosthetic control
Balaji et al. Smart phone accelerometer sensor based wireless robot for physically disabled people