TW201803707A - Controlling system of manipulator includes a manual control device that allows the user to remotely control the manipulator device through the operation of the limb directly - Google Patents

Abstract

A controlling system of manipulator comprises a manual control device mounted on the limbs and the palm of a user and a manipulator device for signal connecting with the manual control device. The manual control device is capable of sensing the EMG signal generated by the particular movement of the limb to output an amplitude control signal correspondingly, and sensing the bending of the finger to output a flexor control signal correspondingly. The manipulator device can be triggered by the amplitude control signal and controls its arm mechanism to generate corresponding motion range of a particular function action. The manipulator device can be triggered by the flexor control signal and controls its palm mechanism to generate a particular gesture. The manual control device allows the user to remotely control the manipulator device through the operation of the limb directly to generate corresponding particular function action and gesture, in which is more convenient to control and adjust the motion range of the particular function action and gesture.

Description

Robot control system

The invention relates to a mechanical system, in particular to a mechanical hand control system that can be controlled by an electronic control.

Robotic arm is a device usually installed in many places that need to perform dangerous operations. The robotic arm can be used to perform specific tasks by remotely controlling the operation of the robotic arm. With the advancement of technology, robotic arms have gradually been applied to the field of prosthetics , Can be used to assist people with a disabled hand or a poor function. At present, most of the robotic arms are controlled by a preset computer program, or by operating a remote control, and it is rare that they are directly controlled by the user's limb movements.

Therefore, an object of the present invention is to provide a manipulator control system that combines electromyography and gesture control.

Therefore, the manipulator control system of the present invention includes a hand control device installed on a user's limb and palm, and a manipulator device connected to the hand control device signal. The hand control device includes a muscle induction control module, a bending sensing control module, and a first wireless communication module.

The myoelectric sensor control module includes a myoelectric sensor and a myoelectric analysis control unit. The myoelectric sensor can measure the myoelectric signals generated by the limb performing specific actions. The myoelectric analysis control unit can measure the The number of times the muscle inductive sensor continuously outputs the myoelectric signal in a specific time, corresponding to outputting an amplitude control signal.

The bending sensing control module includes a glove for wearing on the palm and having a plurality of finger cots, a plurality of bending sensors installed on the finger cots and extending along the direction of the fingers, and a The signal is connected to the curvature analysis control unit of these bending sensors, and each bending sensor can be bent by the respective finger joints to output a bending signal correspondingly. The curvature analysis control unit can analyze the bending signal. The bending radian represents a flexion control signal. The first wireless communication module can wirelessly send the amplitude control signal and the finger control signals.

The manipulator device includes a second wireless communication module capable of wirelessly receiving the amplitude control signal and the index control signals, an arm mechanism that can be driven to generate a specific function action with different motion amplitudes, and an arm mechanism mounted on the arm mechanism. A palm mechanism, an arm control module connected to the arm mechanism by a signal, and a palm control module connected to the palm mechanism by a signal, the palm mechanism has a plurality of finger units that can be driven to straighten and bend, and the arm control module The group can be triggered by the amplitude control signal, and control the arm mechanism to generate the specific functional action corresponding to the amplitude of the action. The palm control module can be triggered by each flexion control signal, and control each finger unit to bend into a corresponding bending arc. .

The function of the present invention is that it is convenient for a user to directly operate the hand control device through a limb to remotely control the manipulator device to generate specific function actions and gestures, and directly adjust the specific function action amplitudes and gestures.

Referring to Figs. 1, 2, and 3, an embodiment of a manipulator control system of the present invention includes a hand control device 3 for mounting on a limb 901 of a user 900, and a signal connected to the hand control device 3 and installed. An 800 manipulator device 4 pivoted on a base. The manipulator device 4 can be used by the user 900 as a prosthetic limb, and is particularly suitable for users who have one hand missing, or users who have two normal arms but one palm, or have two complete hands but Dysfunction in one of the hands. However, the implementation is not limited to the above type, and the limb 901 may be an arm and a palm, but may also be a leg and a palm during implementation.

The manual control device 3 includes a muscle induction control module 31, a bending sensing control module 32, and a first wireless communication module 33.

The muscle inductive control module 31 includes a muscle inductive sensor 311 for fixing the surface of the arm of the user 900, a myoelectric analysis control unit 312 connected to the muscle inductive sensor 311, and an arm control start key. 313, and an arm return key 314. The muscle inductive sensor 311 can measure an electromyography signal generated by the limb 901 of the user 900 performing a specific action through an electrode (not shown) attached to the body surface, for example, mounted on the arm of the arm, It can measure the myoelectric signals generated by the movement of the lower arm of the lower arm relative to the upper arm bending and lifting, or the myoelectric signals generated when the upper arm moves up and down or swings left and right.

The myoelectric analysis control unit 312 has a built-in myoelectric signal sample generated by the user 900's arm performing the specific action, and can receive and analyze the myoelectric signal output by the myoelectric sensor 311 to determine the user 900 The number of times that the specific action is performed, and an amplitude control signal corresponding to the specific function action that controls the robot arm device 4 to generate a specific action amplitude may be correspondingly output according to the number of times of the specific action.

The electromyographic analysis control unit 312 has a built-in basic motion control mode and an amplification motion control mode. When the electromyographic analysis control unit 312 analyzes that the user 900 performs only one specific motion in a specific time, , The basic motion control mode is started, and when it is analyzed that the user 900 repeatedly performs the specific motion more than a specific number of times within the specific time, the amplification motion control mode is started. For example, when only one specific action is performed within 2 seconds, the basic motion control mode is activated, and when the specific action is repeatedly performed more than 5 times within 2 seconds, the boosted motion control mode is executed.

When the basic motion control mode is activated, the amplitude control signal output by the electromyography analysis control unit 312 can be used to control the specific functional motion of the robotic device 4 to generate a basic motion amplitude.

When the amplification action control mode is activated, the electromyographic analysis control unit 312 adjusts the amplitude control signal output according to the proportional relationship between the number of times the user 900 made the specific action and the specific number of times, so that the amplitude control The signal can control the manipulator device 4 to generate a larger magnitude of the specific function action. For example, the specific number of times is preset to 5 times. When the number of times of movements is 5 times, it is preset that the amplitude control signal can drive the specific functional action generated by the manipulator device 4 to have an operation amplitude greater than the basic operation amplitude by 20%. When the number of times is 6 times, the action range of the specific function action generated by the drive will be increased to 40% greater than the basic action range; when the number of times is 7 times, the action range of the specific function action will be increased to greater than the basic action range. 60%; when the number of actions is 8 times, the action range of the specific function action generated by the drive will increase to more than 80% of the basic action range; when the number of actions is 9 times, the specific function action The range of motion will increase to 100% greater than the basic range of motion, which is twice as large as the basic range of motion. However, in the implementation, the manner in which the amplitude control signal controls the manipulator device 4 to generate the specific function motion with different motion amplitudes is not limited thereto.

The arm control start key 313 can be operated to enable or disable the entire muscle inductance control module 31, and can be used to control whether the muscle inductance control module 31 senses and outputs the amplitude control signal. The arm return key 314 can be operated to trigger the electromyography analysis control unit 312 to wirelessly send an arm return signal via the first wireless communication module 33. The arm return signal can control the manipulator device 4 to return to a basic arm posture .

The bending sensing control module 32 includes a glove 321 that can be worn on the palm, a plurality of bending sensors 323 installed on the glove 321, and a signal that is installed on the gloves 321 and connected to the bending sensors 323. The curvature analysis control unit 324, a palm control start key 325, and a palm force fixed key 326.

The glove 321 has a plurality of fingertip portions 322 for the fingers of the palm to pass through. The bending sensors 323 are respectively fixed to the fingertip portions 322 in the longitudinal direction of the fingertip portions 322, and can be flexibly deformed by the respective fingertip portions 322 in conjunction with each other. , Correspondingly output a bending signal representing its bending amplitude.

The curvature analysis control unit 324 can analyze the bending signals output by each bending sensor 323 to obtain a bending radian of the bending sensor 323, and output a flexion control signal corresponding to the bending radian.

The first wireless communication module 33 can wirelessly send the amplitude control signal and the flexion control signals corresponding to the bending sensors 323 to the robot device 4 through wireless communication technology. The wireless communication technology may be wireless communication technologies such as Bluetooth, ZigBee, and WiFi.

The palm control start key 325 can be operated to turn on or off the entire bending sensing control module 32, and can control whether the bending sensing control module 32 senses and outputs the flexion control signals. The palm rest fixed key 326 can be operated and activated to drive the curvature analysis control unit 324 to wirelessly send a fixed gesture signal via the first wireless communication module 33 and can be closed by operation to drive the curvature analysis control unit. 324 wirelessly sends a release signal via the first wireless communication module 33, the fixed gesture signal can drive the robotic device 4 to maintain the currently operated gesture state, and the release signal can drive the robotic device 4 to be Finger control signal control.

2, 3 and 4, the manipulator device 4 includes a second wireless communication module 41 capable of wirelessly communicating with the first wireless communication module 33, an arm mechanism 42 pivoted on the base 800, and a The palm mechanism 43 mounted on the arm mechanism 42, a signal connected to the second wireless communication module 41 and the arm control module 44 of the arm mechanism 42, and a signal connected to the second wireless communication module 41 and the The palm control module 45 of the palm mechanism 43.

The arm mechanism 42 includes an arm unit 421 with a multi-section structure design pivoted on the base 800, and an arm driving unit 423 installed between the arm unit 421 and the base 800. In this embodiment, the arm unit 421 is described by taking a two-section type as an example, and includes two arm segments 422 which are pivotally connected and can be pivoted relative to each other. The arm driving unit 423 is connected to the arm segments 422 for transmission. And a motor drive assembly connected between the base 800 and one of the arm sections 422 can be driven to drive the arm sections 422 to pivot relative to the arm unit 421 to pivot relative to the base 800, Instead, a specific functional action is generated. During implementation, since the arm mechanism 42 is a known component and has many types, and is not the improvement focus of the present invention, it will not be described in detail, and the manner in which the arm driving unit 423 drives the arm unit 421 is not limited to the above types.

The palm mechanism 43 is mounted on the end of the arm unit 421 and includes a palm body 431 and finger units 432 pivotally disposed on the palm body 431 and corresponding to the bending sensors 323 respectively. The finger units 432 can be driven to bend and straighten by the palm control module 45. In this embodiment, each finger unit 432 has a plurality of knuckles 433 that are pivotally connected in sequence, and a driving belt (not shown) extending through the knuckles 433 is provided, and is used to drive the transmission. A belt motor (not shown), which can be driven to drive the transmission belt to interlock the knuckles 433 to control the finger unit 432 to bend or straighten. Since the palm mechanism 43 is a conventional component, and the finger units 432 can be driven to bend and straighten, there are many structures, and it is not the improvement focus of the present invention, so it will not be described in detail and is not limited to the above types.

The arm control module 44 may be triggered by the amplitude control signal, and correspondingly control the operation of the arm driving unit 423 of the arm mechanism 42, and then drive and control the arm mechanism 42 to generate the specific functional action corresponding to the amplitude of the action.

The palm control module 45 can be triggered by the curvature analysis control unit 324 for the flexion control signals output by each bending sensor 323, and control the knuckles 433 of the corresponding finger unit 432 to pivot relatively, so that the whole The finger unit 432 is bent to a specific bending arc, and the bending and straightening of the finger units 432 can be controlled to simulate the gesture action of the glove 321 by the palm operation.

Referring to Figs. 1, 2, and 3, when using the manipulator control system of the present invention, for a user with one hand, the muscle induction control module 31 can be fixed on the surface of a normal hand, for example, on the upper arm. Then, the glove 321 is worn outside the palm of a normal hand, and the five fingers are respectively put in the finger cover portions 322 to complete the wearing of the hand control device 3. For a user who has a defective palm, the muscle sensing control module 31 can be fixed on the arm of a normal hand or the arm of the other hand with a defective palm, and the glove 321 can be worn outside the palm of the normal hand. For a user whose function of one hand is abnormal, both the muscle inductance control module 31 and the glove 321 can be installed on a normal hand. During implementation, the muscle inductance control module 31 can also be used for fixing other limbs 900 other than the fixed arm.

When the arm mechanism 42 of the manipulator device 4 is to be controlled to generate the specific function action, the arm control start key 313 can be operated to open, and then the specific action is performed through the movable limb 901, and the arm mechanism 42 can be used according to the use of the arm mechanism 42. As required, the specific action is repeatedly performed within the specific time. The muscle inductance control module 31 will continue to receive and analyze the myoelectric signals generated by the movement of the limb 901 to determine the number of times the user 900 has performed the specific action, and at the same time, select to start the basic motion control mode according to the number of specific actions. Or the amplification control mode, and output the corresponding amplitude control signal.

Referring to FIGS. 2, 3 and 4, when the robotic device 4 receives the amplitude control signal, the arm control module 44 will control the arm mechanism 42 to generate the specific movement amplitude corresponding to the specific amplitude of the amplitude control signal. Functional actions, such as controlling the arm mechanism 42 to be raised by 10 cm, 20 cm, 50 cm, or 10 degrees, 30 degrees, and 60 degrees, but not limited thereto.

Referring to FIGS. 1, 3 and 5, when the arm mechanism 42 is to be returned to the basic arm posture, the arm return key 314 can be operated to drive the muscle induction control module 31 to issue the arm return signal. The arm control module 44 is triggered by the arm return signal, and the control drives the arm mechanism 42 to return to the basic arm posture.

When the palm mechanism 43 is to be controlled to produce a specific action, such as grasping an object or making a specific gesture, the palm control activation key 325 can be operated to open, and then the fingertip parts 322 of the glove 321 can be bent to make corresponding To drive the bending sensors 323 to simultaneously bend and deform. At this time, the curvature analysis control unit 324 receives and analyzes the bending signals of the bending sensors 323, and outputs the flexion control signals correspondingly. When the palm control module 45 receives the flexion control signals, it controls the bending or straightening of the respective finger units 432 according to the bending radians represented by the flexion control signals, so as to simulate the corresponding bending sensor 323. The finger cover part 322 is linked with the curved shape, so that the finger units 432 cooperate to simulate and make a gesture generated by the operation of the glove 321 by the palm.

When the palm mechanism 43 is to be maintained at the currently controlled gesture, the palm fixation key 326 can be operated to enable the palm control module 45 to no longer accept the control of the finger control signals. When the gesture of the palm mechanism 43 needs to be controlled again, the palm control module 45 only needs to be operated to close the palm fixation key 326, and the palm control module 45 can accept the control of the flexion control signals, and adjust the bending width of the finger units 432 .

In summary, through the hand control device 3, the myoelectric sensor control module 31 can be used to sense and analyze the myoelectric signals generated by the limb 901 to generate a specific action to determine the generation mode of the specific action in a specific time and corresponding Design for controlling and adjusting the specific motion of the arm mechanism 42 of the manipulator device 4 to generate different motion amplitudes, and the bending sensing control module 32 can sense the bending arc of the five fingers of the palm, and output correspondingly to the bending of the fingers The finger control signals are used to control the finger unit 432 of the palm mechanism 43 of the manipulator device 4 to simulate the design of corresponding gestures, which can facilitate the user 900 to directly remotely control the manipulator device 4 through the movement of his limb 901. The required action can be adjusted, and the action range of the specific function action generated can be adjusted, and the palm mechanism 43 can directly simulate the gesture of the user's 900 palm, which is quite convenient and practical. Therefore, it can indeed achieve the purpose of the present invention.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited by this, any simple equivalent changes and modifications made according to the scope of the patent application and the contents of the patent specification of the present invention are still Within the scope of the invention patent.

3‧‧‧Manual control device
31‧‧‧Muscle Induction Control Module
311‧‧‧ muscle inductance sensor
312‧‧‧myoelectric analysis control unit
313‧‧‧arm control start key
314‧‧‧arm return key
32‧‧‧Bend sensing control module
321‧‧‧ gloves
322‧‧‧Finger Set
323‧‧‧bend sensor
324‧‧‧curvature analysis control unit
325‧‧‧ Palm Control Start Button
326‧‧‧ Palm fixed key
33‧‧‧The first wireless communication module
4‧‧‧ Manipulator
41‧‧‧Second wireless communication module
42‧‧‧arm mechanism
421‧‧‧arm unit
422‧‧‧arm section
423‧‧‧arm drive unit
43‧‧‧ palm mechanism
431‧‧‧ Palm
432‧‧‧finger unit
433‧‧‧ Knuckle
44‧‧‧arm control module
45‧‧‧ Palm Control Module
800‧‧‧ base
900‧‧‧ users
901‧‧‧ limb

Other features and effects of the present invention will be clearly presented in the embodiment with reference to the drawings, in which: FIG. 1 is a manual control device of an embodiment of the manipulator control system of the present invention configured for a user's limb Schematic perspective view; Figure 2 is a perspective view of a manipulator device mounted on a base of the embodiment; Figure 3 is a functional block diagram of the embodiment; Figure 4 is an arm mechanism of the manipulator device of the embodiment Fig. 5 is a perspective view of a plurality of finger units of a palm mechanism of the embodiment when the finger units are driven to bend.

3‧‧‧Manual control device

31‧‧‧Muscle Induction Control Module

311‧‧‧ muscle inductance sensor

312‧‧‧myoelectric analysis control unit

313‧‧‧arm control start key

314‧‧‧arm return key

32‧‧‧Bend sensing control module

323‧‧‧bend sensor

33‧‧‧The first wireless communication module

4‧‧‧ Manipulator

41‧‧‧Second wireless communication module

42‧‧‧arm mechanism

421‧‧‧arm unit

423‧‧‧arm drive unit

43‧‧‧ palm mechanism

432‧‧‧finger unit

324‧‧‧curvature analysis control unit

325‧‧‧ Palm Control Start Button

326‧‧‧ Palm fixed key

44‧‧‧arm control module

45‧‧‧ Palm Control Module

Claims (5)

A manipulator control system includes a hand control device installed on a user's limb and palm, and a manipulator device connected to a signal of the hand control device. The hand control device includes a muscle inductance control module, A bending sensing control module and a first wireless communication module; the myoelectric sensing control module includes a myoelectric sensor and a myoelectric analysis control unit, which can measure the execution of the limb The myoelectric signal generated by a specific action, the myoelectric analysis control unit can output the myoelectric signal continuously according to the number of consecutive times of the myoelectric sensor in a specific time, and output an amplitude control signal correspondingly; the bending sensing control module includes A glove for wearing on the palm and having a plurality of finger cuffs, a plurality of bending sensors respectively installed on the finger cuffs extending along the finger cuffs, and a signal connected to the bending sensors Curvature analysis control unit of the device, each bending sensor can be bent by the respective finger joint part to output a bending signal correspondingly. The curvature analysis control unit The bending radian represented by the bending signal is analyzed and a flexion control signal is output correspondingly; the first wireless communication module can wirelessly send the amplitude control signal and the flexion control signals; the manipulator device includes a wireless receiving the amplitude control The second wireless communication module of the signal and the finger control signals, an arm mechanism that can be driven to generate a specific function action with different motion amplitudes, a palm mechanism mounted on the arm mechanism, and an arm connected to the arm mechanism by a signal A control module and a palm control module connected to the palm mechanism by a signal, the palm mechanism having a plurality of finger units that can be driven to straighten and bend, the arm control module can be triggered by the amplitude control signal to control the The arm mechanism generates the specific functional action corresponding to the motion amplitude. The palm control module can be triggered by each flexion control signal, and control each finger unit to bend to a corresponding bending arc. The manipulator control system according to claim 1, wherein the electromyography analysis control unit has a basic motion mode and an amplification motion mode built-in, and the electromyography analysis control unit can determine whether the muscle induction measurement unit is in the specific When the EMG signal is output only once in the time, triggering the basic motion mode will output an amplitude control signal that can drive the arm control module to control the arm mechanism to generate a basic function of the specific function action. The EMG The analysis control unit may trigger the activation of the amplification action mode when the number of consecutive times that the myoelectric sensing unit outputs the myoelectric signal within a certain time is equal to or greater than a certain number of times, and will be based on the number of times of the myoelectric signal relative to the specific The ratio of the number of times outputs an amplitude control signal capable of driving the arm control module to control the arm mechanism to generate the specific function action with a specific amplitude increase relative to the basic action amplitude. The manipulator control system according to claim 2, wherein the arm mechanism has two pivoted arm sections, and one is installed between the arm sections and can drive the arm sections to pivot relative to each other to produce the matching For the arm function unit of the specific function action, the arm control module can be triggered by the amplitude control signal, and the arm drive unit is driven to drive the arm sections to pivot relative to each other to generate the specific function action. The manipulator control system according to claim 3, wherein the muscle induction control module further includes an arm reset button, and the arm reset button can be operated and activated to drive the myoelectric analysis control unit via the first wireless The communication module wirelessly sends an arm return signal, the arm control module can be triggered by the arm return signal, and controls the arm moving unit to drive the arm unit to move to a basic arm posture. The manipulator control system according to claim 1, wherein the bending sensing control module further includes a palm force fixing key, and the palm force fixing key can be operated and activated to drive the curvature analysis control unit via the first A wireless communication module wirelessly sends a fixed gesture signal, and the palm control module can be triggered by the fixed gesture signal, and stops accepting the control of the finger control signals.