CN104122792B - Give a rubdown with a damp towel robot optimal control method - Google Patents
Give a rubdown with a damp towel robot optimal control method Download PDFInfo
- Publication number
- CN104122792B CN104122792B CN201410308511.XA CN201410308511A CN104122792B CN 104122792 B CN104122792 B CN 104122792B CN 201410308511 A CN201410308511 A CN 201410308511A CN 104122792 B CN104122792 B CN 104122792B
- Authority
- CN
- China
- Prior art keywords
- comfort level
- human body
- rubdown
- model
- damp towel
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
Give a rubdown with a damp towel robot optimal control method.Select sense of touch body-sensing comfort level model as optimization object function, use Multi Islander GA (MIGA) pseudo-parallelism genetic algorithm as purpose optimal method, pressure transducer is utilized to measure human body and the force value rubbed with the hands between head in real time, tracking pressure changes, change according to force value adjusts the constraints of genetic algorithm, recalculate optimal solution, it is achieved the process control of Real-time and Dynamic.
Description
Technical field
The present invention relates to robot and control field, robot optimal control method of specifically giving a rubdown with a damp towel.
Background technology
Robot of giving a rubdown with a damp towel is a very important subsystem in Personal hygiene nursing robot, excellent to robot of giving a rubdown with a damp towel
Change can be greatly improved the performance of Personal hygiene nursing robot.
Summary of the invention
For solving above-mentioned technical problem, propose one and give a rubdown with a damp towel robot optimal control method, according to human feeling's Based Intelligent Control
Speed of giving a rubdown with a damp towel and time, it is achieved the process optimization meeting comfort requirement controls.
For realizing above-mentioned technical purpose, the technical solution adopted in the present invention is: robot optimal control method of giving a rubdown with a damp towel, its
It is characterised by:
Step one, employing sense of touch body-sensing comfort level model are as the object function optimized, and this model is shown below:
(1)
(2)
Wherein, t be human body sensing stimulation time, v be physical stimulation speed, N be human body sensing pressure, k is sensation amount,
For coefficient of friction；
Step 2, initialization constraints, N ~ [0.1N-50N], v ~ [0.001 ~ 1m/s], t ~ [1 ~ 200s], f ~ [0.5 ~
0.99], t be human body sensing stimulation time, v be physical stimulation speed, N be human body sensing pressure, f is comfort level, utilizes heredity
Algorithm determines physical stimulation speed v and the optimal solution of human body sensing stimulation time t, and robot of giving a rubdown with a damp towel is according to the sense of touch under optimal solution
Body-sensing comfort level model is controlled；
Step 3, when sensing that force value changes, according to force value change adjust genetic algorithm constraints, return
Step 2 recalculates optimal solution, it is achieved the process control of Real-time and Dynamic.
The adquisitiones of comfort level model of the present invention is, uses Weber Fechner law structural physical to stimulate EsWith
Relational model between sensation amount k, sensation amount, m, x, y, z are sensitive ginseng
Number, wherein, t be human body sensing stimulation time, v be physical stimulation speed, N be human body sensing pressure；According to model, sensation is proposed
Functional relationship between amount k and comfort level g (k), comfort level, wherein,,As the parameter of the control function curve rate of decay, k is sensation amount；Utilize t, v, N data gathered to model parameter g
K () and k are fitted, obtain sense of touch body-sensing comfort level model,
(1)
(2).
The invention has the beneficial effects as follows:
1, robot optimal control method of giving a rubdown with a damp towel disclosed by the invention is the stranding for old bathing hygiene care robot
The design of bath mechanism, it is possible to during solving to give a rubdown with a damp towel, the human body requirement problem to comfort level.
2, sense of touch body-sensing comfort level model based on Weber Fechner law disclosed by the invention is to defend for old bathing
The body rubbing mechanism design of raw nursing robot, test by experimenter is actual, meet the pass of physical stimulation and actual measurement comfort level
System.It is frictional force, speed and time owing to this model Main physical stimulates, therefore can be generalized to various intelligent nursing easily
System, help the disabled help the elderly device and relevant intelligent ergonomic device process control in.
Accompanying drawing explanation
Fig. 1 is the distribution space schematic diagram optimizing solution of the present invention；
Fig. 2 is the parameter curve fit figure of the present invention；
Fig. 3 is the structural representation of the experimental provision of the present invention；
In figure: 1, driven pulley, 2, drivewheel, 3, motor, 4, crawler belt, 5, rubber, 6, bracket, 7, balancing weight, 8,
Human body.
Detailed description of the invention
, sense of touch body-sensing comfort level model
(1) structural physical stimulates the relational model between sensation amount
Weber-Fechner law (Weber-Fechner Law, W-F law) be 1850 by Fechner grinding at weber
On the basis of studying carefully, proved by psychophysical testing and the research that is derived from stimulates relation between physical features and sensory experience
Law.This theorem can determine that various sensory thresholds and measurement stimulate under moderate strength stimulates physical quantity and psychological feelings close
System.Functional relationship between the response magnitude k and external environment quantity of stimulus C of experiment proof human body:
K=algc, a are weber constant (1)
Sense of touch comfort level sensation evaluation in based on the assumption that
A: external environment quantity of stimulus c is regarded as the energy value E of absorption of human bodys；
B: k is regarded as human body is to the response magnitude of institute's irriate in friction process.
C: weber coefficient a is upset in friction process by human body is determined.A is stimulated to be normal for same
Number, the comfort level of the present invention considers frictional force and the deformation stimulation to human body, a can be regarded as two kinds of weights stimulated.
Therefore Weber-Fechner law can be deformed into:
(2)
Wherein EfThe heat produced for frictional force, EeThe energy that during for giving a rubdown with a damp towel, skin deformation absorbs, its computational methods are bases
Experimental provision (see photo) and experimental design utilize frictional force and elastic deformation formula calculated, substitute into above formula and obtain:
(3)
Owing to being sliding friction between skin and rubber, skin deformation is less, and can quickly rebound, and elastic deformation is inhaled
The energy received is negligible, and therefore model can be reduced to:
(4)
(5)
If only considering the frictional force stimulation to human body, therefore a can set this value as 1.In this formula, t, v are controlled quentity controlled variable,For the variable relevant with bather's skin, N is the human body pressure to stranding head,Purpose be to make k value
More than zero, do not affected evaluation result by mathematical proof.
Different to the sensitivity of different physical stimulations in view of human body, I am to time t, speed v, tri-physics of pressure N
Stimulating and add Sensitivity Index, quick degree is the highest, and its power is the lowest, otherwise the highest.Thus, Weber-Fechner law function is entered
One step expands to following form:
(6)
(2) functional relationship between sensation amount and comfort level
The human response that human body produces because being upset during giving a rubdown with a damp towel measures k value and determines human body to the process of giving a rubdown with a damp towel
Subjective comfort is experienced, and the relation between comfort level and k value that only determines could select optimal parameter of giving a rubdown with a damp towel, make to give a rubdown with a damp towel
Journey meets the comfort level requirement of human body.
Need now to construct comfort level function g (k), with k as independent variable so that it is curve shape meets human comfort
Sensation.Not simple monotonic relationshi between comfort level function g (k) and k, k people within the specific limits can be comfortable on, and k is too low
Or too high people can feel uncomfortable, this characteristic has similar distribution character to normal distyribution function, and normal function formula is:
(7)
For variance,For expected value.Feel, at this to normal distribution letter to preferably react the comfort level of human body
Number simply adjusts:
(8)
Wherein,As the parameter of the control function curve rate of decay, can be with the shape of controlling curve.
Comfort level function g (k) for assuming makees following provisions:
A: specify that its maximum is 1；
B: specify that its initial value is 0.5, (and when not applying environmental stimuli k=0, comfort level is 0.5)
According to above initial condition and restrictive condition,, bringing (8) into can obtain
Expression to g (k) is:
(9)
K value and fraction time t, friction velocity v, the coefficient of friction between human body and rubber, human body and rubber it
Between pressure N, and sensitivity parameter m, x, y, z are relevant.
The sensitivity of each physical stimulation and the parameter of comfort level function can be obtained by human body by the method matching of experiment
Arrive.
(3) Estimating The Model Coefficients
Experiment needs different volunteers to carry out under varying experimental conditions, after each frictional experiment terminates, and volunteer
Evaluation criterion according to oneself determines the subjective comfort under this experiment condition, and it is composed the numerical value between one [0,1],
This numerical value shows the most greatly the most comfortable.
Experiment condition sets as shown in table 1, and total time t and the value of speed v that rubber runs have 3 kinds of values respectively,
Friction pressure has 5 kinds of values, and such one has 45 kinds of experiment conditions.Every volunteer carries out 45 frictional experiments, and provides phase
The comfortable angle value answered.
Device employed in frictional experiment is rubbing device, and this device is by driven pulley, drivewheel, motor, shoe
Band, rubber, balancing weight and for support human body rub bracket form, drivewheel is driven by motor, passes through crawler belt
Drive driven pulley moves, and is provided with and treats friction human body and carry out the rubber that rubs on crawler belt, inside crawler belt on be provided with for
Pressure puts the balancing weight of rubber, is built-in with pressure transducer for induction pressure N at rubber.Drivewheel drives driven round
Dynamic, the available data such as velocity of rotation, rotation time, simulate pressure data by balancing weight and rubber.
Table 1: rub total time t, speed v and the value of on-load pressure N that head runs during experiment with the hands
| Total time t (s) | 10 | 30 | 50 | ||
| Speed v (m/s) | 0.03 | 0.12 | 0.21 | ||
| Pressure (N) | 0.82 | 1.64 | 2.45 | 3.27 | 4.08 |
Different volunteers often provides different numerical value according to the subjective feeling of oneself to same stimulation, so wanting
The process being standardized initial data, uses " maximum, minimum " method to be normalized.Comfort level normalizing quasi-ization formula is such as
Under:
(10)
J is jth volunteer, and i is i & lt test,It is respectively jth volunteer's i & lt experiment comfort level
Normalized value and response value,The maximum of 45 experiments of i-th volunteer and minima.
Selecting 5 volunteers to participate in experiment, obtained experimental data is used for matching comfort level function g (k), for avoiding repeating in fact
Testing the excessive friction of fatigue and the skin causing volunteer, everyone is conducted batch-wise experiment in the different periods.5 volunteers'
225 groups of dataFormula is carried out nonlinear least square fitting, and the matched curve obtained is as shown in Figure 2.
Obtaining comfort level pattern function according to fitting result is:
(11)
(12).
2, the object function of optimization process is selected
The object function of optimization process determines the quality of optimum results, and the optimization aim of the present invention is that the process of giving a rubdown with a damp towel meets
Human comfort's requirement, therefore object function should preferably describe the physical stimulation during giving a rubdown with a damp towel and human comfort's degree
The relation of impression.
The present invention uses sense of touch body-sensing comfort level model as the object function optimized, and this model is shown below:
(1)
(2)
This model can weigh speed, the time, three kinds of extraneous physical stimulations of pressure (frictional force) to human body sense of touch body-sensing relax
The relation of appropriateness.Wherein, g (k) represents comfort level, it and the relation that sensation amount k is normal distribution；K represents sensation amount, it and thing
Reason quantity of stimulus is logarithmic relationship；Physical stimulation t, the exponential representation human body of v, the N sensitivity to stimulating, its value is the biggest, shows
This kind is stimulated more for sensitivity by human body, by the highest to the sensitivity of pressure seen from formula, this also with test and practical experience phase
Symbol.
The object function controlled as process optimization of giving a rubdown with a damp towel by this model, can efficiently control robot of giving a rubdown with a damp towel and realize height
Effect, comfortable process of giving a rubdown with a damp towel.
3, genetic algorithm is utilized to determine controllable stimuli amount speed and the optimal solution of time
In the program of giving a rubdown with a damp towel operationally, given suitably stranding head speed and the time of operation are needed so that felt by the person of giving a rubdown with a damp towel
To the most comfortable but also clean, also it is accomplished by making comfort level g (k) obtain bigger value.The optimization of process of giving a rubdown with a damp towel is exactly in pressure N effect
Under (during specifically having a bath for variable, can record), obtain optimal time of giving a rubdown with a damp towel t, speed v of giving a rubdown with a damp towel.When parameter optimization, excellent
The object function changed is sense of touch body-sensing comfort level model, and the target of optimization is to obtain the optimal time t given a rubdown with a damp towel and rub the fortune of head with the hands
Dynamic speed v.
The present invention uses Multi-Islander GA (MIGA) pseudo-parallelism genetic algorithm as purpose optimal method, incites somebody to action every
Individual population is divided into several sub-population being referred to as " island ", carries out traditional genetic algorithm operation on each island respectively, meanwhile, on island it
Between periodically select random individual to carry out migration operation, reached the multiformity of colony, it inhibits the generation of precocious phenomenon,
There is the overall situation more excellent than traditional genetic algorithm and solve ability and computational efficiency.
Flow process is as follows:
The first step initializes colony；
Second step calculates the fitness value of each individuality in colony；
3rd step by determined by ideal adaptation angle value certain rule select will enter follow-on individuality；
4th step carries out intersection operation by probability P c；
5th step carries out mutation operation by probability P m；
6th step does not meet certain stop condition, then turn according to the 2nd step, otherwise enters the 7th step.
The chromosome that in 7th step output population, fitness value is optimum is as the satisfactory solution of problem or optimal solution.
Bound variable:
N~[0.1N-50N];
v~[0.001~1m/s]
t~[1~200s]
f~[0.5~0.99]
Object function:
F is comfort level, asks its [0.9 ~ 0.99]
The angle distribution space that the method obtains is as shown in the figure.
Understand,,Time can obtain
More excellent result.During actual bathing, N value can be obtained by pressure transducer, in the case of given N value, utilizes genetic algorithm
T, v value of comfort level optimization solution can be met, thus realize the optimization of process of giving a rubdown with a damp towel.
, dynamically adjust
Owing to the process of giving a rubdown with a damp towel is the process of a dynamic change, bather can independently adjust health with rub with the hands head contact journey
Degree, causes the change at any time of pressure.Therefore, only carry out a suboptimization in whole bathing process and be unable to reach process optimization
Purpose.
The present invention utilizes pressure transducer to measure human body and the force value rubbed with the hands between head in real time, follows the tracks of pressure change, according to pressure
The change of force value adjusts the constraints of genetic algorithm, recalculates optimal solution, it is achieved the process control of Real-time and Dynamic.
Claims (2)
1. give a rubdown with a damp towel robot optimal control method, it is characterised in that:
Step one, employing sense of touch body-sensing comfort level model are as the object function optimized, and this model is shown below:
(1)
(2)
Wherein, t be human body sensing stimulation time, v be physical stimulation speed, N be human body sensing pressure, k is sensation amount,For
Coefficient of friction；
Step 2, initialization constraints, N ~ [0.1N-50N], v ~ [0.001 ~ 1m/s], t ~ [1 ~ 200s], f ~ [0.5 ~
0.99], t be human body sensing stimulation time, v be physical stimulation speed, N be human body sensing pressure, f is comfort level, utilizes heredity
Algorithm determines physical stimulation speed v and the optimal solution of human body sensing stimulation time t, and robot of giving a rubdown with a damp towel is according to the sense of touch under optimal solution
Body-sensing comfort level model is controlled；
Step 3, when sensing that force value changes, according to force value change adjust genetic algorithm constraints, return step
Two recalculate optimal solution, it is achieved the process control of Real-time and Dynamic.
Give a rubdown with a damp towel the most as claimed in claim 1 robot optimal control method, it is characterised in that: taking of described comfort level model
The method of obtaining is, uses Weber Fechner law structural physical to stimulate EsAnd the relational model between sensation amount k, sensation amount, m, x, y, z are sensitive parameter, wherein, t be human body sensing stimulation time,
V be physical stimulation speed, N be human body sensing pressure；According to model, the functional relationships between sensation amount k and comfort level g (k) is proposed
System, comfort level, wherein,,Decay as control function curve
The parameter of speed, k is sensation amount；Utilize t, v, N data gathered that model parameter g (k) and k are fitted, obtain sense of touch body
Sense comfort level model,
(1)
(2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410308511.XA CN104122792B (en) | 2014-07-01 | 2014-07-01 | Give a rubdown with a damp towel robot optimal control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410308511.XA CN104122792B (en) | 2014-07-01 | 2014-07-01 | Give a rubdown with a damp towel robot optimal control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104122792A CN104122792A (en) | 2014-10-29 |
| CN104122792B true CN104122792B (en) | 2016-08-24 |
Family
ID=51768250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410308511.XA Expired - Fee Related CN104122792B (en) | 2014-07-01 | 2014-07-01 | Give a rubdown with a damp towel robot optimal control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104122792B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01302402A (en) * | 1988-03-17 | 1989-12-06 | Toshiba Corp | Process optimization control device |
| US8717151B2 (en) * | 2011-05-13 | 2014-05-06 | Qualcomm Incorporated | Devices and methods for presenting information to a user on a tactile output surface of a mobile device |
| CN102438367B (en) * | 2011-10-25 | 2014-04-02 | 复旦大学 | Linear dimming system based on brightness perceived by human eyes |
| CN102507151A (en) * | 2011-10-25 | 2012-06-20 | 复旦大学 | Reading desk lamp evaluation method based on ergonomic experiment |
| CN102750695B (en) * | 2012-06-04 | 2015-04-15 | 清华大学 | Machine learning-based stereoscopic image quality objective assessment method |
-
2014
- 2014-07-01 CN CN201410308511.XA patent/CN104122792B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104122792A (en) | 2014-10-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Kim et al. | Effect of aquatic dual-task training on balance and gait in stroke patients | |
| CN109157194B (en) | System and method for acquiring and analyzing human health data of mattress with adjustable hardness | |
| Kostić et al. | A comparative analysis of the indicators of the functional fitness of the elderly. | |
| Denning et al. | A review of biophysical differences between aquatic and land-based exercise | |
| CN104112064B (en) | Method for establishing touch comfort level model based on Weber-Fechner law | |
| Medrano et al. | Methods for measuring the just noticeable difference for variable stimuli: implications for perception of metabolic rate with exoskeleton assistance | |
| CN102085150B (en) | Far-infrared sauna bodybuilding system based on physical sign parameters and use method thereof | |
| CN104122792B (en) | Give a rubdown with a damp towel robot optimal control method | |
| Lee et al. | A machine learning-based initial difficulty level adjustment method for balance exercise on a trunk rehabilitation robot | |
| Bakkum et al. | Metabolic rate and cardiorespiratory response during hybrid cycling versus handcycling at equal subjective exercise intensity levels in people with spinal cord injury | |
| Cabral et al. | Body composition and functional autonomy of older adult women after a resistance training program | |
| Kask et al. | Data-driven modelling of fatigue in pelvic floor muscles when performing Kegel exercises | |
| Sheng et al. | Musculoskeletal joint angle estimation based on isokinetic motor coordination | |
| She et al. | Automatic heart-rate-based selection of pedal load and control system for electric cart | |
| Lee et al. | Comparison therapeutic efficacy of underwater and overground walking training on the healthy subjects balancing ability | |
| CN106667507A (en) | Neurological decompression controlling method | |
| Ramasamy et al. | Ski for squat: A squat exergame with pneumatic gel muscle-based dynamic difficulty adjustment | |
| Ramasamy et al. | Human balance ability assessment through Pneumatic Gel Muscle (PGM)-based Augmentation | |
| Emge et al. | Selective effects of arm proximal and distal muscles fatigue on force coordination in manipulation tasks | |
| Kim et al. | Heart rate modeling and smc simulation during tredmill exercise | |
| Harada et al. | Control Design and Implementation of Robotic Massage Based on Finger Pressing Motion Analysis | |
| Anshar et al. | Different of influence of trunk control facilitation and ball exercise on the improvement of balance control in palsy cerebral patients | |
| Dolbow et al. | Efficacy of underwater treadmill training as a complimentary gait restorative therapy for spinal cord injured individual: a case report | |
| Kuzhuget et al. | Blood circulation status in legs in low and highly skilled student-athletes in different sports | |
| WO2024030867A1 (en) | Mat with dual light emitting diodes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 Termination date: 20180701 |