CN104825258B - The wearable function auxiliary mechanical arm of shoulder - Google Patents
The wearable function auxiliary mechanical arm of shoulder Download PDFInfo
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- CN104825258B CN104825258B CN201510130862.0A CN201510130862A CN104825258B CN 104825258 B CN104825258 B CN 104825258B CN 201510130862 A CN201510130862 A CN 201510130862A CN 104825258 B CN104825258 B CN 104825258B
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Abstract
The invention provides a kind of wearable function auxiliary mechanical arm of shoulder, including seven freedom rope drives both arms, shoulder wearing mechanism, rope and drives group of motors module, control driver element, power module, vision sensor, computer and main control unit；The rope is driven group of motors module and is connected by rope drive mechanical arm shoulder joint passive type support mechanism and seven freedom rope drive both arms；The vision sensor and main control unit are connected with computer data respectively.The present invention solves the problems, such as in people's both hands while work while need additionally to assist, to be effectively reduced the labor intensity of people, raising work efficiency.The patient that arm muscles can be helped powerless increases their basic living self-care ability.Can also be used for assisting people with disability, the function of body residual fraction is most fully played, reach taking care of oneself for maximum possible, the ability worked and work reintegrates into society for them and lays the first stone.
Description
Technical Field
The invention relates to the technical field of cooperative wearable mechanical arms, in particular to a shoulder wearable functional auxiliary mechanical arm controlled by three control modes, namely a data foot sleeve, an intelligent handle and a brain-computer interface, which is used for assisting people in daily work or life.
Background
The development of robotics in recent years has made it no longer a dream to add extra limbs to the human body to achieve a "three-head six-arm" design. Through increasing wearable imitative people arm limbs, can effectively expand people's task executive function, strengthen people's production efficiency and skill level, make it independently reply complicated environmental change or production task under the condition that does not rely on many people to assist to the situation of "two fists are not enemy four hands" has been solved. Therefore, the wearable humanoid mechanical arm limb enables the robot to be cooperated with a person more closely, and the development of the wearable robot has more practical application prospect under the conditions that the robot cannot well understand the intention of the person, efficiently faces complex environments and diversifies the needs of users.
Generally, when a person cannot independently complete a certain activity, the related work tools need to be assisted or added by others or tasks need to be refined and decomposed, and the task is realized item by item. Although these methods can successfully achieve the predetermined activity index, the labor cost, time, effort, etc. are inevitably increased. On the other hand, as people demand more and more diversified, facing tasks and environments tend to be complex, personal skills and traditional equipment are inevitably subjected to different types of challenges, and the flexibility of the robot technology and intelligent decision making of people enable the robot to share part of the challenges, so that the stress on the people is relieved. Different from the traditional exoskeleton power-assisted robot, the wearable power-assisted mechanical arm not only can assist but also can independently complete operation, and also can be used for people and collaboratively completing more complex tasks, so that the wearable power-assisted mechanical arm has important practical value for improving the skills and the operation efficiency of people, and is more significant in the field of health care, for people with arm movement functions, such as patients suffering from stroke and muscular atrophy, a substitute is needed to help the people to complete certain daily required hand motions, so that the people can complete certain necessary motions in daily life without the help of people, such as water pouring, door opening, even shaving, tooth brushing, cooking, shopping and the like. Therefore, the privacy of the users can be better protected, and the self-care ability of the users can be improved. For some people with physical disabilities, mainly arm parts, there is a need for alternatives to compensate for the physical disabilities of this part, so that their quality of life and their ability to stand alone can be improved. The existing method for installing the artificial limb increases the cost because the artificial limb needs to be customized for different people, and the large-scale production is not possible in technical realization. Thus, additional wearable robotic arms may be substituted.
Through the search of the prior art documents, the following results are found:
chinese patent publication No. CN 101357097B, the name of the invention is: the exoskeleton type upper limb rehabilitation robot with five degrees of freedom. The technology mainly provides a wearable upper limb rehabilitation device which can perform single joint movement and three-dimensional space multi-joint compound movement and provide simple and basic daily life action training. However, the device is poor in portability and not beneficial to carrying, and in addition, physical signals of a human body are not integrated for man-machine cooperation, so that the control is single.
Chinese patent publication No. CN 102309393 a, the name of the invention is: the exoskeleton type upper limb rehabilitation robot is used for training and recovering the movement of upper limb joints. The device is only connected with the wrist of a human body to complete rehabilitation activities through a virtual environment, but cannot provide actual assistance or function enhancement functions, so that the application range of the device is limited.
Disclosure of Invention
Aiming at the defects in the prior art, the invention integrates the robot mechanical arm operation technology with the intelligent judgment and intelligent execution functions of people, and provides the shoulder wearable functional auxiliary mechanical arm. The invention aims to increase physical expansion, movement and execution functions of human limbs, further improve life quality and work efficiency, and simultaneously solve the problems that the exoskeleton limits the exertion of human body functions and cannot well perform man-machine cooperative complex task functions.
In order to achieve the purpose, the invention is realized by the following technical scheme.
A shoulder wearable functional auxiliary mechanical arm is worn on the shoulders of a user and comprises a seven-degree-of-freedom rope driving double arm 1, a shoulder wearing mechanism 2, a rope driving motor group module 3, a control driving unit 4, a power supply module 5, a visual sensor 7, a computer 8 and an autonomous control unit; wherein:
the rope drive motor group module 3 is in transmission connection with the seven-degree-of-freedom rope drive double arm 1 through a rope drive mechanical arm shoulder joint passive bearing mechanism 12;
the vision sensor 7 and the autonomous control unit are respectively in data connection with a computer 8;
the computer 8 is in control connection with the seven-degree-of-freedom rope drive double arm 1 through a control driving unit 4;
the power supply module is respectively in circuit connection with the rope drive motor group module 3 and the control drive unit 4;
the seven-degree-of-freedom rope drive double arm 1, the control drive unit 4, the power supply module 5, the vision sensor 7 and the computer 8 are respectively fixed on the shoulder wearing mechanism 2;
the autonomous control unit comprises any one or more of the following components:
a foot-wearable data podium 14 worn on the foot of the user;
a smart handle module 15 fixed to the shoulder-wearing mechanism 2;
a brain-computer interface module 16 worn on the head of the user.
Preferably, the seven-degree-of-freedom rope-driven double arm is provided with a shoulder joint, an elbow joint and a wrist joint, wherein the shoulder joint comprises three degrees of freedom of pitching, rotating and laterally swinging and is respectively used for completing pitching, rotating and laterally swinging motions; the elbow joint comprises two degrees of freedom of flexion and extension and rotation and is respectively used for completing flexion and extension and rotation motions; the wrist joint comprises two degrees of freedom of flexion and extension and lateral swing and is respectively used for completing flexion and extension and lateral swing movement; the pitching and side-swinging freedom degrees of the shoulder joint, the bending and stretching and rotating freedom degrees of the elbow joint and the bending and stretching and side-swinging freedom degrees of the wrist joint are all realized through a two-freedom-degree modular differential bevel gear transmission mechanism of the rope drive motor group module.
Preferably, the shoulder wearing mechanism comprises a back panel 13, and a shoulder bearing belt 10 and a waist fastening belt 11 which are mounted on the back panel for wearing; the back panel 13 is provided with a motor combination adapter interface b1, a mechanical arm installation fixing interface b2, a vision sensor fixing bracket interface b3, a computer mechanical connection support b4, a control unit installation support b5, a power supply installation support b6, a rope drive winding interface b7, a shoulder wearing adjusting nylon belt interface b8, a waist fastening belt interface b9 and a handle installation interface b 12; wherein:
the rope-driven motor group module 3 is arranged at a motor combination adapting interface b1 and a rope-driven winding interface b7 through a motor combination bracket b 10;
the seven-degree-of-freedom rope-driven double arm 1 is arranged at a mechanical arm mounting and fixing interface b 2;
the vision sensor 7 is mounted at the interface b3 of the vision sensor fixing bracket through the vision sensor supporting seat 6;
the brain-computer interface module 16 is mounted at a computer mechanical connecting support b 4;
the control drive unit 4 is mounted at a control unit mounting support b 5;
the power supply module 5 is installed at a power supply installation support b 6;
the shoulder bearing belt 10 is fixed at a shoulder wearing adjusting nylon belt interface b 8;
the waist fastening belt 11 is fixed at the waist fastening belt interface b 9;
the smart handle module 15 is mounted at the handle mounting interface b 12.
Preferably, the foot wearable data ankle comprises a wearing body and a first toe sensor k1, a second toe sensor k2 and a third toe sensor k3 which are arranged on the wearing body; the wearing body is provided with a sole pressure sensor unit for detecting sole pressure distribution, the first toe sensor k1, the second toe sensor k2 and the third toe sensor k3 are respectively used for collecting the activity state of toes, and direction control signals are formed through distribution information of sole pressure and bending state information of toes to realize control over the seven-degree-of-freedom rope-driven double arms.
Preferably, the wearable data foot cover for the feet identifies the foot postures of the users, and the commands of the users are identified by matching the bending postures of the toes according to the pressure difference of different areas of the soles; the posture data of the foot of the user of the wearable data foot sleeve of the foot is finally transmitted to the control driving unit through the wireless or Bluetooth communication module to be used for controlling the seven-degree-of-freedom rope driving double arms to move in the direction represented by the wearable data foot sleeve of the foot.
Preferably, the smart handle module 15 is located at a side portion of a body of a user, is applied to people with arm muscle dysfunction by controlling a smart handle control mode in the driving unit, and controls a movement direction of the seven-degree-of-freedom rope-driven double arms by a remote control operation mode.
Preferably, the brain-computer interface module is applied to people who lose arm functions by controlling a brain-computer interface control mode in the driving unit, and controls the seven-degree-of-freedom rope drive double arms to complete movement in an electroencephalogram control mode;
the electroencephalogram signals are collected by installing an electroencephalogram cap distributed according to an international 10-20 division method at the electrode position of the brain-computer interface module;
the international division 10-20 method specifically comprises the following steps: the international association of clinical neurophysiology has developed a well established internationally recognized scalp electrode location distribution method at the end of the 50 s of the 20 th century.
Preferably, the control drive unit comprises a seven-degree-of-freedom rope-driven double-arm motion controller c1, a brain-computer interface controller c2, a data foot sleeve controller c3, a visual servo controller c4 and an intelligent handle controller c 5; the seven-degree-of-freedom rope-driven double-arm motion controller c1 is used for driving a seven-degree-of-freedom rope-driven double-arm joint; the brain-computer interface controller c2 is used for executing brain electrical control signals and direction control; the data foot cover controller c3 is used for executing myoelectric control signals and action recognition corresponding to foot wearable data foot cover sensing; the intelligent handle controller c5 is used for controlling the operation of the handle; the vision servo controller c4 is used for executing vision control signals of the vision sensor.
Preferably, the vision sensor is used for completing autonomous obstacle avoidance, when a target path of the seven-degree-of-freedom rope driving double arms conflicts with limb movement, the information acquired by the seven-degree-of-freedom rope driving double arms through the vision sensor is finally transmitted to the control driving unit to control autonomous avoidance of human body parts so as to achieve the purpose of protecting the human body; meanwhile, the seven-degree-of-freedom rope-driving double-arm mechanism achieves a set target position through the vision sensor, namely, when the seven-degree-of-freedom rope-driving double arms need to keep a certain posture and an obstacle appears in a vision range, information collected by the seven-degree-of-freedom rope-driving double arms through the vision sensor is finally transmitted to the control driving unit to control the seven-degree-of-freedom rope-driving double arms to keep the tail end positions unchanged, and obstacle avoidance is completed.
The shoulder wearable functional auxiliary mechanical arm provided by the invention is worn on the shoulder of a patient, and realizes the movement of the two arms of the seven-degree-of-freedom rope drive through data foot sleeve control, intelligent handle control, brain-computer interface control and visual servo control. The seven-degree-of-freedom rope-driven mechanical arm comprises a three-degree-of-freedom shoulder joint, a 2-degree-of-freedom elbow joint and a 2-degree-of-freedom wrist joint, wherein the 2-degree-of-freedom wrist joint is formed by modular differential joints. A passive gravity compensation mechanism is arranged at the shoulder joint of the mechanical arm. All drive units and control units of the mechanical arm are arranged on the back panel, and the weight is borne by the shoulders of the wearer. The mechanical arm is provided with 3 control modes for different users to select, which are respectively: (i) the data foot sleeve control mode is suitable for ordinary wearers with normal movement functions, and can control the movement of the auxiliary mechanical arm to assist the operation of the two arms by regulating and controlling the pressure distribution of the sole area during the operation of the two hands; (ii) the intelligent handle control mode is suitable for people with motor dysfunction, such as muscle atrophy, weak arms, or limited movement due to stroke and the like. The motion intention can be realized by operating the auxiliary mechanical arm by utilizing the handle; (iii) the brain-computer interface control mode is suitable for disabled people with motor function loss, and the brain-computer interface control mode can control the auxiliary mechanical arm to help the auxiliary mechanical arm to complete a specified task by utilizing an electroencephalogram signal. Meanwhile, an autonomous obstacle avoidance mode is arranged, so that an operator is prevented from being accidentally injured in the action process of the mechanical arm, and an obstacle can be better avoided to finish a set task to protect the mechanical arm from being damaged; (iv) the visual servo control mode monitors hand gestures and interaction conditions between people and the environment in real time through a head camera of a wearer, and autonomously provides assistance for people, and avoids tasks such as barriers.
Compared with the prior art, the invention has the following beneficial effects:
1. the shoulder wearable mechanical arm solves the problems that the existing exoskeleton robot needs to occupy the joint movement of human limbs, cannot implement independent and cooperative tasks and other complex tasks, reduces the load of a human body due to the light rope-driven mechanical arm, and reduces the hardware investment time and cost due to the modularized joint design.
2. The wearable mechanical arm adopts visual servo detection control to detect environmental changes in real time, and provides operation support and safety guarantee for people.
3. The control modes of the mechanical arm are various, and the control mode mainly comprises a data foot sleeve control mode, an intelligent handle control mode and a brain-computer interface control mode. And wherein data podotheca control mode is accurate and easy collection, and hand control intelligence handle teleoperation is directly perceived and the control mode more accords with the characteristics of human motion, and brain-computer interface control mode has easy training and reliable characteristic.
4. The data foot sleeve control mode can be in the operation environment when both hands of people work simultaneously and need assistance, and the intelligent handle control mode can effectively reduce the labor intensity of people and improve the working efficiency. The brain-computer interface control mode can be used for assisting the disabled to complete tasks needing double-arm operation in daily life. The invention can obviously expand the skills of both arms of people, assist the functions of the arms and help people with arm motion function deficiency to complete normal life activities.
5. The invention solves the problem that the two hands of a person work simultaneously and need additional assistance, can effectively reduce the labor intensity of the person and improve the working efficiency. Can help patients with arm muscle weakness to increase their basic self-care ability. The multifunctional walking stick can also be used for assisting the disabled to give full play to the functions of the residual part of the body, so as to achieve the maximum possible self-care of life, labor and work capabilities and lay a foundation for returning the disabled to the society.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the overall wearing structure of the present invention, wherein (a) is an axonometric view, (b) is a front view, (c) is a side view, and (d) is a top view;
fig. 2 is an overall schematic view of the wearable mechanical arm and the wearable mechanism of the present invention, wherein (a) is an axonometric view, (b) is a front view, (c) is a side view, and (d) is a top view;
FIG. 3 is a view showing the structure of a wearing mechanism, wherein (a) is an axonometric view, (b) is a bottom view, (c) is a front view, (d) is a top view, and (e) is a side view;
FIG. 4 is an overall functional diagram of the controller;
FIG. 5 is a wearable robotic arm overall control strategy;
FIG. 6 is a schematic diagram of visual servo obstacle avoidance;
FIG. 7 toe activity detection sensor wear diagram;
FIG. 8 is a schematic diagram of a foot-controlled wearable robotic arm;
fig. 9 is a schematic diagram of an electroencephalogram control wearable mechanical arm.
In the figure:
1 is a seven-degree-of-freedom rope-driven double arm;
2 is a shoulder wearing mechanism;
3 is a rope driving motor group module;
4 is a control driving unit;
5 is a power supply module;
6 is a visual sensor supporting seat;
7 is a vision sensor;
8 is a computer;
9 is a motor set shell;
10 is a shoulder bearing belt;
11 is a waist fastening belt;
12 is a rope-driven mechanical arm shoulder joint passive bearing mechanism;
13 is a back panel;
14 is a data foot sleeve wearable by the foot;
15 is an intelligent handle module;
16 is a brain-computer interface module.
Detailed Description
The following examples illustrate the invention in detail: the embodiment is implemented on the premise of the technical scheme of the invention, and a detailed implementation mode and a specific operation process are given. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Examples
The embodiment provides a wearable function auxiliary machinery arm of shoulder, including seven degree of freedom rope drive both arms 1, shoulder wearing mechanism 2, rope drive motor group module 3, and corresponding control drive unit 4, power module 5, visual sensor supporting seat 6, visual sensor 7, computer 8, motor group shell 9, shoulder bearing belt 10, waist fastening belt 11, rope drive arm shoulder joint passive bearing mechanism 12, back panel 13, the wearable data podotheca of foot 14, smart handle module 15, computer interface module 16 etc..
The seven-degree-of-freedom rope-driven double arm 1 is fixed on a back panel 13, and the control driving unit 4, the power supply module 5 and the computer 8 are fixed on the back panel 13 of the shoulder wearing mechanism 2.
The seven-degree-of-freedom rope-driven double arm 1 is provided with a shoulder joint, an elbow joint and a wrist joint, wherein the shoulder joint has three degrees of freedom and respectively completes pitching, rotating and side swinging motions; the elbow joint has two degrees of freedom to complete flexion and extension and rotation functions; the wrist joint has two degrees of freedom and respectively completes flexion and extension movements and lateral swinging movements; except the shoulder joint rotational freedom degree joint, other joints are realized by a two-freedom degree modular differential bevel gear transmission mechanism of the rope drive motor group module 3.
The shoulder wearing mechanism 2 is characterized in that a back panel 13 (a back mounting panel b11) of the shoulder wearing mechanism 2 is provided with a motor combination adaptive interface b1 for controlling a mechanical arm, a mechanical arm mounting and fixing interface b2, a visual sensor fixing bracket interface b3, a computer mechanical connecting support b4, a control unit mounting support b5, a power supply mounting support b6, a rope driving winding interface b7, a shoulder wearing and adjusting nylon belt b8, a waist fastening belt b9, a motor combination bracket b10 and a handle mounting interface b 12.
The data podotheca is dressed to foot, including wearing the body at sensor k1, k2, k3 that toe sensor interface set up. The data foot cover is used for detecting the pressure distribution of the sole and the activity state of the toes, and the wearing mechanical arm is controlled through the different distribution of the pressure of the sole and the bending state of the toes. Simultaneously, the foot wearing mechanism shares the environmental force received by the mechanical arm and the self gravity of the whole wearing mechanism, and simultaneously, the foot wearing mechanism plays a stabilizing role in each posture of a human body. The data foot sleeve controls the motion direction of the mechanical arm by recognizing the foot gesture of a user. The motion direction command of the user is recognized according to the pressure difference of different areas of the sole of the foot in cooperation with the bending sensor of the toe part. The data of the data foot sleeves are transmitted to the controller by equipment with a wireless or Bluetooth communication module to control the mechanical arm.
The intelligent handle module 15 is fixed to the handle mounting interface b12, is located on the side of the body of the wearer, is mainly applied to an intelligent handle control mode in a control mode, mainly faces to people with arm muscle dysfunction, and controls the motion direction of the mechanical arm in a remote operation mode.
The brain-computer interface module is applied to a brain-computer interface control mode in a control mode, mainly faces to people who lose arm functions such as disabled people, and controls a mechanical arm to complete movement and a mechanical clamp to be switched on and off in an electroencephalogram control mode. Electroencephalogram signals are collected through an electroencephalogram cap arranged by an international 10-20 division method installed at the electrode position, wearing is convenient, operation is simple, and detection efficiency is high.
The mechanical arm can automatically avoid the human body to protect the human body when the target path of the mechanical arm conflicts with the limb movement, and can reach the set target position; when a certain posture of the mechanical arm needs to be kept and an obstacle appears in a visual range, under the condition that the position of the tail end of the mechanical arm can be kept unchanged, the obstacle avoidance is completed by utilizing a redundancy mechanism of the mechanical arm.
The invention is further described below with reference to the accompanying drawings:
the utility model provides a wearable function auxiliary machinery arm of shoulder, it includes seven degrees of freedom rope drive both arms 1, shoulder wearing mechanism 2, rope drive generator system module 3, and corresponding control drive unit 4, power module 5, visual sensor supporting seat 6, visual sensor 7, computer 8, motor system shell 9, shoulder bearing belt 10, waist fastening area 11, rope drive arm shoulder joint passive bearing mechanism 12, back panel 13, the wearable data podotheca of foot 14, smart handle module 15, brain machine interface module 16 etc.. The method is characterized in that: the seven-degree-of-freedom rope drive double arm 1 is fixed on a back panel 13, and the control drive unit 4, the power supply module 5 and the computer 8 are fixed on the back panel 13 of the shoulder wearing mechanism.
Furthermore, the seven-degree-of-freedom rope-driven double arm is characterized in that the mechanical arm consists of a shoulder joint, an elbow joint and a wrist joint, wherein the shoulder joint has three degrees of freedom and respectively completes pitching, rotating and side swinging motions. The elbow joint has two degrees of freedom to complete flexion and extension and rotation, and the wrist joint has two degrees of freedom to complete flexion and extension and lateral swing. Except the shoulder joint rotational freedom degree joint, other joints are realized by a rope-driven two-freedom degree modular differential bevel gear transmission mechanism.
Further, the shoulder wearing mechanism is provided with a motor combination adaptive interface b1 for controlling a mechanical arm, a mechanical arm installation fixing interface b2, a visual sensor fixing support interface b3, a computer mechanical connecting support b4, a control unit installation support b5, a power supply installation support b6, a rope drive winding interface b7, a shoulder wearing adjusting nylon belt b8, a waist fastening belt b9, a motor combination support b10, a back installation panel b11 and a handle installation interface b 12.
Furthermore, the foot-worn data ankle-muff is composed of toe sensors k1, k2 and k3 and a wearing body. The data foot cover is used for detecting the pressure distribution of the sole and the activity state of the toes, and the wearing mechanical arm is controlled through the different pressure distribution of the sole and the bending state of the toes, so that the human hand intervention is reduced. Simultaneously, the foot wearing mechanism shares the environmental force received by the mechanical arm and the self gravity of the whole wearing mechanism, and simultaneously, the foot wearing mechanism plays a stabilizing role in each posture of a human body.
The data foot sleeve achieves control over the direction of the mechanical arm by recognizing the posture of the foot of the user. According to the pressure difference of different areas of the sole of the foot, the bending sensor of the toe part is matched to recognize the user's command and move in the direction represented by the command. The data of the data foot sleeves are transmitted to the controller by equipment with a wireless or Bluetooth communication module to control the mechanical arm.
Furthermore, the smart handle module 15 is fixed to the handle mounting interface b12, is located on the side of the body of the wearer, is mainly applied to the smart handle control mode in the control mode, and mainly faces to people with arm muscle dysfunction, and controls the motion direction of the mechanical arm in a teleoperation mode.
Furthermore, the brain-computer interface module is applied to a brain-computer interface control mode in a control mode, mainly faces to people who lose arm functions, such as disabled people, and controls the mechanical arm to complete movement and the mechanical pliers to be switched on and off in an electroencephalogram control mode. Electroencephalogram signals are collected through an electroencephalogram cap arranged by an international 10-20 division method installed at the electrode position, wearing is convenient, operation is simple, and detection efficiency is high.
Furthermore, the mechanical arm of the visual sensor completes autonomous obstacle avoidance through the equipped visual sensor, when the target path of the mechanical arm conflicts with limb movement, the mechanical arm can autonomously avoid the human body to achieve the effect of protecting the human body, and meanwhile, the mechanical arm can also achieve a set target position; when a certain posture of the mechanical arm needs to be kept and an obstacle appears in a visual range, the mechanical arm can keep the tail end position unchanged, and the obstacle avoidance is completed. Furthermore, the control driving unit mainly comprises a seven-degree-of-freedom rope-driven double-arm motion controller c1 for driving the mechanical arm to move, an electroencephalogram controller c2, a myoelectric controller c3, a visual controller c4 and a handle controller c 5. The seven-degree-of-freedom rope-driven double-arm action controller c1 drives a mechanical arm joint motor, the electroencephalogram controller executes electroencephalogram signal processing and direction control, the electromyogram controller is responsible for electromyogram signal processing and corresponding action recognition, the handle controller controls the operation of the handle, and the visual controller completes the visual signal processing of the visual sensor.
Fig. 6 is a system block diagram in which a vision sensor will provide a robotic arm autonomous obstacle avoidance function. The visual sensor determines the relative position of the barrier and the mechanical arm through the 3D point cloud image acquired by the visual sensor. And judging a collision point between the barrier and the mechanical arm, and using the redundancy of the mechanical arm to enable the collision point to move towards the direction far away from the barrier so as to finish obstacle avoidance. While the end of the arm moves in the direction of motion imparted to the controller by the user through his or her selected control mode.
Fig. 7 is a schematic diagram of mechanical arm obstacle avoidance:
wherein,
is given rotational speed of the mechanical arm joint
JeJacobian matrix being the end of the arm
JoIs a Jacobian matrix at the collision point on the mechanical arm
Is a given velocity of the end of the robot arm
The speed of the collision point on the mechanical arm moving to the direction far away from the barrier
I is an identity matrix
Superscript T as transpose
SymbolIs a pseudo-inverse.
The three different control modes of the present embodiment are described in further detail below with reference to specific examples.
Data podotheca control mode:
as shown in fig. 8, the user will wear the data sock 8-1, which includes the bending sensor 8-2 on the toe end, and will control the mechanical arm to move upward when the user's toe bends upward and downward when the user's toe bends downward. Fig. 9 shows a piezoelectric sheet at the bottom of a data foot sleeve, which is used for detecting the pressure distribution at different parts of two feet and controlling the corresponding mechanical arms to move in the 6 directions of up, down, left, right, front and back. The pressure area judgment and calculation method is as follows. Defining:
FAB＝FA-FB
FAC＝FA-FC
FAD＝FA-FD
wherein FAIs the sum of the forces applied to all pressure sensors in area A, FB、FC、FDThe same process is carried out; fABIs the pressure difference between the A, B regions, FAC、FADThe same is true.
When the pressure difference between the A area and the rest area is far larger than 0, F isAB＞＞0，，FAC＞＞0，FADAnd > 0, when the above conditions are satisfied, the user is considered to input a "front" command, and the left and right mechanical arms corresponding to the left and right feet respectively move in the front direction at the speed preset by the user through the speed controller. In the same way, the area B controls the rear direction, the pressure passing area A, the area C and the area D respectively control the left direction and the right direction by comparing with each other. And the E area controls the mechanical clamp switch.
Intelligent handle control mode:
the waist part is provided with a left control handle and a right control handle, which can move in 4 directions of front, back, left and right and can sense the pressure in the vertical direction. The motion direction is sent to the speed controller through the collected motion direction control signal, and the mechanical arm moves in the direction according to forward kinematics and the tail end speed preset by a user. Meanwhile, the repentance is automatically recovered to the initial position of the handle after the direction is selected, so that the safety and the reliability are improved.
Brain-computer interface control mode:
the available method for recognizing the movement intention comprises extraction and classification based on electroencephalogram characteristics such as steady-state visual evoked potential (SSVEP). The control on the mechanical arm motion direction is carried out through P300 or SSVEP brain electrical characteristics. The arrows (frequency: 15Hz, 12Hz, 10Hz, 8.57Hz, 7.5Hz, 6.67Hz) representing the directions of the forward, backward, leftward, rightward, upward and downward movements of the robot arm and the ON and OFF icons (frequency: 60Hz, 30Hz) representing the switches of the mechanical pincer will blink at different frequencies ON the user interface. For example, when the user stares at an arrow representing forward, the system will recognize the direction of the mechanical arm movement as forward and move the mechanical arm in the forward direction at a speed preset by the user. The back, left, right, up and down directions are the same as the switch of the mechanical pliers.
The present invention can be preferably realized as described above.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other modifications that do not depart from the spirit and principle of the present invention and are intended to be equivalent thereto are included within the scope of the present invention.
Claims (9)
1. A shoulder wearable functional auxiliary mechanical arm is characterized by comprising a seven-degree-of-freedom rope driving double arm (1), a shoulder wearing mechanism (2), a rope driving motor group module (3), a control driving unit (4), a power supply module (5), a visual sensor (7), a computer (8) and an autonomous control unit; wherein:
the rope drive motor group module (3) is in transmission connection with the seven-degree-of-freedom rope drive double arm (1) through a rope drive mechanical arm shoulder joint passive bearing mechanism (12);
the vision sensor (7) and the autonomous control unit are respectively in data connection with a computer (8);
the computer (8) is in control connection with the seven-degree-of-freedom rope drive double arm (1) through a control drive unit (4);
the power supply module is respectively in circuit connection with the rope drive motor group module (3) and the control drive unit (4);
the seven-degree-of-freedom rope drive double arm (1), the control drive unit (4), the power supply module (5), the vision sensor (7) and the computer (8) are respectively fixed on the shoulder wearing mechanism (2);
the autonomous control unit comprises any one or more of the following components:
-a foot-wearable data podium (14) to be worn on the foot of a user;
-a smart handle module (15) fixed to the shoulder donning mechanism (2);
-a brain-computer interface module (16) worn on the head of the user.
2. The shoulder wearable functional auxiliary mechanical arm according to claim 1, wherein the seven-degree-of-freedom rope-driven double arm is provided with a shoulder joint, an elbow joint and a wrist joint, wherein the shoulder joint comprises three degrees of freedom of pitching, rotating and laterally swinging, and is used for completing the pitching, rotating and laterally swinging motions respectively; the elbow joint comprises two degrees of freedom of flexion and extension and rotation and is respectively used for completing flexion and extension and rotation motions; the wrist joint comprises two degrees of freedom of flexion and extension and lateral swing and is respectively used for completing flexion and extension and lateral swing movement; the pitching and side-swinging freedom degrees of the shoulder joint, the bending and stretching and rotating freedom degrees of the elbow joint and the bending and stretching and side-swinging freedom degrees of the wrist joint are all realized through a two-freedom-degree modular differential bevel gear transmission mechanism of the rope drive motor group module.
3. The shoulder wearable functional auxiliary mechanical arm according to claim 1, wherein the shoulder wearing mechanism comprises a back panel (13) and a shoulder bearing belt (10) and a waist fastening belt (11) which are mounted on the back panel for wearing; the back panel (13) is provided with a motor combination adapter interface (b1), a mechanical arm installation fixing interface (b2), a vision sensor fixing bracket interface (b3), a computer mechanical connection support (b4), a control unit installation support (b5), a power supply installation support (b6), a rope drive winding interface (b7), a shoulder wearing adjusting nylon belt interface (b8), a waist fastening belt interface (b9) and a handle installation interface (b 12); wherein:
the rope driving motor group module (3) is arranged at a motor combination adapting interface (b1) and a rope driving winding interface (b7) through a motor combination bracket (b 10);
the seven-degree-of-freedom rope-driven double arm (1) is arranged at a mechanical arm mounting and fixing interface (b 2);
the visual sensor (7) is arranged at a visual sensor fixing bracket interface (b3) through a visual sensor supporting seat (6);
the brain-computer interface module (16) is arranged at a computer mechanical connecting support (b 4);
the control drive unit (4) is mounted at a control unit mounting support (b 5);
the power supply module (5) is arranged at a power supply mounting support (b 6);
the shoulder bearing belt (10) is fixed at a shoulder wearing adjusting nylon belt interface (b 8);
the waist fastening band (11) is fixed at a waist fastening band interface (b 9);
the smart handle module (15) is mounted at a handle mounting interface (b 12).
4. The shoulder wearable functional auxiliary mechanical arm according to claim 1, wherein the foot wearable data podium comprises a wearing body and a first toe sensor (k1), a second toe sensor (k2) and a third toe sensor (k3) arranged on the wearing body; the wearing body is provided with a sole pressure sensor unit for detecting sole pressure distribution, the first toe sensor (k1), the second toe sensor (k2) and the third toe sensor (k3) are respectively used for collecting toe activity states, and direction control signals are formed through distribution information of sole pressure and bending state information of toes to realize control over the seven-degree-of-freedom rope-driven double arms.
5. The shoulder wearable functional auxiliary mechanical arm according to claim 4, wherein the foot wearable data podotheca identifies the user's command by identifying the user's foot posture, matching the toe bending posture according to the pressure difference of different areas of the sole; the posture data of the foot of the user of the wearable data foot sleeve of the foot is finally transmitted to the control driving unit through the wireless or Bluetooth communication module to be used for controlling the seven-degree-of-freedom rope driving double arms to move in the direction represented by the wearable data foot sleeve of the foot.
6. The shoulder wearable functional auxiliary mechanical arm according to claim 1, wherein the smart handle module is located at the side of the body of the user, is applied to people with arm muscle dysfunction by controlling a smart handle control mode in the driving unit, and controls the movement direction of the seven-degree-of-freedom rope-driven double arms by means of remote control operation.
7. The shoulder wearable functional auxiliary mechanical arm according to claim 1, wherein the brain-computer interface module is applied to people who lose arm functions by controlling a brain-computer interface control mode in the driving unit, and controls the seven-degree-of-freedom rope driving double arms to complete movement by means of electroencephalogram control;
electroencephalogram signals are collected by installing an electroencephalogram cap distributed according to an international 10-20 division method at the electrode position of the brain-computer interface module.
8. The shoulder wearable functional assistive robotic arm of claim 1, wherein the control drive unit comprises a seven degree-of-freedom rope-driven two-arm motion controller (c1), a brain-computer interface controller (c2), a data shoe controller (c3), a visual servo controller (c4), and a smart handle controller (c 5); wherein the seven-degree-of-freedom rope-driven double-arm motion controller (c1) is used for driving a seven-degree-of-freedom rope-driven double-arm joint; the brain-computer interface controller (c2) is used for executing brain electrical control signals and direction control; the data foot cover controller (c3) is used for executing myoelectric control signals and action recognition corresponding to foot wearable data foot cover sensing; the intelligent handle controller (c5) is used for controlling the operation of the handle; the vision servo controller (c4) is used for executing vision control signals of the vision sensor.
9. The shoulder wearable functional auxiliary mechanical arm according to claim 1, wherein the visual sensor is used for completing autonomous obstacle avoidance, and when a target path of the seven-degree-of-freedom rope driving double arms conflicts with limb movement, the seven-degree-of-freedom rope driving double arms transmit information acquired by the visual sensor to the control driving unit to control autonomous avoidance of human body parts so as to achieve the purpose of protecting the human body; meanwhile, the seven-degree-of-freedom rope-driving double-arm mechanism achieves a set target position through the vision sensor, namely, when the seven-degree-of-freedom rope-driving double arms need to keep a certain posture and an obstacle appears in a vision range, information collected by the seven-degree-of-freedom rope-driving double arms through the vision sensor is finally transmitted to the control driving unit to control the seven-degree-of-freedom rope-driving double arms to keep the tail end positions unchanged, and obstacle avoidance is completed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105125383B (en) * | 2015-08-17 | 2018-10-23 | 吴丽敏 | Assistance exoskeleton |
| CN106217396A (en) * | 2016-08-29 | 2016-12-14 | 于敏学 | Intelligent force aid system based on Tactile control |
| CN106327837A (en) * | 2016-09-14 | 2017-01-11 | 国网上海市电力公司 | Remote controlling and receiving device for bionic operation device, and its application |
| CN106363625B (en) * | 2016-10-13 | 2019-03-05 | 杭州宇树科技有限公司 | A kind of quadruped robot teleoperation method based on control staff's foot Position and attitude sensor |
| JP2019147214A (en) * | 2018-02-27 | 2019-09-05 | 株式会社国際電気通信基礎技術研究所 | Control device, control system, control program, and control method |
| WO2020004613A1 (en) * | 2018-06-29 | 2020-01-02 | 国立研究開発法人科学技術振興機構 | Remote control system |
| CN109345542A (en) * | 2018-09-18 | 2019-02-15 | 重庆大学 | A kind of wearable visual fixations target locating set and method |
| CN109590991B (en) * | 2018-12-29 | 2022-03-25 | 中国科学院深圳先进技术研究院 | Exoskeleton robot |
| CN110561403A (en) * | 2019-09-02 | 2019-12-13 | 上海交通大学 | wearable three-degree-of-freedom human body auxiliary outer mechanical arm |
| CN111660297A (en) * | 2020-06-16 | 2020-09-15 | 南京航空航天大学 | Lasso driven wearable cooperation robot |
| CN112623060A (en) * | 2020-12-25 | 2021-04-09 | 哈尔滨工业大学 | Mobile and wearable dual-mode robot |
| CN113084784A (en) * | 2021-04-26 | 2021-07-09 | 南京航空航天大学 | Wearable external limb robot assisting in operation on top of head |
| CN114406988B (en) * | 2022-01-25 | 2023-09-26 | 常州大学 | Wearable continuous flexible outer limb robot for operation in narrow space |
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| US5916070A (en) * | 1997-10-31 | 1999-06-29 | Donohue; James P. | Exercise device |
| CN101125112B (en) * | 2007-09-20 | 2010-06-30 | 华中科技大学 | Wearing type upper limb recovery training robot device |
| CN102309393A (en) * | 2010-07-06 | 2012-01-11 | 赵奇 | Exoskeleton type upper limb rehabilitation robot |
| JP5854454B2 (en) * | 2011-07-15 | 2016-02-09 | 国立大学法人 筑波大学 | Wearable motion assist device |
| CN102793595A (en) * | 2012-09-03 | 2012-11-28 | 浙江大学 | Wearable heavy material handling power-assisting bionic exoskeleton |
| CN103331746A (en) * | 2013-07-04 | 2013-10-02 | 北京航空航天大学 | Wearable six-dimension force sense interaction device with redundant freedom degrees |
| CN103845184B (en) * | 2014-01-26 | 2016-01-13 | 清华大学 | The dermaskeleton type upper limb rehabilitation robot system that a kind of rope drives |
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