CN105690386A - Teleoperation system and teleoperation method for novel mechanical arm - Google Patents

Abstract

The invention relates to a teleoperation system and a teleoperation method for a novel mechanical arm. The teleoperation system for the novel mechanical arm comprises a data glove, a data processing and displaying unit, a mechanical arm control unit, a mechanical arm and a manipulator, wherein the data processing and displaying unit is used for resolving motion information received from the data glove to obtain postures of a big arm, a small arm, a hand back and various fingers of a human body, and converting the postures into control instructions; the mechanical arm control unit performs teleoperation on the mechanical arm and the manipulator, so that the condition that the arms and the hand of the human body control the mechanical arm and the fingers control the manipulator is realized; by using a mode of separately controlling the mechanical arm and the manipulator, respective movement characteristics of the mechanical arm and the manipulator can be fully exerted, so that the mechanical arm can finish complex operation like a human hand; the skillful movement of the human arm can be reproduced in real time by performing teleoperation on the mechanical arm by the human arms; and the mechanical arm does not need offline motion trajectory planning, so that relevant tasks are realized more quickly.

Description

A kind of novel mechanical arm remote control system and teleoperation method

Technical field

The invention discloses a kind of mechanical arm remote control system and teleoperation method, it is possible to by human hand movement real-time operation mechanical arm, belong to robotics。

Background technology

Human-computer interaction technology fast development in recent years, it carries out interaction mainly by the various actions action of relevant device identification people, body gesture etc. with computer virtual environment, it is achieved the functions such as game, operation training, body-building。It is wherein crucial for catching human motion。At present, human motion capture technology major part is based on image recognition technology, it is necessary to image first-class external equipment, is vulnerable to the impact of the condition such as illumination, environment。

The patent No. of applicant's earlier application is the patent of 201510271805.4, which disclose a kind of donning system for catching human upper limb locomotion information, including sensor, central processing unit, power supply, wireless module and display, and show in particular modules function and in human body large arm, forearm and set-up mode on hand, this system can completely catch upper extremity exercise information, man-machine interaction can be applied to, the fields such as remote operating, but there is modules and arrange unreasonable, dress inconvenient defect, in addition this patent solution process does not take into full account the feature of people's upper limb model, solution process is set forth insufficient。

Mechanical arm is the combination of mechanical arm and mechanical hand, is widely used, the process and assemble of factory, the operation of hazardous environment, space capsule maintenance and repair etc. in。Remote operating is control device the most frequently used in mechanical arm。Mostly all adopt the mode of keyboard or handle to carry out remote operating at present, control process single, be difficult to the remote operating of compound action, and interactive process is unnatural。

Summary of the invention

It is an object of the invention to overcome the above-mentioned deficiency of prior art, a kind of novel mechanical arm remote control system is provided, by staff, mechanical arm is carried out remote operating, make mechanical arm can complete the operation of complexity as staff, the mechanical arm remote operating by human arm, reappearing the dexterous motion of human arm in real time, mechanical arm, without carrying out the Motion trajectory of off-line, realizes inter-related task more quickly。

Another object of the present invention is in that to provide a kind of novel mechanical arm teleoperation method。

The above-mentioned purpose of the present invention is achieved mainly by following technical scheme:

A kind of novel mechanical arm remote control system, processes display unit, mechanical arm control unit, mechanical arm and mechanical hand including data glove, data, wherein:

Data glove: include several sensors and microprocessor, several sensors described are separately positioned between the large arm of human body, forearm, the back of the hand and each joint of each finger, for gathering the movable information of human upper limb different parts；Microprocessor is arranged on human body wrist, for receiving movable information from sensor, and described movable information is sent to data process display unit；Described movable information includes the angular velocity of finger part, acceleration and magnetic field value between human body large arm, forearm, the back of the hand and each joint of each finger；

Wherein the concrete method to set up of several sensors is: respectively arrange a sensor on the large arm of human body, forearm, one sensor is respectively set between root joint and the middle joint of middle finger, between middle joint and end joint and between end joint and finger tip, and with the back of the hand on arrange a sensor, totally four sensors are formed and are connected in series, in all the other fingers between root joint and the middle joint of each finger, respectively arranging a sensor between middle joint and end joint and between end joint and finger tip, three sensors on each finger are formed and are connected in series；

Data process display unit；The movable information that real-time reception microprocessor sends resolves, obtain the attitude of human body large arm, forearm, the back of the hand and each finger, and the attitude of wherein large arm, forearm and the back of the hand is converted into the control instruction of mechanical arm, the attitude of wherein each finger is converted into the control instruction of mechanical hand, and the control instruction of described mechanical arm and the control instruction of mechanical hand are sent to mechanical arm control unit in real time；

Mechanical arm control unit: real-time reception data process the control instruction of the described mechanical arm that display unit sends and the control instruction of mechanical hand, respectively mechanical arm and mechanical hand are carried out remote operating, the attitude making mechanical arm is consistent with the attitude of current time human body large arm, forearm and the back of the hand so that the attitude of mechanical hand is consistent with the attitude of current time human finger。

In above-mentioned novel mechanical arm remote control system, data process the movable information of display unit real-time reception microprocessor transmission and resolve, and the concrete grammar of the attitude obtaining human body large arm, forearm, the back of the hand and each finger is as follows:

(2.1) the attitude T of current time human body large arm, is calculated_1,k, concrete formula is as follows:

T_1,k=λ₁×A_1,k+(1-λ₁)×B_1,k

Wherein: A_1,kFor the high frequency attitude of current time large arm, B_1,kFor the low frequency attitude of current time large arm, λ₁For complementary coefficient, value is 0≤λ₁≤ 1；K is moment sequence, and value is the positive integer of >=1；

(2.2), calculating the attitude of current time human body forearm, the attitude of human body forearm is by relative angle T between forearm and large arm_2,kRepresenting, concrete formula is as follows:

$T_{2,k}=ar\cos \frac{a_{2x,k}-a_{1x,k}}{g}$

Wherein: a_2x,kFor along the axial acceleration of human body forearm, a_1x,kFor along the axial acceleration of human body large arm, g is acceleration of gravity；

(2.3) the attitude T of current time human body hands, is calculated_3,k, concrete formula is as follows:

T_3,k=λ₃×A_3,k+(1-λ₃)×B_3,k

Wherein: A_3,kThe high frequency attitude of current moment hands, B_3,kThe low frequency attitude of current time hands, λ₃For complementary coefficient, value is 0≤λ₃≤ 1；

(2.4) the attitude T of finger part between current time human finger root joint and middle joint, is calculated_4,k, concrete formula is as follows:

T_4,k=λ₄×A_4,k+(1-λ₄)×B_4,k

Wherein: A_4,kFor the high frequency attitude of finger part, B between current moment finger root joint and middle joint_4,kFor the low frequency attitude of finger part, λ between current time finger root joint and middle joint₄For complementary coefficient, value is 0≤λ₄≤ 1；

(2.5), the attitude of finger part between joint (6) and end joint (7) is calculated in current time human finger, by the angle T of finger part between finger root joint (5) and middle joint (6)_5,kRepresenting, concrete formula is as follows:

$T_{5,k}=ar\cos \frac{a_{5x,k}-a_{4x,k}}{g}$

Wherein: a_5x,kFor joint along finger and the acceleration in finger part direction, a between end joint_4x,kFor along the acceleration in finger part direction between finger root joint and middle joint；

(2.6), the attitude of finger part between current time human finger end joint (7) and finger tip is calculated, by the angle T of finger part between joint in finger (6) and end joint (7)_6,kRepresenting, concrete formula is as follows:

$T_{6,k}=ar\cos \frac{a_{6x,k}-a_{5x,k}}{g}$

Wherein: a_6x,kFor along the acceleration in finger part direction between finger tips joint and finger tip。

In above-mentioned novel mechanical arm remote control system, the high frequency attitude A of current time large arm in step (2.1)_1,kObtained by equation below:

A_1,k=T_1,k-1+g_1,k×Δt

Wherein: T_1,k-1For the attitude of a upper moment large arm, g_1,kFor the angular velocity of current time large arm, Δ t is the resolving cycle；

The low frequency attitude B of described current time large arm_1,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_1,k)=[GMG × M]/[a_1,km_1,ka_1,k×m_1,k]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_1,kFor the acceleration of current time large arm, m_1,kFor the magnetic field value of current time large arm, C (B_1,k) for B_1,kAttitude matrix。

In above-mentioned novel mechanical arm remote control system, the high frequency attitude A of current time hands in step (2.3)_3,kObtained by equation below:

A_3,k=T_3,k-1+(g_3,k-g_2,k)×Δt

Wherein: T_3,k-1For the attitude of a upper moment hands, g_3,kFor the angular velocity of current time hands, g_2,kFor the angular velocity of current time forearm, Δ t is the resolving cycle；

The low frequency attitude B of described current time hands_3,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_3,k)=[GMG × M]/[a_3,k-a_2,km_3,k-m_2,k(a_3,k-a_2,k)×(m_3,k-m_2,k)]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_3,kFor the acceleration of current time hands, a_2,kFor the acceleration of current time forearm, m_3,kFor the magnetic field value of current time hands, m_2,kFor the magnetic field value of current time forearm, C (B_3,k) for B_3,kAttitude matrix。

In above-mentioned novel mechanical arm remote control system, the high frequency attitude A of finger part between current time finger root joint (5) and middle joint (6) in step (2.4)_4,kObtained by equation below:

A_4,k=T_4,k-1+(g_4,k-g_3,k)×Δt

Wherein: T_4,k-1For the attitude of finger part, g between a upper moment human finger root joint and middle joint_4,kFor the angular velocity of finger part, g between current time finger root joint and middle joint_3,kThe angular velocity of current time hands, Δ t is the resolving cycle；

The low frequency attitude B of finger part between current time finger root joint (5) and middle joint (6)_4,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_4,k)=[GMG × M]/[a_4,k-a_3,km_4,k-m_3,k(a_4,k-a_3,k)×(m_4,k-m_3,k)]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_4,kThe acceleration of finger part, a between current time finger root joint and middle joint_3,kFor the acceleration of current time hands, m_4,kFor the magnetic field value of finger part, m between current time finger root joint and middle joint_3,kFor the magnetic field value of current time hands, C (B_4,k) for B_4,kAttitude matrix。

In above-mentioned novel mechanical arm remote control system, λ₁、λ₃And λ₄Value be: 0.2≤λ₁≤ 0.5,0.2≤λ₃≤ 0.5,0.2≤λ₄≤ 0.5；The value of described resolving period Δ t is 0.001-0.1s。

In above-mentioned novel mechanical arm remote control system, human body the back of the hand and the sensor on each finger are arranged on glove, and glove donning is at human body on hand。

In above-mentioned novel mechanical arm remote control system, adopting soft arranging wire to be connected in data glove between each sensor and between sensor with microprocessor, microprocessor and data process between display unit by wirelessly or non-wirelessly connecting；Described data glove also includes power supply unit, and power supply unit is arranged on the bottom of microprocessor, is used for as microprocessor and sensor power。

A kind of novel mechanical arm teleoperation method, realized by mechanical arm remote control system, described mechanical arm remote control system includes data glove, data process display unit, mechanical arm control unit, mechanical arm and mechanical hand, wherein data glove includes several sensors and microprocessor, microprocessor is arranged on human body wrist, several sensors are separately positioned on the large arm of human body, forearm, between each joint of the back of the hand and each finger, concrete method to set up is: the large arm of human body, forearm respectively arranges a sensor, between root joint and the middle joint of middle finger, one sensor is respectively set between middle joint and end joint and between end joint and finger tip, and with the back of the hand on arrange a sensor, totally four sensors are formed and are connected in series, in all the other fingers between root joint and the middle joint of each finger, one sensor is respectively set between middle joint and end joint and between end joint and finger tip, three sensors on each finger are formed and are connected in series；

Concrete methods of realizing is as follows:

Step (one), data are processed display unit, mechanical arm control unit, mechanical arm and mechanical hand it is attached；

Step (two), mechanical arm remote control system initialization operation, specifically include following steps:

(1), data process display unit and the attitude of the initial time human body large arm of storage inside, forearm and the back of the hand are converted into the control instruction of mechanical arm, the attitude of each finger of initial time human body of storage inside is converted into the control instruction of mechanical hand, and the control instruction of described mechanical arm and the control instruction of mechanical hand are sent to mechanical arm control unit in real time；

(2), mechanical arm control unit real-time reception data process the control instruction of the described mechanical arm that display unit sends and the control instruction of mechanical hand, respectively mechanical arm and mechanical hand are carried out remote operating, the attitude making mechanical arm is consistent with the attitude of initial time human body large arm, forearm and the back of the hand so that the attitude of mechanical hand is consistent with the attitude of initial time human finger；

Step (three), mechanical arm remote control system real-time pursuit movement, specifically include following steps:

(1), the movable information of the sensor acquisition current time human upper limb different parts in data glove；The movable information of the described current time received from sensor is sent to data and processes display unit by microprocessor；Described movable information includes the angular velocity of finger part, acceleration and magnetic field value between human body large arm, forearm, the back of the hand and each joint of each finger；

(2), the movable information of the current time that data process the transmission of display unit real-time reception microprocessor resolves, obtain the attitude of current time human body large arm, forearm, the back of the hand and each finger, the attitude of wherein large arm, forearm and the back of the hand is converted into the control instruction of mechanical arm, the attitude of wherein each finger is converted into the control instruction of mechanical hand, and the control instruction of described mechanical arm and the control instruction of mechanical hand are sent to mechanical arm control unit in real time；

(3), mechanical arm control unit real-time reception data process the control instruction of the described mechanical arm that display unit sends and the control instruction of mechanical hand, respectively mechanical arm and mechanical hand are carried out remote operating, the attitude making mechanical arm is consistent with the attitude of current time human body large arm, forearm and the back of the hand so that the attitude of mechanical hand is consistent with the attitude of current time human finger。

In above-mentioned novel mechanical arm teleoperation method, in (2) of step (three), the concrete grammar that the movable information of current time is resolved by data process display unit is as follows:

(10.1) the attitude T of current time human body large arm, is calculated_1,k, concrete formula is as follows:

T_1,k=λ₁×A_1,k+(1-λ₁)×B_1,k

Wherein: A_1,kFor the high frequency attitude of current time large arm, B_1,kFor the low frequency attitude of current time large arm, λ₁For complementary coefficient, value is 0≤λ₁≤ 1；K is moment sequence, and value is the positive integer of >=1；

(10.2), calculating the attitude of current time human body forearm, the attitude of human body forearm is by relative angle T between forearm and large arm_2,kRepresenting, concrete formula is as follows:

$T_{2,k}=ar\cos \frac{a_{2x,k}-a_{1x,k}}{g}$

Wherein: a_2x,kFor along the axial acceleration of human body forearm, a_1x,kFor along the axial acceleration of human body large arm, g is acceleration of gravity；

(10.3) the attitude T of current time human body hands, is calculated_3,k, concrete formula is as follows:

T_3,k=λ₃×A_3,k+(1-λ₃)×B_3,k

Wherein: A_3,kThe high frequency attitude of current moment hands, B_3,kThe low frequency attitude of current time hands, λ₃For complementary coefficient, value is 0≤λ₃≤ 1；

(10.4) the attitude T of finger part between current time human finger root joint and middle joint, is calculated_4,k, concrete formula is as follows:

T_4,k=λ₄×A_4,k+(1-λ₄)×B_4,k

Wherein: A_4,kFor the high frequency attitude of finger part, B between current moment finger root joint and middle joint_4,kFor the low frequency attitude of finger part, λ between current time finger root joint and middle joint₄For complementary coefficient, value is 0≤λ₄≤ 1；

(10.5), the attitude of finger part between joint and end joint is calculated in current time human finger, by the angle T of finger part between finger root joint and middle joint_5,kRepresenting, concrete formula is as follows:

$T_{5,k}=ar\cos \frac{a_{5x,k}-a_{4x,k}}{g}$

Wherein: a_5x,kFor joint along finger and the acceleration in finger part direction, a between end joint_4x,kFor along the acceleration in finger part direction between finger root joint and middle joint；

(10.6), the attitude of finger part between current time human finger end joint and finger tip is calculated, by joint in finger and the angle T of finger part between end joint_6,kRepresenting, concrete formula is as follows:

$T_{6,k}=ar\cos \frac{a_{6x,k}-a_{5x,k}}{g}$

Wherein: a_6x,kFor along the acceleration in finger part direction between finger tips joint and finger tip。

In above-mentioned novel mechanical arm teleoperation method, the high frequency attitude A of current time large arm in step (10.1)_1,kObtained by equation below:

A_1,k=T_1,k-1+g_1,k×Δt

Wherein: T_1,k-1For the attitude of a upper moment large arm, g_1,kFor the angular velocity of current time large arm, Δ t is the resolving cycle；

The low frequency attitude B of described current time large arm_1,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_1,k)=[GMG × M]/[a_1,km_1,ka_1,k×m_1,k]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_1,kFor the acceleration of current time large arm, m_1,kFor the magnetic field value of current time large arm, C (B_1,k) for B_1,kAttitude matrix。

In above-mentioned novel mechanical arm teleoperation method, the high frequency attitude A of current time hands in step (10.3)_3,kObtained by equation below:

A_3,k=T_3,k-1+(g_3,k-g_2,k)×Δt

Wherein: T_3,k-1For the attitude of a upper moment hands, g_3,kFor the angular velocity of current time hands, g_2,kFor the angular velocity of current time forearm, Δ t is the resolving cycle；

The low frequency attitude B of described current time hands_3,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_3,k)=[GMG × M]/[a_3,k-a_2,km_3,k-m_2,k(a_3,k-a_2,k)×(m_3,k-m_2,k)]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_3,kFor the acceleration of current time hands, a_2,kFor the acceleration of current time forearm, m_3,kFor the magnetic field value of current time hands, m_2,kFor the magnetic field value of current time forearm, C (B_3,k) for B_3,kAttitude matrix。

In above-mentioned novel mechanical arm teleoperation method, the high frequency attitude A of finger part between current time finger root joint (5) and middle joint (6) in step (10.4)_4,kObtained by equation below:

A_4,k=T_4,k-1+(g_4,k-g_3,k)×Δt

Wherein: T_4,k-1For the attitude of finger part, g between a upper moment human finger root joint and middle joint_4,kFor the angular velocity of finger part, g between current time finger root joint and middle joint_3,kFor the angular velocity of current time hands, Δ t is the resolving cycle；

The low frequency attitude B of finger part between current time finger root joint (5) and middle joint (6)_4,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_4,k)=[GMG × M]/[a_4,k-a_3,km_4,k-m_3,k(a_4,k-a_3,k)×(m_4,k-m_3,k)]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_4,kThe acceleration of finger part, a between current time finger root joint and middle joint_3,kFor the acceleration of current time hands, m_4,kFor the magnetic field value of finger part, m between current time finger root joint and middle joint_3,kFor the magnetic field value of current time hands, C (B_4,k) for B_4,kAttitude matrix。

In above-mentioned novel mechanical arm teleoperation method, λ₁、λ₃And λ₄Value be: 0.2≤λ₁≤ 0.5,0.2≤λ₃≤ 0.5,0.2≤λ₄≤ 0.5；The value of described resolving period Δ t is 0.001-0.1s。

In above-mentioned novel mechanical arm teleoperation method, human body the back of the hand and the sensor on each finger are arranged on glove, and glove donning is at human body on hand。

In above-mentioned novel mechanical arm teleoperation method, adopting soft arranging wire to be connected in data glove between each sensor and between sensor with microprocessor, microprocessor and data process between display unit by wirelessly or non-wirelessly connecting；Described data glove also includes power supply unit, and power supply unit is arranged on the bottom of microprocessor, is used for as microprocessor and sensor power。

In above-mentioned novel mechanical arm teleoperation method; when human arm generation jerk or jerky motion cause the control instruction threshold value that the control instruction that data process display unit conversion exceedes mechanical arm and mechanical hand; described control instruction threshold value is sent to mechanical arm control unit by data processing unit, mechanical arm control unit mechanical arm and mechanical hand are carried out remote operating。

The present invention compared with prior art has the advantages that

(1), mechanical arm remote control system of the present invention includes data glove, data process display unit, mechanical arm control unit, mechanical arm and mechanical hand, the movable information received from data glove is carried out resolving and obtains human body large arm by data process display unit, forearm, the attitude of the back of the hand and each finger, and attitude is converted into control instruction by mechanical arm control unit, mechanical arm and mechanical hand is carried out remote operating, realize human arm, hand control mechanical arm, finger controls mechanical hand, by the difference control mode to mechanical arm and mechanical hand, mechanical arm can be given full play to, the respective kinetic characteristic of mechanical hand, make its task that effectively fulfils assignment；

(2), in mechanical arm remote control system of the present invention, human arm is more natural, friendly, easily mechanical arm is carried out remote operating so that mechanical arm can realize the operational motion of complexity as staff；

(3), the mechanical arm of the present invention remote operating by human arm, the dexterous motion of human arm can be reappeared in real time, mechanical arm, without carrying out the Motion trajectory of off-line, realizes inter-related task more quickly；

(4), the data glove system of the present invention includes several sensors, microprocessor and data process display unit, this glove system takes into full account the feature of human upper limb, each functional module is optimized design and rational deployment, wearing being used convenient, comfortable, stability is higher；

(5), the novel data gloves system that the present invention proposes takes into full account the characteristic of sensor, feature in conjunction with human upper limb, design the movable information calculation method of a kind of efficiently and accurately, make calculation result more accurately and reliably, it is possible to be better applied to the multiple fields such as man-machine interaction, remote operating, upper limb healing monitoring；

(6), movable information calculation method process of the present invention is simple, it is easy to accomplish, there is stronger practicality；

(7), novel data gloves system of the present invention, first-class work is can be carried out as imaged without external equipment, do not affected by ambient lighting, block etc., adaptive faculty is strong, it is convenient to dress, adapt to different human body upper limb, the movable informations such as arm, palm and the acceleration of each finger, speed, attitude and position can be caught in real time, completely, rapidly。

Accompanying drawing explanation

Fig. 1 is the structural representation of novel mechanical arm remote control system of the present invention；

Fig. 2 is the theory diagram of data glove of the present invention。

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:

It is illustrated in figure 1 the structural representation of novel mechanical arm remote control system of the present invention, mechanical arm remote control system of the present invention includes data glove 11 as seen from the figure, data process display unit 4, mechanical arm control unit 8, mechanical arm 9 and mechanical hand 10, wherein:

Data glove 11 includes several sensors 1 and microprocessor 2, and several sensors 1 are separately positioned between the large arm of human body, forearm, the back of the hand and each joint of each finger, for gathering the movable information of human upper limb different parts；Microprocessor 2 is arranged on human body wrist, for receiving movable information from sensor 1, and described movable information is sent to data process display unit 4。Soft arranging wire 3 is adopted to be connected between each sensor 1 and between sensor 1 with microprocessor 2, microprocessor 2 and data process by wirelessly or non-wirelessly connecting between display unit 4, and in the embodiment of the present invention, microprocessor 2 and data process between display unit 4 as wireless telecommunications。Above-mentioned movable information includes between human body large arm, forearm, the back of the hand and each joint of each finger the angular velocity of finger part, acceleration and magnetic field value between finger part and end joint and finger tip。

As shown in Figure 1 each arm of human body of the present invention arranges 18 sensors 1, concrete method to set up is: the large arm of human body, forearm respectively arranges a sensor 1, between root joint 5 and the middle joint 6 of middle finger, one sensor 1 is respectively set between middle joint 6 and end joint 7 and between end joint 7 and finger tip, and with the back of the hand on arrange a sensor 1, totally four sensors 1 are formed and are connected in series, in all the other fingers between root joint 5 and the middle joint 6 of each finger, one sensor 1 is respectively set between middle joint 6 and end joint 7 and between end joint 7 and finger tip, three sensors 1 on each finger are formed and are connected in series。

The sensor 1 can be arranged directly on the upper limb part of human body, can also the sensor 1 on human body the back of the hand and each finger be arranged on glove, glove donning is at human body on hand, glove donning human body on hand after, between the back of the hand of position respectively human body and each joint of each finger of each sensor 1 correspondence。These glove are soft glove。

Data glove system of the present invention also includes power supply unit, and power supply unit is arranged on the bottom of microprocessor 2, and for powering for microprocessor 2 and each sensor 1, power supply unit can be battery or other power supply。It is illustrated in figure 2 the theory diagram of data glove of the present invention。

Data process the movable information of display unit 4 real-time reception microprocessor 2 transmission and resolve, obtain human body large arm, forearm, the back of the hand and each finger (include finger part between each finger root joint and middle joint, finger part between middle joint and end joint, finger part between end joint and finger tip) attitude, and by wherein large arm, the attitude of forearm and the back of the hand is converted into the control instruction of mechanical arm 9, the attitude of wherein each finger is converted into the control instruction of mechanical hand 10, and the control instruction of this mechanical arm 9 and the control instruction of mechanical hand 10 are sent to mechanical arm control unit 8 in real time。

Mechanical arm control unit 8 real-time reception data process the control instruction of this mechanical arm 9 that display unit 4 sends and the control instruction of mechanical hand 10, respectively mechanical arm 9 and mechanical hand 10 are carried out remote operating, the attitude making mechanical arm 6 is consistent with the attitude of current time human body large arm, forearm and the back of the hand so that the attitude of mechanical hand 7 is consistent with the attitude of current time human finger。

Mechanical arm 9 and mechanical hand 10, move under the control of mechanical arm control unit 8。

The present invention adopts the concrete grammar that above-mentioned novel mechanical arm remote control system carries out remote operating as follows:

Step (one), data are processed display unit 4, mechanical arm control unit 8, mechanical arm 9 and mechanical hand 10 it is attached, as shown in Figure 1。

Step (two), mechanical arm remote control system initialization operation, specifically include following steps:

(1), data process the attitude (include between the root joint of each finger and middle joint, the attitude of finger part between middle joint and end shutdown, between end joint and finger tip) of display unit 4 storage inside initial time human body large arm, forearm, the back of the hand and each finger, the attitude of wherein large arm, forearm and the back of the hand is converted into the control instruction of mechanical arm 9, the attitude of wherein each finger is converted into the control instruction of mechanical hand 10, and the control instruction of described mechanical arm 9 and the control instruction of mechanical hand 10 are sent to mechanical arm control unit 8 in real time。Can adopt common Linear Mapping that attitude is converted into control instruction。

(2), mechanical arm control unit 8 real-time reception data process the control instruction of the described mechanical arm 9 that display unit 4 sends and the control instruction of mechanical hand 10, respectively mechanical arm 9 and mechanical hand 10 are carried out remote operating, the attitude making mechanical arm 6 is consistent with the attitude of initial time human body large arm, forearm and the back of the hand so that the attitude of mechanical hand 7 is consistent with the attitude of initial time human finger。

Step (three), mechanical arm remote control system real-time pursuit movement, specifically include following steps:

(1), the sensor 1 in data glove 11 gathers the movable information of current time human upper limb different parts；The movable information of the described current time received from sensor 1 is sent to data and processes display unit 4 by microprocessor 2。Above-mentioned movable information includes the angular velocity of finger part, acceleration and magnetic field value between human body large arm, forearm, the back of the hand and each joint of each finger。

(2), the movable information of the current time that data process the transmission of display unit 4 real-time reception microprocessor 2 resolves, obtain the attitude of current time human body large arm, forearm, the back of the hand and each finger, the attitude of wherein large arm, forearm and the back of the hand is converted into the control instruction of mechanical arm 9, the attitude of wherein each finger is converted into the control instruction of mechanical hand 10, and the control instruction of described mechanical arm 9 and the control instruction of mechanical hand 10 are sent to mechanical arm control unit 8 in real time。

(3), mechanical arm control unit 8 real-time reception data process the control instruction of the described mechanical arm 9 that display unit 4 sends and the control instruction of mechanical hand 10, respectively mechanical arm 9 and mechanical hand 10 are carried out remote operating, the attitude making mechanical arm 6 is consistent with the attitude of current time human body large arm, forearm and the back of the hand so that the attitude of mechanical hand 7 is consistent with the attitude of current time human finger。

In above-mentioned steps (2), the movable information of the current time that data process the transmission of display unit 4 real-time reception microprocessor 2 resolves, and the concrete grammar of the attitude obtaining current time human body large arm, forearm, the back of the hand and each finger is as follows:

(2.1), the angular velocity g of the current time large arm that the sensing tolerance 1 of large arm records_1,k, acceleration a_1,k, magnetic field value m_1,k, calculate the attitude T of current time human body large arm_1,k, concrete formula is as follows:

T_1,k=λ₁×A_1,k+(1-λ₁)×B_1,k

Wherein: A_1,kFor the high frequency attitude of current time large arm, B_1,kFor the low frequency attitude of current time large arm, λ₁For complementary coefficient, value is 0≤λ₁≤ 1, it is preferable that 0.2≤λ₁≤0.5。

The high frequency attitude A of current time large arm_1,kAngular velocity g according to current time large arm_1,k, obtained by equation below:

A_1,k=T_1,k-1+g_1,k×Δt

Wherein: T_1,k-1For the attitude of a upper moment large arm, g_1,kFor the angular velocity of current time large arm, Δ t is the resolving cycle。λ in the present embodiment₁It is 0.3；In the present embodiment, Δ t value is 0.02s。

The low frequency attitude B of current time large arm_1,kAccording to gravitational vectors, magnetic vector, the acceleration of current time large arm and the magnetic field value of current time large arm be determined by sexual stance filtering algorithm and obtain, be 3 × 1 matrixes, obtain with specific reference to following conversion formula:

C(B_1,k)=[GMG × M]/[a_1,km_1,ka_1,k×m_1,k]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_1,kFor the acceleration of current time large arm, m_1,kFor the magnetic field value of current time large arm, C (B_1,k) for B_1,kAttitude matrix。

(2.2), the attitude of human body forearm is by the relative angle T between forearm and large arm_2,kRepresent, the angular velocity g of the current time forearm that the sensing tolerance 1 of forearm records_2,k, acceleration a_2,k, magnetic field value m_2,k, then relative angle speed is g_2,k-g_1,k, relative acceleration is a_2,k-a_1,k, relative magnetic field value is m_2,k-m_1,k, take and wherein obtain relative angle T along the axial relative acceleration of forearm and acceleration of gravity resolving_2,k, concrete formula is as follows:

$T_{2,k}=ar\cos \frac{a_{2x,k}-a_{1x,k}}{g}$

Wherein: a_2x,kFor along the axial acceleration of human body forearm, a_1x,kFor along the axial acceleration of human body large arm, g is that gravity accelerates。

The current time forearm angular velocity g that the sensing tolerance 1 of forearm records_2,k, acceleration a_2,k, magnetic field value m_2,kIt is three axis angular rate vector g_2,k, 3-axis acceleration vector a_2,kWith three-axle magnetic field value vector m_2,k, wherein a_2x,kFor along the axial acceleration of human body forearm, it is possible to directly measure and obtain。In like manner, a_1x,kFor along the axial acceleration of human body large arm, it is possible to directly measure and obtain。

(2.3) the angular velocity g of the current time human body hands that, the sensing tolerance 1 of human body the back of the hand records_3,k, acceleration a_3,k, magnetic field value m_3,k, then relative angle speed is g_3,k-g_2,k, relative acceleration be a_3,k-a_2,k, relative magnetic field value be m_3,k-m_2,k, calculate the attitude T of current time human body hands_3,k, concrete formula is as follows:

T_3,k=λ₃×A_3,k+(1-λ₃)×B_3,k

Wherein: A_3,kThe high frequency attitude of current moment hands, B_3,kThe low frequency attitude of current time hands, λ₃For complementary coefficient, value is 0≤λ₃≤ 1；Preferably 0.2≤λ₃≤0.5。

The high frequency attitude A of current time hands_3,kAccording to relative angle speed g_3,k-g_2,k, obtained by equation below:

A_3,k=T_3,k-1+(g_3,k-g_2,k)×Δt

Wherein: T_3,k-1For the attitude of a upper moment hands, g_3,kFor the angular velocity of current time hands, g_2,kFor the angular velocity of current time forearm, Δ t is the resolving cycle。In the present embodiment, Δ t value is 0.02s, λ in the present embodiment₃Value is 0.3。

The low frequency attitude B of current time hands_3,kAccording to gravitational vectors, magnetic vector, relative acceleration a_3,k-a_2,kWith relative magnetic field value m_3,k-m_2,k, it is determined by sexual stance filtering algorithm and obtains, obtain especially by equation below:

C(B_3,k)=[GMG × M]/[a_3,k-a_2,km_3,k-m_2,k(a_3,k-a_2,k)×(m_3,k-m_2,k)]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_3,kFor the acceleration of current time hands, a_2,kFor the acceleration of current time forearm, m_3,kFor the magnetic field value of current time hands, m_2,kFor the magnetic field value of current time forearm, C (B_3,k) for B_3,kAttitude matrix。

(2.4), the sensor 1 arranged between human finger root joint 5 and middle joint 6 records the angular velocity g of finger part between current time finger root joint 5 and middle joint 6_4,k, the acceleration a of finger part between finger root joint 5 and middle joint 6_4,k, the magnetic field value m of finger part between finger root joint 5 and middle joint 6_4,k, then relative angle speed is g_4,k-g_3,k, relative acceleration be a_4,k-a_3,k, relative magnetic field value be m_4,k-m_3,k, calculate the attitude T of finger part between current time human finger root joint and middle joint_4,k, concrete formula is as follows:

T_4,k=λ₄×A_4,k+(1-λ₄)×B_4,k

Wherein: A_4,kFor the high frequency attitude of finger part, B between current moment finger root joint and middle joint_4,kFor the low frequency attitude of finger part, λ between current time finger root joint and middle joint₄For complementary coefficient, value is 0≤λ₄≤ 1, it is preferable that 0.2≤λ₄≤0.5。

The high frequency attitude A of finger part between current time finger root joint and middle joint_4,kAccording to relative angle speed g_4,k-g_3,k, obtained by equation below:

A_4,k=T_4,k-1+(g_4,k-g_3,k)×Δt

Wherein: T_4,k-1For the attitude of finger part, g between a upper moment human finger root joint and middle joint_4,kFor the angular velocity of finger part, g between current time finger root joint and middle joint_3,kThe angular velocity of current time hands, Δ t is the resolving cycle。In the present embodiment, Δ t value is 0.02s, λ in the present embodiment₄Value is 0.3。

The low frequency attitude B of finger part between current time finger root joint and middle joint_4,kAccording to gravitational vectors, magnetic vector, relative acceleration a_4,k-a_3,k, relative magnetic field value m_4,k-m_3,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_4,k)=[GMG × M]/[a_4,k-a_3,km_4,k-m_3,k(a_4,k-a_3,k)×(m_4,k-m_3,k)]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_4,kThe acceleration of finger part, a between current time finger root joint and middle joint_3,kFor the acceleration of current time hands, m_4,kFor the magnetic field value of finger part, m between current time finger root joint and middle joint_3,kFor the magnetic field value of current time hands, C (B_4,k) for B_4,kAttitude matrix。

(2.5), the attitude of finger part between joint 6 and end joint 7 in human finger, by the relative angle T of finger part between finger root joint 5 and middle joint 6_5,kRepresenting, the sensor 1 arranged between joint 6 and end joint 7 in human finger records the angular velocity g of finger part between joint 6 and end joint 7 in current time finger_5,k, the acceleration a of finger part between joint 6 and end joint 7 in finger_5,k, the magnetic field value m of finger part between joint 6 and end joint 7 in finger_5,k, then relative angle speed is g_5,k-g_4,k, relative acceleration be a_5,k-a_4,k, relative magnetic field value be m_5,k-m_4,k, take wherein along joint in finger and between end joint the relative acceleration in finger part direction and acceleration of gravity resolve and obtain relative angle T_5,k, concrete formula is as follows:

$T_{5,k}=ar\cos \frac{a_{5x,k}-a_{4x,k}}{g}$

Wherein: a_5x,kFor joint along finger and the acceleration in finger part direction, a between end joint_4x,kFor along the acceleration in finger part direction between finger root joint and middle joint。

The sensor 1 arranged between joint 6 and end joint 7 in human finger records the angular velocity g of finger part between joint 6 and end joint 7 in current time finger_5,k, the acceleration a of finger part between joint 6 and end joint 7 in finger_5,k, the magnetic field value m of finger part between joint 6 and end joint 7 in finger_5,kIt is three axis angular rate vector g_5,k, 3-axis acceleration vector a_5,kWith three-axle magnetic field value vector m_5,k, wherein a_5x,kFor joint along finger and the acceleration in finger part direction between end joint, it is possible to directly measure and obtain。In like manner, a_4x,kFor along the acceleration in finger part direction between finger root joint and middle joint, it is possible to directly measure and obtain。

(2.6), the attitude of finger part between human finger end joint 7 and finger tip, by the relative angle T of finger part between joint 6 and end joint 7 in this finger part and finger_6,kRepresenting, the sensor 1 arranged between human finger end joint 7 and finger tip records the angular velocity g of finger part between current time finger tips joint 7 and finger tip_6,k, the acceleration a of finger part between finger tips joint 7 and finger tip_6,k, the magnetic field value m of finger part between finger tips joint 7 and finger tip_6,k, then relative angle speed is g_6,k-g_5,k, relative acceleration be a_6,k-a_5,k, relative magnetic field value be m_6,k-m_5,k, take wherein to resolve along the relative acceleration in finger part direction between finger tips joint and finger tip and acceleration of gravity and obtain relative angle T_6,k, concrete formula is as follows:

$T_{6,k}=ar\cos \frac{a_{6x,k}-a_{5x,k}}{g}$

Wherein: a_6x,kFor along the acceleration in finger part direction, a between finger tips joint and finger tip_5x,kFor joint along finger and the acceleration in finger part direction between end joint。Wherein a_5x,k、a_6x,kAll directly measure and obtain。

λ in the present invention₁、λ₃And λ₄Value can be identical or different, in the embodiment of the present invention, three is identical, and value is 0.3, and Δ t value is 0.02s。

In the present invention, between initial time human body large arm, forearm, the back of the hand and each joint of each finger, between finger part and end joint and finger tip, the attitude of finger part can be setting value。

System safety operation and shutdown; if human arm generation jerk or jerky motion cause the control instruction threshold value that the control instruction that data process display unit 4 conversion exceedes mechanical arm 6 and mechanical hand 7; described control instruction threshold value is sent to mechanical arm control unit 8 as control instruction by data processing unit 4, mechanical arm control unit 8 mechanical arm 6 and mechanical hand 7 are carried out remote operating。By control instruction is carried out certain constraint, it is prevented that the speed of mechanical arm is excessive or moment of torsion is excessive, it is ensured that the safe operation of mechanical arm 6 and mechanical hand 7 and safe shutdown。

Mechanical arm is carried out remote operating by staff by the present invention, make mechanical arm can complete the operation of complexity as staff, the mechanical arm remote operating by human arm, the dexterous motion of human arm can be reappeared in real time, mechanical arm, without carrying out the Motion trajectory of off-line, realizes inter-related task more quickly。In addition data glove takes into full account the feature of human upper limb model, each functional module is carried out rational deployment, make to dress use convenient, comfortable, stability is higher, and taking into full account the calculation method of design in human upper limb feature base, make calculation result more accurately and reliably, and the direction caught is more, more multidimensional, can better be applied to the multiple fields such as man-machine interaction, remote operating, upper limb healing monitoring, the such as attitude information according to human body large arm, forearm, hands and each finger, Real Time Drive human upper limb phantom。

The attitude accuracy obtained in the embodiment of the present invention improves 20% than traditional method。

The above; being only the detailed description of the invention that the present invention is best, but protection scope of the present invention is not limited thereto, any those familiar with the art is in the technical scope that the invention discloses; the change that can readily occur in or replacement, all should be encompassed within protection scope of the present invention。

The content not being described in detail in description of the present invention belongs to the known technology of professional and technical personnel in the field。

Claims (17)

1. a novel mechanical arm remote control system, it is characterized in that: include data glove (11), data process display unit (4), mechanical arm control unit (8), mechanical arm (9) and mechanical hand (10), wherein:

Data glove (11): include several sensors (1) and microprocessor (2), described several sensors (1) are separately positioned between the large arm of human body, forearm, the back of the hand and each joint of each finger, for gathering the movable information of human upper limb different parts；Microprocessor (2) is arranged on human body wrist, for receiving movable information from sensor (1), and described movable information is sent to data process display unit (4)；Described movable information includes the angular velocity of finger part, acceleration and magnetic field value between human body large arm, forearm, the back of the hand and each joint of each finger；

Wherein the concrete method to set up of several sensors (1) is: the large arm of human body, forearm respectively arranges a sensor (1), between root joint (5) and middle joint (6) of middle finger, one sensor (1) is respectively set between middle joint (6) and end joint (7) and between end joint (7) and finger tip, and with the back of the hand on arrange a sensor (1), totally four sensors (1) are formed and are connected in series, in all the other fingers between root joint (5) and middle joint (6) of each finger, one sensor (1) is respectively set between middle joint (6) and end joint (7) and between end joint (7) and finger tip, three sensors (1) on each finger are formed and are connected in series；

Data process display unit (4)；The movable information that real-time reception microprocessor (2) sends resolves, obtain the attitude of human body large arm, forearm, the back of the hand and each finger, and the attitude of wherein large arm, forearm and the back of the hand is converted into the control instruction of mechanical arm (9), the attitude of wherein each finger is converted into the control instruction of mechanical hand (10), and the control instruction of described mechanical arm (9) and the control instruction of mechanical hand (10) are sent to mechanical arm control unit (8) in real time；

Mechanical arm control unit (8): real-time reception data process the control instruction of the described mechanical arm (9) that display unit (4) sends and the control instruction of mechanical hand (10), respectively mechanical arm (9) and mechanical hand (10) are carried out remote operating, the attitude making mechanical arm (6) is consistent with the attitude of current time human body large arm, forearm and the back of the hand so that the attitude of mechanical hand (7) is consistent with the attitude of current time human finger。

2. a kind of novel mechanical arm remote control system according to claim 1, it is characterized in that: the movable information that described data process display unit (4) real-time reception microprocessor (2) send resolves, and the concrete grammar of the attitude obtaining human body large arm, forearm, the back of the hand and each finger is as follows:

(2.1) the attitude T of current time human body large arm, is calculated_1,k, concrete formula is as follows:

T_1,k=λ₁×A_1,k+(1-λ₁)×B_1,k

Wherein: A_1,kFor the high frequency attitude of current time large arm, B_1,kFor the low frequency attitude of current time large arm, λ₁For complementary coefficient, value is 0≤λ₁≤ 1；K is moment sequence, and value is the positive integer of >=1；

(2.2), calculating the attitude of current time human body forearm, the attitude of human body forearm is by relative angle T between forearm and large arm_2,kRepresenting, concrete formula is as follows:

$T_{2,k}=ar\cos \frac{a_{2x,k}-a_{1x,k}}{g}$

Wherein: a_2x,kFor along the axial acceleration of human body forearm, a_1x,kFor along the axial acceleration of human body large arm, g is acceleration of gravity；

(2.3) the attitude T of current time human body hands, is calculated_3,k, concrete formula is as follows:

T_3,k=λ₃×A_3,k+(1-λ₃)×B_3,k

Wherein: A_3,kThe high frequency attitude of current moment hands, B_3,kThe low frequency attitude of current time hands, λ₃For complementary coefficient, value is 0≤λ₃≤ 1；

(2.4) the attitude T of finger part between current time human finger root joint (5) and middle joint (6), is calculated_4,k, concrete formula is as follows:

T_4,k=λ₄×A_4,k+(1-λ₄)×B_4,k

Wherein: A_4,kFor the high frequency attitude of finger part, B between current moment finger root joint and middle joint_4,kFor the low frequency attitude of finger part, λ between current time finger root joint and middle joint₄For complementary coefficient, value is 0≤λ₄≤ 1；

(2.5), the attitude of finger part between joint (6) and end joint (7) is calculated in current time human finger, by the angle T of finger part between finger root joint (5) and middle joint (6)_5,kRepresenting, concrete formula is as follows:

$T_{5,k}=ar\cos \frac{a_{5x,k}-a_{4x,k}}{g}$

Wherein: a_5x,kFor joint along finger and the acceleration in finger part direction, a between end joint_4x,kFor along the acceleration in finger part direction between finger root joint and middle joint；

(2.6), the attitude of finger part between current time human finger end joint (7) and finger tip is calculated, by the angle T of finger part between joint in finger (6) and end joint (7)_6,kRepresenting, concrete formula is as follows:

$T_{6,k}=ar\cos \frac{a_{6x,k}-a_{5x,k}}{g}$

Wherein: a_6x,kFor along the acceleration in finger part direction between finger tips joint and finger tip。

3. a kind of novel mechanical arm remote control system according to claim 2, it is characterised in that: the high frequency attitude A of current time large arm in described step (2.1)_1,kObtained by equation below:

A_1,k=T_1,k-1+g_1,k×Δt

Wherein: T_1,k-1For the attitude of a upper moment large arm, g_1,kFor the angular velocity of current time large arm, Δ t is the resolving cycle；

The low frequency attitude B of described current time large arm_1,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_1,k)=[GMG × M]/{ a_1,km_1,ka_1,k×m_1,k]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_1,kFor the acceleration of current time large arm, m_1,kFor the magnetic field value of current time large arm, C (B_1,k) for B_1,kAttitude matrix。

4. a kind of novel mechanical arm remote control system according to claim 2, it is characterised in that: the high frequency attitude A of current time hands in described step (2.3)_3,kObtained by equation below:

A_3,k=T_3,k-1+(g_3,k-g_2,k)×Δt

Wherein: T_3,k-1For the attitude of a upper moment hands, g_3,kFor the angular velocity of current time hands, g_2,kFor the angular velocity of current time forearm, Δ t is the resolving cycle；

The low frequency attitude B of described current time hands_3,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_3,k)=[GMG × M]/[a_3,k-a_2,km_3,k-m_2,k(a_3,k-a_2,k)×(m_3,k-m_2,k)]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_3,kFor the acceleration of current time hands, a_2,kFor the acceleration of current time forearm, m_3,kFor the magnetic field value of current time hands, m_2,kFor the magnetic field value of current time forearm, C (B_3,k) for B_3,kAttitude matrix。

5. a kind of novel mechanical arm remote control system according to claim 2, it is characterised in that: the high frequency attitude A of finger part between current time finger root joint (5) and middle joint (6) in described step (2.4)_4,kObtained by equation below:

A_4,k=T_4,k-1+(g_4,k-g_3,k)×Δt

Wherein: T_4,k-1For the attitude of finger part, g between a upper moment human finger root joint and middle joint_4,kFor the angular velocity of finger part, g between current time finger root joint and middle joint_3,kThe angular velocity of current time hands, Δ t is the resolving cycle；

The low frequency attitude B of finger part between current time finger root joint (5) and middle joint (6)_4,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_4,k)=[GMG × M]/[a_4,k-a_3,km_4,k-m_3,k(a_4,k-a_3,k)×(m_4,k-m_3,k)]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_4,kThe acceleration of finger part, a between current time finger root joint and middle joint_3,kFor the acceleration of current time hands, m_4,kFor the magnetic field value of finger part, m between current time finger root joint and middle joint_3,kFor the magnetic field value of current time hands, C (B_4,k) for B_4,kAttitude matrix。

6. according to a kind of novel mechanical arm remote control system one of claim 2-5 Suo Shu, it is characterised in that: described λ₁、λ₃And λ₄Value be: 0.2≤λ₁≤ 0.5,0.2≤λ₃≤ 0.5,0.2≤λ₄≤ 0.5；The value of described resolving period Δ t is 0.001-0.1s。

7. according to a kind of novel mechanical arm remote control system one of claim 1-5 Suo Shu, it is characterised in that: the sensor (1) on described human body the back of the hand and each finger is arranged on glove, and glove donning is at human body on hand。

8. according to a kind of novel mechanical arm remote control system one of claim 1-5 Suo Shu, it is characterized in that: adopt soft arranging wire (3) to be connected between each sensor (1) and between sensor (1) with microprocessor (2) in described data glove (11), microprocessor (2) and data process between display unit (4) by wirelessly or non-wirelessly connecting；Described data glove (11) also includes power supply unit, and power supply unit is arranged on the bottom of microprocessor (2), for powering for microprocessor (2) and sensor (1)。

9. a novel mechanical arm teleoperation method, it is characterized in that: realized by mechanical arm remote control system, described mechanical arm remote control system includes data glove (11), data process display unit (4), mechanical arm control unit (8), mechanical arm (9) and mechanical hand (10), wherein data glove (11) includes several sensors (1) and microprocessor (2), microprocessor (2) is arranged on human body wrist, several sensors (1) are separately positioned on the large arm of human body, forearm, between each joint of the back of the hand and each finger, concrete method to set up is: the large arm of human body, forearm respectively arranges a sensor (1), between root joint (5) and middle joint (6) of middle finger, one sensor (1) is respectively set between middle joint (6) and end joint (7) and between end joint (7) and finger tip, and with the back of the hand on arrange a sensor (1), totally four sensors (1) are formed and are connected in series, in all the other fingers between root joint (5) and middle joint (6) of each finger, one sensor (1) is respectively set between middle joint (6) and end joint (7) and between end joint (7) and finger tip, three sensors (1) on each finger are formed and are connected in series；

Concrete methods of realizing is as follows:

Step (one), data are processed display unit (4), mechanical arm control unit (8), mechanical arm (9) and mechanical hand (10) it is attached；

Step (two), mechanical arm remote control system initialization operation, specifically include following steps:

(1), data process display unit (4) and the attitude of the initial time human body large arm of storage inside, forearm and the back of the hand are converted into the control instruction of mechanical arm (9), the attitude of each finger of initial time human body of storage inside is converted into the control instruction of mechanical hand (10), and the control instruction of described mechanical arm (9) and the control instruction of mechanical hand (10) are sent to mechanical arm control unit (8) in real time；

(2), mechanical arm control unit (8) real-time reception data process the control instruction of the described mechanical arm (9) that display unit (4) sends and the control instruction of mechanical hand (10), respectively mechanical arm (9) and mechanical hand (10) are carried out remote operating, the attitude making mechanical arm (6) is consistent with the attitude of initial time human body large arm, forearm and the back of the hand so that the attitude of mechanical hand (7) is consistent with the attitude of initial time human finger；

Step (three), mechanical arm remote control system real-time pursuit movement, specifically include following steps:

(1), the sensor (1) in data glove (11) gathers the movable information of current time human upper limb different parts；The movable information of the described current time received from sensor (1) is sent to data and processes display unit (4) by microprocessor (2)；Described movable information includes the angular velocity of finger part, acceleration and magnetic field value between human body large arm, forearm, the back of the hand and each joint of each finger；

(2), the movable information of the current time that data process display unit (4) real-time reception microprocessor (2) send resolves, obtain the attitude of current time human body large arm, forearm, the back of the hand and each finger, the attitude of wherein large arm, forearm and the back of the hand is converted into the control instruction of mechanical arm (9), the attitude of wherein each finger is converted into the control instruction of mechanical hand (10), and the control instruction of described mechanical arm (9) and the control instruction of mechanical hand (10) are sent to mechanical arm control unit (8) in real time；

(3), mechanical arm control unit (8) real-time reception data process the control instruction of the described mechanical arm (9) that display unit (4) sends and the control instruction of mechanical hand (10), respectively mechanical arm (9) and mechanical hand (10) are carried out remote operating, the attitude making mechanical arm (6) is consistent with the attitude of current time human body large arm, forearm and the back of the hand so that the attitude of mechanical hand (7) is consistent with the attitude of current time human finger。

10. a kind of novel mechanical arm teleoperation method according to claim 9, it is characterized in that: in (2) of described step (three), the concrete grammar that the movable information of current time is resolved by data process display unit (4) is as follows:

(10.1) the attitude T of current time human body large arm, is calculated_1,k, concrete formula is as follows:

T_1,k=λ₁×A_1,k+(1-λ₁)×B_1,k

Wherein: A_1,kFor the high frequency attitude of current time large arm, B_1,kFor the low frequency attitude of current time large arm, λ₁For complementary coefficient, value is 0≤λ₁≤ 1；K is moment sequence, and value is the positive integer of >=1；

(10.2), calculating the attitude of current time human body forearm, the attitude of human body forearm is by relative angle T between forearm and large arm_2,kRepresenting, concrete formula is as follows:

$T_{2,k}=ar\cos \frac{a_{2x,k}-a_{1x,k}}{g}$

Wherein: a_2x,kFor along the axial acceleration of human body forearm, a_1x,kFor along the axial acceleration of human body large arm, g is acceleration of gravity；

(10.3) the attitude T of current time human body hands, is calculated_3,k, concrete formula is as follows:

T_3,k=λ₃×A_3,k+(1-λ₃)×B_3,k

Wherein: A_3,kThe high frequency attitude of current moment hands, B_3,kThe low frequency attitude of current time hands, λ₃For complementary coefficient, value is 0≤λ₃≤ 1；

(10.4) the attitude T of finger part between current time human finger root joint (5) and middle joint (6), is calculated_4,k, concrete formula is as follows:

T_4,k=λ₄×A_4,k+(1-λ₄)×B_4,k

Wherein: A_4,kFor the high frequency attitude of finger part, B between current moment finger root joint and middle joint_4,kFor the low frequency attitude of finger part, λ between current time finger root joint and middle joint₄For complementary coefficient, value is 0≤λ₄≤ 1；

(10.5), the attitude of finger part between joint (6) and end joint (7) is calculated in current time human finger, by the angle T of finger part between finger root joint (5) and middle joint (6)_5,kRepresenting, concrete formula is as follows:

$T_{5,k}=ar\cos \frac{a_{5x,k}-a_{4x,k}}{g}$

Wherein: a_5x,kFor joint along finger and the acceleration in finger part direction, a between end joint_4x,kFor along the acceleration in finger part direction between finger root joint and middle joint；

(10.6), the attitude of finger part between current time human finger end joint (7) and finger tip is calculated, by the angle T of finger part between joint in finger (6) and end joint (7)_6,kRepresenting, concrete formula is as follows:

$T_{6,k}=ar\cos \frac{a_{6x,k}-a_{5x,k}}{g}$

Wherein: a_6x,kFor along the acceleration in finger part direction between finger tips joint and finger tip。

11. a kind of novel mechanical arm teleoperation method according to claim 10, it is characterised in that: the high frequency attitude A of current time large arm in described step (10.1)_1,kObtained by equation below:

A_1,k=T_1,k-1+g_1,k×Δt

Wherein: T_1,k-1For the attitude of a upper moment large arm, g_1,kFor the angular velocity of current time large arm, Δ t is the resolving cycle；

The low frequency attitude B of described current time large arm_1,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_1,k)=[GMG × M]/[a_1,km_1,ka_1,k×m_1,k]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_1,kFor the acceleration of current time large arm, m_1,kFor the magnetic field value of current time large arm, C (B_1,k) for B_1,kAttitude matrix。

12. a kind of novel mechanical arm teleoperation method according to claim 10, it is characterised in that: the high frequency attitude A of current time hands in described step (10.3)_3,kObtained by equation below:

A_3,k=T_3,k-1+(g_3,k-g_2,k)×Δt

Wherein: T_3,k-1For the attitude of a upper moment hands, g_3,kFor the angular velocity of current time hands, g_2,kFor the angular velocity of current time forearm, Δ t is the resolving cycle；

The low frequency attitude B of described current time hands_3,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_3,k)=[GMG × M]/[a_3,k-a_2,km_3,k-m_2,k(a_3,k-a_2,k)×(m_3,k-m_2,k)]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_3,kFor the acceleration of current time hands, a_2,kFor the acceleration of current time forearm, m_3,kFor the magnetic field value of current time hands, m_2,kFor the magnetic field value of current time forearm, C (B_3,k) for B_3,kAttitude matrix。

13. a kind of novel mechanical arm teleoperation method according to claim 10, it is characterised in that: the high frequency attitude A of finger part between current time finger root joint (5) and middle joint (6) in described step (10.4)_4,kObtained by equation below:

A_4,k=T_4,k-1+(g_4,k-g_3,k)×Δt

Wherein: T_4,k-1For the attitude of finger part, g between a upper moment human finger root joint and middle joint_4,kFor the angular velocity of finger part, g between current time finger root joint and middle joint_3,kFor the angular velocity of current time hands, Δ t is the resolving cycle；

The low frequency attitude B of finger part between current time finger root joint (5) and middle joint (6)_4,kIt is determined by sexual stance filtering algorithm to obtain, obtains especially by equation below:

C(B_4,k)=[GMG × M]/[a_4,k-a_3,km_4,k-m_3,k(a_4,k-a_3,k)×(m_4,k-m_3,k)]

Wherein: G is gravitational vectors, M is ground magnetic vector, a_4,kThe acceleration of finger part, a between current time finger root joint and middle joint_3,kFor the acceleration of current time hands, m_4,kFor the magnetic field value of finger part, m between current time finger root joint and middle joint_3,kFor the magnetic field value of current time hands, C (B_4,k) for B_4,kAttitude matrix。

14. according to a kind of novel mechanical arm teleoperation method one of claim 10-13 Suo Shu, it is characterised in that: described λ₁、λ₃And λ₄Value be: 0.2≤λ₁≤ 0.5,0.2≤λ₃≤ 0.5,0.2≤λ₄≤ 0.5；The value of described resolving period Δ t is 0.001-0.1s。

15. according to a kind of novel mechanical arm teleoperation method one of claim 9-13 Suo Shu, it is characterised in that: the sensor (1) on described human body the back of the hand and each finger is arranged on glove, and glove donning is at human body on hand。

16. according to a kind of novel mechanical arm teleoperation method one of claim 9-13 Suo Shu, it is characterized in that: adopt soft arranging wire (3) to be connected between each sensor (1) and between sensor with microprocessor (2) in described data glove (11), microprocessor (2) and data process between display unit (4) by wirelessly or non-wirelessly connecting；Described data glove (11) also includes power supply unit, and power supply unit is arranged on the bottom of microprocessor (2), for powering for microprocessor (2) and sensor (1)。

17. according to a kind of novel mechanical arm teleoperation method one of claim 9-13 Suo Shu; it is characterized in that: when human arm generation jerk or jerky motion cause the control instruction threshold value that the control instruction that data process display unit (4) convert exceedes mechanical arm (6) and mechanical hand (7); described control instruction threshold value is sent to mechanical arm control unit (8) by data processing unit (4), mechanical arm control unit (8) mechanical arm (6) and mechanical hand (7) are carried out remote operating。