CN113172602A - Wearable bionic manipulator based on VR technology - Google Patents
Wearable bionic manipulator based on VR technology Download PDFInfo
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- CN113172602A CN113172602A CN202110119636.8A CN202110119636A CN113172602A CN 113172602 A CN113172602 A CN 113172602A CN 202110119636 A CN202110119636 A CN 202110119636A CN 113172602 A CN113172602 A CN 113172602A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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Abstract
The invention discloses a wearable bionic manipulator based on VR technology, belonging to the field of manipulators, and the wearable bionic manipulator based on VR technology comprises a bionic manipulator body, wherein the bionic manipulator body comprises a connecting arm, the scene used by the bionic manipulator body can be simulated through the VR learning control system, and researchers can simulate the scene by wearing the bionic manipulator body, the using mode of the bionic manipulator body is acted, action data are collected by the four-finger action sensing film and the thumb action sensing film, the VR learning control system carries out data conversion and simulation on the action, the control program of the bionic manipulator body is effectively output, the development difficulty is effectively reduced, the development efficiency is improved, the learning efficiency of the bionic manipulator body is improved, and effectively reduce researcher's work burden, improve scientific research effect, improve the authenticity that bionic manipulator body simulates human action.
Description
Technical Field
The invention relates to the field of robots, in particular to a wearable bionic manipulator based on VR technology.
Background
VR is the abbreviation of Virtual Reality, and Chinese means Virtual Reality, and early translation is "smart technology". The virtual reality is an ultimate application form of multimedia technology, and is a crystal rapidly developed in scientific fields such as computer software and hardware technology, sensing technology, robot technology, artificial intelligence, behavioral psychology and the like. Mainly depends on the development of a plurality of key technologies such as three-dimensional real-time graphic display, three-dimensional positioning and tracking, touch and smell sensing technologies, artificial intelligence technologies, high-speed computing and parallel computing technologies, human behavioral research and the like.
With the development of virtual reality technology, the real realization of virtual reality will bring about a great revolution in the life and development of the whole human. People wear special sensing equipment such as stereoscopic glasses, data gloves and the like, face a three-dimensional simulation reality, and seem to be positioned in a sensing world with three-dimensional vision, hearing, touch and even smell, and the people and the environment can carry out information interaction through the natural skills and corresponding facilities of the people.
The bionic machinery is designed and manufactured by simulating the form, structure and control principle of organisms, has more concentrated functions, higher efficiency and biological characteristics. Although the forelimbs of various animals are different in appearance and function, the internal structures of the forelimbs are basically consistent. The forelimb bones of amphibians, reptiles, birds and mammals are composed of the humerus, forearm, carpal bones and phalanges. The upper limbs of the human body have high operability, flexibility and adaptability, and the bionic manipulator is developing towards the direction close to the functions of the upper limbs of the human body.
At present, the bionic manipulator is widely used in various fields, such as a training type manipulator for assisting finger recovery, an automatic assembling manipulator in automatic production, and the like, so that research and development on the bionic manipulator are still in progress. When the bionic manipulator in the prior art is developed, a developer needs to input a complex computer program to control the simulation action of the bionic manipulator, but the method needs the developer to predict the action process and then perform programming, inputting and simulating, so that the development difficulty is improved, and the development efficiency is reduced.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide a wearable bionic manipulator based on VR technology, a scene used by the bionic manipulator body can be simulated through a VR learning control system, a researcher acts on the using mode of the bionic manipulator body by wearing the bionic manipulator body, action data are collected by a four-finger action sensing film and a thumb action sensing film, the VR learning control system performs data conversion and simulation on the actions, a control program of the bionic manipulator body is effectively output, the development difficulty is effectively reduced, the development efficiency is improved, the learning efficiency of the bionic manipulator body is improved, the workload of the researcher is effectively reduced, the scientific research effect is improved, and the authenticity of the bionic manipulator body simulating human actions is improved.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
The utility model provides a wear-type bionic manipulator based on VR technique, includes the bionic manipulator body, the bionic manipulator body is including connecting the arm, connect the bionical palm of arm left end fixedly connected with, bionical palm left end is connected with a plurality of bionical fingers, it has motion controller to connect in the arm, the motion controller left end extends to the bionical palm outside to with bionical finger phase-match, be located the front side bionical finger lower extreme fixedly connected with thumb action response membrane is located a plurality of the bionical finger rear side of front side the equal fixedly connected with four fingers action response membranes of bionical finger lower extreme, it restraints with the switching wire that motion controller, four fingers action response membrane and thumb action response membrane are connected respectively to connect arm rear end fixedly connected with VR learning control system to switch wire back end. Simulate the scene that bionic manipulator body used through VR study control system, the researcher is through wearing the bionic manipulator body, the using-way to the bionic manipulator body moves, it collects action data to move the response membrane by four fingers action response membrane and thumb action response membrane, VR study control system carries out data conversion and simulation to the action, the control program of the bionic manipulator body of effective output, effectively reduce the development degree of difficulty, improve the development efficiency, improve the learning efficiency of bionic manipulator body, and effectively reduce the work burden of researcher, improve the scientific research effect, improve the authenticity that the bionic manipulator body simulates human action.
Further, switching wire harness output electric connection has action simulation processing controlgear, install VR study control system in the action simulation processing controlgear, the virtual simulation workstation of action simulation processing controlgear upper end fixedly connected with, VR glasses are installed to virtual simulation workstation upper end, VR glasses pass through virtual simulation workstation and this body coupling of bionic manipulator. Through virtual simulation workstation and VR glasses to VR virtual environment conversion, the action control of bionic mechanical hand body under the different use scenes can be aimed at to quick effectual realization of development personnel, improves the marketization adaptability of bionic mechanical hand body, increases the data storage of control bionic mechanical hand body, increases the reference database, and the development personnel of being convenient for are to the continuous improvement and the perfection of bionic mechanical hand body research and development.
Furthermore, a group of self-simulation support frames are fixedly connected to the upper end of the virtual simulation workbench, and the self-simulation support frames are matched with the connecting arms. Through installing the bionic manipulator body at the self-simulation support frame, make VR study control system pass through the action of the research personnel input of storage, control action controller drives the bionic manipulator body and produces the action simulation, and the research personnel of being convenient for carry out the data contrast, improve the later stage to the precision of bionic manipulator body control, improve the practicality of bionic manipulator body.
Further, VR study control system is including the VR analog unit, VR analog unit output is connected with the data collection unit, the data collection unit input is connected with the motion capture unit, the data collection unit output is connected with the motion analog unit, the motion analog unit output is connected with data conversion unit and data contrast unit respectively, data conversion unit input and data contrast unit are connected, the data conversion unit output is connected with data backup unit and data derivation unit respectively. The simulation data of the bionic manipulator body and the data of the actions of the research personnel are analyzed through the data comparison unit, the research personnel can conveniently compare and refer to the data, the accuracy of the research and development process data is submitted, the data of the action simulation unit is optimized through the data conversion unit, the learning quality of the bionic manipulator body is improved, and the self-optimization degree of the bionic manipulator body is improved.
Furthermore, VR analog unit respectively with VR glasses and virtual simulation workstation electric connection, the action capture unit respectively with four finger action response membrane and thumb action response membrane electric connection, the action analog unit respectively with action controller with from simulation support frame electric connection.
Furthermore, the front end of the bionic finger is fixedly connected with a motion connection inductor, the motion connection inductor is respectively and electrically connected with the motion controller and the four-finger motion induction film through leads, and the motion connection inductor is respectively and electrically connected with the motion controller and the four-finger motion induction film to form a parallel circuit. Action connection inductor catches and transmits the input action and the output action of bionic manipulator body for VR study control system carries out the data reference, improves the intelligent degree of bionic manipulator body, improves the precision of data, improves later stage product production quality, improves the economic benefits of development.
Furthermore, the lower end of the thumb action sensing film is fixedly connected with an identification starting button, and the identification starting button is matched with the VR learning control system. The recognition starting button is used for starting and closing the VR learning control system, so that the use of research personnel is facilitated, the operation steps are simplified, and the portability of use is improved.
Further, all fixed mounting has a plurality of action induction collection chips in four finger action induction membrane and the thumb action induction membrane, and a plurality of action induction collection chip long matrix formula are arranged, and are a plurality of through action induction connecting wire electric connection between the action induction collection chip. The action induction collecting chip and the action induction connecting wire capture and induce action data generated by the four-finger action induction film and the thumb action induction film, and the matrix enables the arranged action induction collecting chips to effectively improve the precision of action capture and induction and improve the precision of data transmission.
Furthermore, bionic finger upper end fixedly connected with a plurality of memory nature ligature area, the inside packing of memory nature ligature area has electroactive polymer, and memory nature ligature area passes through wire and switching wire harness electric connection. When the memory binding band is electrified, the electroactive polymer in the memory binding band expands to tighten the fingers of the developers inserted in the memory binding band, so that the fingers of the developers can be effectively attached to the bionic fingers to drive the bionic fingers to move, the precision of the movement of the bionic fingers is improved, the accuracy of movement input is improved, and the generation of input errors is reduced.
Further, connect the arm upper end and seted up arm screens groove, connect a plurality of flexible even areas of arm upper end fixedly connected with, and flexible even area and arm screens groove phase-match. Arm screens groove is convenient for the card of research personnel's arm to be gone into, and flexible company's arm is fixed to research personnel, and the bionic manipulator body is dressed to the research personnel of being convenient for.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) this scheme is simulated the scene that VR learning control system used the bionic manipulator body through wearing the bionic manipulator body, the using-way to the bionic manipulator body moves, it collects action data to move the response membrane by four fingers action response membrane and thumb action response membrane, VR learning control system carries out data conversion and simulation to the action, the control program of the bionic manipulator body is effectively exported, effectively reduce the development degree of difficulty, improve development efficiency, improve the learning efficiency of bionic manipulator body, and effectively reduce the work burden of researcher, improve the scientific research effect, improve the authenticity that the bionic manipulator body simulates human action.
(2) Through virtual simulation workstation and VR glasses to VR virtual environment conversion, the action control of bionic mechanical hand body under the different use scenes can be aimed at to quick effectual realization of development personnel, improves the marketization adaptability of bionic mechanical hand body, increases the data storage of control bionic mechanical hand body, increases the reference database, and the development personnel of being convenient for are to the continuous improvement and the perfection of bionic mechanical hand body research and development.
(3) Through installing the bionic manipulator body at the self-simulation support frame, make VR study control system pass through the action of the research personnel input of storage, control action controller drives the bionic manipulator body and produces the action simulation, and the research personnel of being convenient for carry out the data contrast, improve the later stage to the precision of bionic manipulator body control, improve the practicality of bionic manipulator body.
(4) The simulation data of the bionic manipulator body and the data of the actions of the research personnel are analyzed through the data comparison unit, the research personnel can conveniently compare and refer to the data, the accuracy of the research and development process data is submitted, the data of the action simulation unit is optimized through the data conversion unit, the learning quality of the bionic manipulator body is improved, and the self-optimization degree of the bionic manipulator body is improved.
(5) Action connection inductor catches and transmits the input action and the output action of bionic manipulator body for VR study control system carries out the data reference, improves the intelligent degree of bionic manipulator body, improves the precision of data, improves later stage product production quality, improves the economic benefits of development.
(6) The recognition starting button is used for starting and closing the VR learning control system, so that the use of research personnel is facilitated, the operation steps are simplified, and the portability of use is improved.
(7) The action induction collecting chip and the action induction connecting wire capture and induce action data generated by the four-finger action induction film and the thumb action induction film, and the matrix enables the arranged action induction collecting chips to effectively improve the precision of action capture and induction and improve the precision of data transmission.
(8) When the memory binding band is electrified, the electroactive polymer in the memory binding band expands to tighten the fingers of the developers inserted in the memory binding band, so that the fingers of the developers can be effectively attached to the bionic fingers to drive the bionic fingers to move, the precision of the movement of the bionic fingers is improved, the accuracy of movement input is improved, and the generation of input errors is reduced.
(9) Arm screens groove is convenient for the card of research personnel's arm to be gone into, and flexible company's arm is fixed to research personnel, and the bionic manipulator body is dressed to the research personnel of being convenient for.
Drawings
FIG. 1 is a schematic view of an axial structure of the present invention;
FIG. 2 is a schematic diagram of a control system framework according to the present invention;
FIG. 3 is a schematic view of the present invention, taken from the bottom of the structure;
FIG. 4 is a schematic diagram of the structure of the bionic finger and the four-finger action induction membrane cooperating with explosion according to the present invention;
FIG. 5 is a schematic axial view of the four-finger motion sensing film, thumb motion sensing film and motion connection sensor of the present invention;
FIG. 6 is a schematic view of an inner axial structure of a four-finger motion sensing film according to the present invention;
FIG. 7 is a schematic view of a virtual simulation workbench according to the present invention;
fig. 8 is a schematic diagram of a learning process structure according to the present invention.
The reference numbers in the figures illustrate:
the bionic manipulator comprises a bionic manipulator body 1, a connecting arm 2, a bionic palm 3, a bionic finger 4, an action controller 5, a memorability binding band 6, a four-finger action induction film 7, an action induction connecting line 701, an action induction collecting chip 702, a thumb action induction film 8, an identification starting button 801, an action connection inductor 9, a telescopic connecting belt 10, VR glasses 11, a virtual simulation workbench 12 and an action simulation processing control device 13.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
referring to fig. 1-8, a wearable bionic manipulator based on VR technology comprises a bionic manipulator body 1, the bionic manipulator body 1 comprises a connecting arm 2, a bionic palm 3 is fixedly connected to the left end of the connecting arm 2, a plurality of bionic fingers 4 are connected to the left end of the bionic palm 3, a motion controller 5 is connected to the connecting arm 2, the left end of the motion controller 5 extends to the outer side of the bionic palm 3, and with bionical finger 4 phase-match, be located the bionical 4 lower extremes of finger of front side fixedly connected with thumb action response membrane 8, be located the equal fixedly connected with four finger action response membranes 7 of a plurality of bionical 4 lower extremes of finger of the bionical 4 rear sides of finger of front side, connect 2 rear end fixedly connected with of arm and be connected with action controller 5, four finger action response membranes 7 and thumb action response membrane 8 switching pencil that is connected respectively, switching pencil rear end is connected with VR study control system. Simulate the scene that bionic manipulator body 1 used through VR study control system, the researcher is through wearing bionic manipulator body 1, move bionic manipulator body 1's using-way, collect action data by four finger action response membrane 7 and thumb action response membrane 8, VR study control system carries out data conversion and simulation to the action, effectively export bionic manipulator body 1's control program, effectively reduce the development degree of difficulty, improve the development efficiency, improve bionic manipulator body 1's learning efficiency, and effectively reduce researcher's work burden, improve scientific research effect, improve the authenticity that bionic manipulator body 1 simulates human action.
Referring to fig. 7, the output end of the switching harness is electrically connected to a motion simulation processing control device 13, a VR learning control system is installed in the motion simulation processing control device 13, the upper end of the motion simulation processing control device 13 is fixedly connected to a virtual simulation workbench 12, VR glasses 11 are installed at the upper end of the virtual simulation workbench 12, and the VR glasses 11 are connected to the bionic manipulator body 1 through the virtual simulation workbench 12. Through virtual simulation workstation 12 and VR glasses 11 to VR virtual environment conversion, the action control of bionic manipulator body 1 under the different use scenes can be aimed at to quick effectual realization of research personnel, improves bionic manipulator body 1's marketization adaptability, increases the data storage of control bionic manipulator body 1, increases the reference database, and the research personnel of being convenient for are to the continuous improvement and the perfection of bionic manipulator body 1 research and development.
Referring to fig. 7, a set of self-simulation supports is fixedly connected to the upper end of the virtual simulation workbench 12, and the self-simulation supports are matched with the connecting arm 2. Through installing bionic manipulator body 1 at the self-simulation support frame, make VR study control system through the action of the research personnel input of storage, control action controller 5 drives bionic manipulator body 1 and produces the action simulation, and the research personnel of being convenient for carry out the data contrast, improve the later stage to the precision of bionic manipulator body 1 control, improve bionic manipulator body 1's practicality.
Referring to fig. 2, the VR learning control system includes a VR simulation unit, an output end of the VR simulation unit is connected to a data collection unit, an input end of the data collection unit is connected to a motion capture unit, an output end of the data collection unit is connected to a motion simulation unit, an output end of the motion simulation unit is connected to a data conversion unit and a data comparison unit respectively, an input end of the data conversion unit is connected to the data comparison unit, and an output end of the data conversion unit is connected to a data backup unit and a data export unit respectively. The simulation data of the bionic manipulator body 1 and the data of the actions of the developers are analyzed through the data comparison unit, the developers can conveniently compare and refer to the simulation data, the accuracy of the data in the development process is posted, the data of the action simulation unit is optimized through the data conversion unit, the learning quality of the bionic manipulator body 1 is improved, and the self-optimization degree of the bionic manipulator body 1 is improved.
Referring to fig. 2, the VR simulation unit is electrically connected to VR glasses 11 and a virtual simulation workbench 12, the motion capture unit is electrically connected to the four-finger motion sensing film 7 and the thumb motion sensing film 8, and the motion simulation unit is electrically connected to the motion controller 5 and the self-simulation support frame.
Referring to fig. 5, the front end of the bionic finger 4 is fixedly connected with a motion connection sensor 9, the motion connection sensor 9 is electrically connected with the motion controller 5 and the four-finger motion sensing film 7 through wires, and the motion connection sensor 9 forms a parallel circuit with the motion controller 5 and the four-finger motion sensing film 7. Action connection inductor 9 catches and transmits the input action and the output action of bionic manipulator body 1 for VR study control system carries out the data reference, improves bionic manipulator body 1's intelligent degree, improves the precision of data, improves later stage product production quality, improves the economic benefits of development.
Referring to fig. 3, the lower end of the thumb action sensing film 8 is fixedly connected with an identification start button 801, and the identification start button 801 is matched with the VR learning control system. The identification start button 801 is used for starting and closing the VR learning control system, so that the VR learning control system is convenient for developers to use, operation steps are simplified, and the portability of use is improved.
Referring to fig. 6, a plurality of motion sensing collecting chips 702 are fixedly mounted in the four-finger motion sensing film 7 and the thumb motion sensing film 8, and the motion sensing collecting chips 702 are arranged in a long matrix, and the motion sensing collecting chips 702 are electrically connected by a motion sensing connecting wire 701. The action sensing collection chip 702 and the action sensing connecting wire 701 capture and sense action data generated by the four-finger action sensing film 7 and the thumb action sensing film 8, and the matrix enables the arranged action sensing collection chips 702 to effectively improve the precision of action capture and sensing and improve the precision of data transmission.
Referring to fig. 1, the upper end of the bionic finger 4 is fixedly connected with a plurality of memory binding bands 6, the memory binding bands 6 are filled with electroactive polymers, and the memory binding bands 6 are electrically connected with the switching conductor bundle through conductors. When memory binding belt 6 is switched on, electroactive polymer in memory binding belt 6 produces the inflation, tightens up inserting the finger of the development personnel who ties belt 6 in memory for development personnel's finger can effectively produce the laminating with bionical finger 4, drives bionical finger 4 and produces the action, improves the precision of bionical finger 4 action, improves the accuracy of action input, reduces the production of input error.
Referring to fig. 1, an arm locking groove is formed at the upper end of the connecting arm 2, and a plurality of telescopic links 10 are fixedly connected to the upper end of the connecting arm 2, and the telescopic links 10 are matched with the arm locking groove. Arm screens groove is convenient for the card of research personnel's arm to be gone into, and flexible even 10 is fixed the research personnel's arm, and the research personnel of being convenient for dress bionic manipulator body 1.
Referring to fig. 1-8, the method of use: the research personnel takes VR glasses 11 on eyes, needs are selected through a virtual simulation workbench 12, a simulated scene is obtained, then the bionic manipulator body 1 is worn on both hands, the arms of the research personnel are introduced between an arm clamping groove and a telescopic connecting belt 10, the telescopic connecting belt 10 ties the arms tightly, the hands of the research personnel are inserted into a corresponding memory tying belt 6 by hands, the memory tying belt 6 is electrified in advance, electroactive polymers in the memory tying belt 6 expand, fingers of the research personnel inserted into the memory tying belt 6 are tightened, the fingers of the research personnel can be effectively attached to the bionic fingers 4, the research personnel drive the bionic fingers 4 to move, a simulation unit is started through a recognition starting button 801, the VR simulated scene begins to be displayed, the fingers of the research personnel move according to the event of the VR simulated scene, the four-finger action sensing film 7, the thumb action sensing film 8 and the action connection sensor 9 capture actions, the action sensing connecting wire 701 and the action sensing collecting chip 702 sense the finger change of a developer and transmit action data to the data collecting unit, the data collecting unit transmits the collected data to the action simulating unit, after the developer finishes the action input, the bionic manipulator body 1 is taken down, the bionic manipulator body 1 is arranged on a self-simulation supporting frame, the action simulating unit controls the action controller 5 to drive the bionic fingers 4 to generate actions, the developer observes the actions of the bionic manipulator body 1 through VR glasses 11, and the data converting unit and the data comparing unit simultaneously convert and compare the actions of the bionic manipulator body 1 through the four-finger action sensing film 7, the thumb action sensing film 8 and the action connection sensor 9, the data contrast unit acts on the data conversion unit simultaneously, optimize the conversion data, bionic mechanical hand body 1's simulation action is accomplished the back, data contrast unit and data conversion unit pass through the data backup unit storage with the data that form, export through the data derivation unit, research personnel take off VR glasses 11, withdraw bionic mechanical hand body 1 again, the data of exporting through the data derivation unit, carry out further development to bionic mechanical hand body 1, make bionic mechanical hand body 1's action simulation more accurate, improve with this circulation, improve the efficiency of bionic mechanical hand body 1 development. Simulate the scene that bionic manipulator body 1 used through VR study control system, the researcher is through wearing bionic manipulator body 1, move bionic manipulator body 1's using-way, collect action data by four finger action response membrane 7 and thumb action response membrane 8, VR study control system carries out data conversion and simulation to the action, effectively export bionic manipulator body 1's control program, effectively reduce the development degree of difficulty, improve the development efficiency, improve bionic manipulator body 1's learning efficiency, and effectively reduce researcher's work burden, improve scientific research effect, improve the authenticity that bionic manipulator body 1 simulates human action.
The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.
Claims (10)
1. The utility model provides a wear-type bionic manipulator based on VR technique, includes bionic manipulator body (1), its characterized in that: the bionic manipulator comprises a bionic manipulator body (1) and is characterized in that the bionic manipulator body (1) comprises a connecting arm (2), the left end of the connecting arm (2) is fixedly connected with a bionic palm (3), the left end of the bionic palm (3) is connected with a plurality of bionic fingers (4), the connecting arm (2) is internally connected with a motion controller (5), the left end of the motion controller (5) extends to the outer side of the bionic palm (3) and is matched with the bionic fingers (4), the lower end of the bionic finger (4) is fixedly connected with a thumb motion sensing film (8) at the front side, the lower ends of the bionic fingers (4) at the rear side of the front side are fixedly connected with four-finger motion sensing films (7), and the rear end of the connecting arm (2) is fixedly connected with a switching conductor bundle which is respectively connected with the motion controller (5), the four-finger motion sensing film (7) and the thumb motion sensing film (8), and the rear end of the switching wire harness is connected with a VR learning control system.
2. The VR technology based wearable bionic manipulator of claim 1, wherein: switching pencil output electric connection has action simulation processing controlgear (13), install VR study control system in action simulation processing controlgear (13), virtual simulation workstation (12) of action simulation processing controlgear (13) upper end fixedly connected with, VR glasses (11) are installed to virtual simulation workstation (12) upper end, VR glasses (11) are connected with bionic manipulator body (1) through virtual simulation workstation (12).
3. The VR technology based wearable bionic manipulator of claim 2, wherein: the upper end of the virtual simulation workbench (12) is fixedly connected with a group of self-simulation supporting frames, and the self-simulation supporting frames are matched with the connecting arms (2).
4. The VR technology based wearable bionic manipulator of claim 3, wherein: VR learning control system is including the VR analog unit, VR analog unit output is connected with the data collection unit, the data collection unit input is connected with the motion capture unit, the data collection unit output is connected with the motion analog unit, the motion analog unit output is connected with data conversion unit and data contrast unit respectively, data conversion unit input is connected with the data contrast unit, the data conversion unit output is connected with data backup unit and data derivation unit respectively.
5. The VR technology based wearable bionic manipulator of claim 4, wherein: VR analog unit respectively with VR glasses (11) and virtual simulation workstation (12) electric connection, the action capture unit respectively with four finger motion response membrane (7) and thumb motion response membrane (8) electric connection, the action analog unit respectively with action controller (5) and from simulation support frame electric connection.
6. The VR technology based wearable bionic manipulator of claim 1, wherein: the bionic finger is characterized in that the front end of the bionic finger (4) is fixedly connected with an action connection inductor (9), the action connection inductor (9) is electrically connected with the action controller (5) and the four-finger action induction film (7) through wires respectively, and the action connection inductor (9) forms a parallel circuit with the action controller (5) and the four-finger action induction film (7) respectively.
7. The VR technology based wearable bionic manipulator of claim 1, wherein: thumb action response membrane (8) lower extreme fixedly connected with discerns start button (801), discernment start button (801) and VR learning control system phase-match.
8. The VR technology based wearable bionic manipulator of claim 1, wherein: all fixed mounting has a plurality of action to respond to in four finger action response membrane (7) and thumb action response membrane (8) and collects chip (702), and a plurality of action respond to and collect chip (702) long matrix formula and arrange, and is a plurality of through action response connecting wire (701) electric connection between the chip (702) is collected in the action response.
9. The VR technology based wearable bionic manipulator of claim 1, wherein: bionic finger (4) upper end fixedly connected with a plurality of memory nature tighten area (6), the inside of memory nature tighten area (6) is filled with electroactive polymer, and memory nature tighten area (6) pass through wire and switching wire harness electric connection.
10. The VR technology based wearable bionic manipulator of claim 1, wherein: connect arm (2) upper end and seted up arm screens groove, connect a plurality of flexible even areas (10) of fixedly connected with in arm (2) upper end, and flexible even area (10) and arm screens groove phase-match.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110119636.8A CN113172602A (en) | 2021-01-28 | 2021-01-28 | Wearable bionic manipulator based on VR technology |
Applications Claiming Priority (1)
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