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Wearable function-enhanced manipulator system as well as assisting fingers and control method thereof

A finger, driving motor technology, applied in passive exercise equipment, medical science, artificial arms, etc., can solve the problems of inability to evaluate human behavior intentions in real time, unable to provide human-machine collaborative decision-making, and single control method, to achieve the realization of human-machine Collaborative control, easy control operation, enhanced hand function effect

Inactive Publication Date: 2015-06-03
SOUTH CHINA UNIV OF TECH +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

An upper limb rehabilitation training device is provided, but the mechanism is complicated, the portability is poor, and the control method is single, which cannot evaluate human behavior intention in real time, cannot provide human-machine collaborative decision-making, and is not conducive to user operation

Method used

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  • Wearable function-enhanced manipulator system as well as assisting fingers and control method thereof
  • Wearable function-enhanced manipulator system as well as assisting fingers and control method thereof
  • Wearable function-enhanced manipulator system as well as assisting fingers and control method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0053] This embodiment provides an auxiliary finger, including a humanoid finger, a finger base, a motor a2, a motor a3, and a motor a4, wherein the humanoid finger is driven by a driving rope and has clamping degrees of freedom, flexion and extension degrees of freedom and recovery degrees of freedom; the motor a4 is directly driven and connected with the humanoid finger to realize the recovery degree of freedom of the humanoid finger; the rotating shaft of the motor a4 is connected with a reducer, and the output of the reducer The shaft is connected with a rotating shaft for realizing the gripping degree of freedom of the humanoid finger, and the humanoid finger is sequentially connected to the rotating shaft and the drive motor a2 through the driving rope, and the rotating shaft is driven and connected to the driving motor a2; the humanoid finger passes through The driving rope is driven and connected with the motor a3, which is used to realize the bending freedom of the hum...

Embodiment 2

[0075] This embodiment provides a wearable function-enhanced robotic hand system, including an adaptive forearm connector b1, an upper arm link b2, a forearm link b4, a circular myoelectric collection array, and the auxiliary finger provided in Example 1, wherein:

[0076] The adaptive forearm connector b1 is connected to the upper arm link b2 through a ball joint, the upper arm link b2 is connected to the forearm link b4 through a hinge mechanism b3, and the forearm link b4 is connected to the auxiliary finger b5 through a ball joint interface b5. The wrist connector c3 of the base connects;

[0077] The ring-shaped myoelectric collection array is arranged on the forearm link;

[0078] The lengths of the upper arm link b2 and the forearm link b4 are adjustable.

[0079] Furthermore, a code disc is provided on the rotating shaft of the hinge mechanism b3, which is used to record the position information of the elbow of the human body and provide input information for the cons...

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Abstract

The invention provides a wearable function-enhanced manipulator system and assisting fingers thereof. Assisting fingers adopt rope drive; force sensing is formed by using a spring connected with a driving rope; an annular electromyography acquiring array is worn on a forearm of a user and is used for estimating motion and force information of the wrist and fingers of the user, and estimating the behavior intention of the user according to the extracted position and the force information, so that a corresponding decision is made for assisting or enhancing the activity function of the fingers; a passive arm mechanism shares forces borne by the wrist and the fingers of a human body and can realize the actions of assisting and enhancing the function of the fingers under the condition that normal activities of the human body are not influenced. Meanwhile, the invention provides a control method for the manipulator system. The wearable function-enhanced manipulator system has the advantages of compact structure, light weight, good flexibility and good safety; the functions of the fingers can be enhanced to the maximum extent, and natural hands of the user are enabled to engage other tasks; the wearable function-enhanced manipulator system has better use potential in the industry, agriculture, household demand, entertainment and other aspects.

Description

technical field [0001] The invention relates to a wearable robot system, in particular to a wearable function-enhancing robotic hand system based on a myoelectric interface, an auxiliary finger and a control method thereof, so as to enhance single-hand function. Background technique [0002] Wearable devices and human-machine collaborative robot technology have gradually become research hotspots in recent years. With the help of functions that humans already have, wearable devices such as exoskeleton robots can make humans and machines compatible, and are widely used in assisting, rehabilitation, In fields such as entertainment, personal skills have been enhanced or expanded, and human-computer collaboration has become closer and more practical. [0003] There are various wearable devices that mainly provide strength support or assistance. However, there are not many devices that provide assistance and can cooperate with humans and machines to complete a certain task. Altho...

Claims

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Application Information

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IPC IPC(8): A61F2/54A61F2/72A61H1/00
Inventor 杨辰光梁培栋李智军苏春翌陈文元胥布工张群峰顾捷
Owner SOUTH CHINA UNIV OF TECH
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