Haptic regeneration exoskeleton structure and UAV flight attitude control method

Abstract

The invention discloses a haptic regeneration exoskeleton structure and a UAV flight attitude control method. The haptic regeneration exoskeleton structure mainly comprises a back portion connecting module, shoulder joint mechanisms, upper arms, elbow joint motion mechanisms, forearms and wrist joint motion mechanisms, wherein each shoulder joint mechanism comprises a shoulder pad, a shoulder portion mounting plate, a shoulder portion rotating shaft member, a rotating member and the like; each upper arm comprises a motor, an upper arm magnetic fluid damper, an upper arm adjustment plate and anarm protector; each elbow joint motion mechanism comprises an elbow joint encoder, a photoelectric switch and a bevel gear; the structures of the forearms are similar to that of the upper arms; and each wrist joint motion mechanism comprises a grip, a rotating shaft, a flexible pressure sensor and a wrist portion supporting member which are sequentially connected. In the tactile regeneration design, the haptic regeneration exoskeleton structure adopts motor motion assistance to establish a relationship between a UAV safe flight level (a spatial position relationship between a UAV and an obstacle) and a motor output upper limb motion auxiliary force. In the structural design, the upper limbs of the controller moves clockwise (counterclockwise) to press corresponding pressure strain gaugesto change output voltages and predict the motion trend of the structure, and the motor assists the exoskeleton to move, so as to control the remote UAV to fly.

Description

technical field [0001] The invention relates to the field of wearable upper limb exoskeleton structure design, in particular to a wearable upper limb exoskeleton using force-tactile regeneration technology to control a slave drone and a method for controlling the flight attitude of the drone. Background technique [0002] With the wide application of wearable exoskeletons in many fields, the research fields of tactile regeneration, wearable devices and UAV flight control are integrated, and a new type of tactile shaking control UAV control is proposed. [0003] Originating in 1960, exoskeleton technology was initially defined as an anthropomorphic active mechanical device worn by an operator and augmented with mechanical performance. Wearable upper extremity exoskeleton devices have been used in many fields such as industry, military, transportation and medical treatment. Similarly, it is particularly important to introduce tactile wearable upper extremity exoskeleton in the...

AI Technical Summary

Problems solved by technology

[0006] 1. The design of the traditional upper extremity exoskeleton is complex and bloated. The desktop mechanism is used to integrate the power supply and drive equipment inside the platform body, which makes the mechanism huge and reduces flexibility. It is difficult to popularize and use in occasions with high requirements for use space and precision.

[0007] 2. The traditional upper extremity exoskeleton design uses metal materials. The selection of motors and encoders has the disadvantages of heavy weight and high noise, which is prone to signal interference from the outside world, causing unpredictable risks

[0008] 3. At present, the cost of bone mechanism at home and abroad is expensive, and the size of active equipment is huge, which cannot be consumed by the general population. For various reasons, the popularity of such products is not high

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