Force feedback device for teleoperation system based on skin stimulation

An operating system and skin stimulation technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of operator fatigue and low control accuracy

Active Publication Date: 2021-01-15
HENAN POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of low control accuracy of the force feedback device during operation and the operator's easy

Method used

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  • Force feedback device for teleoperation system based on skin stimulation
  • Force feedback device for teleoperation system based on skin stimulation
  • Force feedback device for teleoperation system based on skin stimulation

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Embodiment

[0038] see figure 1 , a force feedback device for a teleoperation system based on skin stimulation, the teleoperation system includes a slave manipulator, and the force feedback device includes an acquisition module, a master hand controller, a communication module, a slave hand controller, a signal processing module, Array electrode system 2,

[0039] The acquisition module is used to acquire the three-dimensional coordinate information of the operator's arm position and posture and transmit the three-dimensional coordinate information to the main hand controller in an image format;

[0040] The main hand controller is used to receive the three-dimensional coordinate information sent by the acquisition module, calculate the main hand remote control force information through the three-dimensional coordinate information, send the main hand remote control force information to the communication module and receive the information sent by the communication module. Feedback force i...

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Abstract

The invention relates to the technical field of master-slave teleoperation bilateral control, and discloses a force feedback device for a teleoperation system based on skin stimulation. The force feedback device comprises an acquisition module, a master hand controller, a communication module, a slave hand controller, a signal processing module and an array electrode system. The array electrode system comprises N electrode plates attached to the wrist of an operator. The N electrode plates are arranged in the mode of multiple columns, the electrode plates in each column are arranged at equal intervals from bottom to top, all the electrode plates in the lowest columns are flush with one another, the number of the electrode plates in the kth column is Qk, and the following relations that Qk= Qk-1 + 1, 1 < = k < = N, and Q1 = 1 are met. According to the force feedback device for the teleoperation system based on skin stimulation, the force perception of the operator and the position information tracking of a slave manipulator are realized, so that the purpose of force and position coordination of a master manipulator and the slave manipulator is achieved, and the harm to the far-endoperator in the local operation process is avoided.

Description

technical field [0001] The invention relates to the technical field of master-slave teleoperation bilateral control, in particular to a force feedback device for teleoperation system based on skin stimulation. Background technique [0002] The remote operating system has important applications in dangerous areas such as space, deep sea, nuclear radiation area operations, telemedicine, or places that are difficult for humans to reach. The bilateral teleoperation system realizes the coordinated and consistent synchronization of the force displacement of the master and slave manipulators, avoiding the problem of damage or slipping of the operating object due to inaccurate position control accuracy during operation. The bilateral teleoperation system combines human intelligence and the ability of robots to greatly improve operational efficiency and operational tasks. Since artificial intelligence and machine learning have not yet reached the same level as human intelligence, th...

Claims

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Application Information

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IPC IPC(8): B25J3/00B25J9/16
CPCB25J3/00B25J9/16B25J9/161B25J9/1689
Inventor 张建军吴中华刘群坡王红旗高如新张素妍王加朋
Owner HENAN POLYTECHNIC UNIV
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