A flexible body arm device and its control method

Abstract

The invention relates to a flexible arm device, which includes a control unit and an execution unit connected to the control unit through a communication module; the execution unit includes a fixed seat, a flexible arm body arranged on one side of the fixed seat, a The top cover on the other side of the seat, at least three air pipe joints II are arranged on the side elevation of the fixed seat, and the end of the air pipe joint II located outside the fixed seat is connected with the proportional valve II, and the proportional valve II It is connected with the air pump II; the inside of the flexible arm body is provided with air flow passages corresponding to the number of the air pipe joint II; the control unit includes a rocker, a handle, and a displacement sensor, and the displacement sensor is connected to the control unit. The controller I is connected, and the rocker and the controller I are connected to the controller II of the execution unit through a communication module, and the controller II is connected to the proportional valve II. The invention has the beneficial effects of low cost, good affinity and safety, simple control and good effect, non-contact consultation or remote consultation, realistic feedback, and the like.

Description

technical field [0001] The invention relates to the field of mechanical arms, in particular to a flexible arm device and a control method thereof. Background technique [0002] Flexible robotic arms have very promising prospects in the fields of medical treatment, rehabilitation, and massage. They can be used for non-contact ultrasonic testing and non-contact massage. When doctors perform testing and diagnosis, they can separate doctors and patients in physical space. For example, under the severe situation of the new crown epidemic infection, it can realize the non-contact consultation between doctors and patients, and reduce the possibility of infectious disease infection. [0003] The soft-body robotic arm has the characteristics of high flexibility, safety, contact friendliness, and multiple degrees of freedom. Compared with rigid robotic arms, flexible robotic arms have greater affinity and safety when in contact with the human body. At present, there are remote ultra...

AI Technical Summary

Problems solved by technology

[0005] 1) The traditional rigid manipulator has complex structure, complex control, poor affinity and safety;

[0006] 2) The existing flexible robotic arm cannot be separated, that is, it cannot be isolated in physical space, and it is not convenient for non-contact consultation and remote consultation;

[0007] 3) The compliance control of the existing remote ultrasonic robot is difficult and the cost is very high;

[0008] 4) Some existing soft-body manipulators have no analog feedback, and some analog feedback is not realistic enough

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