Auxiliary manipulator system based on multiple sensors and force feedback and using method of auxiliary manipulator system

Abstract

The invention discloses an auxiliary manipulator system based on multiple sensors and force feedback and a using method of the auxiliary manipulator system. The system comprises a signal processing unit, a manipulator unit, electromyographic signal sensors, a force feedback unit and force sensors, wherein the manipulator unit and the electromyographic signal sensors are worn on the arm of a user, the force feedback unit is worn on the hand of the user, and the force sensors are arranged on manipulator fingers of the manipulator unit; the electromyographic signal sensors collect user arm surface electromyographic signals, and the force sensors collect force signals generated during interaction of the manipulator fingers; and the signal processing unit identifies the hand action of the user according to the surface electromyogram signals when the manipulator finger force signals are not obvious so as to control the manipulator fingers to do corresponding actions and controls the force feedback unit to generate resistance to the hand of the user when the manipulator finger force signals are obvious, and the manipulator unit is controlled to output corresponding acting force according to the surface electromyogram signal intensity. According to the system, the actual interaction feedback feeling can be provided for the user, so that the interaction process is more natural, and the made interaction decision is more accurate.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an auxiliary manipulator system based on multi-sensors and force feedback and a method for using the same. Background technique [0002] Nowadays, with the rapid development of robot technology, robot technology is more and more widely used in various fields of society. As a kind of robot application, the auxiliary manipulator can play an assisting role in some special occasions such as medical treatment and entertainment. For users, it is very important to have a certain sense of presence in the process of using the auxiliary manipulator to perform interactive actions in the actual scene. Numerous studies in recent years have shown that in contact operations, 70% of the effective information comes from the sense of force (including touch). Therefore, the auxiliary manipulator system should have a certain feedback mechanism in addition to the following function of position and a...

AI Technical Summary

Problems solved by technology

[0003] However, at present, the control of auxiliary manipulators used in medical treatment and service generally adopts a relatively single type of information source. In some specific cases, problems such as insufficient precision, high learning costs for operators, and unnatural operating feel may occur.

For example, in the patent document CN107598920A "A Manipulator Based on Vision Control", the image is processed based on pattern recognition technology to obtain the feature information and position information of the object to be grasped, and the grasping control of the manipulator is performed based on this information. Most of the information in the control method relies on visual signals, and deviations are easy to occur in some complex environments

In the patent document CN108972494A "A Humanoid Manipulator Grasping Control System and Its Data Processing Method", the technology of data gloves and image recognition targets is used to control the manipulator's grasping movement, but the technology used in this method cannot give the operation In the actual grasping process, there will be a certain gap with the experience of direct grasping by human hands.

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