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Pose monitoring system and method for multi-section continuum robot

A monitoring system and robot technology, applied in the field of robot position and posture sensing, can solve the problem that the monitoring equipment cannot be installed with multi-segment continuous robots

Active Publication Date: 2021-09-10
XI AN JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] This invention proposes a multi-segment continuum robot posture monitoring system and method, which overcomes the problem that the existing monitoring equipment cannot be installed on a multi-segment continuous robot

Method used

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  • Pose monitoring system and method for multi-section continuum robot
  • Pose monitoring system and method for multi-section continuum robot

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Experimental program
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Embodiment 1

[0055] Embodiment 1: see Figure 2-7 , a pose monitoring system used for monitoring the pose of a multi-segment continuum robot, which is installed on a joint operation unit of the multi-segment continuum robot.

[0056] The system includes a photoelectric sensor unit 9 with the same number as the joint operation unit, an AD conversion module 14, a data acquisition module and a data processing module. The photoelectric sensing unit 9 is used for outputting a response electrical signal when the motor of the multi-segment continuum robot drives the leaf spring to rotate the joint operation unit. The AD conversion module is used to perform analog / digital conversion on the received response electrical signals of multiple photoelectric sensing units 9, and has multiple analog inputs, one analog output and one synchronous serial bus (I2C bus). The data acquisition module is used to collect the converted digital signal and send it to the data processing module. The data processing ...

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Abstract

The invention relates to the field of robot pose sensing, in particular to a pose monitoring system and method for a multi-section continuum robot. The system comprises a plurality of photoelectric sensing units, a data acquisition module and a data processing module, each photoelectric sensing unit comprises a light reflecting part and a photoelectric sensitive element which are respectively arranged on opposite surfaces of two adjacent joint operation units of the multi-section continuum robot; the light reflecting parts are used for receiving light emitted by the photoelectric sensitive elements and reflecting the light back to the photoelectric sensitive elements; when the joint operation units rotate, a response electric signal of the photoelectric sensitive elements changes; the data processing module is configured to calculate a relative rotation angle between two adjacent joint operation units where the photoelectric sensing unit corresponding to the data processing module is located by using a preset function according to the response electric signal; and the motion posture of the multi-section continuum robot is determined according to the multiple relative rotation angles. The problem that existing monitoring equipment cannot be installed on a robot with a multi-section continuous structure is solved.

Description

technical field [0001] The invention relates to the field of robot pose sensing, in particular to a pose monitoring system and method for a multi-segment continuum robot. Background technique [0002] Hand function rehabilitation exoskeleton assists stroke patients to repeat standard and correct bionic rehabilitation training, which helps to improve the effect of rehabilitation training, but the precise control of the exoskeleton puts forward high requirements. The pose monitoring of the exoskeleton is one of the key technologies for precise closed-loop control. In addition, position and posture monitoring can also help record the patient's condition during rehabilitation training, assist in evaluating the rehabilitation effect, so as to adjust the rehabilitation plan in time and improve rehabilitation training. The multi-segment continuous structure hand function rehabilitation exoskeleton is characterized by a compact overall structure, which is composed of multiple parts...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/02
CPCB25J19/02B25J19/021
Inventor 李敏何博吴宗林张超宙徐光华陶唐飞谢俊
Owner XI AN JIAOTONG UNIV
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