Summary of the invention
Based on this, it is necessary to traditional technology there are aiming at the problem that, provide a kind of based on touch feedback and pressure feedbackMethod of controlling operation and device.Specifically, the scheme that the disclosure goes out does not need a large amount of operation, each component configures a cpu,The data of all cpu processing are connected to central processing unit, full utilization pid control mode duplication acquisition by can busThe motion profile arrived, achievees the purpose that replication actions.This equipment can certainly be sent in skimulated motion track in a computerAchieve the purpose that according to deformed limb end electromyography signal by this equipment of Training Control.It should be noted that this equipment can be oneComplete includes the ectoskeleton of upper limb lower limb torso portion, is also possible to the supplement part of deformed limb, that is to say, that if using thisThe collecting part of equipment is through on the body of normal person, so that it may allow the action of the complete duplicator of the motion parts of this equipment, mainlyApply explosive, the fire rescue in network remote operation, Remote Installation, hazardous environment, high altitude operation, maintenance, underwater maintenanceEtc..It, can be with if can also be applied with a part of this equipment in production line robot building, remote-controlled mining etc.With the function compensation with disabled person, the duplication athletic rehabilitation of plant person etc., there are the more scenes and applicability of application.
In a first aspect, the embodiment of the invention provides a kind of method of controlling operation based on touch feedback and pressure feedback,The described method includes: it is anti-with pressure to obtain tactile feedback signal in real time by the sensor being previously placed on preset structure nodeFeedback signal；The tactile feedback signal is sent to the pressure feedback signal corresponding on each preset structure nodeProcessor is analyzed and processed；The Current Voltage value of frequency acts in the pressure value and preset range generated after analysis is handledOn the preset structure node.
The preset structure is the ectoskeleton model being made of upper limb trunk and lower limb trunk in one of the embodiments,Structure, the preset structure node are the signal acquisition point being previously placed in the preset structure.
The corresponding processor of each preset structure node in one of the embodiments, the processorCentral processing unit, which is electrically connected to, by CAN bus carries out data processing.
The Current Voltage of frequency in the pressure value and preset range generated after analysis is handled in one of the embodiments,It includes: life after being handled by pid control mode according to analysis within a preset period of time that value, which acts on the preset structure node,At the pressure value and preset range in frequency the Current Voltage value complete motion profile duplication operate.
In one of the embodiments, further include: the data simulated according to motion profile received from long-range host computerComplete the duplication operation of motion profile.
The data of the motion profile simulation are the telecommunications by acquiring multiple ectoskeleton ends in one of the embodiments,It number is generated by neural metwork training.
The quantity of the sensor is multiple in one of the embodiments, and the sensor is pressure sensor.
Second aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storageBe stored with computer program on medium, the computer program realized when being executed by processor above-mentioned first aspect based on tactileThe method of controlling operation of feedback and pressure feedback.
The third aspect, the embodiment of the invention provides a kind of computer program products comprising instruction, when the computer journeyWhen sequence product is run on computers, so that computer executes method described in above-mentioned first aspect.
Fourth aspect is filled the embodiment of the invention also provides a kind of based on the action control of touch feedback and pressure feedbackIt sets, described device includes: acquisition module, obtains tactile in real time for the sensor by being previously placed on preset structure nodeFeedback signal and pressure feedback signal；Analysis and processing module is used for the tactile feedback signal and the pressure feedback signalCorresponding processor on each preset structure node is sent to be analyzed and processed；Control module, for handling analysisThe Current Voltage value of frequency acts on the preset structure node in the pressure value and preset range generated afterwards.
A kind of method of controlling operation and device based on touch feedback and pressure feedback provided by the invention, passes through preparatory clothThe sensor set on preset structure node obtains tactile feedback signal and pressure feedback signal in real time；By tactile feedback signal withPressure feedback signal is sent to corresponding processor on each preset structure node and is analyzed and processed；It is generated after analysis is handledPressure value and preset range in the Current Voltage value of frequency act on preset structure node.This method does not need largely to transportIt calculates, each component configures a cpu, and the data of all cpu processing are connected to central processing unit by can bus, completelyCollected motion profile is replicated using pid control mode, achievees the purpose that replication actions.It can certainly mould in a computerQuasi- motion profile is sent to this equipment and achievees the purpose that according to deformed limb end electromyography signal by this equipment of Training Control.It needs to illustrate, this equipment can be one it is complete include upper limb lower limb torso portion ectoskeleton, be also possible to the supplement portion of deformed limbPoint, that is to say, that if be through on the body of normal person with the collecting part of this equipment, so that it may allow the motion parts of this equipmentThe action of complete duplicator is mainly used in network remote and performs the operation, Remote Installation, explosive, the fire rescue in hazardous environment, highIdle job, maintenance, underwater maintenance etc..If can also be applied with a part of this equipment in production line robot building,Remote-controlled mining etc. can also use the function compensation with disabled person, the duplication athletic rehabilitation of plant person etc., have applicationMore scenes and applicability.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, by the following examples, it and combines attachedFigure, to the present invention is based on the specific embodiments of the method for controlling operation of touch feedback and pressure feedback and device to carry out furtherIt is described in detail.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not intended to limit the present invention.
This disclosure relates to which sensor technology and field of computer technology, are utilized sensor technology and computer remote dataTransmission technology realizes long-range control mechanical arm and utilizes the feedback of the sensor real time perception dynamics on mechanical arm,The Current Voltage for being generated pressure or certain frequency in the corresponding site of operator using the data fed back, is had reached and practicalOperate consistent effect.
As shown in Figure 1, for method of controlling operation of one of the one embodiment based on touch feedback and pressure feedbackFlow diagram.Specifically includes the following steps:
Step 102, tactile feedback signal and pressure are obtained by the sensor being previously placed on preset structure node in real timeForce feedback signal.Wherein, the quantity of sensor is multiple, and sensor is pressure sensor.
In one embodiment, preset structure is the ectoskeleton model structure being made of upper limb trunk and lower limb trunk, in advanceIf structure node is the signal acquisition point being previously placed in preset structure.In addition, at each preset structure node is one correspondingDevice is managed, processor is electrically connected to central processing unit by CAN bus and carries out data processing.
Step 104, tactile feedback signal is sent to corresponding place on each preset structure node with pressure feedback signalReason device is analyzed and processed.
Step 106, the Current Voltage value of frequency acts on pre- in the pressure value and preset range generated after analysis being handledIf on structure node.
In one embodiment, the Current Voltage value of frequency is made in the pressure value and preset range generated after analysis being handledWith including: the pressure generated after being handled by pid control mode according to analysis within a preset period of time on preset structure nodeThe duplication that the Current Voltage value of value and frequency in preset range completes motion profile operates.In addition, in one embodiment, this public affairsOpen the method for controlling operation based on touch feedback and pressure feedback being related to further include: according to fortune received from long-range host computerThe data of dynamic trace simulation complete the duplication operation of motion profile.It should be noted that the data of motion profile simulation are to pass throughAcquire what the electric signal at multiple ectoskeleton ends was generated by neural metwork training.
The method of controlling operation of a kind of touch feedback and pressure feedback provided by the invention, by being previously placed at default knotSensor on structure node obtains tactile feedback signal and pressure feedback signal in real time；Tactile feedback signal and pressure feedback are believedNumber being sent to corresponding processor on each preset structure node is analyzed and processed；The pressure value that is generated after analysis is handled withThe Current Voltage value of frequency acts on preset structure node in preset range.This method does not need a large amount of operation, each portionPart configures a cpu, and the data of all cpu processing are connected to central processing unit, full utilization pid control by can busMode processed replicates collected motion profile, achievees the purpose that replication actions.It can certainly skimulated motion rail in a computerMark is sent to this equipment and achievees the purpose that according to deformed limb end electromyography signal by this equipment of Training Control.It should be noted that thisEquipment can be a complete ectoskeleton comprising upper limb lower limb torso portion, be also possible to the supplement part of deformed limb, alsoIt is to say if be through on the body of normal person with the collecting part of this equipment, so that it may the motion parts of this equipment be allowed to replicate completelyThe action of people is mainly used in network remote and performs the operation, Remote Installation, explosive, the fire rescue in hazardous environment, high altitude operation,Maintenance, underwater maintenance etc..If can also be applied with a part of this equipment in production line robot building, remote-controlled miningEtc., the function compensation with disabled person, the duplication athletic rehabilitation of plant person etc. can also be used, there are more scenes of applicationProperty and applicability.
Based on the same inventive concept, a kind of motion control device based on touch feedback and pressure feedback is additionally provided.ByIn the principle that this device solves the problems, such as to it is aforementioned a kind of similar to the method for controlling operation of pressure feedback based on touch feedback, becauseThis, the implementation of the device can realize that overlaps will not be repeated according to the specific steps of preceding method.
As shown in Fig. 2, for motion control device of one of the one embodiment based on touch feedback and pressure feedbackStructural schematic diagram.The motion control device 10 based on touch feedback and pressure feedback includes: to obtain module 100, division module200, the first model foundation and training module 300, the second model foundation and training module 200, analysis and processing module 400 and controlModule 600.
Wherein, module 200 is obtained to be used to obtain tactile in real time by the sensor being previously placed on preset structure nodeFeedback signal and pressure feedback signal；Analysis and processing module 400 is for tactile feedback signal and pressure feedback signal to be sent toCorresponding processor is analyzed and processed on each preset structure node；What control module 600 was used to generate after handling analysisThe Current Voltage value of frequency acts on preset structure node in pressure value and preset range.
It is understood that the scheme that the disclosure proposes does not need a large amount of operation, each component one cpu is allThe data of cpu processing are connected to central processing unit by can bus, and full utilization pid control mode replicates collected fortuneDynamic rail mark, achievees the purpose that replication actions, naturally it is also possible to which skimulated motion track is sent to this equipment and reaches root in a computerPurpose according to deformed limb end electromyography signal Jing Guo this equipment of Training Control, this equipment can be one completely comprising upper limb lower limb bodyThe ectoskeleton of stem portion is also possible to the supplement part of deformed limb, that is to say, that if be through just with the collecting part of this equipmentOn the body of ordinary person, so that it may allow the action of the complete duplicator of the motion parts of this equipment, be mainly used in network remote operation, farJourney is installed, explosive, the fire rescue in hazardous environment, high altitude operation, maintenance, underwater maintenance etc., if with this equipmentA part can also be applied in production line robot building, remote-controlled mining etc., and the function compensation with disabled person can also be used,Duplication athletic rehabilitation of plant person etc..
In order to which clearer understanding is proposed by the present invention based on the action control of touch feedback and pressure feedback dress with applicationIt sets, carries out following example in conjunction with Fig. 3-4.It should be noted that the protection scope of the disclosure does not limit to following example.
Specifically, any point in arm exhibition length range is all being transported as shown in figure 3, bearing 1 to 5 forms 5 axle systemsIn dynamic range, human arm operation can be simulated completely.Lower limb and torso portion and finger are simulated using this method simultaneouslyIt is run with toe.In addition, as shown in figure 4, the dynamic of crotch and waist can be replicated for the duplication of the lower limb of crotch's movement mechanism is addedMake.And tactile reflection can produce according to feedback element.It can achieve certain identification by training.
It should be noted that be equipped on bearing bearing encoder its precision be as required 360 degree of 360000 pulse withOn, due to using distributed frame scheme, i.e., the component that each bearing is connected is independently duplicated, and central processing unit only serves poleThe motion profile of user can be replicated so reducing data volume completely by limiting movement protection.
It is to be understood that a kind of underwear liner is that gridding matrix node is every square centimeter about at 16 o'clock to 256,256 nodes are controlled using a processor.Current potential and frequency between can control any two points with matrix majorization generate feedbackEffect.It should be noted that measure loop is that gridding matrix node is every square centimeter about at 16 to 256.Utilize oneA processor acquires about 256 nodes, is connected to pressure and temperature sensor on node, while being connected to optical evaluation facilityAnd angular transducer.
A kind of motion control device based on touch feedback and pressure feedback provided by the invention, first by obtaining moduleTactile feedback signal and pressure feedback signal are obtained in real time by the sensor being previously placed on preset structure node；Pass through againTactile feedback signal is sent to corresponding processor on each preset structure node with pressure feedback signal by analysis and processing moduleIt is analyzed and processed；The electric current electricity of frequency in the pressure value and preset range generated after handling analysis finally by control modulePressure value acts on preset structure node.The device does not need a large amount of operation, and each component configures a cpu, all cpuThe data of processing are connected to central processing unit by can bus, and full utilization pid control mode replicates collected movement railMark achievees the purpose that replication actions.It this equipment is sent to can certainly reach according to residual in skimulated motion track in a computerPurpose of the acra electromyography signal Jing Guo this equipment of Training Control.It should be noted that this equipment can be one completely includesThe ectoskeleton of upper limb lower limb torso portion is also possible to the supplement part of deformed limb, that is to say, that if with the acquisition of this equipmentPart is through on the body of normal person, so that it may be allowed the action of the complete duplicator of the motion parts of this equipment, is mainly used in networkRemote operation, Remote Installation, explosive, the fire rescue in hazardous environment, high altitude operation, maintenance, underwater maintenance etc..IfIt can also be applied with a part of this equipment in production line robot building, remote-controlled mining etc., can also be used and disabled personFunction compensation, duplication athletic rehabilitation of plant person etc., have application more scenes and applicability.
The embodiment of the invention also provides a kind of computer readable storage mediums.It is stored on the computer readable storage mediumThere is computer program, which is executed by processor in Fig. 1.
The embodiment of the invention also provides a kind of computer program products comprising instruction.When the computer program product existsWhen being run on computer, so that the method that computer executes above-mentioned Fig. 1.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be withRelevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage mediumIn, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magneticDish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random AccessMemory, RAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned realityIt applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not depositedIn contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneouslyLimitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the artFor, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the inventionProtect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
The basic principle of the disclosure is described in conjunction with specific embodiments above, however, it is desirable to, it is noted that in the disclosureThe advantages of referring to, advantage, effect etc. are only exemplary rather than limitation, must not believe that these advantages, advantage, effect etc. are the disclosureEach embodiment is prerequisite.In addition, detail disclosed above is merely to exemplary effect and the work being easy to understandWith, rather than limit, it is that must be realized using above-mentioned concrete details that above-mentioned details, which is not intended to limit the disclosure,.
Device involved in the disclosure, device, equipment, system block diagram only as illustrative example and being not intended toIt is required that or hint must be attached in such a way that box illustrates, arrange, configure.As those skilled in the art will appreciate that, it can be connected by any way, arrange, configure these devices, device, equipment, system.Such as "include", "comprise", " tool" etc. word be open vocabulary, refer to " including but not limited to ", and can be used interchangeably with it.Vocabulary used herein above"or" and "and" refer to vocabulary "and/or", and can be used interchangeably with it, unless it is not such that context, which is explicitly indicated,.Here madeVocabulary " such as " refers to phrase " such as, but not limited to ", and can be used interchangeably with it.
In addition, as used herein, the "or" instruction separation used in the enumerating of the item started with "at least one"It enumerates, such as enumerating for " at least one of A, B or C " means A or B or C or AB or AC or BC or ABC (i.e. A and B and C).In addition, wording " exemplary " does not mean that the example of description is preferred or more preferable than other examples.
It may also be noted that in the system and method for the disclosure, each component or each step are can to decompose and/or againCombination nova.These decompose and/or reconfigure the equivalent scheme that should be regarded as the disclosure.
The technology instructed defined by the appended claims can not departed from and carried out to the various of technology described hereinChange, replace and changes.In addition, the scope of the claims of the disclosure is not limited to process described above, machine, manufacture, thingComposition, means, method and the specific aspect of movement of part.Can use carried out to corresponding aspect described herein it is essentially identicalFunction or realize essentially identical result there is currently or later to be developed processing, machine, manufacture, event groupAt, means, method or movement.Thus, appended claims include such processing, machine, manufacture, event within its scopeComposition, means, method or movement.
The above description of disclosed aspect is provided so that any person skilled in the art can make or use thisIt is open.Various modifications in terms of these are readily apparent to those skilled in the art, and are defined hereinGeneral Principle can be applied to other aspect without departing from the scope of the present disclosure.Therefore, the disclosure is not intended to be limited toAspect shown in this, but according to principle disclosed herein and the consistent widest range of novel feature.
Above description is had been presented for for purposes of illustration and description.In addition, this description is not intended to the reality of the disclosureIt applies example and is restricted to form disclosed herein.Although already discussed above multiple exemplary aspects and embodiment, this field skillIts certain modifications, modification, change, addition and sub-portfolio will be recognized in art personnel.