Myoelectricity control method for remote-control robot based on touch presence feeling

Abstract

The invention relates to a myoelectricity control method for a remote-control robot based on the touch presence feeling. The hand of an operator is used as an action simulation object, a myoelectricity signal on the surface of arm skin is collected to judge a plurality of corresponding action modes by mode identification, and the hand of a robot is controlled to finish corresponding actions, thereby bringing a characteristic of natural operation; and in the operation process, an operator can master and regulate the hand action according to the touch presence feeling to realize the presence feeling feedback operation. According to the myoelectricity control method for a remote-control robot, the man-machine interaction depth, the accuracy and the adaptability of the remote-control robot can be enhanced, and the myoelectricity control method for a remote-control robot has a good application prospect for the remote-control robot working under dangerous or harmful environment, such as nuclear industry assembling, to fetch easily-deformed and easily-exploded objects.

Description

technical field [0001] The present invention relates to a control method for a teleoperated robot, in particular to a control method for a teleoperated robot based on tactile presence and using myoelectric control. Background technique [0002] Fully autonomous robots have always been the goal pursued by roboticists. However, due to the limitations of artificial intelligence, sensing and control levels, fully autonomous robots working in complex or unknown environments are currently difficult to achieve. In recent years, with the rapid development of nuclear energy technology, space technology and marine technology, there is an urgent need for a large number of robots that work in dangerous or harmful environments. Many artificial intelligence experts and robotics researchers believe that the current focus of robot research should shift from fully autonomous technology to interactive technology, that is, to reconsider the status of "human" in research and organically combine...

AI Technical Summary

Problems solved by technology

At present, visual presence technology is widely used in remote control operations, but it is not possible to accurately obtain all information about the interaction between the manipulator and the environment at a remote place through vision. It can only appear before or after the gripper operation, while the robot tactile sense can provide specific tactile information in real time during the entire operation process, such as when the robot hand and the grasped object start to contact, the magnitude of the contact force between the robot hand and the object, and even the contact force. shape etc.

Images