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Data glove for teaching programming of robot dexterous hand

A data glove, dexterous hand technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex principle, high cost, complex structure, etc., to improve programming efficiency, reduce difficulty, and reduce cost and complexity. Effect

Inactive Publication Date: 2016-02-17
NORTHEASTERN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing data gloves are complex in structure, expensive in cost and complex in principle, such as 5DT, CyberGlove, ShadowHand and other data gloves

Method used

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  • Data glove for teaching programming of robot dexterous hand
  • Data glove for teaching programming of robot dexterous hand
  • Data glove for teaching programming of robot dexterous hand

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Experimental program
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Embodiment Construction

[0021] Such as figure 1 Shown is the schematic diagram of the appearance of the present invention, 1 is the Flex4.5-inch bending sensor, 6 is the integrated PCB board, the integrated PCB board includes a small module 2, ArduinoNano controller 3, teaching programming switch 4, battery 5, AHRS nine-axis Attitude sensor 7, bluetooth module 8, bending sensor wire 9, bending sensor fixing wire 10. Five bending sensors are respectively arranged on the backs of the five fingers. The bending sensors can detect the bending changes of the fingers. The greater the bending, the greater the resistance value. The resistance range of the resistance is roughly 9000 ohms to 22000 ohms.

[0022] Such as figure 2 Shown is the distribution diagram of the FlexiForce membrane pressure sensor. The membrane pressure sensor 11 and the membrane pressure sensor 12 are respectively fixed on the inside of the thumb and index finger. The greater the pressure on the membrane pressure sensor, the smaller t...

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Abstract

The invention discloses a data glove for teaching programming of a robot dexterous hand. The data glove comprises five Flex 4.5-inch bending sensors fixed at the back part of the hand and used for detecting a bending state of the hand; FlexiForce film pressure sensors are respectively fixed at the inner sides of a thumb and a forefinger for controlling the nipping operation force of the robot dexterous hand; and the back part of the data glove is fixed with an AHRS nine-axle attitude sensor integrated on a PCB, an Arduino Nano controller, a bluetooth wireless communication device and a power supply battery. Moving postures of the hand can be obtained through the bending sensors, the film pressure sensors and the AHRS sensor; and the motion of the robot dexterous hand is controlled and the teaching programming is performed according to a corresponding relation between the change conditions of the sensors and the state of the robot dexterous hand. The data glove solves the problem of difficult and complex programming of a traditional robot dexterous hand, and is simple in structure and low in cost.

Description

technical field [0001] The invention relates to a data glove for robot dexterous hand teaching and programming. Specifically, it integrates multiple sensors, which can perceive the motion posture of the hand, and map the motion posture to the robot dexterous hand to control the posture of the robot dexterous hand and perform pinching operation force. A data glove for controlling and programming a robotic dexterous hand belongs to the field of robotics and control. Background technique [0002] With the rapid development of robot technology today, more and more researches are beginning to develop in the direction of humanoid robots, and the grippers of robots have also begun to develop in the direction of humanoids. Humanoid robot grippers are usually called dexterous hands, but robot dexterous hands The problem is that the structure is relatively complex, programming is relatively difficult, and it is difficult to control. [0003] Gesture is an important way for people to ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1612B25J9/1694
Inventor 程红太郝丽娜姬光飞张志飞万登科
Owner NORTHEASTERN UNIV
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