Force feedback man-machine interaction system and method based on electromagnetic theory and mobile tracking

Abstract

The invention provides a force feedback man-machine interaction system and method based on the electromagnetic theory and mobile tracking. By the adoption of the force feedback man-machine interactionsystem and method, a manipulator is allowed to use gestures to control a robot and meanwhile can feel force feedback in the operation process. The interaction system includes five parts of a local control calculator, a mobile tracking platform, a gesture recognition sensor, a magnetic force generating device and a magnetic force sensing device. The interaction method is divided into two parts ofcontrol and feedback. The control part uses the non-contact gesture based on a visual interface as control information, while the feedback part uses the non-contact force magnetic force as feedback information to reduce the physical limitation when interacting, meanwhile a mobile tracking function is added, and it is ensured that the magnetic force generating device and the magnetic force sensingdevice can keep relative positions and postures of the magnetic force generating device and the magnetic force sensing device unchanged, so that the problem of too little stress caused by the attenuation of a magnetic field is reduced.

Description

technical field [0001] The invention belongs to the field of robot human-computer interaction, and in particular relates to a control technology based on a LeapMotion somatosensory controller, a human-computer interaction system and an interaction method based on an electromagnetic induction technology force feedback technology. Background technique [0002] With the continuous development of robot technology, human-computer interaction technology has also developed from the traditional interaction method of keyboard and mouse control and display feedback to a three-dimensional and unrestricted interaction method. [0003] In the existing methods, the method of controlling the direction of the magnetic force is mainly to fix a plurality of electromagnets, and according to the vector synthesis rule of the magnetic field, by controlling the magnitude of the current passing through each electromagnet, the magnetic field distribution is changed, so that the corresponding directio...

AI Technical Summary

Problems solved by technology

After analyzing the magnetic field, the force of the magnetic field is used to calculate the size of the current that needs to be passed in. Usually, linear interpolation is used for calculation, and the solution of linear interpolation equations has no solution, that is, there will be blind spots, and blind spots will also have an impact on the experimental results

In addition, due to the influence of the manufacturing process of the electromagnet, factors such as magnetic flux leakage and temperature rise will affect the calculation, so the calculation accuracy cannot be guaranteed.

Images