Haptic regeneration exoskeleton structure and UAV flight attitude control method
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
An exoskeleton, tactile technology, applied in attitude control, non-electric variable control, control/adjustment system, etc., can solve the problems of signal interference, reduce flexibility, noise, etc., to reduce fatigue, reduce fatigue strength, improve The effect of stability
Inactive Publication Date: 2019-08-06
SOUTH CHINA AGRI UNIV
View PDF5 Cites 2 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
[0006] 1. The design of the traditional upper extremity exoskeleton is complex and bloated. The desktop mechanism is used to integrate the power supply and drive equipment inside the platform body, which makes the mechanism huge and reduces flexibility. It is difficult to popularize and use in occasions with high requirements for use space and precision.
[0007] 2. The traditional upper extremity exoskeleton design uses meta...
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
Embodiment 1
[0060] combine Figure 1 to Figure 14 As shown, this embodiment discloses a force-tactile regenerative exoskeleton structure and a method for controlling the flight attitude of a UAV, such as figure 1 As shown, it includes a back connection module, a shoulder joint mechanism, an upper arm, an elbow joint movement mechanism, a forearm, and a wrist joint movement mechanism, which are respectively worn on the back, shoulder, upper arm, elbow, forearm and wrist of the human body.
[0061] Wrist joint includes flexible pressure sensor 1, hand grip 2, wrist joint bearing seat 3, hand grip shaft 4, link block 5, wrist joint hollow shaft encoder 6, rotation fixing plate 7, wrist joint bearing pad 8, front shaft 9 , Wrist joint deep groove ball bearing 10, rotating shaft 11, pinion gear 12, large gear 13, wrist joint photoelectric switch 14, wrist joint induction piece 15, 6802 double trimming compact flange 16.
[0062] The forearm includes forearm pressure strain gauge 17, forearm h...
Embodiment 2
[0085] This embodiment discloses a force-tactile regenerative exoskeleton structure and a method for controlling the flight attitude of a drone, so as to solve the problems raised in the above-mentioned background technology. By defining the movement of the exoskeleton elbow, forearm and wrist, the collected signals are transmitted to the slave drone to realize remote control. In terms of tactile regeneration design, the exoskeleton mechanism adopts the motor motion assistance method to establish the relationship between the drone’s safe flight level (the spatial position relationship between the drone and the obstacle) and the motor’s output upper limb motion assistance force (the motor drives the external skeletal movement). When the UAV encounters an obstacle in flight, the spatial position signal is converted into an electrical signal, and then the corresponding electrical signal is fed back to the motor, and the motor reverses (the spatial position relationship between th...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
PUM
Login to view more
Abstract
The invention discloses a haptic regeneration exoskeleton structure and a UAV flight attitude control method. The haptic regeneration exoskeleton structure mainly comprises a back portion connecting module, shoulder joint mechanisms, upper arms, elbow joint motion mechanisms, forearms and wrist joint motion mechanisms, wherein each shoulder joint mechanism comprises a shoulder pad, a shoulder portion mounting plate, a shoulder portion rotating shaft member, a rotating member and the like; each upper arm comprises a motor, an upper arm magnetic fluid damper, an upper arm adjustment plate and anarm protector; each elbow joint motion mechanism comprises an elbow joint encoder, a photoelectric switch and a bevel gear; the structures of the forearms are similar to that of the upper arms; and each wrist joint motion mechanism comprises a grip, a rotating shaft, a flexible pressure sensor and a wrist portion supporting member which are sequentially connected. In the tactile regeneration design, the haptic regeneration exoskeleton structure adopts motor motion assistance to establish a relationship between a UAV safe flight level (a spatial position relationship between a UAV and an obstacle) and a motor output upper limb motion auxiliary force. In the structural design, the upper limbs of the controller moves clockwise (counterclockwise) to press corresponding pressure strain gaugesto change output voltages and predict the motion trend of the structure, and the motor assists the exoskeleton to move, so as to control the remote UAV to fly.
Description
technical field [0001] The invention relates to the field of wearable upper limb exoskeleton structure design, in particular to a wearable upper limb exoskeleton using force-tactile regeneration technology to control a slave drone and a method for controlling the flight attitude of the drone. Background technique [0002] With the wide application of wearable exoskeletons in many fields, the research fields of tactile regeneration, wearable devices and UAV flight control are integrated, and a new type of tactile shaking control UAV control is proposed. [0003] Originating in 1960, exoskeleton technology was initially defined as an anthropomorphic active mechanical device worn by an operator and augmented with mechanical performance. Wearable upper extremity exoskeleton devices have been used in many fields such as industry, military, transportation and medical treatment. Similarly, it is particularly important to introduce tactile wearable upper extremity exoskeleton in the...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.
Login to view more 
Login to view more