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Natural man-machine interaction method for non-contact force feedback

A human-computer interaction and force feedback technology, applied in the field of robotics, can solve problems such as limited operation accuracy, failure of human-computer interaction, and lack of force feedback.

Active Publication Date: 2020-02-14
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these methods also lack force feedback, resulting in insufficient immersion and limited operational accuracy.
At the same time, marker-based non-contact methods may also have the problem of markers being occluded, making human-computer interaction ineffective

Method used

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  • Natural man-machine interaction method for non-contact force feedback
  • Natural man-machine interaction method for non-contact force feedback
  • Natural man-machine interaction method for non-contact force feedback

Examples

Experimental program
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Embodiment

[0065] Natural human-computer interaction methods for non-contact force feedback, such as figure 1 shown, including the following steps:

[0066] S1. Use the motion sensor to measure the human hand and perform coordinate registration, including:

[0067] S1.1. Place a plurality of motion sensors on the operating platform. In this embodiment, the motion sensor uses a LeapMotion motion sensor. The LM in the figure is Leap Motion. One of the motion sensors is placed in the center of the platform, and the surrounding motion sensors The motion sensor is placed towards the center of the operating platform at an inclination angle of 45 degrees, so that the bottom operating space can be enlarged; the coordinate system of the motion sensor itself is defined as X L Y L Z L ;The origin of the motion sensor coordinate system is its geometric center; the three coordinate axes of the motion sensor are defined as follows: X L The positive direction is along the longer side of the device ...

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Abstract

The invention provides a natural man-machine interaction method for non-contact force feedback. The method comprises the following steps: measuring a human hand by using motion sensors and carrying out coordinate registration; estimating the position and orientation of a human hand by using interval Kalman filtering according to the measured data; generating feedback electromagnetic force and feeding the force back to the human hand through a magnet on the human hand. According to the invention, the plurality of motion sensors are used for cooperatively acquiring the posture of the hand of anoperator in real time, two interval Kalman filters are used for eliminating the influence of measurement errors, and an electromagnetic force feedback mechanism is used. The problems of friction errors, connection accumulation errors, limited operation space and the like in mechanical force feedback can be solved. According to the invention, an operator not only can feel the force of a robot manipulator and obtain good immersion, but also can adjust the operation in real time, so that the control is more accurate and reliable. The method is natural and friendly, and is suitable for non-professional users.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a natural human-computer interaction method oriented to non-contact force feedback. Background technique [0002] In recent decades, with the development of artificial intelligence, robotic manipulators have replaced humans to work in complex unstructured environments. In some dangerous environments, robots are used more and more frequently. Therefore, there is a need for an efficient human-robot interface that uses robotic manipulators to perform operations in this context. At present, there are many contact methods for the human-machine interface. These methods typically utilize mechanical devices to control robotic manipulators, such as computer mice, joysticks, data gloves, etc. However, the aforementioned methods lack force feedback, resulting in a lack of immersion for the operator, making it difficult to perform high-precision tasks. While in some force-feedback appro...

Claims

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Application Information

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IPC IPC(8): G06F3/01G06N3/04G06N3/08H03H17/02B25J9/16
CPCG06F3/016G06F3/017G06N3/084H03H17/0257B25J9/1602H03H2017/0205G06N3/045Y02P90/02
Inventor 杜广龙
Owner SOUTH CHINA UNIV OF TECH
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