A control method for a capacitive tactile handle based on a multi-sensory system

Abstract

The invention is a control method of a capacitive tactile handle based on a multi-sensory system. The tactile handle is wrapped with a capacitive array flexible pressure sensor, and a tension and pressure sensor is installed on one end of the tactile handle along the length direction of the handle. device IMU; the specific steps of the method are: obtain the displacement signal collected by the tension and pressure sensor, detect the force change along the vertical direction of the handle, and simultaneously obtain the linear acceleration and rotation of the handle from three directions measured by the inertial measurement device IMU Angular rate; obtain the grasping image when the human hand grasps the tactile handle, and process the grasping image; use the convolutional neural network model to determine the handholding intention and perform multi-sensory information fusion. This method is suitable for the collection of human hand grasping information in contact human-computer cooperation, and can estimate the human hand posture in real time and accurately judge the operator's intention.

Description

technical field [0001] The invention relates to the fields of information collection and processing, machine learning, screen printing, etc., and in particular relates to a control method for a capacitive tactile handle based on a multi-sensory system. Background technique [0002] In recent years, human-computer collaboration has become one of the most popular research directions in the field of robotics, and the basis and premise of realizing human-computer interaction is to perceive and extract the operator's intention as comprehensively as possible in human-computer collaboration. Humans can perceive information about the surrounding environment through vision, hearing, and touch / force. At present, the development of machine hearing and vision has been relatively mature, but there is little research on the acquisition of touch / force information that operators rely on for grasping. The grasping intention detection of the current technology is mainly through the six-dimens...

AI Technical Summary

Problems solved by technology

Humans can perceive information about the surrounding environment through vision, hearing, and touch / force. At present, the development of machine hearing and vision has been relatively mature, but there is little research on the acquisition of touch / force information that operators rely on for grasping. The grasping intention detection of China mainly uses six-dimensional force sensors, but the price is expensive, the operation is inconvenient, and the relevant grasping information detected is also lacking. The traditional tactile data gloves have complex structure, difficult production, cumbersome wearing, and high cost.

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