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Man-machine game control method and system for upper limb wearable robot

A control method and technology of robots, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as high cognitive load, reduce performance, etc., to achieve the effect of improving efficiency, reducing complexity, and solving single problems

Active Publication Date: 2021-10-08
UNIV OF SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this fixed control pattern of human as the leader and robot as the follower requiring the human to always lead the task and drive the robot means that the human is constantly subjected to high cognitive load, which degrades performance in long-term operations.

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  • Man-machine game control method and system for upper limb wearable robot
  • Man-machine game control method and system for upper limb wearable robot
  • Man-machine game control method and system for upper limb wearable robot

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Embodiment Construction

[0102] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0103] A human-machine game control method for an upper-limb wearable robot provided according to the present invention comprises the following steps:

[0104] Step S1: Use the end handle interactive force sensor to record the end point force data of the user's upper limbs in real time during the task, and establish the capability matrix and task matching matrix for each basic task of the user and the upper limb-wearing robot. Each basic task is Assign tasks according to the capability matrix and task m...

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Abstract

The present invention provides a man-machine game control method and system for an upper-limb wearable robot, which decomposes the complex or multi-process tasks jointly completed by the user and the robot into a plurality of basic tasks, and establishes the human-machine capability matrix and Task matching matrix for task assignment. Input the results of task assignment into the man-machine zero-sum or non-zero-sum game mathematical model based on game theory, calculate the optimal stiffness of the robot at the end of the man-machine match, and then calculate the reference trajectory of the robot end through the robot impedance model, and finally The control torque is output by the adaptive controller to realize the reference trajectory tracking. The control method of the upper limb wearable robot of the present invention can realize better compliant control in the context of human-machine cooperation, sense the user's movement intention, and minimize the user's input force.

Description

technical field [0001] The present invention relates to the technical field of intelligent control of intelligent robots. Specifically, it relates to a man-machine game control method and system for upper-limb wearable robots. Background technique [0002] Shared control of upper-limb wearable robots is an emerging research field, which has a wide range of applications in robot rehabilitation, search and rescue, and teleoperation. Humans and robots have complementary capabilities, and their collaboration is necessary in many situations. Traditional approaches to dealing with physical human-robot interactions often involve robots following human motion through impedance or admittance controllers, the rationale for explicitly positioning these roles is that humans possess better cognitive capabilities such as situational awareness and decision-making skills , while robots possess better physical capabilities, such as precision and strength. However, this fixed control mode o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/1633B25J9/1661
Inventor 李智军高洪波毕伟
Owner UNIV OF SCI & TECH OF CHINA
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