A rope-driven exoskeleton robot collision force detection feedback system and method

Abstract

This application discloses a collision force detection and feedback system and method for a rope-driven extremity robotic arm, relating to the field of robotics technology. It not only reduces the number of sensors on a single side of the robotic arm but also feeds collision information back to the human hand, enabling interaction between the robotic arm and the operator, achieving human-machine integration. The system includes a large arm collision detection device, a forearm collision detection device, a vibration feedback smart glove, and a control unit. The large arm collision detection device is located on the outer side of the large arm of the robotic arm; the forearm collision detection device is located on the outer side of the forearm of the robotic arm; the vibration feedback smart glove is worn on the operator's hand; the vibration feedback smart glove contains a vibration motor assembly; the control unit can adjust the vibration frequency and amplitude of the corresponding vibration motor and control its vibration based on the pressure values ​​detected by the large arm and forearm collision detection devices. This application also discloses a method based on the above-mentioned device.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a collision force detection and feedback system and method for a rope-driven exolimb robotic arm. Background Technology

[0002] Chinese patent CN114043477A, ​​titled "Robotic Arm Collision Force Detection System, Method, Electronic Device, and Storage Medium," discloses a robotic arm collision force detection system. This system obtains the collision force detection results of the robotic arm based on the force detection results of force detection units. It can effectively detect the collision force experienced by the robotic arm and the location of the collision without affecting the robotic arm's flexibility. However, this system uses a matrix arrangement of force detection sensors to detect the collision force and location between external collisions and the robotic arm. The system is complex due to the large number of force detection sensors. When a collision occurs between robotic arms, the system replans its trajectory to avoid other robotic arms. Upon detecting external collision information, it stops the robotic arm based on the collision force detection results and alerts the doctor through an interface. However, it does not provide feedback on the location and magnitude of the force to the human body, resulting in slow collision information acquisition and low human-computer interaction. Summary of the Invention

[0003] The embodiments of this application provide a collision force detection and feedback system and method for a rope-driven extremity robotic arm. This system can not only reduce the number of sensors on one side of the robotic arm, but also feed back collision information to the human hand, enabling the robotic arm and the operator to interact and achieve human-machine integration.

[0004] To achieve the above objectives, one embodiment of this application provides a collision force detection and feedback system for a cable-driven exolimb robotic arm, including an upper arm collision detection device, a forearm collision detection device, a vibration feedback smart glove, and a control unit; the upper arm collision detection device is disposed on the outer side of the upper arm of the cable-driven exolimb robotic arm; the forearm collision detection device is disposed on the outer side of the forearm of the cable-driven exolimb robotic arm; the upper arm collision detection device is capable of detecting the impact force received by the upper arm; the forearm collision detection device is capable of detecting the impact force received by the forearm; the vibration feedback smart glove is worn on the operator's hand; the vibration feedback smart glove... The glove contains a vibration motor assembly; the control unit is communicatively connected to the upper arm collision detection device, the lower arm collision detection device, and the vibration motor assembly; the control unit is configured to: receive pressure values ​​detected by the upper arm collision detection device and the lower arm collision detection device; input the pressure values ​​into the collision pressure equation to obtain the external force value of the robotic arm collision; determine whether the external force value of the robotic arm collision is greater than a threshold; if so, input the pressure values ​​into the collision position equation to obtain the robotic arm collision position value; and adjust the vibration frequency and vibration amplitude of the corresponding vibration motor in the vibration motor assembly and control its vibration according to the external force value and the robotic arm collision position value.

[0005] Furthermore, the upper arm collision detection device includes a left-right upper arm collision detection mechanism and a right-up-down upper arm collision detection mechanism; the left-right upper arm collision detection mechanism can detect the impact force in the left-right direction of the upper arm; the right-up-down upper arm collision detection mechanism can detect the impact force in the up-down direction of the upper arm; the forearm collision detection device includes a left-right forearm collision detection mechanism and a right-up-down forearm collision detection mechanism; the left-right forearm collision detection mechanism can detect the impact force in the left-right direction of the forearm; the right-up-down forearm collision detection mechanism can detect the impact force in the up-down direction of the forearm.

[0006] Furthermore, the left and right collision detection mechanism of the upper arm includes left and right side collision top shells and left and right side collision bottom shells of the upper arm that are snapped together; the front ends of the left and right side collision top shells and left and right side collision bottom shells of the upper arm are both hinged to the elbow joints of the robotic arm; a first mounting cavity is formed between the left and right side collision top shells and left and right side collision bottom shells of the upper arm; two first pressure sensors are provided in the first mounting cavity; the two first pressure sensors are respectively located near the front and rear ends of the first mounting cavity; a first spring assembly is also provided in the first mounting cavity; the two ends of the first spring assembly are respectively connected to the left and right side collision top shells and left and right side collision bottom shells of the upper arm; the upper and lower collision detection mechanism of the upper arm includes an upper collision plate and a lower collision plate of the upper arm that are snapped together; a second mounting cavity is formed between the upper collision plate and the lower collision plate of the upper arm; two second pressure sensors are provided in the second mounting cavity; the two second pressure sensors are respectively located near the front and rear ends of the second mounting cavity; a second spring assembly is also provided in the second mounting cavity; the two ends of the second spring are respectively connected to the upper collision plate and the lower collision plate of the upper arm.

[0007] Further, the first pressure sensor includes a sensor cover, a sensor pressing mechanism, a rubber pad, a sensor housing, and a sensor body; the sensor housing is cylindrical; a groove is formed at the lower end of the side wall of the sensor housing; the sensor cover and the sensor housing are fastened together; one end of the sensor body is fixedly connected to the bottom surface of the sensor housing, and the other end extends out of the sensor housing through the groove and is connected to the control unit; the lower end of the sensor pressing mechanism is located inside the sensor housing, and the upper end passes through a through hole on the sensor cover; the rubber pad is fixedly connected to the lower surface of the sensor pressing mechanism; the second pressure sensor has the same structure as the first pressure sensor.

[0008] Furthermore, the left and right sides of the upper arm collision bottom shell are provided with two first sensor mounting slots, and the first pressure sensors are installed in the corresponding first sensor mounting slots, with the two first pressure sensors facing each other; the left and right sides of the upper arm collision top shell are provided with two first pressure rods; the first pressure rods are located above the first pressure sensors; the lower side collision plate of the upper arm is provided with two second sensor mounting slots, and the second pressure sensors are installed in the corresponding second sensor mounting slots, with the two second pressure sensors facing each other; the upper side collision plate of the upper arm is provided with two second pressure rods; the second pressure rods are located above the second pressure sensors.

[0009] Furthermore, the forearm left and right collision detection mechanism includes left and right side collision top shells and left and right side collision bottom shells of the forearm that are snapped together; a third mounting cavity is formed between the left and right side collision top shells and the left and right side collision bottom shells of the forearm; two third pressure sensors are provided in the third mounting cavity; the two third pressure sensors are respectively located near the front and rear ends of the third mounting cavity; a third spring assembly is also provided in the third mounting cavity; the two ends of the third spring assembly are respectively connected to the left and right side collision top shells and the left and right side collision bottom shells of the forearm; the third pressure sensor has the same structure as the first pressure sensor.

[0010] Furthermore, the structure of the forearm upper and lower collision detection mechanism is the same as that of the upper arm upper and lower collision detection mechanism.

[0011] Furthermore, the vibration motor assembly includes eight vibration motors; the eight vibration motors are arranged sequentially in the left-right direction; the eight vibration motors can respectively feed back the magnitude and position of the left-right impact force of the upper arm, the up-down impact force of the upper arm, the left-right impact force of the forearm, and the up-down impact force of the forearm.

[0012] Furthermore, the collision pressure equation and the collision position equation are obtained by polynomial fitting using MATLAB mathematical software.

[0013] On the other hand, this application embodiment also provides a collision force detection feedback method based on the above-mentioned rope-driven extremity robotic arm collision force detection feedback system, including the following steps: the upper arm collision detection device and the lower arm collision detection device detect pressure values; the control unit receives the pressure values ​​detected by the upper arm collision detection device and the lower arm collision detection device; the control unit inputs the pressure values ​​into the collision pressure equation to obtain the robotic arm collision external force value; the control unit determines whether the robotic arm collision external force value is greater than a threshold; if so, the pressure value is input into the collision position equation to obtain the robotic arm collision position value; the control unit adjusts the vibration frequency and vibration amplitude of the corresponding vibration motor in the vibration motor group and controls its vibration according to the robotic arm collision external force value and the robotic arm collision position value.

[0014] This application has the following advantages over the prior art:

[0015] 1. The rope-driven extremity robotic arm collision force detection and feedback system of this application realizes the detection of collision force and collision position of the robotic arm by setting two pressure sensors on one side of the robotic arm and inputting the detection results of the two pressure sensors into the collision pressure equation and collision position equation obtained by polynomial fitting through MATLAB mathematical software. By setting up an intelligent vibration feedback glove, the collision force magnitude and collision position information are transmitted to the human hand through the vibration intensity and vibration mode of the vibration motor, so that the robotic arm and the operator can interact and realize human-machine integration.

[0016] 2. The collision force detection feedback system of the rope-driven extremity robotic arm in this application improves the triggering device of the pressure sensor, thus solving the problem of insufficient contact of the contact surface of the existing thin-film pressure sensor, which easily leads to poor contact of the pressure sensor.

[0017] 3. The collision force detection feedback system of the rope-driven extremity robotic arm in this application embodiment sets up a positioning rod and a positioning groove, so that the pressure rod can accurately press on the pressure sensor in the sensor groove, and sets up a spring to ensure that the pressure rod and the pressure sensor are always separated in the absence of collision force, thereby reducing the collision false detection rate.

[0018] 4. The collision force detection feedback system of the rope-driven exolimb robotic arm in this application solves the problem of traditional sensorless collision detection methods based on force observers, which cannot detect collisions because the drive motors of the rope-driven exolimb robotic arm are concentrated in the backpack and driven by ropes, resulting in significant friction. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the collision force detection and feedback system of the rope-driven exolimb robotic arm according to an embodiment of this application;

[0021] Figure 2 This is an exploded structural diagram of the left and right collision detection mechanism of the upper arm in the collision force detection feedback system of the rope-driven external limb robotic arm according to an embodiment of this application.

[0022] Figure 3 This is a schematic diagram of the plug-in component in the collision force detection and feedback system of the rope-driven extremity robotic arm according to an embodiment of this application;

[0023] Figure 4 This is an exploded structural diagram of the first pressure sensor in the collision force detection and feedback system of the rope-driven extremity robotic arm according to an embodiment of this application.

[0024] Figure 5 This is a cross-sectional view of the first pressure sensor in the collision force detection and feedback system of the rope-driven extremity robotic arm according to an embodiment of this application;

[0025] Figure 6 This is a diagram showing the external shape of the first pressure sensor in the collision force detection and feedback system of the rope-driven extremity robotic arm according to an embodiment of this application.

[0026] Figure 7 This is an exploded structural diagram of the upper arm collision detection mechanism in the collision force detection feedback system of the rope-driven external limb robotic arm according to an embodiment of this application.

[0027] Figure 8 This is an exploded structural diagram of the left and right collision detection mechanism of the forearm in the collision force detection feedback system of the rope-driven extremity robotic arm according to an embodiment of this application.

[0028] Figure 9 This is a diagram showing the arrangement of the vibration motor in the collision force detection and feedback system of the rope-driven extremity robotic arm according to an embodiment of this application.

[0029] Figure 10 This is a flowchart of the information calibration method for the first pressure sensor in the collision force detection feedback system of the rope-driven extremity robotic arm according to an embodiment of this application;

[0030] Figure 11 This is a flowchart of the collision detection algorithm for robotic arms;

[0031] Figure 12 It is a vibration feedback smart glove vibration frequency and impact force mapping model;

[0032] Figure 13 It is a vibration feedback smart glove vibration mode and collision position mapping model;

[0033] Figure 14 This is a flowchart of the feedback mode of the collision vibration motor of the robotic arm.

[0034] Figure 15 This is a flowchart of the feedback mode of the collision vibration motor of the robotic arm forearm. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0037] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, they can refer to fixed connection, detachable connection, or integral connection; for those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0038] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0039] Reference Figure 1 The embodiments of this application provide a collision force detection and feedback system for a rope-driven extremity robotic arm, including an upper arm collision detection device 1, a lower arm collision detection device 2, a vibration feedback smart glove 3, and a control unit 4.

[0040] The upper arm collision detection device 1 is installed on the outer side of the upper arm of the cable-driven extremity robotic arm. The lower arm collision detection device 2 is installed on the outer side of the lower arm of the cable-driven extremity robotic arm. The upper arm collision detection device 1 can detect the impact force on the upper arm. The lower arm collision detection device 2 can detect the impact force on the lower arm.

[0041] The vibration feedback smart glove 3 is worn on the operator's hand. The vibration feedback smart glove 3 contains a vibration motor assembly 31. The control unit 4 is communicatively connected to the upper arm collision detection device 1, the forearm collision detection device 2, and the vibration motor assembly 31.

[0042] The boom collision detection device 1 includes a left-right boom collision detection mechanism 11 and a right-down boom collision detection mechanism 12. The left-right boom collision detection mechanism 11 can detect impact forces in the left and right directions of the boom. The right-down boom collision detection mechanism 12 can detect impact forces in the up and down directions of the boom. It should be noted that left-right and up-down refer to the operator's perspective.

[0043] Specifically, refer to Figure 2 and Figure 3The left and right collision detection mechanism 11 for the main arm includes a left and right side collision top shell 111 and a left and right side collision bottom shell 112 that are snapped together. The front ends of both the left and right side collision top shell 111 and the left and right side collision bottom shell 112 are hinged to the elbow joint of the robotic arm. The left and right side collision bottom shell 112 is provided with two first sensor mounting slots 114, in which first pressure sensors 113 are installed. The two first pressure sensors 113 are respectively located near the two ends of the left and right side collision bottom shell 112 and facing each other. The left and right side collision top shell 111 is provided with two first pressure rods 115, which are located above the first pressure sensors 113.

[0044] Continue to refer to Figure 2 and Figure 3 A first spring assembly is also provided between the left and right side collision top shell 111 and the left and right side collision bottom shell 112 of the main arm. There are three first spring assemblies. The three first spring assemblies are equidistantly distributed along the front-rear direction. Each first spring assembly includes two first springs 116, with their ends respectively connected to the left and right side collision top shell 111 and the left and right side collision bottom shell 112 of the main arm. The two first springs 116 at the ends are located on either side of the corresponding first pressure sensor 113. This ensures that the first pressure rod 115 remains separated from the first pressure sensor 113 in the absence of collision force, reducing the false collision detection rate. The first springs 116 are positioned to prevent bending. The left and right side collision top shells 111 of the main arm are also provided with cylindrical positioning rods 117, and the corresponding positions of the left and right side collision bottom shells 112 of the main arm are also provided with cylindrical positioning grooves 118. After the left and right side collision top shells 111 and the left and right side collision bottom shells 112 of the main arm are engaged, the cylindrical positioning rods 117 are inserted into the cylindrical positioning grooves 118.

[0045] The left and right side impact top shells 111 and the left and right side impact bottom shells 112 of the main arm are detachably connected by multiple plug-in components 119. Specifically, each plug-in component 119 includes a plug-in arm 1191, a slot 1192, and a pin 1193. There are two plug-in arms 1191, with their upper ends fixed to the left and right side impact top shells 111 and their lower ends having insertion holes 1194. The slots 1192 are formed on the left and right side impact bottom shells 112 of the main arm. After the left and right side impact top shells 111 and the left and right side impact bottom shells 112 of the main arm are engaged, the lower ends of the plug-in arms 1191 extend out of the slots 1192, and the pins 1193 are inserted into the insertion holes 1194 of the plug-in arms 1191. Thus, the impact top shells and bottom shells can be quickly assembled and disassembled, and if the impact force is too great and the impact top shells or bottom shells are damaged, they can be replaced in a timely manner.

[0046] It should be noted that the number of plug-in components 119 can be one or more, depending on the actual working conditions, and is not limited here. Similarly, the number of plug-in arms 1191 in each group of plug-in components 119 can also be one or two, and is not limited here. In addition, the positions of the plug-in arms 1191 and the slots 1192 can also be interchanged, depending on the structure.

[0047] Reference Figures 4 to 6 The first pressure sensor 113 includes a sensor cover 1131, a sensor pressing mechanism 1132, a rubber pad 1133, a sensor housing 1134, and a sensor body 1135. The sensor housing 1134 is cylindrical, with a semi-circular groove 1136 formed at the lower end of its side wall. The sensor cover 1131 and the sensor housing 1134 are interlocked. One end of the sensor body 1135 is fixed to the bottom surface of the sensor housing 1134, and the other end extends out of the sensor housing 1134 through the groove 1136 and connects to the control unit 4. The sensor pressing mechanism 1132 is a stepped shaft, wider at the bottom and narrower at the top. Its lower end is located inside the sensor housing 1134, and its upper end passes through a through hole in the sensor cover 1131. The rubber pad 1133 is fixed to the lower surface of the sensor pressing mechanism 1132. Therefore, when pressure is applied to the top of the sensor pressing mechanism 1132, it moves vertically downward under the action of the cylindrical opening in the middle of the sensor cover 1131 and the inner wall of the sensor housing 1134. The rubber pad 1133 increases the contact area with the sensor body 1135, thus solving the problem of poor contact in traditional thin-film pressure sensors.

[0048] Reference Figure 7 The upper arm collision detection mechanism 12 includes an upper arm collision plate 121 and a lower arm collision plate 122 that are interlocked vertically. The lower arm collision plate 122 has two second sensor mounting slots 124, each housing a second pressure sensor 123. The two second pressure sensors 123 are positioned near opposite ends of the lower arm collision plate 122. The second pressure sensors 123 have the same structure as the first pressure sensor 113. The upper arm collision plate 121 has two second pressure rods 125 located above the second pressure sensors 123.

[0049] A second spring assembly 126 is also provided between the upper impact plate 121 and the lower impact plate 122 of the boom. There are two sets of second spring assemblies 126. The two sets of second spring assemblies are located on both sides of the corresponding second pressure sensor 123. The structure and function of the second spring assembly 126 are the same as those of the first spring assembly, and will not be described in detail here.

[0050] The upper impact plate 121 and the lower impact plate 122 of the boom are also connected by a plug-in assembly 119. It should be noted that the plug-in assembly 119 here has only one plug-in arm 1191.

[0051] Reference Figure 1 The forearm collision detection device 2 includes a left-right forearm collision detection mechanism 21 and a right-up-down forearm collision detection mechanism 22. The left-right forearm collision detection mechanism 21 can detect the impact force in the left-right direction of the forearm. The right-up-down forearm collision detection mechanism 22 can detect the impact force in the up-down direction of the forearm.

[0052] Reference Figure 8 The forearm left and right collision detection mechanism 21 includes a left and right side collision top shell 211 and a left and right side collision bottom shell 212 that are snapped together. The left and right side collision bottom shell 212 is provided with two third sensor mounting slots 214, in which third pressure sensors 213 are installed. The two third pressure sensors 213 are respectively located near the two ends of the left and right side collision bottom shell 212 and facing each other. The left and right side collision top shell 211 is provided with two third pressure rods 215, which are located above the third pressure sensors 213. The third pressure sensors 213 have the same structure as the first pressure sensor 113.

[0053] The left and right side collision top shell 211 and the left and right side collision bottom shell 212 of the forearm are also provided with a third spring group 216. There are two third spring groups 216. The two third spring groups 216 are located on both sides of the corresponding third pressure sensor 213. The third spring group 216 has the same structure and function as the first spring group, and will not be described in detail here.

[0054] The left and right side collision top shell 211 and the left and right side collision bottom shell 212 of the forearm are also connected by a plug-in assembly 119.

[0055] Reference Figure 1 The structure of the forearm upper and lower collision detection mechanism 22 is the same as that of the upper arm upper and lower collision detection mechanism 12, and will not be described in detail here.

[0056] Reference Figure 9The vibration motor assembly 31 includes eight vibration motors 311, which are arranged in two groups at the wrist. The two groups of motors 311 are positioned along the extension direction of the palm, with four motors 311 in each group arranged circumferentially around the outer periphery of the wrist (two on the inner and outer sides of the hand, and the other two on the upper and lower sides of the wrist). The eight vibration motors 311 can respectively report the magnitude of the impact force on the left, right, upper, and lower sides of the upper arm, as well as the impact force on the left, right, upper, and lower sides of the forearm. This allows the collision information between the robotic arm and external objects to be fed back to the human body, enabling the human body to perceive the collision situation.

[0057] Control unit 4 is configured as follows:

[0058] S1. Receive the pressure values ​​detected by the boom collision detection device 1 and the forearm collision detection device 2.

[0059] S2. Input the pressure value into the collision pressure equation to obtain the collision force value of the robotic arm.

[0060] S3. Determine whether the collision force value of the robotic arm is greater than the threshold.

[0061] If yes, input the pressure value into the collision position equation to obtain the collision position value of the robotic arm; if no, proceed to step S2.

[0062] S4. Adjust the vibration frequency and vibration amplitude of the corresponding vibration motor 311 in the vibration motor group 31 according to the collision force value and collision position value of the robotic arm and control its vibration.

[0063] Reference Figure 10 The calibration method for the first pressure sensor 113 is as follows:

[0064] First, a collision position is set on the robotic arm, designated as position 1. Then, a collision force is applied to position 1, causing the collision shell to move downwards. This causes the positioning rod to move parallel downwards within the positioning slot, ensuring the pressure rod accurately applies pressure to the pressure sensor. The pressure values ​​(a and b) from the pressure sensor group (labeled A and B) are acquired. Using the robotic arm's collision position and the magnitude of the collision force as outputs, and the pressure values ​​a and b from pressure sensors A and B as inputs, 1000 measurement data points are stored. These 1000 data points are then used in MATLAB mathematical software to derive the collision pressure equation (F) and the collision position equation (D) through polynomial fitting. It should be noted that the remaining pressure sensors are calibrated using the same method.

[0065] Robotic arm collision detection algorithms such as Figure 11 As shown:

[0066] When the robotic arm collides with an external object, the two first pressure sensors 113 detect the collision force and obtain the pressure values ​​a and b of the two first pressure sensors 113. The pressure values ​​a and b are input into the collision pressure equations F=K1a+K2b and D=f(a,b) to obtain the collision force F and the collision position D of the robotic arm, respectively. Then, the collision force F and the collision position D of the robotic arm are sent to the vibration feedback smart glove 3.

[0067] The vibration frequency mapping model of the vibration feedback smart glove 3 to the impact force F is as follows: Figure 12 As shown:

[0068] When the robotic arm's collision detection algorithm is triggered, it calculates the collision force F using the collision pressure equation. First, it checks if the magnitude of the collision force F exceeds a threshold T. If it does not exceed the set threshold T, it returns to the collision detection algorithm to detect the collision force. If it exceeds the set threshold T, a vibration feedback program is activated. To accurately reflect the magnitude of the collision force, it maps the magnitude of the collision force to the vibration frequency f of the vibration motor. The mapping relationship is f = K3F, where K3 is a proportionality coefficient. By adjusting the duty cycle Z of the vibration motor's drive PWM pulse, the vibration frequency f of the vibration motor is adjusted, with the mapping relationship D = K4f, where K4 is the proportionality coefficient. Then, the vibration motor vibrates, feeding back the magnitude of the collision force to the human hand.

[0069] Vibration feedback smart glove vibration mode and collision position mapping model as follows Figure 13 As shown:

[0070] When the collision detection algorithm detects a collision, it first checks whether the magnitude of the external force F exceeds the threshold T. If it does not exceed the set threshold T, it returns to the collision detection algorithm to detect the external force. If it exceeds the set threshold T, it determines the collision position. Using the collision position equation D = f(a, b, ...), it obtains the specific collision position of the boom and the forearm, and then drives the vibration motor to vibrate according to the set vibration mode.

[0071] The flowchart of the collision vibration motor feedback mode of the robotic arm's upper (lower) arm is as follows: Figure 14 and 15 As shown: For ease of description, the eight vibration motors are numbered Motor 1, Motor 2... Motor 8 in sequence.

[0072] When the collision location detection algorithm detects a specific collision location on the upper arm (forearm), it executes according to the motor vibration mode: the upper collision motor 1 (motor 5) vibrates, the lower collision motor 2 (motor 6) vibrates, the left collision motor 3 (motor 7) vibrates, and the right collision motor 4 (motor 8) vibrates. After the vibration is completed, it switches to the collision location detection algorithm to mechanically detect the collision.

[0073] On the other hand, this application also provides a collision force detection feedback method based on the above-mentioned rope-driven extremity robotic arm collision force detection feedback system, including the following steps:

[0074] Step 1: The boom collision detection device 1 and the forearm collision detection device 2 detected the pressure value.

[0075] Step 2: Control unit 4 receives the pressure values ​​detected by boom collision detection device 1 and forearm collision detection device 2.

[0076] Step 3: The control unit 4 inputs the pressure value into the collision pressure equation to obtain the collision force value of the robotic arm.

[0077] Step 4: Control unit 4 determines whether the collision force value of the robotic arm is greater than the threshold; if so, the pressure value is input into the collision position equation to obtain the collision position value of the robotic arm; if not, proceed to step 2.

[0078] Step 5: The control unit 4 adjusts the vibration frequency and vibration amplitude of the corresponding vibration motor 311 in the vibration motor group 31 according to the collision force value and collision position value of the robotic arm and controls its vibration. The vibration motor 311 transmits the vibration signal to the operator's hand.

[0079] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A collision force detection and feedback system for a rope-driven exoskeleton robotic arm, characterized in that, Includes an upper arm collision detection device, a lower arm collision detection device, a vibration feedback smart glove, and a control unit; The upper arm collision detection device is located on the outer side of the upper arm of the rope-driven exolimb robotic arm; the lower arm collision detection device is located on the outer side of the lower arm of the rope-driven exolimb robotic arm; the upper arm collision detection device can detect the impact force received by the upper arm; the lower arm collision detection device can detect the impact force received by the lower arm; the vibration feedback smart glove is worn on the operator's hand; the vibration feedback smart glove is equipped with a vibration motor assembly. The control unit is communicatively connected to the boom collision detection device, the forearm collision detection device, and the vibration motor assembly; the control unit is configured to: Receive the pressure values ​​detected by the upper arm collision detection device and the lower arm collision detection device; Input the pressure value into the collision pressure equation to obtain the collision force value of the robotic arm; Determine whether the collision force on the robotic arm exceeds a threshold. If so, input the pressure value into the collision position equation to obtain the robot arm's collision position value; Adjust the vibration frequency and amplitude of the corresponding vibration motor in the vibration motor group according to the collision force value and collision position value of the robotic arm, and control its vibration. The boom collision detection device includes a boom left-right collision detection mechanism and a boom up-down collision detection mechanism; the boom left-right collision detection mechanism can detect the impact force in the left-right direction of the boom; the boom up-down collision detection mechanism can detect the impact force in the up-down direction of the boom. The forearm collision detection device includes a left-right forearm collision detection mechanism and a right-up-down forearm collision detection mechanism; the left-right forearm collision detection mechanism can detect the impact force in the left-right direction of the forearm; the right-up-down forearm collision detection mechanism can detect the impact force in the up-down direction of the forearm. The left and right collision detection mechanism of the boom includes left and right side collision top shells and left and right side collision bottom shells of the boom that are snapped together; the front ends of the left and right side collision top shells and left and right side collision bottom shells of the boom are both hinged to the elbow joints of the robotic arm; a first mounting cavity is formed between the left and right side collision top shells and left and right side collision bottom shells of the boom; two first pressure sensors are provided in the first mounting cavity; the two first pressure sensors are respectively located near the front and rear ends of the first mounting cavity; a first spring assembly is also provided in the first mounting cavity; the two ends of the first spring assembly are respectively low to the left and right side collision top shells and left and right side collision bottom shells of the boom; The upper arm collision detection mechanism includes an upper arm collision plate and a lower arm collision plate that are interlocked. A second mounting cavity is formed between the upper arm collision plate and the lower arm collision plate. Two second pressure sensors are provided in the second mounting cavity. The two second pressure sensors are respectively located near the front and rear ends of the second mounting cavity. A second spring assembly is also provided in the second mounting cavity. The two ends of the second spring are respectively connected to the upper arm collision plate and the lower arm collision plate. The first pressure sensor includes a sensor cover, a sensor pressing mechanism, a rubber pad, a sensor housing, and a sensor body. The sensor housing is cylindrical. A groove is formed at the lower end of the side wall of the sensor housing. The sensor cover and the sensor housing are fastened together. One end of the sensor body is fixed to the bottom surface of the sensor housing, and the other end extends out of the sensor housing through the groove and is connected to the control unit. The lower end of the sensor pressing mechanism is located inside the sensor housing, and the upper end passes through a through hole on the sensor cover. The rubber pad is fixed to the lower surface of the sensor pressing mechanism. The second pressure sensor has the same structure as the first pressure sensor. The left and right sides of the upper arm collision bottom shell are provided with two first sensor mounting slots, and the first pressure sensor is installed in the corresponding first sensor mounting slot, and the two first pressure sensors are arranged facing each other; the left and right sides of the upper arm collision top shell are provided with two first pressure rods; the first pressure rods are located above the first pressure sensors. The lower side collision plate of the boom is provided with two second sensor mounting slots, and the second pressure sensor is installed in the corresponding second sensor mounting slot, with the two second pressure sensors facing each other; the upper side collision plate of the boom is provided with two second pressure rods; the second pressure rods are located above the second pressure sensors; The forearm left and right collision detection mechanism includes left and right side collision top shells and left and right side collision bottom shells of the forearm that are snapped together; a third mounting cavity is formed between the left and right side collision top shells and the left and right side collision bottom shells of the forearm; two third pressure sensors are provided in the third mounting cavity; the two third pressure sensors are respectively located near the front and rear ends of the third mounting cavity; a third spring assembly is also provided in the third mounting cavity; the two ends of the third spring assembly are respectively connected to the left and right side collision top shells and the left and right side collision bottom shells of the forearm; the third pressure sensor has the same structure as the first pressure sensor.

2. The collision force detection and feedback system for a rope-driven exoskeleton robotic arm according to claim 1, characterized in that, The structure of the forearm upper and lower collision detection mechanism is the same as that of the upper arm upper and lower collision detection mechanism.

3. The collision force detection and feedback system for a rope-driven exoskeleton robotic arm according to claim 2, characterized in that, The vibration motor group includes eight vibration motors; the eight vibration motors are arranged in sequence along the left and right direction; the eight vibration motors can respectively feed back the magnitude and position of the left and right impact force of the upper arm, the up and down impact force of the upper arm, the left and right impact force of the forearm, and the up and down impact force of the forearm.

4. The collision force detection and feedback system for a rope-driven exoskeleton robotic arm according to claim 3, characterized in that, The collision pressure equation and the collision position equation were obtained by polynomial fitting using MATLAB mathematical software.

5. A collision force detection feedback method based on the rope-driven exoskeleton robotic arm collision force detection feedback system according to claim 4, characterized in that, Includes the following steps: The upper arm collision detection device and the lower arm collision detection device detected the pressure value; The control unit receives the pressure values ​​detected by the upper arm collision detection device and the lower arm collision detection device; The control unit inputs the pressure value into the collision pressure equation to obtain the collision force value of the robotic arm; The control unit determines whether the collision force on the robotic arm exceeds a threshold. If so, input the pressure value into the collision position equation to obtain the robot arm's collision position value; The control unit adjusts the vibration frequency and amplitude of the corresponding vibration motor in the vibration motor group and controls its vibration based on the collision force value and collision position value of the robotic arm.

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