Remote operation control system and method based on wearable motion capture force interaction device

Abstract

The present invention discloses a remote control system and method based on a wearable motion capture force interaction device. It includes: a motion capture force interaction device, which is used to obtain the movement information of the operator's upper limbs and obtain the environmental force information at the remote end, and then perform force interaction; a data communication and control module, which is used to issue control instructions in both directions and record and visualize data; a remote robot perception and execution module, which is used to execute position control instructions and feed back the remote environmental force information to the motion capture force interaction device, and at the same time adjust the position, perceive and report the force information during the execution process. The present invention adopts a mechanical motion capture solution combined with ergonomics to design a seven-degree-of-freedom motion capture interaction device and add safety limits to ensure the coordination and safety of the operator during the operation; it has the advantages of intuitive and safe interaction and good environmental adaptability, and has broad application prospects in information technology fields such as robot remote control and disposal.

Description

Technical Field

[0001] The present invention relates to a teleoperation control system and method in the field of robot teleoperation interactive control, and in particular to a teleoperation control system and method based on a wearable motion capture force interaction device. Background Art

[0002] Next-generation information technologies such as artificial intelligence and big data have driven the rapid development of robotics. However, due to the current limitations of intelligent robotics, robots are still unable to independently complete high-level operational tasks in dynamic, unstructured environments. In these situations, combining the operator's experience with the robot's execution capabilities to perform high-level operational tasks remotely through a human-controlled loop is an effective solution. Motion capture equipment is particularly important in this process. By capturing the operator's movements and constructing their control commands, it helps enhance the immersiveness of human-machine interaction and provides strong support for the operator to successfully complete control tasks. It is a key approach to achieving advanced human-machine collaboration and intelligent decision-making.

[0003] Based on the operating device, the main teleoperation control schemes currently available are master-slave homogeneous teleoperation control systems and master-slave heterogeneous teleoperation control systems. The master-slave homogeneous scheme means that during teleoperation, the master and slave operating devices have the same mechanical configuration and dimensions, or the slave device is larger, thus achieving a larger workspace. The operator's control commands for the master device can be replicated on the slave device, making operation simple and convenient. The master-slave heterogeneous scheme means that during teleoperation, the master and slave operating devices have different mechanical configurations, requiring scaling factors and control algorithms to ensure coordination between the master and slave workspaces. Master-slave heterogeneous devices can be further divided into desktop teleoperation devices and the wearable teleoperation devices proposed in this patent. In contrast, wearable devices differ from desktop and homogeneous devices in that they are more mobile and adaptable to different operating scenarios. Furthermore, their close fit with the human body allows for multi-point immersive force feedback, rather than the single-point feedback of homogeneous or desktop-based control systems that rely on the operator's hand dragging.

[0004] Therefore, we are designing a mechanical motion capture interactive device for the next generation of information technology. We incorporate ergonomics into the design of a wearable structure with seven degrees of freedom and incorporate safety limits. The device coordinates with the human arm's workspace to ensure coordinated and safe movement. Furthermore, it integrates arm position information and motor control algorithms to compensate for the body's own gravity and provide assistance to the operator carrying a load, optimizing working conditions. Based on our proprietary motion capture and force interaction equipment, we are developing data communication and control modules, as well as remote robotic perception and execution modules, to build a complete teleoperation control, communication, and execution system and method. Summary of the Invention

[0005] This invention provides a remote control system and method based on a wearable motion capture force interaction device. This device addresses the vulnerability of conventional motion capture devices to environmental factors and provides operator assistance. A seven-degree-of-freedom structure is designed to ensure operator coordination. The wearable device and limit stops are designed to ensure the device's overall wearability and safety. Relevant data, a control system, and a control algorithm drive the motor to compensate for gravity and provide assistance when necessary, improving the operator's experience and operational accuracy. Finally, a remote sensing and execution module implements both execution and perception, creating a complete closed-loop control system.

[0006] In order to achieve the above-mentioned objectives, the technical solution adopted by the present invention is:

[0007] 1. A remote control system based on wearable motion capture and force interaction equipment

[0008] Motion capture force interaction equipment is used to obtain the motion information of the operator's upper limbs and obtain the environmental force information felt by the remote robot's perception and execution modules through the data communication and control modules, and then conduct force interaction with the operator's upper limbs;

[0009] Data communication and control module, used to control the motion capture force interaction device or issue position control instructions to the remote robot perception and execution module, as well as record data and provide visualization functions;

[0010] The remote robot perception and execution module is used to execute the position control instructions issued by the data communication and control module and transmit the remote environmental force information it perceives to the motion capture force interaction device through the data communication and control module. At the same time, the remote robot perception and execution module adjusts the position, perceives and reports the force information during the execution process.

[0011] The motion capture force interaction device includes two left and right wearable force interaction main arms installed on the wearable accessory. The left and right wearable force interaction main arms have the same mechanical structure, and both include shoulder wear joints, elbow wear joints, wrist wear joints and command button components connected in sequence, wherein the shoulder wear joints are installed on the wearable accessory, and the motor modules in the shoulder wear joints, elbow wear joints and wrist wear joints all include motors, drivers, encoders and torque sensors. Each driver, encoder and torque sensor is connected to the data communication and control module, and the command button component is also connected to the data communication and control module.

[0012] The wearable accessory includes a human body support backboard, a flexible waist pad, an adjustable left shoulder strap, an adjustable right shoulder strap, an adjustable waist strap and a control panel installation box; the left and right wearable force interaction main arms are respectively fixedly connected to the motor fixing seats on the left and right sides of the human body support backboard; the flexible waist pad is fixedly installed in the middle of the human body support backboard, the adjustable left shoulder strap and the adjustable right shoulder strap are respectively installed on the human body support backboard near the two sides of the flexible waist pad, the adjustable waist strap is installed across the flexible waist pad on the middle and lower side of the human body support backboard, and the control panel installation box is installed on the rear side of the human body support backboard.

[0013] The shoulder wear joint includes a first shoulder joint module, a first shoulder joint limit block, a first shoulder joint connecting rod, a second shoulder joint module, a second shoulder joint limit block, a second shoulder joint connecting rod and a third shoulder rotation device; the first shoulder joint module is fixedly mounted on the easy-to-wear accessory motor fixing seat, the first shoulder joint limit block is fixedly mounted on the first motor fixing seat of the human body support backboard and the first shoulder joint limit block is arranged on the side of the first shoulder joint module for limiting the rotation range of the first shoulder joint module, the small end of the first shoulder joint connecting rod is fixed to the output shaft of the first shoulder joint module A fixed connection is formed, a second motor fixing seat is fixedly installed at the big end of the first shoulder joint connecting rod, a second shoulder joint module is fixedly installed in the second motor fixing seat, the second shoulder joint limit block is fixedly installed on the big end of the first shoulder joint connecting rod and the second shoulder joint limit block is arranged on both sides of the second shoulder joint module, for limiting the rotation range of the second shoulder joint module, the small end of the second shoulder joint connecting rod is fixedly connected to the output shaft of the second shoulder joint module, the big end of the second shoulder joint connecting rod is fixedly connected to the third shoulder rotating device, and the bottom of the third shoulder rotating device is connected to the elbow wearing joint.

[0014] The third shoulder rotation device comprises a third shoulder joint motor module, a first rope transmission driving wheel, a first steel wire rope, a semicircular guide rail module, a third shoulder joint limiting block, a rotating connecting rod, a first tensioning spiral guide rod, a tensioning slider and a pulley; the rotating connecting rod fits the shoulder circumference of the operator for undertaking the rotation movement of the arm; an arc groove is provided on the rotating connecting rod, and the semicircular guide rail module is slidably installed on the arc groove, and the large end of the second shoulder joint connecting rod is fixedly installed on the semicircular guide rail module, and the third shoulder joint limiting block is fixedly installed at both ends of the arc groove of the rotating connecting rod. The height of the third shoulder joint limiting block prevents the slider in the semicircular guide rail module from disengaging from the arc groove, and at the same time limits the rotation range of the third shoulder rotating device; the large end of the second shoulder joint connecting rod is also fixedly installed with the third motor fixing seat, the third shoulder joint motor module is fixedly installed in the third motor fixing seat, and the first rope transmission main The driving wheel is fixedly mounted on the output shaft of the third shoulder joint motor module, and rectangular slide grooves are respectively provided on both sides of the installation place of the first rope transmission active wheel at the large end of the second shoulder joint connecting rod, and each tensioning slider is connected to the first tensioning spiral guide rod through the threaded hole at its upper end, and then the two side surfaces of the upper end of the tensioning slider can be slidably mounted in the rectangular slide groove, thereby adjusting the tensioning degree of the rope transmission; the lower part of each tensioning slider is a hollow rectangular frame, and the pulley can be rotatably mounted in the rectangular frame at the lower part of the tensioning slider; a guide groove is provided on the outer circumferential side of the rotary connecting rod, and one end of the first steel wire rope is fixedly mounted on one end of the guide groove, and the other end of the first steel wire rope wraps around the guide groove, and then passes through the groove of the pulley on one side and wraps around the groove of the first rope transmission active wheel, then passes through the groove of the pulley on the other side, and finally wraps around the guide groove and fixes the other end of the first steel wire rope on the other end of the guide groove.

[0015] The elbow wearing joint includes a first elbow joint connecting rod, a first elbow joint motor module, a fourth elbow joint limiting block and a second elbow joint connecting rod; the first elbow joint connecting rod is fixedly connected to the lower part of the shoulder wearing joint, the fourth motor fixing seat is fixedly installed in the large end of the first elbow joint connecting rod, the first elbow joint motor module is fixedly installed in the fourth motor fixing seat, the fourth elbow joint limiting block is fixedly installed at the large end of the first elbow joint connecting rod and the fourth elbow joint limiting block is located on both sides of the first elbow joint motor module, which is used to limit the rotation range of the first elbow joint motor module, the small end of the second elbow joint connecting rod is fixedly connected to the output shaft of the first elbow joint motor module, and the large end of the second elbow joint connecting rod is connected to the wrist wearing joint.

[0016] The wrist wearing joint includes a first wrist joint motor module, a second rope transmission driving wheel, a wrist rotating outer ring, a wrist rotating outer end cover, a wrist rotating inner ring, a wrist rotating inner end cover, a cross roller bearing, a second steel wire rope, a second tensioning spiral guide rod, a first hand joint connecting rod, a second wrist joint motor module, a fifth wrist joint limit block, a second hand joint connecting rod, a sixth wrist joint limit block, a third wrist joint motor module, a hand function rocker, a hand rotating inner ring, a thin-walled bearing and a hand rotating outer ring; a fifth motor fixing seat is fixedly installed at the lower part of the elbow wearing joint, the first wrist joint motor module is fixedly installed in the fifth motor fixing seat, and the second rope transmission driving wheel is fixedly installed on the output shaft of the first wrist joint motor module The outer edge of the wrist rotating outer ring fits tightly with the arc-shaped end at the lower part of the elbow wearing joint and is fixed by bolts. The outer ring of the cross roller bearing is fixed by bolts through the wrist rotating outer ring and the wrist rotating outer end cover. The inner ring of the cross roller bearing is fixed by bolts through the wrist rotating inner ring and the wrist rotating inner end cover. The two ends of the second steel wire rope are respectively fixed to the corresponding second tensioning spiral guide rods with holes on the head through a wire locker. The two second tensioning spiral guide rods are screwed into the raised threaded holes on the outside of the wrist rotating inner ring through threads, thereby fixing the two ends of the second steel wire rope and the end of the second steel wire rope extends inward along the guide groove on the outside of the wrist rotating inner ring. At the same time, the second steel wire rope The middle section of the wrist joint is wrapped around the groove of the second rope drive driving wheel, at least around one circle, and the wrist rotation transmission of the wrist wearing joint is completed by the second steel wire rope transmission, and the tensioning degree of the second steel wire rope transmission is adjusted by rotating the second tensioning spiral guide rod in / out of the protrusion outside the wrist rotation inner ring, and the arrangement angle setting of the protrusion outside the wrist rotation inner ring is also used to limit the rotation angle range; the arc-shaped edge end of the first hand joint connecting rod is fixedly installed with the outer edge of the wrist rotation inner ring, the second wrist joint motor module is fixedly installed at the other end of the first hand joint connecting rod, and the fifth wrist joint limit block is fixedly installed on the rectangular protrusion of the first hand joint connecting rod, which is used to limit the rotation range of the second wrist joint motor module; the middle of the second hand joint connecting rod The hand function rocker is fixed to the output shaft of the second wrist joint motor module by bolts, a hand function rocker is arranged between the two ends of the second hand joint connecting rod, a sixth motor fixing seat is fixedly installed at one end of the second hand joint connecting rod, and the third wrist joint motor module is installed in the sixth motor fixing seat, and the sixth wrist joint limit block is fixedly installed on the rectangular protrusion next to the sixth motor fixing seat of the second hand joint connecting rod, which is used to limit the rotation range of the third wrist joint motor module; one end of the hand function rocker is fixedly connected to the output shaft of the third wrist joint motor module, and the other end of the hand function rocker is connected to the other end of the second hand joint connecting rod through the hand rotating inner ring and the thin-walled bearing, and the command button assembly is installed in the hand function rocker.

[0017] The data communication and control module is installed in the motion capture force interaction device, and the data communication and control module includes a bottom-level controller, an inertial sensor, and a battery pack; the bottom-level controller is used to obtain information from various sensor modules, and the host computer and the bottom-level controller are connected via wired or wireless means, and the functions of data acquisition and analysis, visual display, communication data processing, and control algorithm arrangement are realized on the host computer; the battery pack serves as an energy supply module to power various joint modules in the wearable force interaction main arm, and at the same time, powers the inertial sensor and function buttons after being stepped down by the power management module in the bottom-level controller.

[0018] The remote robot perception and execution module includes a basic adjustment unit, an arm grasping unit and an environment perception unit, which are used to execute control instructions and perceive and report force information during the execution process.

[0019] 2. A remote control method based on a wearable motion capture interactive device

[0020] During teleoperation, after receiving the actual position control command from the motion capture force interaction device, the data communication and control module first performs scaling control on the actual position to obtain the desired position of the remote robot. Then, the position-based velocity PD control method is used to control the remote robot position in the remote robot perception and execution module. The specific formula is as follows:

[0021] P desire =S c ×P actual +P0

[0022]

[0023] e=P desire –P actual ,

[0024] Among them, P desire is the desired position of the remote robot, S c is the teleoperation scaling factor, P actual is the actual position, P0 is the initial setting position; k p 、k d are the proportional and differential coefficients, e represents the position deviation, and dt is the unit time.

[0025] According to the operation force of the slave end, the torque of each joint in the motion capture force interaction device is calculated using the following formula:

[0026]

[0027] Where τ is the torque value, M(θ) is the inertial force term, C(·) is the Coriolis force term, G(·) is the gravity term, and F vis the viscous friction coefficient, F c is the Coulomb friction coefficient, θ is the joint angle position, is the joint angular velocity, is the joint angular acceleration.

[0028] The beneficial effects and advantages of the present invention are:

[0029] 1. The present invention designs a seven-degree-of-freedom wearable motion capture force interaction device based on ergonomics and the workspace of the human arm. The device consists of a three-degree-of-freedom shoulder rotation component, a single-degree-of-freedom elbow rotation component and a three-degree-of-freedom hand rotation component. The mutual influence of the series joints of the shoulder is fully considered to reduce the coupling of joint information, so that the three axes of the shoulder rotation component intersect perpendicularly at the shoulder glenohumeral joint, and can coordinate with the abduction and adduction, forward and backward flexion and extension, and arm rotation activities of the human shoulder joint; the single-degree-of-freedom elbow rotation component is aligned with the elbow rotation to ensure the coordination of the flexion and extension activities of the elbow joint; the three degrees of freedom of the three-degree-of-freedom hand rotation component intersect perpendicularly at the radiocarpal and radioulnar joints of the wrist, and can coordinate with the flexion and extension, ulnar deviation and radial deviation, and forearm rotation activities of the human wrist joint; the present invention can capture the motion of each joint activity of the human arm and ensure coordination during the operation.

[0030] 2. The present invention innovatively designs two rotation schemes for the shoulder and hand, and adopts rope transmission to transmit the rotational motion of the upper arm and the forearm. Due to its low inertia, zero gap and other characteristics, the accuracy of motion capture is guaranteed; in order to ensure the accuracy and compactness of the transmission of the rotation device, combined with the different structures of the shoulder and hand, a tensioning scheme with a spiral guide rod as the core is designed, and the compactness of the rope transmission is adjusted by rotating the guide rod in and out to ensure that the system is in a tensioned state.

[0031] 3. The present invention fully considers the wearability and safety of the motion capture force interaction device. By designing easy-wearable accessories, the left and right easy-wearable force interaction main arms are worn on the human body. The flexible waist pad and adjustable left and right shoulder straps are used to ensure the wearability and stability of the motion capture force interaction device worn on the human body. In addition, the third shoulder rotation device adopts an open arc structure to avoid interference with the human body during movement. Mechanical limit blocks are set at each joint to ensure safety during use. Most connecting rods are provided with threaded mounting holes to match customized arm binding devices, further improving the overall compactness of the motion capture force interaction device.

[0032] 4. The wearable motion capture and force interaction device of the present invention, combined with a joint module containing an encoder and torque sensor, can achieve higher-precision torque output and high-precision force feedback. The data communication and control system performs human motion capture and force interaction control, relying on information such as the joint module's position, velocity, and torque to form a closed control loop with the underlying controller. Inertial sensors update human body information in real time, ensuring the accuracy of motion capture and interactive force. Furthermore, the function button configuration supports the development of customized functions, and the battery pack allows for independent use of the device, making it highly adaptable to various environments. This device has broad application prospects in information technology fields such as remote robot control and disposal.

[0033] 5. The proposed teleoperation control system based on a wearable motion capture force interaction device utilizes a position-based velocity PD control strategy, offering simple and fast operation and avoiding velocity interpolation during position control. Within the force interaction strategy, a multi-level force feedback strategy is designed based on the different stages of the teleoperation task. During the device's initial adaptation phase, a deadweight mode is employed, where the motor only offsets the blockage effect of the reducer, while the operator bears the weight of the device. This allows the operator to adapt to the device and avoid dangerous situations caused by excessive speeds due to unfamiliarity. Once the operator has a certain understanding of the device and its overall operating mode, they can enable gravity compensation mode. Using the Newton-Euler dynamics equations and corresponding control algorithms, the device's own gravity is offset by the motor's output torque. This allows the operator to more flexibly control the slave robot's upper limbs, improving control efficiency. When teleoperating a slave robot to perform certain environmental interactions, such as contacting a tabletop or using tools like a drill or hammer, force feedback is required to avoid damaging the target object or the slave robot arm. This improves the operator's understanding of the environment, enhancing immersion and increasing operational accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 It is a schematic diagram of the structure of the force interaction module of the present invention;

[0036] Figure 3 It is a schematic diagram of the mechanical structure of the present invention;

[0037] Figure 4 This is a schematic diagram of the structure of the easy-to-wear accessory of the present invention;

[0038] Figure 5 This is a schematic diagram of the wearable force interaction main arm structure of the present invention;

[0039] Figure 6 This is a schematic diagram of the shoulder wearing joint structure of the present invention;

[0040] Figure 7 Schematic diagram of the structure of the third shoulder rotating device in the present invention;

[0041] Figure 8 This is a schematic diagram of the elbow wear joint structure in the present invention;

[0042] Figure 9 This is a schematic diagram of the wrist wear joint structure of the present invention;

[0043] Figure 10 Schematic diagram of the overall structure of the control system in the present invention;

[0044] Figure 11 This is a schematic diagram of the data communication and control module structure of the present invention;

[0045] Figure 12 This is a schematic diagram of the structure of the remote robot perception and execution module in the present invention;

[0046] In the figure: the wearable force interactive main arm 1, the shoulder wear joint 11, the elbow wear joint 12, the wrist wear joint 13, the first shoulder joint module 111, the first shoulder joint connecting rod 112, the first shoulder joint limit 113, the second shoulder joint module 114, the second shoulder joint limit 115, the second shoulder joint connecting rod 116, the third shoulder joint motor module 117, the first rope transmission driving wheel 118, the first steel wire rope 119, the semicircular guide rail module 11-10, the third shoulder joint limit block 11-11, the rotary connecting rod 11-12, the first tensioning spiral guide rod 11-13, the tensioning slider 11-14, the pulley 11-15, the first elbow joint connecting rod 121, the first elbow joint motor module 122, the fourth elbow joint limit block 123, the second elbow joint connecting rod 124, the first wrist joint motor module 131, the second rope transmission driving wheel 132, the wrist The wrist rotation outer ring 133, the wrist rotation outer end cover 134, the wrist rotation inner ring 135, the wrist rotation inner end cover 136, the cross roller bearing 137, the second wire rope 138, the second tensioning spiral guide rod 139, the first hand joint connecting rod 13-10, the second wrist joint motor module 13-11, the fifth wrist joint limit block 13-12, the second hand joint connecting rod 13-13, the sixth wrist joint limit block 13-1 4. Third wrist joint motor module 13-15, hand function rocker 13-16, hand rotation inner ring 13-17, thin-walled bearing 13-18, hand rotation outer ring 13-19, function button 13-20, easy-to-wear accessory 2, human body support backboard 21, flexible waist pad 22, adjustable left shoulder strap 23, adjustable right shoulder strap 24, adjustable waist strap 25, control board installation box 26, data communication and control module 3. DETAILED DESCRIPTION

[0047] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0048] The content of this invention is mainly related to motion capture interaction technology, more specifically, a remote control system and method based on an easy-to-wear motion capture force interaction device. This invention is oriented towards the new generation of information technology and combines ergonomics to design an easy-to-wear motion capture force interaction device. It aims to overcome the limitations of the existing robot intelligence level and combine the operator's judgment ability with the robot's execution ability to construct a closed-loop remote control system for two-way position / force interaction. Because the present invention adopts the same seven-degree-of-freedom design and motor module layout as the human arm, it can coordinate the workspace of the human arm and ensure flexibility of movement. Because the present invention adopts easy-to-wear accessory design and control system design, it can ensure that the motion capture force interaction device is stably and comfortably tied to the human body.

[0049] The present invention provides a remote operation control system based on an easy-to-wear motion capture force interaction device, which includes an operation and interaction terminal, a perception and execution terminal, and a data and control center located in the middle layer. The operator's motion is captured by the easy-to-wear motion capture force interaction device, and the joint motion data of the upper limbs is transmitted to the local computer, and then the remote robot is controlled to perform on-site operation through a heterogeneous mapping strategy. At the same time, when the remote robot operates the target object, the sensed load information is transmitted to the local computer through a force feedback mapping strategy. Finally, the motion capture force interaction device reproduces the remote environmental force through information feedback. Under this remote operation control system and method based on the easy-to-wear motion capture force interaction device, a closed-loop control system with a human in the loop is constructed, which improves the operator's immersion in the control process and the accuracy of the operation.

[0050] The present invention proposes a remote operation control system based on a wearable motion capture force interaction device, comprising:

[0051] The motion capture force interaction device is worn by the operator to obtain the motion information of the operator's upper limbs and obtain the environmental force information felt by the remote robot's perception and execution modules through the data communication and control modules. The motion capture force interaction device then interacts with the operator's upper limbs through force perception.

[0052] Data communication and control module 3, used to control the motion capture force interaction device or issue position control instructions to the remote robot perception and execution module based on the bidirectional data stream input, as well as record data and provide visualization functions;

[0053] The remote robot perception and execution module is used to execute the position control instructions issued by the data communication and control module and transmit the remote environmental force information it perceives to the motion capture force interaction device through the data communication and control module. At the same time, the remote robot perception and execution module can adjust the basic position, perceive and report the force information during the execution process.

[0054] like Figure 2 and Figure 3 As shown, the present invention provides an easy-to-wear motion capture force interaction device comprising two left and right easy-to-wear force interaction main arms 1 mounted on an easy-to-wear accessory 2, such as Figure 5 As shown, the left and right wearable force interaction main arms 1 have the same mechanical structure, and both include several functional accessories such as the shoulder wear joint 11, the elbow wear joint 12, the wrist wear joint 13 and the customized command button assembly connected in sequence. The shoulder wear joint is installed in the motor fixing seat of the human body support backboard 21 of the wearable accessory 2. The motor modules in the shoulder wear joint, the elbow wear joint and the wrist wear joint all include a motor, a driver, an encoder and a torque sensor. Each driver, encoder and torque sensor is connected to the underlying controller of the data communication and control module 3, and the command button assembly is also connected to the underlying controller of the data communication and control module 3.

[0055] like Figure 4 As shown, the wearable accessory 2 includes a human body support backboard 21, a flexible waist pad 22, an adjustable left shoulder strap 23, an adjustable right shoulder strap 24, an adjustable waist strap 25 and a control panel mounting box 26; the left and right wearable force interaction main arms 1 are respectively fixedly connected to the left and right motor fixing seats of the human body support backboard 21; the flexible waist pad 22 is fixedly installed in the middle of the human body support backboard 21 to fit the human body for better comfort and wearability, the adjustable left shoulder strap 22 and the adjustable right shoulder strap 23 are respectively installed on the human body support backboard 21 near both sides of the flexible waist pad 22, and the adjustable waist strap 25 is installed on the middle and lower side of the human body support backboard 21 across the flexible waist pad 22. The three adjustable straps work together to fix the human body support backboard and the upper body of the human body. By adjusting the length of the strap, it can adapt to operators with different sizes, thereby improving the stability of the wearable motion capture force interaction device. The control panel mounting box 26 is mounted on the rear side of the human body support back plate 21 , and the data communication and control system 3 is mounted in the control panel mounting box 26 of the easy-to-wear accessory 2 to save space and overall space.

[0056] like Figure 6As shown, the shoulder wearing joint 11 includes a first shoulder joint module 111, a first shoulder joint limit block 112, a first shoulder joint connecting rod 113, a second shoulder joint module 114, a second shoulder joint limit block 115, a second shoulder joint connecting rod 116 and a third shoulder rotation device; the first shoulder joint module 111 is fixedly mounted on the motor fixing seat on one side of the human body support back plate 21 of the wearable accessory 2 by bolts, the first shoulder joint limit block 113 is fixedly mounted on the first motor fixing seat of the human body support back plate 21 and the first shoulder joint limit block 113 is arranged on the side of the first shoulder joint module 111, for limiting the rotation range of the first shoulder joint module 111, the angle is adjustable and is limited according to the range of motion of the human shoulder to ensure safety after use. The small end of the first shoulder joint link 112 is fixedly connected to the output shaft of the first shoulder joint module 111 by bolts, and a second motor fixing seat is fixedly installed at the large end of the first shoulder joint link 112, and a second shoulder joint module 114 is fixedly installed in the second motor fixing seat by bolts, a second shoulder joint limit block 115 is fixedly installed on the large end of the first shoulder joint link 112 and the second shoulder joint limit block 115 is arranged on both sides of the second shoulder joint module 114, for limiting the rotation range of the second shoulder joint module 114, the small end of the second shoulder joint link 116 is fixedly connected to the output shaft of the second shoulder joint module 114 by bolts, the large end of the second shoulder joint link 116 is fixedly connected to the third shoulder rotating device, and the bottom of the third shoulder rotating device is connected to the first elbow joint link 121 of the elbow wearing joint 12.

[0057] like Figure 7As shown, the third shoulder rotation device includes a third shoulder joint motor module 117, a first rope transmission driving wheel 118, a first steel wire rope 119, a semicircular guide rail module 11-10, a third shoulder joint limit block 11-11, a rotary connecting rod 11-12, a first tensioning spiral guide rod 11-13, a tensioning slider 11-14 and a pulley 11-15; the rotary connecting rod (11-12) fits the shoulder periphery of the operator and is used to undertake the rotation movement of the arm; in terms of structure, the rotary connecting rod (11-12) is provided with The arc groove is slidably mounted on a semicircular guide rail module (11-10). The large end of the second shoulder joint connecting rod (116) is fixedly mounted on the semicircular guide rail module (11-10). Grease is added during routine maintenance to ensure the smooth sliding of the slider in the semicircular guide rail module 11-10. The third shoulder joint limit block 11-11 is fixedly mounted at both ends of the arc groove of the rotary connecting rod 11-12. The height of the third shoulder joint limit block 11-11 prevents the slider in the semicircular guide rail module 11-10 from falling off. The third motor fixing seat is also fixedly installed at the large end of the second shoulder joint connecting rod 116, and the third shoulder joint motor module 117 is fixedly installed in the third motor fixing seat by bolts. The first rope transmission driving wheel 118 is fixedly installed on the output shaft of the third shoulder joint motor module 117 by bolts. Rectangular grooves are respectively opened on both sides of the installation place of the first rope transmission driving wheel 118 at the large end of the second shoulder joint connecting rod 116, and the two ends of each rectangular groove are respectively Corresponding protrusions are provided, and the two ends of the first tensioning spiral guide rod 11-13 are respectively installed in the corresponding threaded holes of the protrusions. Each tensioning slider 11-14 is connected to the first tensioning spiral guide rod 11-13 through the threaded hole at its upper end, so that the two side surfaces of the upper end of the tensioning slider 11-14 can be slidably installed in the rectangular slide groove. By rotating the first tensioning spiral guide rod 11-13, each tensioning slider 11-14 is driven to slide in the rectangular slide groove, and the sliding direction is away from or close to the first rope transmission driving wheel 118.The lower part of each tensioning slider 11-14 is a hollow rectangular frame, and the micro pulley 11-15 is rotatably installed in the rectangular frame at the lower part of the tensioning slider 11-14 through bolts and nuts; a guide groove is provided on the outer circumferential side of the rotary connecting rod 11-12, and one end of the first steel wire rope 119 is fixedly installed at one end of the guide groove. The other end of the first steel wire rope 119 is wound around the guide groove, and then passes through the groove of the micro pulley 11-15 on one side and then surrounds the groove of the first rope transmission driving wheel 118. It needs to be wound around for at least one circle, and then passes through the other end. The groove of the micro pulley 11-15 on the side is finally wound around the guide groove and the other end of the first steel wire rope 119 is fixedly installed at the other end of the guide groove, which is used to realize the rotation of the upper arm of the third shoulder rotating device through the transmission of the first steel wire rope 119, and the tensioning slider 11-14 is realized by adjusting the first tensioning spiral guide rod 11-13 to slide in the rectangular slide groove at the large end of the second shoulder joint connecting rod 116, thereby driving the micro pulley 11-15 on the tensioning slider 11-14 to move, so that the transmission system formed by the first steel wire rope 119 is in a tensioned state.

[0058] like Figure 8 As shown, the elbow wearing joint 12 includes a first elbow joint connecting rod 121, a first elbow joint motor module 122, a fourth elbow joint limiting block 123 and a second elbow joint connecting rod 124; after the first elbow joint connecting rod 121 is accurately positioned with the positioning protrusion at the small end and the positioning groove at the lower part of the rotary connecting rod 11-12, the first elbow joint connecting rod 121 and the lower part of the rotary connecting rod 11-12 of the shoulder wearing joint 11 are fixedly connected by bolts, and the fourth motor fixing seat is fixedly installed in the large end of the first elbow joint connecting rod 121. The machine module 122 is fixedly installed in the fourth motor fixing seat, the fourth elbow joint limit block 123 is fixedly installed at the large end of the first elbow joint link 121 and the fourth elbow joint limit block 123 is located on both sides of the first elbow joint motor module 122, for limiting the rotation range of the first elbow joint motor module 122, the small end of the second elbow joint link 124 is fixedly connected to the output shaft of the first elbow joint motor module 122 by bolts, and the large end of the second elbow joint link 124 is connected to the first wrist joint motor module 131 of the wrist wear joint 13.

[0059] like Figure 9As shown, the wrist wear joint 13 includes a first wrist joint motor module 131, a second rope transmission driving wheel 132, a wrist rotation outer ring 133, a wrist rotation outer end cover 134, a wrist rotation inner ring 135, a wrist rotation inner end cover 136, a cross roller bearing 137, a second steel wire rope 138, a second tensioning spiral guide rod 139, a first hand joint connecting rod 13-10, a second wrist joint motor module 13-11, a fifth wrist joint limit block 13-12, a second hand joint connecting rod 13-13, a sixth wrist joint limit block 13-14, a third wrist joint motor module 13-15, a hand function rocker 13-16, a hand rotation inner ring 13-17, a thin-walled bearing 13-18 and a hand rotation outer ring 1 3-19; A fifth motor fixing seat is fixedly installed at the large end of the second elbow joint connecting rod 124 at the lower part of the elbow wearing joint 12, the first wrist joint motor module 131 is fixedly installed in the fifth motor fixing seat by bolts, the second rope transmission driving wheel 132 is fixedly installed on the output shaft of the first wrist joint motor module 131 by bolts, the outer edge of the wrist rotating outer ring 133 is tightly fitted with the arc-shaped end at the large end of the second elbow joint connecting rod 124 at the lower part of the elbow wearing joint 12 and is fixed by bolts, the outer ring of the cross roller bearing 137 is fixed by bolts through the wrist rotating outer ring 133 and the wrist rotating outer end cover 134, and the inner ring of the cross roller bearing 137 is fixed by the wrist rotating inner ring 135 and the wrist The inner end cover 136 of the wrist rotation part is fixed to the inner ring of the bearing by means of bolts, and the two ends of the second steel wire rope (138) are respectively fixed to the corresponding second tensioning spiral guide rods (139) with holes on the head through a wire locker. The two second tensioning spiral guide rods (139) are screwed into the raised threaded holes on the outside of the wrist rotation inner ring (135) through threads, thereby fixing the two ends of the second steel wire rope (138) and the end of the second steel wire rope (138) extends inward along the guide groove on the outside of the wrist rotation inner ring (135). At the same time, the middle section of the second steel wire rope (138) is wrapped around the groove of the second rope transmission active wheel (132) for at least one circle, and the wrist wearing joint (13) is completed through the second steel wire rope transmission (138). The wrist rotation transmission is configured to adjust the tension of the second steel wire rope (138) by rotating the second tensioning spiral guide rod (139) in / out of the outer protrusion of the wrist rotation inner ring (135). The arrangement angle setting of the outer protrusion of the wrist rotation inner ring (135) is also used to limit the rotation angle range; the arc edge end of the first hand joint connecting rod 13-10 is fixedly installed with the outer edge of the wrist rotation inner ring 135, the second wrist joint motor module 13-11 is fixedly installed on the other end of the first hand joint connecting rod 13-10 by bolts, and the fifth wrist joint limit block 13-12 is fixedly installed on the rectangular protrusion of the first hand joint connecting rod 13-10 to limit the rotation range of the second wrist joint motor module 13-11;The middle part of the second hand joint link 13-13 is fixedly installed with the output shaft of the second wrist joint motor module 13-11 by bolts, and a hand function rocker 13-16 is provided between the two ends of the second hand joint link 13-13. A sixth motor fixing seat is fixedly installed at one end of the second hand joint link 13-13, and a third wrist joint motor module 13-15 is installed in the sixth motor fixing seat. The sixth wrist joint limit block 13-14 is fixedly installed at the second hand joint link 13-13. The rectangular protrusion next to the sixth motor mount is used to limit the rotation range of the third wrist joint motor module 13-15. One end of the hand function rocker 13-16 is fixedly connected to the output shaft of the third wrist joint motor module 13-15. The other end of the hand function rocker 13-16 is connected to the other end of the second hand joint connecting rod 13-13 via the hand rotating inner ring 13-17 and the thin-walled bearing 13-18. The custom command button assembly is installed in the groove of the grip of the hand function rocker 13-16.

[0060] The command button assembly includes multiple function buttons 13-20, which are used to control start and stop, control force interaction stiffness and other functions.

[0061] The mechanical seven-degree-of-freedom easy-to-wear motion capture interactive device constructed by the present invention uses encoders, torque sensors, inertial sensors and other devices to capture the motion of the operator's upper limbs, and the control system drives the motor to achieve its own gravity compensation and assistance needs when necessary.

[0062] like Figure 10 As shown, the sides of the various connecting rods of the left and right easy-to-wear force-interaction main arms 1 are provided with mounting holes, such as the first hand joint connecting rod 13-10, the second shoulder joint connecting rod 116, the second elbow joint connecting rod 124, etc., which can support the design and installation of subsequent customized binding devices, better meet the differentiated needs of operators, and improve the compactness of wearing.

[0063] like Figure 11As shown, the data communication and control module 3 is installed in the control board installation box 26 of the motion capture force interaction device. The data communication and control module 3 includes a bottom controller, an inertial sensor, and a battery pack; the bottom controller is used to obtain information from various sensor modules through signal lines including but not limited to CAN, IIC, UART and other communication methods, specifically obtaining the torque value output by the joint motor through the torque sensor, obtaining the position and speed value of the joint motor through the encoder, and obtaining the basic posture of the human body wearing the motion capture force interaction device through the inertial sensor, such as chest out, bending over, etc., to correct the basic coordinates of the motion capture information. In addition, the inertial sensor can also collect the movement behavior of the human body to customize functional instructions, and perform functional control through the function buttons 13-20, including but not limited to control start and stop, control force interaction stiffness and other functions. The host computer and the bottom controller can be connected by wired or wireless means, and the functions of data collection and analysis, visual display, communication data processing, and control algorithm layout can be realized on the host computer; the battery pack serves as an energy supply module to power various joint modules in the wearable force interaction main arm 1, and at the same time, after being stepped down by the power management module in the bottom controller, it supplies power to the inertial sensor and function buttons 13-20. Under the premise of meeting the established functions, the present invention reserves the above-mentioned personalized customization interface, which can provide the operator with a better experience.

[0064] like Figure 12 As shown, the remote robot perception and execution module includes a basic adjustment unit, an arm grasping unit and an environmental perception unit, which are used to execute corresponding control instructions and perceive and report force information during the execution process.

[0065] The present invention also proposes a remote operation control method based on a wearable motion capture force interaction device, comprising:

[0066] During teleoperation, after receiving the actual position control command from the motion capture force interaction device, the underlying controller of the data communication and control module first performs scaling control on the actual position to obtain the desired position of the remote robot. It then uses the position-based velocity PD control method to control the remote robot position in the remote robot perception and execution module. The specific formula is as follows:

[0067] P desire =S c ×P actual +P0

[0068]

[0069] e=P desire –P actual ,

[0070] Among them, P desire is the desired position of the remote robot, Sc is the teleoperation scaling factor, P actual is the actual position, P0 is the initial setting position; k p 、k d is the proportional and differential coefficient, e represents the position deviation, and dt is the unit time;

[0071] This teleoperation method ensures the accuracy of the teleoperation control process. In addition, because the data flow between the master wearable device and the slave robot is already connected by data communication and control systems, it can support the adaptation of more different teleoperation control algorithms in the future.

[0072] During the force feedback control process, the remote robot perception and execution module obtains the operating force of the slave end through current loop dynamics solution or the installation of a six-dimensional force sensor at the end, and transmits the end force information to the host computer. The host computer performs dynamics solution on the motion capture force interaction device of the master end based on Newton-Euler dynamics theory, and finally issues torque control instructions to each joint through the data communication and control module, and reproduces the environmental force of the slave end by driving the joint motor, creating a highly immersive operation experience for the operator, thereby achieving the overall force feedback control effect.

[0073] The Newton-Euler dynamics equation is used to iteratively calculate the robot's joint forces and joint torques, as shown in the following formula:

[0074]

[0075]

[0076] in, i f i The coordinates of the force exerted by link i on link i+1 in the coordinate system {i+1}. For example, for i=6, it represents the coordinates of the force on the end effector in the tool coordinate system. is the homogeneous transformation rotation matrix from coordinate system {i+1} to coordinate system {i}; i F i and i N i are the coordinates of the resultant force and torque of the external force and torque received by connecting rod i+1 at the center of mass in the coordinate system position {i+1}; i n i is the coordinate of the moment of link i acting on link i+1 in the coordinate system {i+1}. For i=6, it represents the coordinate of the moment of the end effector in the tool coordinate system; i p ci is the coordinate of the center of mass of connecting rod i+1 in the coordinate system {i+1}; i p i+1is the coordinate of the origin of the coordinate system {i+1} in the coordinate system {i}.

[0077] The standard form of the kinetics is shown in the following formula:

[0078]

[0079] At the same time, in order to facilitate numerical solution, the dynamic equation is parameterized, and the final solution form is as follows:

[0080]

[0081] Where τ is the torque value, M(θ) is the inertial force term, C(·) is the Coriolis force term, G(·) is the gravity term, and F v is the viscous friction coefficient, F c is the Coulomb friction coefficient, θ is the joint angle position, is the joint angular velocity, is the joint angular acceleration.

[0082] The motion capture force interaction device adopts a master-slave heterogeneous remote control solution. It is wearable and designed based on ergonomics. It fits the human upper limbs better and is easy to operate.

[0083] The following is a brief comparative analysis of the master-slave homogeneous / heterogeneous teleoperation control methods.

[0084] In a master-slave isomorphic solution, during teleoperation, the master and slave operating devices have the same mechanical configuration and can be identical in size, or the slave device can be larger to achieve a larger workspace. The operator's control commands for the master device are identically executed on the slave device, making operation simple and convenient. In a master-slave heterogeneous solution, during teleoperation, the master and slave operating devices have different mechanical configurations. Scaling factors combined with control algorithms are required to ensure coordination between the master and slave working spaces. Of course, master-slave heterogeneous devices can be further divided into desktop teleoperation devices and the wearable teleoperation devices proposed in this patent.

[0085] In summary, the most significant difference between the wearable device proposed in the present invention and desktop and homologous devices is that the wearable device is more mobile, can be applied to different operating scenarios, and has a wider range of application scenarios. Moreover, because it fits closely with the human body, it can provide the operator with a multi-point contact immersive force feedback effect, rather than the single-point feedback of the homologous or desktop type that relies on the operator's hand dragging control.

[0086] Finally, it should be noted that the above embodiments and explanations are intended only to illustrate the technical solutions of the present invention and are not intended to limit the present invention. It should be understood by those skilled in the art that modifications or equivalent substitutions to the technical solutions of the present invention may be made without departing from the spirit and scope of the technical solutions disclosed herein, and all such modifications or equivalent substitutions shall be encompassed within the scope of protection of the claims of the present invention.

Claims

1. A remote control system based on a wearable motion capture force interaction device, characterized in that: include: Motion capture force interaction equipment is used to obtain the motion information of the operator's upper limbs and obtain the environmental force information felt by the remote robot's perception and execution modules through the data communication and control modules, and then conduct force interaction with the operator's upper limbs; Data communication and control module, used to control the motion capture force interaction device or issue position control instructions to the remote robot perception and execution module, as well as record data and provide visualization functions; The remote robot perception and execution module is used to execute the position control instructions issued by the data communication and control module and transmit the remote environmental force information it perceives to the motion capture force interaction device through the data communication and control module. At the same time, the remote robot perception and execution module adjusts the position and perceives and reports the force information during the execution process; The motion capture force interaction device comprises two left and right wearable force interaction main arms (1) mounted on the wearable accessory (2), the left and right wearable force interaction main arms (1) having the same mechanical structure, both comprising a shoulder wear joint (11), an elbow wear joint (12), a wrist wear joint (13) and a command button assembly connected in sequence, wherein the shoulder wear joint is mounted on the wearable accessory (2), the motor modules in the shoulder wear joint, the elbow wear joint and the wrist wear joint each comprise a motor, a driver, an encoder and a torque sensor, each driver, encoder and torque sensor are connected to a data communication and control module, and the command button assembly is also connected to the data communication and control module; The shoulder wear joint (11) comprises a first shoulder joint module (111), a first shoulder joint limit block (112), a first shoulder joint connecting rod (113), a second shoulder joint module (114), a second shoulder joint limit block (115), a second shoulder joint connecting rod (116) and a third shoulder rotation device; the first shoulder joint module (111) is fixedly mounted on the motor fixing seat of the easy-to-wear accessory (2), the first shoulder joint limit block (113) is fixedly mounted on the first motor fixing seat of the human body support back plate (21) and the first shoulder joint limit block (113) is arranged on the side of the first shoulder joint module (111) for limiting the rotation range of the first shoulder joint module (111), and the small end of the first shoulder joint connecting rod (112) is connected to the first shoulder joint module The output shaft of the group (111) is fixedly connected, a second motor fixing seat is fixedly installed at the large end of the first shoulder joint connecting rod (112), a second shoulder joint module (114) is fixedly installed in the second motor fixing seat, a second shoulder joint limit block (115) is fixedly installed on the large end of the first shoulder joint connecting rod (112) and the second shoulder joint limit block (115) is arranged on both sides of the second shoulder joint module (114) for limiting the rotation range of the second shoulder joint module (114), a small end of the second shoulder joint connecting rod (116) is fixedly connected to the output shaft of the second shoulder joint module (114), a large end of the second shoulder joint connecting rod (116) is fixedly connected to the third shoulder rotating device, and the bottom of the third shoulder rotating device is connected to the elbow wear joint (12); The elbow wearing joint (12) comprises a first elbow joint connecting rod (121), a first elbow joint motor module (122), a fourth elbow joint limit block (123) and a second elbow joint connecting rod (124); the first elbow joint connecting rod (121) is fixedly connected to the lower part of the shoulder wearing joint (11); a fourth motor fixing seat is fixedly installed in the large end of the first elbow joint connecting rod (121); the first elbow joint motor module (122) is fixedly installed in the fourth motor fixing seat; the fourth motor fixing seat is fixedly installed in the large end of the first elbow joint connecting rod (121); ... The four elbow joint limit blocks (123) are fixedly mounted at the large end of the first elbow joint connecting rod (121) and the fourth elbow joint limit blocks (123) are located on both sides of the first elbow joint motor module (122) for limiting the rotation range of the first elbow joint motor module (122). The small end of the second elbow joint connecting rod (124) is fixedly connected to the output shaft of the first elbow joint motor module (122), and the large end of the second elbow joint connecting rod (124) is connected to the wrist wear joint (13).

2. A remote operation control system based on a wearable motion capture force interaction device according to claim 1, characterized in that: The wearable accessory (2) comprises a human body support backboard (21), a flexible waist pad (22), an adjustable left shoulder strap (23), an adjustable right shoulder strap (24), an adjustable waist strap (25) and a control panel mounting box (26); the left and right wearable force interaction main arms (1) are respectively fixedly connected to the motor fixing seats on the left and right sides of the human body support backboard (21); the flexible waist pad (22) is fixedly mounted in the middle of the human body support backboard (21), the adjustable left shoulder strap (22) and the adjustable right shoulder strap (23) are respectively mounted on the human body support backboard (21) near both sides of the flexible waist pad (22), the adjustable waist strap (25) is mounted across the flexible waist pad (22) on the middle and lower side of the human body support backboard (21), and the control panel mounting box (26) is mounted on the rear side of the human body support backboard (21).

3. The teleoperation control system based on the wearable motion capture force interaction device according to claim 1, characterized in that: The third shoulder rotation device comprises a third shoulder joint motor module (117), a first rope transmission driving wheel (118), a first steel wire rope (119), a semicircular guide rail module (11-10), a third shoulder joint limit block (11-11), a rotary connecting rod (11-12), a first tensioning spiral guide rod (11-13), a tensioning slider (11-14) and a pulley (11-15); the rotary connecting rod (11-12) is fitted with the shoulder periphery of the operator to receive the rotational movement of the arm; an arc-shaped groove is provided on the rotary connecting rod (11-12), and a semicircular guide wheel is slidably mounted on the arc-shaped groove. The guide rail module (11-10) is fixedly mounted on the semicircular guide rail module (11-10) at the large end of the second shoulder joint connecting rod (116). The third shoulder joint limit block (11-11) is fixedly mounted at both ends of the arc groove of the rotary connecting rod (11-12). The height of the third shoulder joint limit block (11-11) prevents the slider in the semicircular guide rail module (11-10) from escaping from the arc groove, while limiting the rotation range of the third shoulder rotary device. The large end of the second shoulder joint connecting rod (116) is also fixedly mounted with a third motor fixing seat. The third shoulder joint motor module (117) is fixedly mounted on the third shoulder joint connecting rod (117). In the motor fixing seat, the first rope transmission driving wheel (118) is fixedly installed on the output shaft of the third shoulder joint motor module (117), and rectangular grooves are respectively opened on both sides of the installation position of the first rope transmission driving wheel (118) at the large end of the second shoulder joint connecting rod (116). Each tensioning slider (11-14) is connected to the first tensioning spiral guide rod (11-13) through the threaded hole at its upper end, and then the two side surfaces of the upper end of the tensioning slider (11-14) can be slidably installed in the rectangular groove, thereby adjusting the tension of the rope transmission; the lower part of each tensioning slider (11-14) is a hollow rectangular frame, and the pulley (11 -15) is rotatably mounted in a rectangular frame at the lower portion of the tensioning slider (11-14); a guide groove is provided on the outer circumferential side surface of the rotary connecting rod (11-12); one end of the first steel wire rope (119) is fixedly mounted at one end of the guide groove; the other end of the first steel wire rope (119) is wound around the guide groove, passes through the groove of the pulley (11-15) on one side, and then is wound around the groove of the first rope transmission driving wheel (118), then passes through the groove of the pulley (11-15) on the other side, and finally is wound around the guide groove and the other end of the first steel wire rope (119) is fixedly mounted at the other end of the guide groove.

4. The teleoperation control system based on the wearable motion capture force interaction device according to claim 1, characterized in that: The wrist wearable joint (13) comprises a first wrist joint motor module (131), a second rope transmission driving wheel (132), a wrist rotation outer ring (133), a wrist rotation outer end cover (134), a wrist rotation inner ring (135), a wrist rotation inner end cover (136), a cross roller bearing (137), a second steel wire rope (138), a second tensioning spiral guide rod (139), a first hand joint connecting rod (13-10), a second wrist joint motor module (13-11), a fifth wrist joint limit block (13-12), a second hand joint connecting rod (13-13), a sixth wrist joint limit block (13-14), a third wrist joint motor module (13-15), a hand function rocker (13-16), a hand rotation inner ring (137), a second hand ... motor module (13-13), a sixth wrist joint limit block (13-14), a third wrist joint motor module (13-15), a hand function rocker (13-16), a hand rotation inner ring (137), a second hand joint motor module (13-11), a first wrist joint motor module (13-11), a first wrist joint motor module (13-11), a first wrist joint motor module (13-11), a first wrist joint motor module (13-11), a first wrist joint motor module (13-11), a first wrist joint motor module (13-11), a first wrist joint motor module (13-11), a first wrist joint motor module (13-11), a first wrist joint motor module (13-11), a first The elbow wear joint (12) is fixedly mounted with a fifth motor fixing seat, the first wrist joint motor module (131) is fixedly mounted in the fifth motor fixing seat, the second rope drive driving wheel (132) is fixedly mounted on the output shaft of the first wrist joint motor module (131), the outer edge of the wrist rotation outer ring (133) is tightly fitted with the arc-shaped end at the lower part of the elbow wear joint (12) and is fixedly mounted by bolts, the outer ring of the cross roller bearing (137) is fixed by bolts through the wrist rotation outer ring (133) and the wrist rotation outer end cover (134), and the inner ring of the cross roller bearing (137) is fixed by the wrist rotation inner ring. (135) and the wrist rotating inner end cover (136) are fixed to the bearing inner ring by bolts, and the two ends of the second steel wire rope (138) are respectively fixed to the corresponding second tensioning spiral guide rods (139) with holes on the head through a wire locker. The two second tensioning spiral guide rods (139) are screwed into the raised threaded holes on the outside of the wrist rotating inner ring (135) through threads, thereby fixing the two ends of the second steel wire rope (138) and the end of the second steel wire rope (138) is extended along the guide groove on the outside of the wrist rotating inner ring (135). At the same time, the middle section of the second steel wire rope (138) is wrapped around the groove of the second rope transmission active wheel (132) for at least one circle, and the wrist wearing joint (13) is completed through the second steel wire rope transmission (138). Wrist rotation transmission, the tension of the second steel wire rope (138) is adjusted by rotating the second tensioning spiral guide rod (139) in / out of the outer protrusion of the wrist rotation inner ring (135), and the arrangement angle setting of the outer protrusion of the wrist rotation inner ring (135) is also used to limit the rotation angle range; the arc edge end of the first hand joint connecting rod (13-10) is fixedly installed with the outer edge of the wrist rotation inner ring (135), the second wrist joint motor module (13-11) is fixedly installed on the other end of the first hand joint connecting rod (13-10), and the fifth wrist joint limit block (13-12) is fixedly installed on the rectangular protrusion of the first hand joint connecting rod (13-10) to limit the rotation range of the second wrist joint motor module (13-11);The middle part of the second hand joint connecting rod (13-13) and the output shaft of the second wrist joint motor module (13-11) are fixedly installed by bolts, a hand function rocker (13-16) is provided between the two ends of the second hand joint connecting rod (13-13), a sixth motor fixing seat is fixedly installed at one end of the second hand joint connecting rod (13-13), a third wrist joint motor module (13-15) is installed in the sixth motor fixing seat, and a sixth wrist joint limit block (13-14) is fixedly installed on the second hand joint connecting rod (13-13). 13) is used to limit the rotation range of the third wrist joint motor module (13-15); one end of the hand function rocker (13-16) is fixedly connected to the output shaft of the third wrist joint motor module (13-15), and the other end of the hand function rocker (13-16) is connected to the other end of the second hand joint connecting rod (13-13) through the hand rotation inner ring (13-17) and the thin-walled bearing (13-18). The command button assembly is installed in the hand function rocker (13-16).

5. The remote operation control system based on the wearable motion capture force interaction device according to claim 1, characterized in that: The data communication and control module is installed in the motion capture force interaction device, and the data communication and control module includes a bottom-level controller, an inertial sensor, and a battery pack; the bottom-level controller is used to obtain information from various sensor modules, and the host computer and the bottom-level controller are connected by wired or wireless means, and the functions of data acquisition and analysis, visual display, communication data processing, and control algorithm arrangement are realized on the host computer; the battery pack serves as an energy supply module to power various joint modules in the wearable force interaction main arm (1), and at the same time, after being stepped down by the power management module in the bottom-level controller, it powers the inertial sensor and function buttons (13-20).

6. The teleoperation control system based on the wearable motion capture force interaction device according to claim 1, characterized in that: The remote robot perception and execution module includes a basic adjustment unit, an arm grasping unit and an environment perception unit, which are used to execute control instructions and perceive and report force information during the execution process.

7. A remote control method based on an easy-to-wear motion capture force interaction device for implementing the remote control system based on an easy-to-wear motion capture force interaction device according to claim 1, characterized in that: include: During teleoperation, after receiving the actual position control command from the motion capture force interaction device, the data communication and control module first performs scaling control on the actual position to obtain the desired position of the remote robot. Then, the position-based velocity PD control method is used to control the remote robot position in the remote robot perception and execution module. The specific formula is as follows: in, P desire is the desired position of the remote robot, S c is the teleoperation scaling factor, P actual is the actual location, P 0 is the initial setting position; k p 、 k d is the proportional and differential proportional coefficient, e Indicates position deviation, dt As unit time.

Images