Seven-degree-of-freedom isomorphic exoskeleton force feedback humanoid arm system

Abstract

The invention discloses a seven-degree-of-freedom isomorphic exoskeleton force feedback humanoid arm system which comprises a left arm, a right arm and a connecting piece, wherein the left arm and the right arm are in mirror symmetry. A single arm adopts an isomorphic series joint chain with three degrees of freedom of shoulders, one degree of freedom of elbows, two degrees of freedom of forearms and one degree of freedom of wrists, which are completely consistent with the upper limbs of a human body, and the rotation axis of each driving joint is strictly aligned with the motion axis of the human body, so that 1: 1 undistorted motion mapping is realized. And each joint is integrated with a torque motor and a sensor, receives a far-end environment contact torque through a CAN bus, and outputs a proportional feedback torque according to a relational expression to form active closed-loop haptic interaction. The upper arm section is of a carbon fiber truss structure, and the weight is greatly reduced while the rigidity is guaranteed. The system has the characteristics of modularization, high integration and low delay, supports two-hand cooperative operation, effectively solves the technical bottlenecks of poor motion fidelity, lack of real force feedback, bulkiness and system dispersion of the existing exoskeleton, and is suitable for high-precision teleoperation tasks.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of human-computer interaction and robot teleoperation, and particularly relates to a seven-degree-of-freedom isomorphic exoskeleton force feedback anthropomorphic arm system. BACKGROUND

[0002] Humanoid robots have significant advantages in complex environments such as disaster rescue, nuclear facility maintenance, space operation, and remote surgery. As the master input device, the exoskeleton teleoperation arm can capture the operator's upper limb movement and can feedback the force sensation information of the remote robot interacting with the environment to the operator, which is the key to realizing immersive and fine teleoperation.

[0003] However, the existing exoskeleton arm products still have several technical bottlenecks:

[0004] Insufficient motion fidelity: Most exoskeleton arms on the market only provide 6 degrees of freedom, which cannot fully reproduce the internal rotation / external rotation of the human shoulder or the compound motion of the wrist. Although some 7-degree-of-freedom products meet the number requirements, they use non-isomorphic structures such as parallel linkages and spherical hinges, which require complex real-time inverse solutions for motion mapping, resulting in high computational delay and easy attitude distortion and motion interference.

[0005] Lack or weakness of force feedback capability: Current products mostly rely on encoders for position following, and cannot allow the operator to perceive the contact force of the remote environment. Even a few products introduce passive force feedback (such as springs and magnetorheological dampers), they cannot achieve active, programmable, and proportional dynamic force sensation output, which can easily lead to misoperation or equipment damage in fine operations.

[0006] Poor human-machine ergonomics: To ensure structural rigidity, traditional exoskeletons mostly use metal materials, resulting in a heavy arm (often exceeding 3.5 kg), which can easily cause fatigue when worn for a long time. In addition, the binding position is not accurately aligned with the human skeletal axis, which can easily cause slippage or interference during movement, affecting operation accuracy and comfort.

[0007] Low system integration: The driving, sensing, and communication modules are often designed in a decentralized manner, with complex wiring and a system delay usually greater than 20 milliseconds, making it difficult to meet the needs of high real-time teleoperation tasks.

[0008] Therefore, there is an urgent need in the art for a seven-degree-of-freedom exoskeleton arm system that is structurally isomorphic, lightweight, has full-joint active closed-loop force feedback, and is highly integrated, to break through the comprehensive bottlenecks of existing technology in motion fidelity, force sensation authenticity, and human-machine adaptability. SUMMARY

[0009] The purpose of this invention is to overcome the shortcomings of the prior art and provide a seven-degree-of-freedom isomorphic exoskeleton force feedback humanoid arm and system, which can achieve 1:1 distortion-free motion reproduction, provide realistic and adjustable force feedback, and has the characteristics of lightweight, high rigidity and high integration.

[0010] This invention provides a seven-degree-of-freedom isomorphic exoskeleton force feedback humanoid arm system, comprising: a left arm and a right arm arranged in mirror symmetry, and a double arm connector connecting the left and right arms;

[0011] A single arm consists of a shoulder module, an elbow module, a forearm module, and a wrist module connected in series from proximal to distal.

[0012] The wrist module includes:

[0013] The seventh drive joint has its housing connected to the output end of the sixth drive joint;

[0014] The seventh mounting component is connected to the output end of the seventh drive joint;

[0015] The end handle is fixed to the seventh mounting component and integrates a handle button and a handle dial;

[0016] The rotation axes of the first drive joint, the second drive joint, the third drive joint, the fourth drive joint, the fifth drive joint, the sixth drive joint, and the seventh drive joint are aligned in sequence to form seven degrees of freedom of motion corresponding to the shoulder, elbow, forearm, and wrist joints of the human upper limb.

[0017] Each drive joint integrates a torque motor and a position sensor, and communicates with the main control unit through a unified CAN bus;

[0018] The main control unit is configured to: receive environmental contact torque signals from the remote robot, and, according to formula τ fb,i =K f ·τ env,i A command is sent to the torque motor of the corresponding drive joint to output a proportional feedback torque, where τ env,i K represents the environmental contact torque of the distal i-th joint. f This is the adjustable gain coefficient.

[0019] Furthermore, the shoulder module includes:

[0020] The first mounting component is used to fix the dual arm connectors or the user's torso;

[0021] The first drive joint has its housing fixedly connected to the first mounting component;

[0022] The second mounting component is connected to the output end of the first drive joint;

[0023] The second drive joint has its housing fixedly connected to the second mounting component;

[0024] The third drive joint cover is connected to the housing of the second drive joint;

[0025] The housing of the third drive joint is connected to the output end of the second drive joint via the third drive joint connector;

[0026] The third mounting component is connected to the output end of the third drive joint.

[0027] Furthermore, the elbow module includes:

[0028] The fourth drive joint has its housing fixedly connected to the third mounting component;

[0029] The fourth mounting component is connected to the output end of the fourth drive joint;

[0030] The upper arm truss structure consists of carbon plate connectors, double carbon plates, and carbon plate support columns. The carbon plate connectors are fixed to the fourth mounting component, and the double carbon plates are connected to the carbon plate connectors through the carbon plate support columns to form rigid supports.

[0031] The boom strap seat is installed on the upper boom truss structure.

[0032] Furthermore, the forearm module includes:

[0033] The fifth drive joint has its housing fixedly connected to the carbon plate connector or the fourth mounting component;

[0034] The fifth mounting component is connected to the output end of the fifth drive joint;

[0035] The forearm strap seat is installed on the fifth mounting component;

[0036] The housing of the sixth drive joint is fixedly connected to the fifth mounting component via a sixth mounting component.

[0037] Furthermore, the two carbon plates are arranged in parallel and connected to the carbon plate connectors in three-dimensional space through multiple carbon plate support columns to form a hollow triangular or box-shaped truss structure.

[0038] Furthermore, the second and third drive joints are provided with a second drive joint cover and a third drive joint cover on their exteriors; the fourth and fifth drive joints are provided with a fourth drive joint cover and a fifth drive joint cover on their exteriors.

[0039] Furthermore, the end handle is fixed to the seventh mounting component via the sixth drive joint connector, and the handle housing encapsulates the handle button and handle dial, whose signals are uploaded to the main control unit via the CAN bus or a separate ADC module.

[0040] Furthermore, the main control unit is a PC, and the total system control latency is less than 20 milliseconds to meet the requirements of high real-time teleoperation tasks.

[0041] Compared with the prior art, the beneficial effects of the present invention include:

[0042] Fully isomorphic high-fidelity motion mapping: For the first time, a 7-DOF serial joint layout that is completely consistent with the human upper limb is achieved in an exoskeleton arm. It can achieve 1:1 distortion-free posture reproduction without complex inverse kinematics and has high motion fidelity.

[0043] Full-joint active closed-loop force feedback: Integrating torque motors and sensors in each joint, and using closed-loop control algorithms to achieve realistic, adjustable, and proportional force feedback interaction, greatly enhancing the sense of presence and precision of teleoperation.

[0044] Balancing lightweight and high rigidity: The upper arm section adopts a carbon fiber truss design, which significantly reduces the weight of the entire arm (by more than 30%) while ensuring structural rigidity, thus improving wearing comfort and reducing fatigue during long-term operation.

[0045] Highly integrated and modular: Adopting a unified CAN bus communication and modular joint design, it integrates drive, sensing, control and structural protection into one system. The system has a compact structure, high real-time performance, and supports two-handed mirror collaborative operation, making it suitable for complex two-handed tasks. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the overall structure of a seven-degree-of-freedom isomorphic exoskeleton force feedback humanoid arm system provided in an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the overall structure of the right arm according to an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of the internal structure of the right arm according to an embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram of the disassembly of the right upper arm according to an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram of the disassembly of the right arm handle according to an embodiment of the present invention;

[0052] Figure 6 This is a schematic diagram of the electrical communication principle of an exoskeleton force feedback anthropomorphic arm provided in an embodiment of the present invention.

[0053] Wherein, 1: right arm; 2: left arm; 3: dual arm connector; 101: first mounting component; 102: first drive joint; 103: second mounting component; 104: second drive joint cover; 105: second drive joint; 106: third drive joint cover; 107: upper arm strap seat; 108: fourth mounting component; 109: fourth drive joint cover; 110: fifth drive joint cover; 111: forearm strap seat; 112: sixth mounting component; 113: sixth drive joint. 114: Seventh drive joint; 115: Seventh mounting piece; 116: End handle; 117: Third drive joint; 118: Third mounting piece; 119: Fourth drive joint; 120: Fifth drive joint; 121: Fifth mounting piece; 122: Third drive joint connector; 123: Carbon plate connector; 124: Carbon plate; 125: Carbon plate support column; 126: Sixth drive joint connector; 127: Handle housing; 128: Handle button; 129: Handle dial. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] like Figure 1 As shown, the present invention provides a seven-degree-of-freedom isomorphic exoskeleton force feedback humanoid arm system, including: a left arm 2 and a right arm 1 arranged in mirror symmetry, and a double arm connector 3 connecting the left and right arms;

[0056] A single arm consists of a shoulder module, an elbow module, a forearm module, and a wrist module connected in series from proximal to distal.

[0057] The wrist module includes:

[0058] The housing of the seventh drive joint 114 is connected to the output end of the sixth drive joint 113;

[0059] The seventh mounting component 115 is connected to the output end of the seventh drive joint 114;

[0060] The end handle 116 is fixed to the seventh mounting member 115 and integrates a handle button 128 and a handle dial 129;

[0061] The rotation axes of the first drive joint 102, the second drive joint 105, the third drive joint 117, the fourth drive joint 119, the fifth drive joint 120, the sixth drive joint 113 and the seventh drive joint 114 are aligned in sequence to form 7 degrees of freedom of motion corresponding to the shoulder, elbow, forearm and wrist joints of the human upper limb.

[0062] Each drive joint integrates a torque motor and a position sensor, and communicates with the main control unit through a unified CAN bus;

[0063] The main control unit is configured to: receive environmental contact torque signals from the remote robot, and, according to formula τ fb,i =K f ·τ env,i A command is sent to the torque motor of the corresponding drive joint to output a proportional feedback torque, where τ env,i K represents the environmental contact torque of the distal i-th joint. f This is the adjustable gain coefficient.

[0064] The shoulder module includes:

[0065] The first mounting component 101 is used to fix the dual arm connector 3 or the user's torso;

[0066] The housing of the first drive joint 102 is fixedly connected to the first mounting member 101;

[0067] The second mounting component 103 is connected to the output end of the first drive joint 102;

[0068] The housing of the second drive joint 105 is fixedly connected to the second mounting member 103;

[0069] The third drive joint cover 106 is connected to the housing of the second drive joint 105;

[0070] The housing of the third drive joint 117 is connected to the output end of the second drive joint 105 via the third drive joint connector 122.

[0071] The third mounting component 118 is connected to the output end of the third drive joint 117.

[0072] The elbow module includes:

[0073] The fourth drive joint 119 has its housing fixedly connected to the third mounting member 118;

[0074] The fourth mounting component 108 is connected to the output end of the fourth drive joint 119;

[0075] The upper arm truss structure is composed of carbon plate connectors 123, double carbon plates 124 and carbon plate support columns 125. The carbon plate connectors 123 are fixed to the fourth mounting component 108. The double carbon plates 124 are connected to the carbon plate connectors 123 through the carbon plate support columns 125 to form rigid support.

[0076] The boom strap seat 107 is installed on the upper boom truss structure.

[0077] The forearm module includes:

[0078] The housing of the fifth drive joint 120 is fixedly connected to the carbon plate connector 123 or the fourth mounting component 108;

[0079] The fifth mounting component 121 is connected to the output end of the fifth drive joint 120;

[0080] The forearm strap seat 111 is installed on the fifth mounting component 121;

[0081] The housing of the sixth drive joint 113 is fixedly connected to the fifth mounting member 121 via the sixth mounting member 112.

[0082] It should be noted that the double carbon plates 124 are arranged in parallel and connected to the carbon plate connectors 123 in three-dimensional space through multiple carbon plate support columns 125, forming a hollow triangular or box-shaped truss structure.

[0083] Furthermore, the second drive joint 105 and the third drive joint 117 are provided with a second drive joint cover 104 and a third drive joint cover 106 on their exteriors; the fourth drive joint 119 and the fifth drive joint 120 are provided with a fourth drive joint cover 109 and a fifth drive joint cover 110 on their exteriors.

[0084] Furthermore, the end handle 116 is fixed to the seventh mounting component 115 via the sixth drive joint connector 126, and the handle housing 127 encapsulates the handle button 128 and the handle dial 129, whose signals are uploaded to the main control unit via the CAN bus or an independent ADC module.

[0085] Furthermore, the main control unit is a PC, and the total system control latency is less than 20 milliseconds to meet the requirements of high real-time teleoperation tasks.

[0086] In summary, this embodiment achieves a 1:1 high-fidelity motion mapping from the operator's movements to the slave robot without distortion or complex calculations by constructing a 7-DOF isomorphic joint chain that is completely identical to the human upper limb; and by integrating a torque motor into each drive joint and based on the formula τ fb,i =K f ·τ env,i An active closed-loop force feedback mechanism was established, achieving for the first time in a lightweight isomorphic exoskeleton a realistic, adjustable, and proportional force feedback interaction, greatly enhancing the sense of presence and precision of teleoperation. By adopting a carbon fiber truss structure consisting of "dual carbon plates and support columns" in the upper arm segment, the overall arm weight was significantly reduced while ensuring bending / torsional stiffness, effectively improving wearing comfort and reducing operator fatigue. Through unified CAN bus communication, modular joint design, and a mirror-symmetric dual-arm system, a high degree of integration of drive, sensing, control, and structural protection was achieved. The system is compact, highly real-time, with a latency of less than 20 milliseconds, and supports dual-handed collaborative operation. It comprehensively solves the bottlenecks of existing technologies in terms of motion fidelity, force feedback realism, ergonomics, and system integration, and is particularly suitable for complex scenarios with extremely high requirements for operational precision and real-time feedback, such as disaster relief and remote surgery.

[0087] In one specific embodiment, the seven-degree-of-freedom isomorphic exoskeleton force feedback humanoid arm system provided by the present invention mainly consists of a right arm 1, a left arm 2, and a dual-arm connector 3 connecting the two. The left and right arms have a mirror-symmetrical structure and can work independently or collaboratively.

[0088] Taking the right arm 1 as an example (see Figure 2 and Figure 3 Its mechanical structure is connected in series from the proximal end (close to the body) to the distal end (far from the body).

[0089] Shoulder module: The first mounting member 101 serves as a base and can be fixed to a back frame or user seat. The housing of the first drive joint 102 is fixed to 101, and its output end is connected to the second mounting member 103. The housing of the second drive joint 105 is fixed to 103, and its output end is connected to the housing of the third drive joint 117 via the third drive joint connector 122. The output end of the third drive joint 117 is connected to the third mounting member 118. The first drive joint 102, the second drive joint 105, and the third drive joint 117 correspond to abduction / adduction, flexion / extension, and internal / external rotation of the human shoulder joint, respectively.

[0090] Elbow Module: The housing of the fourth drive joint 119 is fixed to the third mounting member 118, and its output end is connected to the fourth mounting member 108. The core of this module is the upper arm truss structure (see...). Figure 4The exoskeleton consists of a carbon plate connector 123 fixed to the fourth mounting member 108, two parallel carbon plates 124, and multiple carbon plate support columns 125 connecting them, forming a high-rigidity, lightweight spatial structure. An upper arm strap seat 107 is mounted on this truss to fix the exoskeleton to the upper arm. Forearm module: The housing of the fifth drive joint 120 is fixed to the carbon plate connector 123 (or, in other embodiments, to the fourth mounting member 108), and its output end is connected to the fifth mounting member 121. A forearm strap seat 111 is mounted on 121. The housing of the sixth drive joint 113 is fixedly connected to 121 via the sixth mounting member 112. The fifth drive joint 120 and the sixth drive joint 113 correspond to pronation / supination of the forearm and flexion / extension of the wrist joint, respectively.

[0091] Wrist module: The housing of the seventh drive joint 114 is connected to the output end of the sixth drive joint 113, and its output end is connected to the seventh mounting member 115. The end handle 116 is fixed to 115 via the sixth drive joint connector 126. Figure 5 As shown, the handle 116 integrates a handle button 128 and a handle dial 129 for sending control commands such as grabbing and mode switching. Figure 6 The electrical communication principle shown is that the system's main control unit (usually a PC) communicates with the drivers built into all seven drive joints via a CAN bus. The main control unit also acquires signals from the buttons 128 and dial 129 on the end handle 116 via an ADC module.

[0092] During operation, the main control unit reads the operator's arm posture in real time through position sensors at each joint and sends it to the remote slave robot for following. Simultaneously, the environmental contact torque detected by each joint of the slave robot is transmitted back to the main control unit via a communication link. Based on a preset force feedback mapping relationship, the main control unit sends commands to the torque motors of the corresponding joints via the CAN bus, causing them to generate feedback torque proportional to the remote contact force. This allows the operator to realistically feel the tactile information of the remote environment. The control latency of the entire system is optimized to within 20 milliseconds, ensuring real-time force interaction.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A seven degree-of-freedom isomorphic exoskeleton force feedback anthropomorphic arm system, characterized by, Comprise: The left arm (2) and the right arm (1) are mirror-symmetrically arranged, and the double-arm connecting piece (3) connects the left arm and the right arm; The single-side arm comprises, in sequence from the proximal end to the distal end, a shoulder module, an elbow module, a forearm module and a wrist module; The wrist module comprises: The seventh driving joint (114) is connected with the output end of the sixth driving joint (113); The seventh mounting piece (115) is connected with the output end of the seventh driving joint (114); The terminal handle (116) is fixed on the seventh mounting piece (115) and is integrated with a handle button (128) and a handle dial (129); The rotation axes of the first driving joint (102), the second driving joint (105), the third driving joint (117), the fourth driving joint (119), the fifth driving joint (120), the sixth driving joint (113) and the seventh driving joint (114) are sequentially aligned, thereby corresponding to the seven degrees of freedom of the shoulder, elbow, forearm and wrist joints of the human upper limb; Each driving joint is integrated with a torque motor and a position sensor, and is in communication connection with the main control unit through a unified CAN bus; The main control unit is configured to: receive environmental contact torque signals from the remote robot, and, according to formula τ fb,i =K f ·τ env,i A command is sent to the torque motor of the corresponding drive joint to output a proportional feedback torque, where τ env,i K represents the environmental contact torque of the distal i-th joint. f This is the adjustable gain coefficient.

2. The seven-DOF isomorphic exoskeleton force feedback anthropomorphic arm system according to claim 1, characterized in that, The shoulder module comprises: The first mounting piece (101) is used for being fixed with the double-arm connecting piece (3) or the user's trunk; The first driving joint (102) is fixedly connected with the first mounting piece (101); The second mounting piece (103) is connected with the output end of the first driving joint (102); The second driving joint (105) is fixedly connected with the second mounting piece (103); The third driving joint cover (106) is connected with the shell of the second driving joint (105); The third driving joint (117) is connected with the output end of the second driving joint (105) through a third driving joint connecting piece (122); The third mounting piece (118) is connected with the output end of the third driving joint (117).

3. The seven-DOF isomorphic exoskeleton force feedback anthropomorphic arm system of claim 1, wherein, The elbow module comprises: The fourth driving joint (119) is fixedly connected with the third mounting piece (118); The fourth mounting piece (108) is connected with the output end of the fourth driving joint (119); The upper arm truss structure is composed of a carbon plate connecting piece (123), a double carbon plate (124) and a carbon plate support column (125), the carbon plate connecting piece (123) is fixed to the fourth mounting piece (108), the double carbon plate (124) is connected with the carbon plate connecting piece (123) through the carbon plate support column (125), and a rigid support is formed; The large arm binding seat (107) is installed on the upper arm truss structure.

4. The seven-DOF isomorphic exoskeleton force feedback anthropomorphic arm system of claim 1, wherein, The forearm module comprises: The fifth driving joint (120) is fixedly connected with the carbon plate connecting piece (123) or the fourth mounting piece (108); The fifth mounting piece (121) is connected with the output end of the fifth driving joint (120); The small arm binding seat (111) is installed on the fifth mounting piece (121); The sixth driving joint (113) is fixedly connected with the fifth mounting part (121) through a sixth mounting part (112).

5. The seven-DOF isomorphic exoskeleton force feedback anthropomorphic arm system of claim 1, wherein, The double carbon plates (124) are arranged in parallel and connected with the carbon plate connecting parts (123) in three-dimensional space through a plurality of carbon plate supporting columns (125), thereby forming a hollow triangular or box-shaped truss structure.

6. The seven-DOF isomorphic exoskeleton force feedback anthropomorphic arm system of claim 1, wherein, The second driving joint (105) and the third driving joint (117) are externally provided with a second driving joint cover (104) and a third driving joint cover (106); the fourth driving joint (119) and the fifth driving joint (120) are externally provided with a fourth driving joint cover (109) and a fifth driving joint cover (110).

7. The seven-DOF isomorphic exoskeleton force feedback anthropomorphic arm system of claim 1, wherein, The end handle (116) is fixed with the seventh mounting part (115) through a sixth driving joint connecting part (126), and the handle shell (127) is internally encapsulated with the handle button (128) and a handle dial (129), and signals are uploaded to the main control unit through the CAN bus or an independent ADC module.

8. The seven-DOF isomorphic exoskeleton force feedback anthropomorphic arm system of claim 1, wherein, The main control unit is a PC, and the system control total delay is less than 20 milliseconds, thereby meeting the demand of high real-time remote operation task.

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