Seven-degree-of-freedom heterogeneous wearable force feedback teleoperation device

Abstract

The invention discloses seven-degree-of-freedom heterogeneous wearable force feedback teleoperation equipment. The seven-degree-of-freedom heterogeneous wearable force feedback teleoperation equipment comprises a base connecting piece and at least one operation arm formed by connecting seven driving joints in series. Through a space offset structure comprising an inclined connecting rod, the near-end driving joint and the shoulder of the human body are arranged in a staggered mode, and motion interference is fundamentally eliminated; a big arm gear ring assembly integrating a gear and a sliding rail serves as a torque bidirectional transmission mechanism and is mechanically coupled with a bandage base, rotation of the big arm of the human body is accurately captured, and proportional force feedback is synchronously output; the seven joints completely correspond to the degrees of freedom of shoulders, elbows, forearms and wrists of a human body, and high-fidelity action mapping and immersive haptic interaction are achieved by combining a control algorithm based on forward kinematics. According to the invention, the problems of shoulder collision, insufficient degree of freedom, lack of force feedback and the like of traditional equipment are effectively solved, the degree of freedom, comfort and fine operation capability of operation are remarkably improved, and the device is suitable for complex teleoperation tasks requiring coordination of two hands.

Description

Technical Field

[0001] This invention belongs to the field of human-computer interaction and robot teleoperation technology, and particularly relates to a seven-degree-of-freedom heterogeneous wearable force feedback teleoperation device. Background Technology

[0002] Teleoperation technology allows operators to remotely control robots to complete complex or dangerous tasks in a safe and comfortable environment, and is widely used in fields such as space exploration, nuclear facility maintenance, remote surgery, and disaster relief. As the core input device of the system, the performance of the master operator directly determines the intuitiveness, accuracy, and immersiveness of the operation.

[0003] Most existing wearable master hands adopt a design that is isomorphic to the human upper limb structure, meaning the rotation axes of the device's joints are aligned with the axes of the human shoulder, elbow, and wrist joints. While this isomorphic design is relatively intuitive in terms of kinematic mapping, it has inherent drawbacks in practical applications: the mechanical structure highly overlaps with the human body's movement space. Especially during shoulder abduction or elevation movements, the device's linkages and drive mechanisms are prone to rigid interference and collisions with the operator's acromion, clavicle, and other areas. This not only limits the device's effective workspace and leads to motion distortion but can also cause discomfort or even sports injuries to the operator.

[0004] In addition, existing equipment has the following problems: First, it lacks sufficient degrees of freedom, usually only 5-6 degrees of freedom, and lacks mapping of key degrees of freedom such as pronation / supination of the forearm, making it unable to fully reproduce the dexterity of the human hand; second, it has weak or no force feedback capability, most of the equipment can only achieve position capture, and cannot truly feed back the force information generated by the interaction between the remote robot and the environment to the operator, making fine operations (such as assembly, surgery) lack a sense of presence and have insufficient safety; third, it has poor human-machine ergonomics, the pursuit of rigidity has resulted in bulky equipment, and there is a lack of effective adaptation and adjustment mechanisms, which affects the comfort of long-term use.

[0005] Therefore, there is an urgent need in this field for a new type of wearable teleoperation device that can fundamentally avoid human-machine interference, possess complete degrees of freedom, and have real force feedback capabilities. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a 7-DOF heterogeneous wearable force feedback teleoperation device. It solves the human-machine interference problem through an innovative mechanical structure and realizes high-fidelity motion mapping and bidirectional force feedback interaction.

[0007] This invention provides a seven-degree-of-freedom heterogeneous wearable force feedback teleoperation device, comprising:

[0008] Base connector (3);

[0009] At least one manipulator arm, which is composed of seven actively driven rotary joints connected in series from the proximal end to the distal end, forming a 7-degree-of-freedom kinematic chain.

[0010] The proximal end of the kinematic chain is connected to the base connector (3), and the distal end is provided with an end handle (116) for operation;

[0011] In the kinetic chain, at least one proximal joint is connected to other joints through a spatial offset structure, such that the drive mechanism of the proximal joint is spatially offset from the shoulder area of ​​the human body to avoid motion interference.

[0012] In the kinetic chain, at least one joint is provided with a bidirectional torque transmission mechanism, which is mechanically coupled to a strap seat (106) for binding human limbs, for capturing the rotational motion of human limbs as the rotation of joints, and transmitting the feedback torque output by the joints to human limbs.

[0013] Each of the aforementioned rotary joints integrates a torque motor and an angle sensor, and is connected to the main control unit via a bus;

[0014] The main control unit is configured as follows:

[0015] Based on the angle values ​​collected by the angle sensors of each joint, the pose of the end handle (116) is obtained through forward kinematics calculation and used to control the remote robot.

[0016] The system receives environmental contact information from the remote robot and controls the torque motor to output the corresponding feedback torque to the operator.

[0017] Furthermore, the spatial offset structure includes a first drive joint (101) and a first connecting rod (102); the first drive joint (101) is connected to the base connector (3); the proximal end of the first connecting rod (102) is connected to the output end of the first drive joint (101), and its distal end is connected to a second drive joint (103) with a mounting surface inclined to its axis, so that the rotation axis of the second drive joint (103) is spatially offset from the rotation axis of the first drive joint (101).

[0018] Furthermore, the mounting surface at the far end of the first connecting rod (102) is an inclined plate at 45° to the axis, and an arc-shaped transition plate is provided at its edge.

[0019] Furthermore, the bidirectional torque transmission mechanism is a large boom gear ring assembly (105), which includes:

[0020] A slide rail outer ring (118) fixed to the joint housing, the outer side of the slide rail outer ring (118) is provided with a toothed surface;

[0021] A pulley base (120) is fixedly connected to the strap seat (106), and the pulley base (120) is rolledly connected to the outer ring of the slide rail (118) through a pulley (121);

[0022] At least one gear (123, 124) is fixed to the joint output shaft, the gear meshing with the tooth surface on the outer side of the slide rail outer ring (118).

[0023] Furthermore, the number of gears is two, namely a first gear (123) and a second gear (124), which mesh with the outer ring (118) of the slide rail.

[0024] Furthermore, the seven drive joints correspond sequentially to the following seven degrees of freedom of the human upper limb: shoulder pitch, shoulder abduction, upper arm / forearm internal / external rotation, elbow flexion and extension, forearm pronation / supination, wrist pitch, and wrist yaw.

[0025] Furthermore, the base connector (3) is a double-arm connector, and the device includes two mirror-symmetrical operating arms, forming a complete double-arm remote operation input system.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] Completely eliminate shoulder interference: Through a heterogeneous design with spatial offset, the mechanical drive unit is moved away from the shoulder area where collisions are likely to occur, significantly expanding the interference-free workspace and improving operating comfort and freedom of movement.

[0028] Achieving high-fidelity two-way force perception interaction: The innovative two-way torque transmission mechanism (such as the gear ring assembly) can accurately capture the rotation of the human upper arm and realistically feed the remote torque back to the operator's limbs, achieving low-latency, high-rigidity force perception transmission at the physical level, resulting in a strong sense of immersion.

[0029] Complete and accurate motion mapping: The 7-DOF full drive chain fully covers the main movements of the human upper limbs. Combined with forward kinematics calculation, it can achieve high-fidelity reproduction of complex and fine movements.

[0030] The system boasts high integration and excellent human-machine interface: its modular joint design, unified bus communication, and adjustable base connectors result in a compact structure, high real-time performance, and strong adaptability, making it suitable for long-term wearable operation. Attached Figure Description

[0031] 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.

[0032] Figure 1 This is a schematic diagram of the overall structure of the dual-arm system of the present invention.

[0033] Figure 2 This is a three-dimensional structural diagram of the single-sided operating arm of the present invention.

[0034] Figure 3 This is a magnified schematic diagram of a portion of the spatial offset structure.

[0035] Figure 4 This is a side view of the boom gear ring assembly.

[0036] Figure 5 This is an exploded view of the boom gear ring assembly.

[0037] Figure 6 This is a structural diagram of the hand unit.

[0038] Figure 7 This is a block diagram illustrating the electrical communication principle of the present invention.

[0039] The components include: 1. Right arm; 2. Left arm; 3. Double arm connecting frame; 101. First drive joint; 102. First link; 103. Second drive joint; 104. Second link; 105. Upper arm gear ring assembly; 106. Upper arm strap seat; 107. Fourth drive joint; 108. Fourth link; 109. Fifth drive joint; 110. Forearm strap seat; 111. Fifth link; 112. Sixth drive joint; 113. Sixth link; 114. Seventh drive joint; 115. Seventh mounting piece; 116. End control handle; 117. Gear ring base; 118. Slide rail outer ring; 120. Pulley base; 121. Pulley; 123. First gear; 124. Second gear; 122. Third drive joint; 125. Limiting plate; 126. Gear dust cover. Detailed Implementation

[0040] 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.

[0041] Please see Figure 1 This application discloses a seven-DOF heterogeneous wearable force feedback teleoperation device, comprising: a base connector 3; at least one operating arm, the operating arm being composed of seven actively driven rotary joints connected in series from proximal to distal end, forming a seven-DOF kinematic chain; the proximal end of the kinematic chain is connected to the base connector 3, and the distal end is provided with an end handle 116 for operation; in the kinematic chain, at least one proximal joint is connected to other joints through a spatial offset structure, such that the driving mechanism of the proximal joint is spatially offset from the shoulder area of ​​the human body to avoid motion interference; in the kinematic chain, at least one joint is provided with bidirectional torque transmission. The mechanism includes a bidirectional torque transmission mechanism mechanically coupled to a strap seat 106 for binding a human limb. This mechanism captures the rotational motion of the human limb as joint rotation and transmits the feedback torque output by the joint to the human limb. Each rotational joint integrates a torque motor and an angle sensor, and is connected to the main control unit via a bus. The main control unit is configured to: calculate the pose of the end effector 116 based on the angle values ​​collected by the angle sensors of each joint through forward kinematics, and use this to control the remote robot; receive environmental contact information fed back by the remote robot, and accordingly control the torque motor to output the corresponding feedback torque to the operator.

[0042] It should be noted that the spatial offset structure includes a first drive joint 101 and a first connecting rod 102; the first drive joint 101 is connected to the base connector 3; the proximal end of the first connecting rod 102 is connected to the output end of the first drive joint 101, and its distal end is connected to the second drive joint 103 with a mounting surface inclined to its axis, so that the rotation axis of the second drive joint 103 is spatially offset from the rotation axis of the first drive joint 101.

[0043] Furthermore, the mounting surface at the distal end of the first connecting rod 102 is an inclined plate at 45° to the axis, and an arc-shaped transition plate is provided at its edge.

[0044] Specifically, the bidirectional torque transmission mechanism is a large arm gear ring assembly 105, which includes: a slide rail outer ring 118 fixed on the joint housing, the slide rail outer ring 118 having a toothed surface on its outer side; a pulley base 120 fixedly connected to the strap seat 106, the pulley base 120 being rolledly connected to the slide rail outer ring 118 via a pulley 121; and at least one gear 123, 124 fixed on the joint output shaft, the gear meshing with the toothed surface on the outer side of the slide rail outer ring 118.

[0045] Furthermore, there are two gears, namely a first gear 123 and a second gear 124, which mesh with the outer ring 118 of the slide rail.

[0046] The seven drive joints correspond to the following seven degrees of freedom of the human upper limb: shoulder pitch, shoulder abduction, upper arm / forearm internal / external rotation, elbow flexion and extension, forearm pronation / supination, wrist pitch, and wrist yaw.

[0047] The base connector 3 is a double-arm connector frame, and the device includes two mirror-symmetrical operating arms, forming a complete double-arm remote operation input system.

[0048] In summary, this embodiment utilizes a spatial offset heterogeneous structure to actively displace the drive joints from the human shoulder in physical space, fundamentally eliminating the rigid interference problem inherent in traditional isomorphic exoskeletons. This significantly expands the collision-free operating space and substantially improves wearing comfort. By integrating a unique bidirectional torque transmission mechanism—the upper arm gear ring assembly—high-precision, low-latency capture of the operator's upper arm rotational motion and proportional, dynamic force feedback to the contact force with the distant environment are achieved, forming an immersive, bidirectional force-sensing interactive closed loop. Furthermore, by constructing a complete 7-DOF fully driven anthropomorphic kinematic chain, covering the area from the shoulder to the wrist... All key degrees of freedom, combined with a control algorithm based on positive kinematics, can reproduce complex movements of the human upper limbs with high fidelity, far exceeding the control capabilities of existing 5-6 degree-of-freedom devices. At the same time, the modular lightweight design, adjustable arm span, and protective cover ensure that the system maintains structural rigidity and functional integrity while also possessing excellent ergonomics and adaptability. It comprehensively solves the prominent bottlenecks of existing technologies in terms of avoidance, force perception realism, motion completeness, and wearability comfort, and is especially suitable for complex teleoperation tasks with extremely high requirements for operational freedom and precise force feedback.

[0049] In one specific embodiment, a seven-degree-of-freedom heterogeneous wearable force feedback teleoperation device is provided, including a dual-arm connecting frame 3, and a right arm 1 and a left arm 2 mirror-symmetrically mounted thereon.

[0050] Taking the right arm 1 as an example (see Figure 2 Its mechanical structure is a series chain from the base to the end. The first drive joint 101 is mounted on the double-arm connecting frame 3 via a sliding mechanism, and the spacing is adjustable to accommodate users of different body types. After adjustment, it is fixed by a locking mechanism. The proximal end of the first link 102 is fixedly connected to the output end of the first drive joint 101. The distal end of the first link 102 is designed with a 45° inclined plane with respect to the axis (see...). Figure 3 The housing of the second drive joint 103 is fixedly mounted on the inclined surface, thereby causing the axis of the second drive joint 103 to be spatially offset relative to the axis of the first drive joint 101, effectively avoiding the acromion region of the human body.

[0051] The gear ring base 117 is fixedly connected to the output end of the second drive joint 103. The housing of the third drive joint 122 is fixedly mounted on the gear ring base 117. The core components of the boom gear ring assembly 105 are all mounted here (see...). Figure 4 , Figure 5 The slide rail outer ring 118 is fixedly mounted on the gear ring base 117. The pulley base 120 forms a rolling connection with the inner track of the slide rail outer ring 118 through multiple pulleys 121 on it, allowing it to rotate flexibly around it. The upper arm strap seat 106 is fixedly connected to the pulley base 120, thus being worn on the operator's upper arm. The first gear 123 and the second gear 124 are fixedly mounted side by side on the output shaft of the third drive joint 122, and they simultaneously mesh with the tooth surface on the outer side of the slide rail outer ring 118.

[0052] When the operator's upper arm rotates, the upper arm strap seat 106 drives the pulley base 120 and pulley 121 to roll along the outer ring 118 of the slide rail. The rotation of the pulley base 120, through the meshing of gears 123 / 124 with the outer ring 118 of the slide rail, drives the output shaft of the third drive joint 122 to rotate relative to it, which is then detected by the angle sensor. Conversely, when the torque motor of the third drive joint 122 outputs feedback torque, the torque is transmitted to the outer ring 118 of the slide rail through the gear pair, reacting on the pulley base 120, and then acting on the operator's upper arm through the upper arm strap seat 106, thus achieving force feedback.

[0053] The housing of the fourth drive joint 107 is fixedly connected to the pulley base 120. The proximal end of the fourth link 108 is connected to the output end of the fourth drive joint 107. The housing of the fifth drive joint 109 is connected to the distal end of the fourth link 108. The proximal end of the fifth link 111 is connected to the output end of the fifth drive joint 109, and the forearm strap seat 110 is fixed to the fifth link 111. The housing of the sixth drive joint 112 is connected to the distal end of the fifth link 111. The proximal end of the L-shaped sixth link 113 is connected to the output end of the sixth drive joint 112. The housing of the seventh drive joint 114 is connected to the distal end of the sixth link 113. The end effector handle 116 is finally fixed to the output end of the seventh drive joint 114.

[0054] like Figure 7 The electrical principle illustrated involves a main control unit (such as a PC) communicating with the built-in drivers and sensors of all seven drive joints via a high-speed bus (such as a CAN bus) and acquiring handle signals. The control flow is as follows: the main control unit periodically reads the angles of each joint, calculates the precise pose of the end effector handle using a pre-established positive kinematic model, and sends it to the remote robot. Simultaneously, it receives environmental contact force / torque information from the remote robot, calculates the required feedback torque for each joint based on a preset mapping algorithm, and instructs the joint motors to execute this, allowing the operator to experience real-time force information from the remote robot.

[0055] The expression for the preset mapping algorithm is:

[0056]

[0057] In the formula, τ h，i For feedback torque, k f r is the adjustable gain coefficient. r，i With r h，i These are the equivalent arms of the remote robot and the device in the i-th degree of freedom, respectively.

[0058] 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 heterogeneous wearable force feedback teleoperation device, characterized by, The device comprises: a base connector (3); at least one operating arm, which is composed of seven rotation joints driven by motors in series from proximal to distal, forming a 7-DOF kinematic chain; the proximal end of the kinematic chain is connected to the base connector (3), and the distal end is provided with an end handle (116) for operation; in the kinematic chain, at least one proximal joint is connected to other joints through a spatial offset structure, so that the driving mechanism of the proximal joint is arranged to be offset from the shoulder region of the human body in space to avoid motion interference; in the kinematic chain, at least one joint is provided with a torque bidirectional transmission mechanism, which is mechanically coupled with a binding seat (106) for binding the human body limb, for capturing the rotation of the human body limb as the rotation of the joint, and transmitting the feedback torque output by the joint to the human body limb; each rotation joint is integrated with a torque motor and an angle sensor, and is in communication connection with a master control unit through a bus; the master control unit is configured to: based on the angle values collected by the joint angle sensors, the pose of the end handle (116) is calculated through forward kinematics, and is used to control the remote robot; receive the environmental contact information fed back by the remote robot, and control the torque motor to output the corresponding feedback torque to the operator accordingly.

2. The seven degrees-of-freedom heterogeneous wearable force feedback teleoperation device of claim 1, wherein, The spatial offset structure comprises a first driving joint (101) and a first connecting rod (102); the first driving joint (101) is connected to the base connector (3); the proximal end of the first connecting rod (102) is connected to the output end of the first driving joint (101), and the distal end thereof is connected to a second driving joint (103) through a mounting surface inclined to the axis, so that the rotation axis of the second driving joint (103) is offset from the rotation axis of the first driving joint (101) in space.

3. The seven degrees-of-freedom heterogeneous wearable force feedback teleoperation device of claim 2, wherein, The mounting surface of the distal end of the first connecting rod (102) is a 45° inclined plate relative to the axis, and an arc-shaped transition plate is arranged on the edge thereof.

4. The seven degrees-of-freedom heterogeneous wearable force feedback teleoperation device of claim 1, wherein, The torque bidirectional transmission mechanism is a large arm gear ring assembly (105), which comprises: a slide rail outer ring (118) fixed on the joint shell, the outer side of the slide rail outer ring (118) is provided with a tooth surface; a pulley base (120) fixedly connected with the binding seat (106), the pulley base (120) is in rolling connection with the slide rail outer ring (118) through a pulley (121); at least one gear (123, 124) fixed on the joint output shaft, which is in meshing connection with the tooth surface on the outer side of the slide rail outer ring (118).

5. The seven degrees-of-freedom heterogeneous wearable force feedback teleoperation device of claim 4, wherein, The number of gears is two, i.e. a first gear (123) and a second gear (124), which are in meshing connection with the slide rail outer ring (118).

6. The seven degrees-of-freedom heterogeneous wearable force feedback teleoperation device of claim 1, wherein, The seven driving joints correspond to the following seven degrees of freedom of the human upper limb in sequence: shoulder pitch, shoulder abduction, large arm / forearm internal rotation / external rotation, elbow flexion / extension, forearm pronation / supination, wrist pitch, wrist yaw.

7. The seven degrees-of-freedom heterogeneous wearable force feedback teleoperation device of claim 1, wherein, The base connector (3) is a double-arm connecting frame, and the device comprises two mirror-symmetrical operating arms, forming a complete double-arm teleoperation input system.

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