Wearable brain-controlled social mechanical arm system

Abstract

The utility model discloses a wearable brain-controlled social mechanical arm system which comprises a head band device worn on the head and used for collecting electroencephalogram data and a mechanical arm device in communication connection with the head band device. The mechanical arm device comprises a backpack shell, a main control board arranged in the backpack shell and a mechanical arm module arranged on the backpack shell, the mechanical arm module and the head hoop device are in communication connection with the main control board, and the main control board controls the mechanical arm module to act. The mechanical arm is reliable in structure and good in use performance, the difficulty of controlling the mechanical arm through the brain wave signals is remarkably reduced, and therefore the user experience is improved, and a user can more simply control the mechanical arm to move, interact with social contact and enjoy normal life. In addition, the system adopts a specific design conforming to ergonomics, comfort in the wearing process is ensured, and long-time use is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of brain-computer interface, and in particular to a wearable brain-controlled social robotic arm system. Background Art

[0002] The key technology for controlling a robotic arm with brain control lies in neural signal detection and processing. First, a neural signal detector detects brain signals, converts the detected signals into electrical signals, and processes these signals through a signal processing system. Finally, the processed signals are converted into control signals for the robotic arm to control its movements. Currently, implantable brain-computer interface technologies are being developed to control robotic arms, and their safety and effectiveness are being validated in clinical trials. These technologies aim to stably collect brain signals for long-term control of the robotic arm while minimizing the impact on the brain. However, despite the high precision of high-channel EEG acquisition devices, their high cost limits their widespread application. Furthermore, the complexity of these devices and the accuracy of signal processing present technical challenges. Because individual EEG signal characteristics and control habits vary significantly, controlling the multi-axis movement of a robotic arm solely through EEG signals can be significantly difficult for different individuals, limiting its scope of application. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a wearable brain-controlled social robotic arm system.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: a wearable brain-controlled social robotic arm system, comprising a headband device worn on the head and used to collect EEG data, and a robotic arm device communicatively connected to the headband device;

[0005] The robotic arm device includes a backpack shell, a main control board arranged in the backpack shell, and a robotic arm module arranged on the backpack shell. The robotic arm module and the headband device are respectively communicated with the main control board, and the main control board controls the movement of the robotic arm module.

[0006] Furthermore, the main control board includes an onboard CAN bus, a peripheral interface component and a wireless serial port module. The onboard CAN bus is communicatively connected to the robotic arm module, and the wireless serial port module is communicatively connected to the head-mounted wireless serial port module of the headband device.

[0007] Furthermore, the peripheral interface components include a camera interface, a screen interface, a control line channel port and a USB interface. The connection line of the onboard CAN bus is connected to the robotic arm module through the control line channel port. The camera interface is used to connect the camera, the screen interface is used to debug the system, and the USB interface is used to connect the wireless serial port module.

[0008] Furthermore, the robotic arm module includes a base arranged on the backpack shell, a robotic arm arranged on the base, and a robotic arm clamp arranged at the end of the robotic arm, and the main control board controls the movement of the robotic arm and the robotic arm clamp.

[0009] Furthermore, the robotic arm includes a first servo arranged on a base and used to provide rotation, a chassis arranged on the first servo, a second servo arranged on the chassis, a first arm body arranged on the second servo, a third servo arranged on the first arm body and used to realize forward and backward tilting movements, a second arm body arranged on the third servo, a fourth servo arranged on the second arm body, a fifth servo arranged at the end of the fourth servo, and a sixth servo arranged at the end of the fifth servo and used to control the opening and closing of the robotic arm clamp, and the robotic arm is arranged on the sixth servo.

[0010] Furthermore, the headband device includes a headband frame, a hybrid EEG data acquisition board and ear clips respectively arranged on the headband frame, a camera arranged in front of the headband frame, a gyroscope sensor arranged at the center of the headband frame, an electrode sheet arranged on the headband frame, and a step-down module for powering various electrical components. The main control board is communicated with the hybrid EEG data acquisition board and the gyroscope sensor through a wireless serial port module, and the electrode sheet and ear clips are used to obtain the user's EEG signals.

[0011] Furthermore, a tightness adjuster for adjusting the tightness of the headband frame is provided on the headband frame.

[0012] This utility model has the following beneficial effects: The wearable brain-controlled social robotic arm system provided by this utility model has a reliable structure and good performance. By using a camera to recognize the face and expression of a social partner and combining it with emotion and concentration information acquired by an electroencephalogram (EEG) acquisition device, the user wearing the device can control the movement of the robotic arm, grasp objects, and perform actions such as friendly greetings, warm handshakes, and even affectionate hugs. This enhances the user experience, allowing users to more easily control the movement of the robotic arm and engage in social interactions, allowing them to enjoy a normal life. Furthermore, the system adopts a specific ergonomic design to ensure comfort during wear and facilitate long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the structure of the mechanical arm device in the present utility model;

[0014] Figure 2 This is a schematic diagram of the structure of the robotic arm module in the present utility model;

[0015] Figure 3 This is a structural diagram of the headband device in the utility model;

[0016] Figures 1 to 3The reference numerals shown in the figure represent respectively: 1-headband device, 2-mechanical arm device, 20-backpack shell, 21-main control board, 22-mechanical arm module, 210-onboard CAN bus, 211-wireless serial port module, 212-camera interface, 213-screen interface, 214-control line channel port, 215-USB interface, 220-base, 221-mechanical arm, 222-mechanical arm gripper, 2210-first Servo, 2211-chassis, 2212-second servo, 2213-first arm, 2214-third servo, 2215-second arm, 2216-fourth servo, 2217-fifth servo, 2218-sixth servo, 10-headband frame, 11-hybrid EEG data acquisition board, 12-ear clip, 13-camera, 14-gyroscope sensor, 15-electrode, 16-step-down module, 17-tension adjuster. DETAILED DESCRIPTION

[0017] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0018] like Figure 1 As shown, a wearable brain-controlled social robotic arm system includes a headband device 1 worn on the head for collecting EEG data, and a robotic arm device 2 communicatively connected to the headband device 1. The robotic arm device 2 includes a backpack housing 20, a main control board 21 disposed within the backpack housing 20, and a robotic arm module 22 disposed on the backpack housing 20. The robotic arm module 22 and the headband device 1 are each communicatively connected to the main control board 21, which controls the movements of the robotic arm module 22. The backpack housing 20 serves as the main structure of the robotic arm device 2, providing protection and support while also being easy for the user to carry. The main control board 21, located within the backpack housing 20, is the core control unit of the robotic arm device 2. It receives EEG data transmitted by the headband device 1, processes and analyzes it, and generates commands to control the robotic arm module 22. The robotic arm module 22, disposed on the backpack housing 20, is a programmable, automated device that performs actions such as grabbing, releasing, moving, shaking hands, and hugging according to the commands of the main control board 21. The backpack shell 20 is mainly made of battery plastic and is used to fix the back of the human body and the mechanical arm 221. It has an insulating effect and prevents leakage. The backpack shell 20 adopts auxiliary fastening components, bolts and nuts to connect the mechanical arm 221 to the base 220.

[0019] The main control board 21 includes an onboard CAN bus 210, a peripheral interface component, and a wireless serial port module 211. The onboard CAN bus 210 is communicatively connected to the robotic arm module 22, and the wireless serial port module 211 is communicatively connected to the head-mounted wireless serial port module 18 of the headband device 1. The onboard CAN bus 210 is a reliable and efficient communication protocol used to achieve communication between the main control board 21 and the robotic arm module 22. Through the onboard CAN bus 210, the main control board 21 can send control instructions to the robotic arm module 22 and receive status feedback from the robotic arm module 22. The peripheral interface component provides a connection interface with external devices such as the robotic arm module 22 and sensors. It includes a camera interface 212, a screen interface 213, a control line channel port 214, and a USB interface 215. The connection line of the onboard CAN bus 210 is communicatively connected to the robotic arm module 22 through the control line channel port 214. The camera interface 212 is used to connect to the camera 13, the screen interface 213 is used to debug the system, and the USB interface 215 is used to connect to the wireless serial port module 211. The wireless serial port module 211 is used to realize wireless communication between the main control board 21 and the headband device 1. Through the wireless serial port module 211, the main control board 21 can receive the EEG data transmitted by the headband device 1 and send control instructions to the headband device 1 if necessary.

[0020] like Figure 2As shown, the robotic arm module 22 includes a base 220 arranged on the backpack shell 20, a robotic arm 221 arranged on the base 220, and a robotic arm clamp 222 arranged at the end of the robotic arm 221. The main control board 21 controls the movement of the robotic arm 221 and the robotic arm clamp 222. The robotic arm 221 includes a first servo 2210 disposed on the base 220 and configured to provide rotation, a chassis 2211 disposed on the first servo 2210, a second servo 2212 disposed on the chassis 2211, a first arm 2213 disposed on the second servo 2212, a third servo 2214 disposed on the first arm 2213 and configured to achieve forward and backward tilting, a second arm 2215 disposed on the third servo 2214, a fourth servo 2216 disposed on the second arm 2215, a fifth servo 2217 disposed at the end of the fourth servo 2216, and a sixth servo 2218 disposed at the end of the fifth servo 2217 and configured to control the opening and closing of the robotic arm gripper 222. The robotic arm 221 is disposed on the sixth servo 2218. Through the combination of multiple servos, the robotic arm module 22 is capable of achieving multi-degree-of-freedom motion, including rotation, forward and backward tilting, and telescoping, thereby meeting complex operational requirements. The main control board 21 can achieve precise control of the manipulator module 22 and the manipulator gripper 222 by precisely controlling the rotation angle and speed of each servo, ensuring the accuracy and stability of the operation. The manipulator gripper 222 can clamp or release objects as needed to achieve operations such as grabbing items. The main control board 21 receives EEG data from the headband device 1, and after processing and analysis, generates control instructions. The control instructions are transmitted to the various servos in the manipulator module 22 through a communication interface on the main control board 21, such as a CAN bus. Each servo rotates according to the received control instructions, thereby driving the manipulator module 22 to perform corresponding movements. The first servo 2210 provides rotational motion, allowing the manipulator 221 to rotate around the base 220, and the second servo 2212 drives the first arm 2213 to perform telescopic or rotational motion. The third servo 2214 realizes the forward and backward tilting movement of the first arm 2213 and subsequent parts. The fourth servo 2216 further drives the second arm 2215 to move. The fifth servo 2217 provides additional flexibility, such as rotation or fine-tuning, to the end of the robotic arm 221. The sixth servo 2218 controls the opening and closing of the robotic arm's gripper 222 to achieve actions such as gripping and releasing.

[0021] like Figure 3As shown, the headband device 1 includes a headband frame 10, a hybrid EEG data acquisition board 11 and an ear clip 12 respectively arranged on the headband frame 10, a camera 13 arranged in front of the headband frame 10, a gyroscope sensor 14 arranged at the center of the headband frame 10, an electrode sheet 15 arranged on the headband frame 10, and a step-down module 16 for supplying power to various electrical components. The main control board 21 is connected to the hybrid EEG data acquisition board 11 and the gyroscope sensor 14 through a wireless serial port module 211. The electrode sheet 15 and the ear clip 12 are used to obtain the user's EEG signal. A tightness adjuster 17 for adjusting the tightness of the headband frame 10 is provided on the headband frame 10. The hybrid EEG data acquisition board 11 and the ear clip 12 are fixed on the headband frame 10, a camera 13 is connected to the front of the headband, an electrode groove is provided on the surface of the headband, and the electrode is embedded therein, and the gyroscope sensor 14 is installed in the center of the headband. The electrode sheet 15 and the ear clip 12 acquire the user's EEG signals, which can filter out the surrounding noise and interference from electrical appliances, and convert the detected brain signals into digital signals and transmit them to the hybrid EEG data acquisition board 11. The hybrid EEG data acquisition board 11 uses the EEG sensor module designed by Shennian Technology Co., Ltd. The concentration and emotions are analyzed through the raw EEG data. The camera 13 is used to identify the expressions of people around the user and transmit the different facial expressions of the other party to the hybrid EEG data acquisition board 11. The tension adjuster 17 is used to adjust the tightness of the headband device 1. The gyroscope sensor 14 obtains the user's head posture angle. The step-down module 16 supplies power to the entire acquisition board, and the communication connection method uses a wireless serial port module 211.

[0022] The hybrid EEG data acquisition board 11 uses sensors to collect EEG data, visual information, and head posture information. When the headband is powered on, the EEG data is transmitted to the user's EEG signals via the motor and ear clips 12. After filtering and amplification, it is transmitted to the hybrid EEG data acquisition board 11. The gyroscope sensor 14 provides data on the head's heading, roll, and pitch angles. The camera 13 identifies people in the image. After data processing, the concentration, emotion, posture angle, and visual information are transmitted to the robotic arm device 2 via a wireless module.

[0023] When the main control board 21 in the robotic arm device 2 receives data from the headband via wireless communication, it controls six servos via the onboard CAN bus 210. The servos are driven by the head posture angle, controlling the movements of the robotic arm 221. When specific EEG data is received and combined with visual information, the robotic arm 221 can execute corresponding actions based on motion planning instructions, such as shaking hands or greeting, enabling user interaction with others.

[0024] During use, the operator puts on the headband device 1 and first adjusts the tightness of the tension adjuster 17 to ensure that the electrode sheet 15 fits on the forehead, the camera 13 is in the center of the user's face, and the ear clips 12 clamp the left and right earlobes of the user to ensure the stability and accuracy of the EEG data. The operator puts on the backpack shell 20 and wears the entire robotic arm device 2. The operator then sends signal instructions to the hybrid EEG data acquisition board 11 through brain waves, head posture angles and visual information. The signal instructions are transmitted to the wireless serial port module 211 of the main control board 21 through the head-mounted wireless serial port module 18, and then passed to the main control board 21. The main control board 21 sends control command signals to the robotic arm module 22 according to different signal states, updates the posture of the robotic arm module 22 in real time, and performs actions such as grabbing, shaking hands, and hugging.

[0025] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0026] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A wearable brain-controlled social robotic arm system, characterized in that: It comprises a headband device (1) worn on the head and used for collecting brain electrical data, and a mechanical arm device (2) communicatively connected to the headband device (1); The robotic arm device (2) comprises a backpack shell (20), a main control board (21) arranged in the backpack shell (20), and a robotic arm module (22) arranged on the backpack shell (20); the robotic arm module (22) and the headband device (1) are respectively connected to the main control board (21) for communication; and the main control board (21) controls the movement of the robotic arm module (22).

2. The wearable brain-controlled social robotic arm system according to claim 1, characterized in that: The main control board (21) comprises an onboard CAN bus (210), a peripheral interface component, and a wireless serial port module (211); the onboard CAN bus (210) is communicatively connected to the mechanical arm module (22); and the wireless serial port module (211) is communicatively connected to a head-mounted wireless serial port module (18) of the headband device (1).

3. The wearable brain-controlled social robotic arm system according to claim 2, characterized in that: The peripheral interface component comprises a camera interface (212), a screen interface (213), a control line channel port (214) and a USB interface (215); a connection line of the onboard CAN bus (210) is communicatively connected to the robotic arm module (22) via the control line channel port (214); the camera interface (212) is used to connect to the camera (13); and the USB interface (215) is used to connect to the wireless serial port module (211).

4. The wearable brain-controlled social robotic arm system according to claim 2, characterized in that: The mechanical arm module (22) comprises a base (220) arranged on the backpack shell (20), a mechanical arm (221) arranged on the base (220), and a mechanical arm clamp (222) arranged at the end of the mechanical arm (221); the main control board (21) controls the movements of the mechanical arm (221) and the mechanical arm clamp (222).

5. The wearable brain-controlled social robotic arm system according to claim 4, characterized in that: The robotic arm (221) includes a first servo (2210) arranged on the base (220) and used for providing rotation, a chassis (2211) arranged on the first servo (2210), a second servo (2212) arranged on the chassis (2211), a first arm (2213) arranged on the second servo (2212), a third servo (2214) arranged on the first arm (2213) and used for achieving forward and backward tilting movements, a second arm (2215) arranged on the third servo (2214), a fourth servo (2216) arranged on the second arm (2215), a fifth servo (2217) arranged at the end of the fourth servo (2216), and a sixth servo (2218) arranged at the end of the fifth servo (2217) and used for controlling the opening and closing of the robotic arm clamp (222). The robotic arm (221) is arranged on the sixth servo (2218).

6. The wearable brain-controlled social robotic arm system according to claim 1, characterized in that: The headband device (1) comprises a headband frame (10), a hybrid EEG data acquisition board (11) and an ear clip (12) respectively arranged on the headband frame (10), a camera (13) arranged in front of the headband frame (10), a gyroscope sensor (14) arranged at the center of the headband frame (10), an electrode sheet (15) arranged on the headband frame (10), and a step-down module (16) for supplying power to various electrical components. The main control board (21) is connected to the hybrid EEG data acquisition board (11) and the gyroscope sensor (14) via a wireless serial port module (211), and the electrode sheet (15) and the ear clip (12) are used to obtain the user's EEG signal.

7. The wearable brain-controlled social robotic arm system according to claim 6, characterized in that: The headband frame (10) is provided with a tightness adjuster (17) for adjusting the tightness of the headband frame (10).

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