Mechanical arm teleoperation device

Abstract

The utility model relates to a mechanical arm teleoperation device which comprises a driving mechanical arm, the driving mechanical arm comprises a plurality of connecting rods which are sequentially connected in series, and every two adjacent connecting rods are rotationally connected through a joint assembly; each joint assembly comprises a joint shaft which is pivotally connected with two adjacent connecting rods; and the at least one damper is arranged on the joint shaft and / or the connecting rod so as to slow down the angle change rate of the joint assembly. The angle change rate of the joint shaft and / or the connecting rod is slowed down through the resistance generated by the damper, the deviation between the position of each joint assembly and the position of the arm of the operator is reduced or eliminated, data such as the joint angle collected by the active mechanical arm can accurately reflect the real intention of the operator, the collected data are smoother, and the safety of the operator is improved. And the data acquisition quality is improved, so that the simulation accuracy of the driven mechanical arm to the action of the driving mechanical arm is improved, and the precision and reliability of teleoperation are improved.

Description

Technical Field

[0001] This application belongs to the field of anthropomorphic robotic arm teleoperation, specifically relating to a robotic arm teleoperation device. Background Technology

[0002] Current robotic arm teleoperation devices include driven robotic arms and active robotic arms with similar configurations. Active robotic arms are built using integrated joint motor modules, and joint angle data can be obtained by reading the motor's angle data. The operator drags the active robotic arm and directly maps the joint angles to the joint angle commands of the driven robotic arm, thus achieving teleoperation functionality.

[0003] Existing robotic arm teleoperation devices, under the conditions of shoulder fixation and end-effector drag positioning, tend to cause the joints in the middle to fall into the posture of minimum system energy due to underactuation and gravity. This is especially evident in the elbow joint falling down on its own, which causes a large deviation between the position of each joint and the position of the operator's arm, reducing the quality of data such as joint angles. Utility Model Content

[0004] This application provides a robotic arm teleoperation device to solve the technical problem that the joints of the robotic arm teleoperation device are prone to sagging, which affects the data quality.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: a robotic arm teleoperation device, including an active robotic arm, the active robotic arm including a plurality of links connected in sequence, each pair of adjacent links being rotatably connected by a joint assembly; each joint assembly includes: a joint shaft, pivotally connected to two adjacent links; at least one damper, disposed on the joint shaft and / or the link, to reduce the rate of change of the angle of the joint assembly.

[0006] According to one embodiment of this application, the damper includes a rotary damper, which is disposed on the joint axis.

[0007] According to one embodiment of this application, the damper includes a linear damper, one end of which is hinged to one of two links pivotally connected to the joint axis, and the other end of which is hinged to the other link of the two links pivotally connected to the joint axis.

[0008] According to one embodiment of this application, the damping coefficient of the damper is adjustable; and / or, the damper is detachable to replace dampers with different damping coefficients.

[0009] According to one embodiment of this application, the damper is one or more of the following: mechanical damper, hydraulic damper, pneumatic damper, and electromagnetic damper.

[0010] According to one embodiment of this application, one of two adjacent links is fixedly connected to the corresponding joint axis, and the other link of the two adjacent links is sleeved and connected to the corresponding joint axis.

[0011] According to one embodiment of this application, the joint assembly further includes a position sensor disposed on the joint axis for detecting the movement angle of the joint assembly.

[0012] According to one embodiment of this application, the position sensor employs one or more of the following: a potentiometer, an optical encoder, a magnetic encoder, or an inertial measurement unit.

[0013] According to one embodiment of this application, the two links at both ends of the active robotic arm are a shoulder fixed link and a hand drag link, respectively. The active robotic arm also includes: a shoulder base disposed on the shoulder fixed link for fixing the shoulder fixed link; and a hand operating member disposed on the hand drag link for the operator to drag and position the hand drag link.

[0014] According to one embodiment of this application, the joint assembly is provided with seven joints, so that the active robotic arm has seven degrees of freedom.

[0015] According to one embodiment of this application, the remote operation device further includes a driven robotic arm, with the active robotic arm and the driven robotic arm arranged in a one-to-one correspondence.

[0016] The beneficial effects of this application are as follows: The active robotic arm of the teleoperation device comprises multiple links connected in sequence, with each pair of adjacent links rotatably connected by a joint assembly; each joint assembly includes a joint shaft and at least one damper, with the joint shaft pivotally connected to two adjacent links; at least one damper is disposed on the joint shaft and / or the link to reduce the rate of change of the joint assembly's angle. The resistance generated by the damper in this application can reduce the rate of change of the angle of the joint shaft and / or the link, thereby reducing or preventing the intermediate joint assembly from falling into the posture of minimum system energy, reducing or eliminating the deviation between the position of each joint assembly and the position of the operator's arm, so that the joint angle and other data collected by the active robotic arm can accurately reflect the operator's true intention, improve the data acquisition quality, and thus improve the accuracy of the driven robotic arm's imitation of the active robotic arm's movements, thereby improving the precision and reliability of teleoperation. Furthermore, by replacing the reducer in the integrated joint motor module with a damper, the structure is simplified and the cost is reduced. In addition, the overall weight of the active robotic arm is reduced, which can reduce the self-fall caused by gravity, further slow down the rate of change of the angle of the joint axis and / or the link, thereby reducing or eliminating the deviation between the position of each joint component and the position of the operator's arm. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0018] Figure 1 This is a schematic diagram of the structure of a robotic arm teleoperation device provided in one embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the structure of an active robotic arm provided in one embodiment of this application;

[0020] Figure 3 This is a partial schematic diagram of an active robotic arm provided in one embodiment of this application;

[0021] Figure 4 This is a partial schematic diagram of an active robotic arm provided in another embodiment of this application. Detailed Implementation

[0022] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0023] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0025] Currently, robotic arm teleoperation devices are based on isomorphic robotic arm designs, meaning that the device includes an active robotic arm and a passive robotic arm, and the configurations (structural form, number of joints, joint arrangement, etc.) of the active and passive robotic arms are similar. This isomorphic design allows the active and passive robotic arms to have a good correspondence in terms of motion and action execution, providing a foundation for realizing teleoperation.

[0026] Through long-term research, the inventors of this application have discovered that current technologies utilize integrated joint motor modules to construct active robotic arms. These modules integrate motors, transmission mechanisms, encoders, and other components. Because there is a correlation between the rotation angle of the motor and the rotation angle of the joint, the joint angle information can be accurately determined by measuring the motor angle. The operator issues operating commands by dragging the active robotic arm. During this dragging process, the angle information of each joint of the active robotic arm is acquired. This joint angle information is directly mapped to the joint angle commands of the driven robotic arm, enabling the driven robotic arm to mimic the movements of the active robotic arm, thereby achieving remote operation functionality.

[0027] However, the active robotic arm built with an integrated joint motor module has the following disadvantages: (1) The integrated joint motor module integrates multiple components such as motor, transmission mechanism, and encoder, which has a high technical content and requires a large investment in production and R&D, resulting in a relatively expensive market price, which increases the cost of the entire remote operation device. (2) There are cases where motors are not used in the device, and these unused motor parts become redundant structures. The direct consequence of structural redundancy is an increase in the overall weight of the robotic arm. For the operator, the excessive weight of the active robotic arm makes long-term operation very difficult, because more physical strength is required to drag the robotic arm, which can easily lead to operator fatigue. In order to reduce the burden on the operator and address the problem of excessive weight of the active robotic arm, it is necessary to install additional gravity compensation pulleys to pull the active robotic arm. Through pulleys and ropes, some of the weight of the robotic arm can be offset to a certain extent, making it easier for the operator to drag the robotic arm, but this increases the complexity and cost of the device. (3) For humanoid robotic arms, there are usually 7 joint components, which simulate the structure of a human arm. With the shoulder fixed and the end effector dragged for positioning, the intermediate joints, due to underactuation and gravity, tend to quickly fall into the posture of minimum system energy, especially the elbow joint, which tends to drop on its own. This results in significant deviations between the joint positions and the operator's arm position. These deviations cause the joint angles and other data collected by the robotic arm to fail to accurately reflect the operator's true intentions, reducing data quality and consequently affecting the slave robotic arm's accurate imitation of the active robotic arm's movements, thus lowering the precision and reliability of teleoperation.

[0028] Based on this, refer to Figures 1-4This application provides a robotic arm teleoperation device. Figure 1 This is a schematic diagram of the structure of a robotic arm teleoperation device provided in one embodiment of this application; Figure 2 This is a schematic diagram of the structure of an active robotic arm provided in one embodiment of this application; Figure 3 This is a partial schematic diagram of an active robotic arm provided in one embodiment of this application; Figure 4 This is a partial schematic diagram of an active robotic arm provided in another embodiment of this application.

[0029] One embodiment of this application provides a robotic arm teleoperation device 10, which includes an active robotic arm 11. The active robotic arm 11 includes a plurality of links 111 connected in sequence, and each pair of adjacent links 111 is rotatably connected by a joint assembly. Each joint assembly includes a joint shaft 112 and at least one damper 113. The joint shaft 112 pivotally connects two adjacent links 111. At least one damper 113 is disposed on the joint shaft 112 and / or the link 111 to reduce the rate of change of the angle of the joint assembly.

[0030] In this embodiment of the application, the robotic arm teleoperation device 10 includes an active robotic arm 11. The active robotic arm 11 includes a plurality of links 111 connected in sequence, which allows the active robotic arm 11 to mimic the multi-joint movements of a human arm.

[0031] Each pair of adjacent links 111 is rotatably connected by a joint assembly, which is the key component for enabling the flexible movement of the active robotic arm 11. The joint axis 112 serves to pivotally connect the two adjacent links 111, allowing the two links 111 to rotate relative to each other around the joint axis 112, thereby enabling various action postures of the active robotic arm 11.

[0032] Each joint assembly also includes at least one damper 113. The damper 113 may be disposed on the joint shaft 112, on the link 111, or both.

[0033] Specifically, in the first aspect, the damper 113 generates resistance during the rotational movement of two adjacent links 111 around the joint axis 112, thereby reducing the rate of change of the angle of the joint axis 112 and / or the links 111. During the shoulder fixation and end-effector positioning of the active robotic arm 11, the damper 113 can reduce or prevent the intermediate joint components from falling into the posture of minimum system energy by reducing the rate of change of angle, avoiding degree of freedom degradation, and thus reducing or eliminating the deviation between the position of each joint component and the position of the operator's arm. This allows the joint angle and other data collected by the active robotic arm 11 to accurately reflect the operator's true intention, making the collected data smoother, improving the data acquisition quality, and thus improving the accuracy of the slave robotic arm 12 in imitating the movements of the active robotic arm 11, thereby improving the precision and reliability of teleoperation.

[0034] Secondly, by using joint components instead of the integrated joint motor module in current technology, unused motors are eliminated, and a damper 113 replaces the reducer, thus simplifying the structure and reducing costs. Furthermore, the overall weight of the active robotic arm 11 is reduced, minimizing self-fall due to gravity and further slowing the rate of change of angles in the joint axis 112 and / or the link 111, thereby reducing or eliminating deviations between the positions of the joint components and the operator's arm.

[0035] Thirdly, the damper 113 provides resistance to make the joint movement smooth and avoid the movement fluctuation of the active robotic arm 11 caused by loosening of the joint components.

[0036] In some embodiments, the damper 113 includes a rotational damper 1131, which is disposed on the joint axis 112.

[0037] A rotary damper 1131 is mounted on the joint shaft 112 and is directly connected to the joint shaft 112, simplifying the transmission path of the damping system and reducing energy loss and errors during energy transfer. Furthermore, the rotary damper 1131 has a high degree of integration, providing damping without hindering the relative rotation between the links 111. The links 111 can smoothly change various angles when rotating around the joint shaft 112 without being restricted by the damper. While achieving its damping function, the rotary damper 1131 minimizes the impact on the relative rotation of the links 111, allowing the joints of the active robotic arm 11 to move freely and flexibly, thus improving the operational performance and adaptability of the active robotic arm 11.

[0038] In some embodiments, the damper 113 includes a linear damper 1132, one end of which is hinged to one of two links 111 pivotally connected to the joint axis 112, and the other end of which is hinged to the other link 111 pivotally connected to the joint axis 112.

[0039] One end of the linear damper 1132 is hinged to a link 111, and the other end of the linear damper 1132 is hinged to another link 111. This design avoids the location of the joint axis 112, eliminating the need to reserve space at the joint axis 112. The linear damper 1132 can be directly installed without changing the original structure and spatial layout of the joint axis 112 to achieve the damping function, thereby improving the flexibility and scalability of the active robotic arm 11 design.

[0040] Since the installation of the linear damper 1132 does not depend on the specific structure and space of the joint shaft 112, it has strong adaptability and is suitable for various types and structures of active robotic arms 11.

[0041] In some embodiments, the damping coefficient of the damper 113 is adjustable; and / or, the damper 113 is detachable to allow replacement with a damper 113 of a different damping coefficient.

[0042] The damping coefficient of the damper 113 is adjustable, which allows the active robotic arm 11 to be preset and calibrated to the optimal resistance required for the corresponding joint components.

[0043] And / or, the damper 113 is removable to allow replacement with dampers 113 of different damping coefficients. Replacing the damper 113 with a different damping coefficient facilitates the active robotic arm 11 in presetting and calibrating to the optimal resistance required for the corresponding joint assembly. Furthermore, if the damper 113 fails, a new damper can be quickly replaced, reducing downtime of the active robotic arm 11, lowering costs, and improving equipment availability.

[0044] Specifically, the damper 113 adopts one or more of the following: mechanical damper, hydraulic damper, pneumatic damper and electromagnetic damper.

[0045] Using different types of dampers or combinations thereof will produce different effects on the motion control, energy consumption, and environmental adaptability of the active robotic arm 11.

[0046] Mechanical dampers consume mechanical energy through friction and collision between mechanical structures, providing stable damping force for the movement of the active robotic arm 11, making the movement of joint components smoother and reducing vibration and impact.

[0047] Hydraulic dampers utilize the viscous resistance of liquids to dissipate energy and can provide a large damping force.

[0048] Pneumatic dampers use gas as the working medium and are characterized by their light weight and small size, making them suitable for installation at the joints of the active robotic arm 11 where weight and space requirements are high. Because gas is compressible, pneumatic dampers possess excellent elasticity and cushioning performance. They can absorb and release energy through the compression and expansion of gas during unstable movement of the joint components in the active robotic arm 11, thus providing cushioning and shock absorption.

[0049] Electromagnetic dampers utilize the principle of electromagnetic induction to generate damping force. By changing the magnitude and direction of the current, the magnitude and direction of the damping force can be precisely controlled. This allows the electromagnetic damper to work closely with the control system of the active robotic arm 11, adjusting the damping force in real time and precisely according to different motion tasks and requirements, thereby achieving high-precision control of the movement of the active robotic arm 11. In some embodiments, one of the two adjacent links 111 pivotally connected to each joint assembly is fixedly connected to the corresponding joint shaft 112, and the other link 111 of the two adjacent links 111 is sleeved and connected to the corresponding joint shaft 112.

[0050] Specifically, the two links at both ends of the active robotic arm 11 are a shoulder fixed link 1111 and a hand drag link 1112. The link 111 closest to the shoulder fixed link 1111 in the two adjacent links 111 pivotally connected to each joint assembly is fixedly connected to the corresponding joint axis 112. The link 111 closest to the hand drag link 1112 in the two adjacent links 111 pivotally connected to each joint assembly is sleeved with the corresponding joint axis 112 to form a rotatable connection.

[0051] The connecting rod 111, which is fixedly connected to the joint shaft 112, can directly receive the driving torque and motion from the joint shaft 112. The connecting rod 111, which is sleeved and connected to the joint shaft 112, can perform relative motion under the drive of the joint shaft 112. It has high connection stability and good rotational reliability.

[0052] In some embodiments, the joint assembly further includes a position sensor 114 disposed on the joint axis 112 for detecting the motion angle of the joint assembly.

[0053] The position sensor 114 can detect the rotation angle of the joint axis 112 in real time and accurately, thereby obtaining the motion angle information of the joint assembly and accurately transmitting the data to the driven robotic arm 12.

[0054] In other embodiments, the remote operation device 10 may not include the position sensor 114, and the angle can be obtained by an external sensor or by adding another sensor. This is not a limitation.

[0055] Specifically, the position sensor 114 employs one or more of the following: a potentiometer, an optical encoder, a magnetic encoder, or an inertial measurement unit. Different types of position sensors can be selected for the position sensor 114 according to actual needs.

[0056] The potentiometer generates an electrical signal proportional to the rotation angle of the joint shaft 112 by changing the position of the sliding contact on the resistive element. The potentiometer has a simple structure, low cost, and can provide a continuous analog signal that can directly reflect the rotation angle of the joint shaft 112.

[0057] Optical encoders utilize optical principles to determine the rotation angle of the joint shaft 112 by reading patterns or gratings on a code disk. The code disk is typically mounted on the joint shaft 112 and rotates with the shaft. When light shines on the code disk, a photoelectric sensor detects changes in the light transmitted through or reflected from the code disk, converts it into an electrical signal, and obtains a digital code corresponding to the angle after signal processing circuitry.

[0058] Magnetic encoders, based on the magnetoresistive or Hall effect, measure the rotation angle of joint shaft 112 by detecting changes in the magnetic field. Magnetic elements, such as magnetic rings or magnets, are mounted on joint shaft 112. When joint shaft 112 rotates, the magnetic field generated by the magnetic elements changes. A nearby magnetic sensor (such as a magnetoresistive sensor or Hall sensor) senses this change in the magnetic field and converts it into an electrical signal. After signal processing, the angle information of joint shaft 112 is obtained.

[0059] The inertial measurement unit (IMU) includes sensors such as accelerometers and gyroscopes. The accelerometers are used to measure the acceleration of the joint axis 112 during motion, while the gyroscopes are used to measure the angular velocity of the joint axis 112. By integrating the acceleration and angular velocity, the angular change information of the joint axis 112 can be obtained.

[0060] In some embodiments, the two links 111 at both ends of the active robotic arm 11 are a shoulder fixing link 1111 and a hand drag link 1112, respectively. The active robotic arm 11 also includes a shoulder base 115 and a hand manipulator 116. The shoulder base 115 is disposed on the shoulder fixing link 1111 and is used to fix the shoulder fixing link 1111. The hand manipulator 116 is disposed on the hand drag link 1112 and is used by the operator to drag and position the hand drag link 1112.

[0061] The shoulder base 115 stably fixes the shoulder fixing link 1111, providing a stable support foundation for the entire active robotic arm 11, enabling the active robotic arm 11 to perform extension, retraction, rotation and other actions in a predetermined manner to achieve various operational tasks.

[0062] The hand control component 116 can be strapped to the operator's hand, or it can be a gripper that the operator can directly operate. The hand control component 116 provides the operator with an interface for direct interaction with the active robotic arm 11. The operator can directly control the position and orientation of the hand-driven linkage 1112 by gripping, pushing, or pulling the hand control component 116.

[0063] In some embodiments, the active robotic arm 11 has seven joint components, so that the active robotic arm 11 has seven degrees of freedom to realize movements such as shoulder rotation, eversion and adduction, shoulder twisting, elbow flexion and extension, wrist twisting, abduction and adduction, and flexion and extension that mimic the human arm.

[0064] Seven joint components imply seven degrees of freedom of motion. Each joint component can independently drive the link 111 to change its angle, thereby enabling the end effector of the active robotic arm 11 to reach different positions and postures. When determining the end effector posture of the active robotic arm 11, the seven joint angles may generate infinite solutions to achieve a specific end effector posture. In this embodiment, by setting a damper 113 on the joint axis 112 and / or the link 111, the damper 113 utilizes its own physical properties to generate resistance in the opposite direction of movement when the joint axis 112 and / or the link 111 moves. By providing appropriate resistance, the damper 113 prevents the joint from approaching the posture of minimum energy too quickly during movement. When determining the end effector posture of the active robotic arm 11, the damper 113 can reduce or prevent intermediate joint components from falling into the posture of minimum system energy by slowing down the rate of angle change, thereby reducing or eliminating the deviation between the position of each joint component and the position of the operator's arm. This allows the joint angle and other data collected by the active robotic arm 11 to accurately reflect the operator's true intention, improving the quality of data acquisition.

[0065] According to one embodiment of this application, the remote operation device 10 further includes a driven robotic arm 12, with the active robotic arm 11 and the driven robotic arm 12 arranged in a one-to-one correspondence.

[0066] In this embodiment, the active robotic arm 11 and the driven robotic arm 12 are configured in a one-to-one correspondence. Every movement of the active robotic arm 11 can be accurately replicated by the driven robotic arm 12, ensuring the precision of the operation. Whether it is a delicate assembly task or a complex machining process, the driven robotic arm 12 can complete the corresponding operation with high precision according to the movement mode of the active robotic arm 11, adapting to different work scenarios and task requirements.

[0067] It should be noted that the terms "horizontal" and "vertical" do not imply that the components must be absolutely horizontal or vertical, but rather that they can be slightly tilted. Similarly, the terms "parallel" and "perpendicular" do not imply that the components are absolutely parallel or perpendicular, but rather that they can have a certain angular deviation. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted. In addition, the orientations or positional relationships indicated by terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" are based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships that are commonly used when the product of this application is in use. They are only for the purpose of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0068] It is understood that in this document, "multiple" means at least two, such as two, three, etc., unless otherwise specified. Furthermore, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. The term "and / or" merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0069] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A remote control device for a robotic arm, characterized in that, The active robotic arm includes a plurality of links connected in sequence, with each pair of adjacent links rotatably connected by a joint assembly; each joint assembly includes: The joint axis pivotally connects two adjacent links; At least one damper is provided on the joint axis and / or the link to reduce the rate of change of the angle of the joint assembly.

2. The remote operation device according to claim 1, characterized in that, The damper includes a rotary damper, which is disposed on the joint axis.

3. The remote operation device according to claim 1, characterized in that, The damper includes a linear damper, one end of which is hinged to one of the two links pivotally connected to the joint axis, and the other end of which is hinged to the other link of the two links pivotally connected to the joint axis.

4. The remote operation device according to claim 1, characterized in that, The damping coefficient of the damper is adjustable; and / or the damper is detachable to allow replacement with dampers of different damping coefficients.

5. The remote operation device according to claim 1, characterized in that, The damper is one or more of the following: mechanical damper, hydraulic damper, pneumatic damper, and electromagnetic damper.

6. The remote operation device according to any one of claims 1-5, characterized in that, One of the two adjacent links is fixedly connected to the corresponding joint axis, and the other of the two adjacent links is sleeved and connected to the corresponding joint axis.

7. The remote operation device according to any one of claims 1-5, characterized in that, The joint assembly also includes a position sensor disposed on the joint axis for detecting the movement angle of the joint assembly.

8. The remote operation device according to claim 7, characterized in that, The position sensor employs one or more of the following: potentiometer, optical encoder, magnetic encoder, or inertial measurement unit.

9. The remote operation device according to claim 1, characterized in that, The active robotic arm has two connecting links at both ends, namely a shoulder fixing link and a hand dragging link. The active robotic arm also includes: A shoulder base is provided on the shoulder fixing link and is used to fix the shoulder fixing link; A hand control component is provided on the hand drag link for the operator to drag and position the hand drag link.

10. The remote operation device according to claim 1, characterized in that, The joint assembly is provided with seven joints, so that the active robotic arm has seven degrees of freedom.

11. The remote operation device according to claim 1, characterized in that, The remote operation device also includes a driven robotic arm, with the active robotic arm and the driven robotic arm arranged in a one-to-one correspondence.

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