Manipulation Glove Control for Clear Robot Motion Discrimination
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Solution Overview
Problem
Comanipulation robots face challenges in accurately discriminating between translational and rotational movements due to interference from the part's flexibility and inertia, leading to ambiguity and instability in force measurement and control.
Innovation Solution
A method using a manipulation glove with contact sensors on fingers and potentially the palm, connected to a control unit that associates recorded signal combinations with setpoints, allowing intuitive control without requiring knowledge of force orientation or distance, and enabling clear discrimination between rotation and translation instructions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force measurement is carried out through the part to be manipulated using strain gauges or similar sensors, then the robot can detect operator intention, but the flexibility and geometrical characteristics of the part interfere with accurate acquisition of translational and rotational movements
Solution Approach 1:
The patent introduces an intermediary device (glove with contact sensors) between the operator and the part to be manipulated. This intermediary directly measures contact forces and moments at the manipulation interface, bypassing the problematic transmission through the part's flexible structure. The glove contains sensors that detect forces applied by the operator's fingers, providing accurate measurement without being affected by the part's geometrical characteristics or flexibility.
2Device complexity
If the robot is mechanically reversible without force measurement, then the system is simpler, but it remains difficult to discriminate translational movement from rotational movement applied by the operator
Solution Approach 1:
The patent segments the measurement function by placing individual contact sensors on specific fingers of the glove. Each sensor measures forces independently, allowing the control system to discriminate between translational and rotational movements by analyzing the distribution and direction of forces on different fingers. This segmentation provides rich information about operator intention without requiring complex mechanical structures.
3Ease of operation
If a manipulation interface with force and movement sensors is used, then control can be achieved, but the system suffers from instability when creating feedback loops due to transmission through the part
Solution Approach 1:
The glove acts as a stable intermediary measurement interface that does not rely on feedback through the manipulated part. By measuring forces directly at the operator's hand, the system eliminates the unstable transmission path through the part's flexible structure. This direct measurement approach provides stable feedback for control loops without the ambiguity and instability associated with part-mediated force transmission.
4Reliability
If precise force measurement is required for accurate robot control, then control quality improves, but the cost and complexity of the measurement system increases
Solution Approach 1:
The patent employs relatively simple and inexpensive contact sensors (such as force resistors or capacitive sensors) integrated into a glove, replacing complex industrial force measurement systems. These sensors provide sufficient measurement quality for comanipulation control without requiring expensive strain gauge rosettes, load cells, or sophisticated force platforms. The glove itself serves as a disposable or replaceable measurement interface.
Data Source
AI summary
A method for controlling a robot (1) for handling a part to be handled (14), the handling robot (1) being linked to a control interface comprising a glove (40) comprising a first finger (41) provided with a first contact sensor (42) and a second finger (43) provided with a second contact sensor (44), the method comprising the following steps; a) associating, in a signal library (25), a first and a second recorded combination of signals (26, 21); b) acquiring a combination of signals originating from the sensors (26, 27) of the glove (40); c) comparing the acquired combination of signals with the recorded combinations (27, 28, 29) in the library (25); d) controlling the handling robot (1) in such a way as to perform a movement according to the velocity vector associated with the acquired combination of signals. A handling glove (40) and handling device implementing the method.