Wearable Finger Interface for Intuitive Legged Robot Teleoperation
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Solution Overview
Problem
Controlling legged robots with autonomous gaits can be challenging due to limited adaptability, especially in complex and dangerous environments, requiring human oversight to handle unexpected situations, and existing user interfaces are not intuitive, making it tedious to control each joint and individual leg motions.
Innovation Solution
A wearable human-machine interface device with sensors and controllers that map the motion of a user's fingers to control the motion of a robot's legs, allowing for intuitive control of legged robots through Joint Angle Mapping (JAM) or Tip Position Mapping (TPM), enabling precise placement of limbs and integrating manual and autonomous controls.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If direct teleoperation is used to control each joint and individual leg motions, then control precision is improved, but user effort and muscle fatigue increase significantly
Solution Approach 1:
The patent creates a virtual copy of the robot's leg structure in the user's visual field, allowing the user to control the robot by naturally moving their own limbs. The virtual leg in the augmented reality display mirrors the robot's actual leg configuration, enabling intuitive control without directly manipulating each joint individually. This copying approach maintains control precision while significantly reducing user effort by leveraging the user's natural motor skills.
Solution Approach 2:
The patent introduces an augmented reality interface as an intermediary between the user and the robot. This intermediary layer processes the user's natural limb movements and translates them into precise robot control commands, while also providing visual feedback about the robot's state. The AR interface acts as a mediator that bridges the gap between intuitive user input and precise robot control, reducing the direct cognitive and physical load on the user.
2Productivity
If autonomous gaits are used for robot locomotion, then productivity is improved, but adaptability to unexpected situations deteriorates
Solution Approach 1:
The patent implements a dynamic control system that can switch between autonomous gait modes and direct teleoperation modes based on environmental conditions. When the environment is predictable and routine, the system operates in autonomous mode for high productivity. When unexpected situations arise, the system dynamically transitions to teleoperation mode, allowing the user to intervene and adapt to new conditions. This dynamic switching capability maintains both productivity and adaptability.
Solution Approach 2:
The patent incorporates continuous feedback loops that monitor environmental conditions and robot performance. The augmented reality interface provides real-time visual feedback to the user about the robot's state and surrounding environment, enabling the user to detect when autonomous operation is insufficient and when human intervention is needed. This feedback mechanism ensures that the system maintains adaptability while operating autonomously for productivity gains.
3Device complexity
If traditional user interfaces are used for robot control, then device complexity is reduced, but ease of operation deteriorates due to non-intuitive control
Solution Approach 1:
The patent leverages the universality of human anatomy by using the user's own limbs as the control interface. Instead of requiring the user to learn complex controller mappings, the system allows direct control through natural limb movements that any human can perform. This universal approach uses the user's body as the interface, eliminating the need for specialized training while maintaining interface simplicity. The user's natural motor skills become the control mechanism, making the system easy to operate for any user.
Data Source
AI summary
A wearable human-machine interface device includes a base, a finger, a sensor, and an interface controller. The finger extends longitudinally from the base and including first and second rigid finger segments. A proximal end of the first finger segment is coupled to the base, and a proximal end of the second finger segment is coupled to a distal end of the first finger segment by a joint. The joint is adapted to enable rotational movement of the second finger segment relative to the first finger segment. The sensor is coupled to the finger and configured to provide a sensor signal representative of a position and/or movement of the second finger segment relative to the first finger segment. An interface controller is configured to provide a control signal representative of a flexion of the finger and/or a position of a fingertip of the finger based on the sensor signal.