基于外骨骼的数据手套设计及控制研究

Research on Data Glove Control Based on Exoskeleton

针对可穿戴式外骨骼机器人上的装备控制,设计了一种基于外骨骼的数据手套,该外骨骼数据手套的功能为通过手势变换输入信号控制外骨骼上的装备运作。外骨骼数据手套的控制方法为通过不同手指组合绷直带动外骨骼骨架触碰到不同的开关,使单片机采集到不同的信号来调用所需功能。这种控制方式相比于对比手势模型类型的数据手套,控制较简单、成本更低廉。同时,利用解剖学对输入指令的手指进行筛选来选出灵活度较高的手指,通过机器人学D-H法对手指机械骨架进行运动学正解分析,并使用ADAMS软件做运动学仿真帮助尺寸设计。最后基于SoildWorks软件对外骨骼数据手套进行了建模以及实物实验,验证了所提出的控制方式的正确性与合理性。

A data glove based on exoskeleton is designed for equipment control on wearable exoskeleton robots,whose function is to control the operation of equipment on the exoskeleton through gesture transformation of input signals.By using different finger combinations to straighten and drive the exoskeleton skeleton to touch different switches,the microcontroller collects different signals to call the required functions.The control method described is simpler and cheaper than data gloves that compare gesture model types.At the same time,the finger with high flexibility is selected by selecting the finger with input instructions through anatomy,and the finger mechanical skeleton is analyzed through the robotics D-H method for kinematics forward solution,and the kinematics simulation is done using ADAMS software to help size design.Finally,modeling and physical experiments of the exoskeleton data glove based on the software SoildWorks verify the correctness and rationality of the control method.