A Robotic Presence Data Handle Technology

Telepresence data handle as one of the ideal device for human-computer interaction interface, telepresence data handle and machinery palmistry connection, so that the teleoperation control system to achieve the man-machine with dynamic effect of telepresence. In this paper, by comparing the domestic and foreign to traditional force feedback data glove research. Analysis the problems, proposed a new manipulator control scheme to solve this problem.Real human hand grasping, feel is not only of finger contact point nerve stimulation, but include stimulation of nerve conduction opponents and wrist arm.Take suspended state hands grasping motion, in addition to finger contact point is difficult to generate deformation compression of real sense, there is no wrist and arm of force feel, more important is difficult to pass through the movement of the wrist and arm corresponding habitual to manipulate the corresponding mobile manipulator and, and the structure of the traditional data glove is also more complicated. Through the above analysis, the subject of data handle mechanical hand manipulating terminal,provided mobile terminal and terminal design in manipulating the end use incremental photoelectric encoder acquisition staff Joint bending and stretching angle, through STM32 software processing, using output signals to control DC motor, so as to control the movement of the mechanical fingers, hand in hand and machine servo system control device; in put end the encoder to collect the hand lifting state and control the positive and the negative rotation of the DC motor, so as to drive the lead screw to complete mechanical hand lifting function; finally, in the mobile terminal using Hall sensor control DC motor to achieve manipulator and mobile.Secondly, the paper used and building the electric stimulus driven circuit,experimental tests on the human body harmless electrical stimulus, the manipulator in grasping the object, through the preceding finger silicon pressure resistance sensor and data acquisition circuit module, grab the signal to electrical stimulation of the human finger, so that the operator can feel the contact object exerts a pressure size, so as to achieve the purpose of data handle remote manipulator.