Research And Design Of Control System For Human-computer Interaction Task

In many man-machine interface signals,the researchers of Electrical impedance tomography biological signal research is few,it is in pathological study,convenient lesion detection has been widely used,but in terms of dynamics of the human body joint estimation,the current study is not as a man-machine interface and used as control parameters of the robot,it is very important research value and significance,so this article will use the EII signal characteristics to the human body joint dynamics to estimate,the final as the man-machine interface signal to design a set of the machine arm control system for human-computer interaction.This article USES the EIT signal based on biological signal feature of arm in continuous real-time estimate catch grip strength,used as a control parameter of the mechanical arm.In UR5 manipulator for experimental platform,real-time estimation experiment design is the grip,position of impedance hybrid control human-computer interaction experiment,man-machine collaboration sawing experiment verify the feasibility of EIT signal as human-computer interaction interface and the control effectiveness of the algorithm.Finally completed a set of control system,the mechanical arm for human-computer interaction system contains EIT sensing front-end,EIT signal acquisition device,EIT image reconstruction PC real-time control mechanical arm,upper machine,the mechanical arm ontology,six dimensional force torque sensor,etc.Catch grip strength real-time estimation experiment were chose five subjects,fitting R2 value was 0.83±0.04 on average,the average RRMSE 0.31±0.10.Position impedance hybrid control experiment chose three subjects,each of five experimental subjects trying times,studied the peak position error and error recovery to 10% of the peak duration.When participants grasping force is bigger,all times of the average duration of 798.24 ms,and the subjects grasping force is bigger,all times of the average duration of 2144.89 ms.Use the EIT biological signal to estimate the real-time grasping force RRMSE is 0.211.Man-machine collaboration sawing experiment chose three subjects,each tried three times and studied subjects cutting cycle,state of the push and pull down the size of the sawing force and the recognition rate.Straight try times by the fastest average cutting cycle is relaxed 1.220 S,1.400 S tightening state;Sawing force down relaxed 12.692 N,15.504 N tightening state;Cutting speed relaxed down 0.407 cm/min,0.803 cm/min tightening state;This article conclusion is proved:(1)based on EIT biological signals as the man-machine interface estimate the feasibility of the dynamics of human joints.(2)EIT new man-machine interface is used to real-time control the feasibility of the mechanical arm and its performance.(3)the integrity of the mechanical arm control system and its performance.