Research On Positive Safety Technology Of Supernumerary Robotic Limbs Based On Perceptual Feedback

Supernumerary Robotic Limbs is a new type of human enhanced robot,which can expand the number of human limbs and cooperate with people to complete complex tasks with flexible configuration.The robot designed in this paper is mainly used to assist the work of overhead,lifting and supporting.It can interact with the operator naturally and give an early warning of human-robot collision.The specific research contents and achievements of the paper are as follows:(1)According to the three task models of SRL,a set of robot test platform for SRL is designed.Completed the mechanical structure design,hardware circuit design,computer software design and MCU software design,and completed the production and debugging work.(2)A static arm gesture recognition algorithm based on IMU signal is studied.The arm information is decomposed into two features:coordinate vector and joint angle.The gesture is modeled by feature combination,and the overall similarity evaluation index is used to classify the gesture.The recognition accuracy of 98.92%is achieved on the data set with four specific gestures executed by five experimenters.(3)The collision detection method of space robot is studied,and the method of estimating the distance between human and machine by using the simplified model of sphere and cylinder is proposed.The kinematics model of manipulator and human arm is established by using D-H parameter method,and the forward kinematics is solved.The collision detection model based on static collision warning and dynamic collision warning is proposed.The D-H parameter method is used to establish the kinematics model of the manipulator and human arm,and the forward kinematics is solved.A collision detection model based on static collision warning and dynamic collision warning is proposed.(4)The interaction technology between human and machine is studied.A feedback system using sound,light,electrical stimulation and vibration stimulation to transmit information is designed.On the basis of the hardware system,an information feedback model conforming to human intuitive feeling is established.