| Research on Supernumerary Robotic Limbs(SRL)establishes a new concept of wearable robotics which differs from exoskeleton,it brings a different way of human augmentation than exoskeleton.SRL can expand the physical capabilities of human in various tasks and working environments,which enhances working ability and adaptability of human in dealing with tough tasks in narrow space.With human focusing on current tasks and limitation of mounting position and physical structure of SRL,recognizing human working intention precisely and sending commands for SRL to provide support with efficiency become critical in control system.This thesis proposes a gaze signal control system with feedback for SRL.In this controlling system,SRL moving commands are calculated by the operator's gaze signal.At the same time,the controlling system monitors working status of all modules and sending corresponding signal back to the operator in real time.The research content of this thesis is listed as follows:(1)An external limb control system based on the operator's gaze signals and the external limb multi-source information perception feedback system were proposed.The connection and data conversion between the operator's gaze signal and the workspace coordinates were established to convert the target point of the operator's gaze direction into the coordinate information which can be recognized and operated by the control system.The coordinate transmission module of the target point in the sight of the operator was established to realize the control and perceptual feedback data transmission between the operator and the SRL.(2)An operation target acquisition system was established to collect the operator's gaze information by eye tracker and the target coordinates by depth sensor,and an operation instruction confirmation system was established to collect the operator's control intention by Surface Electromyography(SEMG)equipment.After the control system obtains the coordinate information of the operation target,by detecting the muscle contraction signal of the operator,that is,the control intention,it can accurately transmit the fixation position at this moment to the SRL execution module according to the actual control intention of the operator,and complete the corresponding auxiliary work.(3)The detection and perception feedback system of working state signals of external limbs were established,and the perception feedback signal models of different functional modules and working states were established.The real-time detection module is set for each function of the gaze signal based SRL control system,and is transmitted to the operator through visual and auditory information according to the actual working state of the corresponding function,so as to improve the working efficiency of the control system and ensure the work safety of the operator and the SRL.Experiments such as operator gaze control,gaze signal following and multi-source perceptual feedback strategies were designed to verify the external body eye movement control system and multi-source information perceptual feedback system. |
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