| As a wearable device to enhance human function,exoskeleton robot has a wide application prospect in military,medical,industrial and other fields.The human computer fusion exoskeleton system is a type of new intelligent system produced by the interaction between human and exoskeleton,which can adapt to more complex working scenes.In the face of complex work scenes,operators often need certain information prompts to obtain task instructions and understand the task process.At the same time,operators need some limb movement guidance to ensure the operation specification to ensure the successful completion of the task.At present,the development of guidance technology is limited by hardware equipment and scenes.The widely used methods are to realize the guidance effect with the help of mobile devices,such as mobile phones and tablets.However,these methods have general guidance effect,low user immersion and can not liberate the operator’s hands.When providing guidance effect to a wider operation scene,it is necessary to deploy guidance equipment intensively,which will lead to a sharp increase in cost and high difficulty in implementation.With the maturity of mixed reality technology,this thesis selects mixed reality glasses as guidance equipment,and develops the corresponding intelligent visual guidance system for the operation scene of human computer fusion exoskeleton.Through mixed reality equipment,the operator’s perception ability and environmental understanding ability are enhanced,and holographic animation is used to give eyecatching,accurate and easy to understand task instructions and operation guidance during the operation process,providing a more friendly working experience for the operator.The intelligent guidance based on mixed reality liberates the operator’s hands and can effectively improve the operation efficiency of human computer fusion exoskeleton system.The research work of this thesis includes the following contents:(1)This thesis developed a set of data acquisition system,constructed the human motion data set for the typical working scene of exoskeleton human computer fusion.Selecting mixed reality glasses,human lower limb exoskeleton,nine axis inertial sensor and plantar pressure sensor to collect the motion data of 20 volunteers in ordinary motion scenes such as walking,going up and down stairs and exoskeleton working scenes.The collection frequency was 60Hz and the total time of data was about 600 minutes.Data acquisition in general scene includes 13 joint motion data of human body,6 joint motion data of lower limb exoskeleton and plantar pressure data;The first-person perspective video image information is added to the data acquisition in the exoskeleton working scene.Combining human motion posture data with exoskeleton joint motion data and first-person perspective video image information is a novel data set construction method,which can not only be used as the data source of intelligent guidance in this thesis,but also provide a research basis for exoskeleton human computer fusion.Compared with the current human motion data set based on inertial sensor,ours data set contains more kinds of data and more sufficient data.(2)This thesis built an intelligent guidance system based on mixed reality for three typical scenes:path navigation,limb movement guidance and exoskeleton working.In these scenes,the system carries out scene understanding and target recognition using the environmental information collected by mixed reality glasses,and uses the inertial sensor worn by the human body to reconstruct the human motion posture,so as to compare the guidance action in real time.Render holographic animation by mixed reality equipment,and give corresponding path navigation and action guidance to help operators understand the operation process and compare the operation actions.Compared with general operation mode,the operation using intelligent guidance system can better ensure the operation specification and improve the operation efficiency. |
