The Research On Human-robot Interaction Technique And System With Force Feedback

Human-robot interaction,focus on how humans can communicate with robots unaffectedly and efficiently,is an important field of computer science.In recent years,researchers pay more attention to improve interaction efficiency and accuracy than the force feedback that,if neglected,will lead to the loss in a sense of immediacy,immersion and natural.To solve this problem,this paper developed a new type of non-contact natural human-robot interaction technology and system with force feedback based on movement tracking and electromagnetic theory.The main work includes:(1)Non-contact robot control: The technology and system use LeapMotion to recognise the three-dimensional gesture.The two problems that fingers may cover each other and the Leap Motion detection area cannot overlap with the force feedback force area in controlling with gesture will be sloved as putting two LeapMotions side by side.Proposed a robot movement tracking model which enables the robot to find the shortest path to track the manipulator's hand when it can not catch up with the hand.These two methods mentioned above,combined with the theory of Kalman filtering and robot kinematics modeling realized the non-contact three-dimensional gesture robot control.(2)Non-contact robot force feedback: The technology and system use magnetic force as feedback force,electromagnets as force producing devices,magnetic sensor gloves as force feeling devices.Use electromagnetic theory such as Maxwell's equations and finite element analysis to calculate the magnetic field distribution of the electromagnet and the magnitude of the feedback force.Use the three-dimensional movable platform movement tracking algorithm to calculate the direction of the feedback force,and finally realize the non-contact robot force feedback based on the magnetic force.(3)This study developed a non-contact natural human-robot interaction system with force feedback based on magnetic force and movement tracking and designed two experiments including trajectory track and water pouring to verify it's feasibility and accuracy.The results show that this technology and interactive system enhances the presence sensation and can improve the interactive experience.At the same time,the method is versatile and can be extended to different robot systems.