Research On Human-Computer Interaction Based On Somatosensory Sensor

With the development of robot control technology,all kinds of robots have been widely applied in all walks of life and many areas of our lives.However,the way of robot control is basically realized by human-machine interface,teaching device,remote control and so on.It mainly depends on mouse,keyboard,touch screen,etc.The traditional man-machine interactive operation is complex and not direct enough.In this paper,based on the rapid development of somatosensory technology,a human-machine interaction control method based on somatosensory technology for robot control is proposed.The operator can manipulate the robot or manipulator by limb movement.If this kind of somatosensory human-computer interaction technology is applied to the aged and disabled service robot,a variety of self-care actions that the disabled cannot be realized through the somatosensory interactive control robot will bring more convenience to people's life.In order to simplify the complexity of human-machine interaction,a five finger bionic robot system with tactile feedback is developed based on the principle of somatosensory human identification.Firstly this paper analyzes and studies the machine vision principle of the body sensing sensor Leap Motion.Based on the principle of human body recognition,it uses its high precision and high computing speed to obtain a real-time and accurate 3D modeling data of hand.Then,based on the change of data flow,the five finger bionic robot's following motion of human hands and gesture control based on gesture recognition algorithm are realized.Because of the high flexibility and instability of human hand movement,this kind of input and output system with noise and high uncertainty cannot rely on the traditional motion control method to establish an accurate mathematical model to achieve precise control.In this paper,a mathematical model of language analysis is established by using fuzzy logic control.A precise simulation of motion control information is obtained by a fuzzy controller,thus the locus control of the finger of a bionic manipulator is realized.Then,the correctness of fuzzy controller is verified by MATLAB,and the robustness and stability of the whole system are improved.In order to improve the security and application range of the system,a set of equipment worn on the hand is developed,which can receive contact force feedback from the end of the mechanical finger,and make the user can feel the touch of the manipulator to the object in the somatosensory control manipulator,which can reduce the danger and improves the friendliness of the human-computer interaction technology.The test shows that the five finger biomimetic manipulator following system based on somatosensory control realizes the following motion,gestures control and basic grip,tactile feedback function to meet the design requirements.