| According to the second national sample survey of disabled people in China,there are 24.12 million people with physical disabilities in China.It is of great significance to explore and help disabled people recover and reproduce their physical functions.In this paper,the soft robot is used as the interactive terminal of tactile force feedback,and the tactile signal of grasping force is transmitted to the amputee through the electronic skin.Firstly,the design and manufacture of soft robot are analyzed from material and structure.Combined with the mechanical properties of knitted fabric and woven fabric,the structure design and manufacture of pneumatic fabric actuator are carried out.At the same time,the air pressure driving system based on Arduino is designed,and the air pressure pipeline system which can be monitored in real time is designed and developed,thus forming a complete set of manufacturing and driving device of fabric actuator based on soft robot.Secondly,the physiological mechanism of tactile feedback in human hand grasping is explored.Combined with the function and anatomical position of skin surface nerve,arm median nerve and ulnar nerve in sensory feedback,a prosthetic tactile feedback technology based on electronic skin and soft robot is proposed.So that the user can sense the relevant stimulus in the right position of the body.By integrating the feedback system into the feedback device,we can realize the simple grip force and grasping force feedback related functions.Then,an array electronic skin:tactile information real-time acquisition system is designed and developed to meet the needs of grip perception and feedback.Based on STM32 single chip microcomputer,8×8 haptic force data acquisition module of array electronic skin.On the hardware data transmission level,the data selector is used to time-sharing gate the row channel connected to the data bus,parallel transmission is used to the column channel,and finally the row selection is scanned circularly to realize the data acquisition system based on the scanning circuit.At the software level,the data collected by the sensor is processed and transmitted by direct memory access(DMA).Experiments verify the usability of the developed tactile acquisition module.Finally,the control strategy of real-time in vitro feedback of prosthetic grip strength and related experimental research were carried out.Experiments were carried out by using electronic skin and tactile data acquisition module to analyze the covering and gripping force of soft robot on human upper arm.The force servo control algorithm is designed,and the force feedback device of blood pressure cuff with more uniform coverage is used to study the modal relationship between grasping force and human physical strength.Through theoretical analysis and experimental demonstration,this research adopts the feedback method of grasp telepresence based on soft robot,which enables human beings to experience the real feeling of hand grasp without direct touch or virtual scene,realizes the precise teleoperation experiment of robot,and restores and reproduces the user’s touch to a certain extent. |
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