CN106695794A - Mobile machine arm system based on surface myoelectric signal and control method of mobile machine arm system - Google Patents
Mobile machine arm system based on surface myoelectric signal and control method of mobile machine arm system Download PDFInfo
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- CN106695794A CN106695794A CN201710089888.4A CN201710089888A CN106695794A CN 106695794 A CN106695794 A CN 106695794A CN 201710089888 A CN201710089888 A CN 201710089888A CN 106695794 A CN106695794 A CN 106695794A
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- 230000003183 myoelectrical effect Effects 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000000694 effects Effects 0.000 claims abstract description 9
- 210000003205 muscle Anatomy 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 5
- 210000002310 elbow joint Anatomy 0.000 claims description 3
- 210000000323 shoulder joint Anatomy 0.000 claims description 3
- 241000288105 Grus Species 0.000 claims description 2
- 230000003387 muscular Effects 0.000 claims description 2
- 238000012369 In process control Methods 0.000 claims 1
- 238000010965 in-process control Methods 0.000 claims 1
- 235000013372 meat Nutrition 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 6
- 210000003813 thumb Anatomy 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 4
- 210000003811 finger Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 241000272534 Struthio camelus Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention provides a mobile machine arm system based on a surface myoelectric signal and a control method of the mobile machine arm system. The system is composed of a wearable surface myoelectricity acquisition ring, an inertia measurement device, a computer and a mobile machine arm sub-system. According to the system, the movement direction of a far-end mobile machine arm, and the work of the machine arm and a clamping machine are controlled by means of different gestures of an operator; the movement speed of the mobile machine arm is controlled by changing the arm rigidity; and the inertia measurement device is used for capturing the arm posture of the operator, and the machine arm can be remotely controlled. By means of the mobile machine arm system based on the surface myoelectric signal and the control method of the mobile machine arm system, the movement directions and the speeds of the machine arm and a mobile platform are remotely controlled in the manner that the operator changes the arm posture, the gestures and the muscle activity, the using range of the mobile machine arm is widened, and the using efficiency of the mobile machine arm is improved.
Description
Technical field
The invention belongs to robot and biological myoelectricity field.It is specifically related to a kind of to utilize human upper limb attitude and surface myoelectric
The technology and method of the mobile robotic arm motion of signal control.
Background technology
With the development and the progress of science and technology of society, robot is not only in industrial circle, while in medical rehabilitation, eating
Drink-service is engaged in, and the field such as military affairs exploration plays increasing effect.In the control mode of robot, man-machine interaction and remote operating are received
To extensive concern.In working environment dangerous at some and complicated, robot gradually replaces the mankind.Most of robot
Using the remote operating mode of button, handle and remote control, man-machine interaction is not friendly enough in these modes.
At present, existing substantial amounts of experiment utilizes gyroscope and capture device（Kinect）Deng external equipment by catching
Human body limb acts to control the motion of robotic arm, but can only be fixed on static work of the existing technology to robotic arm to put down
Platform.The EEG signals and electromyographic signal of the mankind control moveable robot movement also in fast development, but can only by these methods
The specific motion state of robot is controlled, and can not effectively and in real time control the motion speed of mobile robot
Degree.With the development of wearable device, if the control of robotic arm and mobile robot is combined, realize that one kind can be controlled remotely
The mobile robotic arm of system, gives full play to two kinds of technical advantages, to realize high-quality remote operating effect.
At present, the patent of the remote operating control on robot mainly has：
Chinese publication number：CN105014676, title：A kind of motion planning and robot control method.The invention devises one kind can
The system of remote control robot motion, is made up of Myo armlets and remote mobile robot.Myo armlets collection human upper limb
Electromyographic signal sends computer or smart mobile phone to by bluetooth, and the SDK for then being provided by Myo recognizes the hand of operator
Gesture.Single-chip microcomputer controls motor or ostrich machine in mobile-robot system by the gesture information for receiving.The invention utilizes people
The surface dynamoelectric signal of body recognizes gesture, and then controls robot, with discrimination is high, with low cost, man-machine interaction is good and
The advantage of ambient noise interference can be overcome.But the invention function is not complete, with the direction of motion of gesture control robot, does not have
There is the environment residing for consideration robot, travelled with same speed when robot is in open and crowded environment, hence it is evident that
Reduce the service efficiency of robot.
Chinese publication number：CN103991492, title：A kind of intelligent carriage based on Kinect technologies.The invention sets
A kind of intelligent carriage based on Kinect technologies is counted, by domain, rotating shaft assembly, wheel set, Kinect sensor, computer
Constituted with slave computer.The voice of the limb action or operating personnel that collect operating personnel using Kinect vision sensors refers to
After order, computer is passed to.After computer is parsed to the limb action or voice messaging that are received, sent to slave computer
Instruction, and then control the motion state of intelligent carriage.The invention, can be accurate by recognizing action or the voice of operator
Control dolly.But, the invention function is excessively simple, does not account for the environment residing for dolly, when school bus is in the open and stream of people
Intensive environment is travelled with same speed, hence it is evident that reduce the operating efficiency of machine dolly, and, when have noise or Kinect with
When having barrier between operator, the invention will be unable to work on.
The content of the invention
The purpose of the present invention is：With existing wearable device, make full use of operator's arm surface electromyographic signal and
The attitude of arm, the system and method for realizing a kind of remote controlled mobile robotic arm direction of motion and speed.The system is by one
Individual near-end control subsystem and a distal end movement robotic arm subsystem composition.Near-end control subsystem includes biological myoelectricity collection
Module and attitude data acquisition module.Biological myoelectricity acquisition module is made up of wearable surface myoelectric collection ring, such as the institute of accompanying drawing 2
Show, attitude data collection is completed by inertial measuring unit.Mobile robotic arm subsystem is by mobile platform, supporting plate, two machines
Arm and clamper are constituted.
Technical scheme is as follows：
A kind of mobile machine arm system based on arm surface electromyographic signal, it is characterised in that it is gathered by wearable surface myoelectric
Ring, inertial measuring unit, computer and mobile robotic arm subsystem composition, wearable surface myoelectric collection ring, inertial measuring unit
Computer is wirelessly connected respectively with mobile mechanical arm subsystem.Wearable surface myoelectric collection ring is by N pieces biology myoelectricity
Sensor is respectively embedded in N number of cuboid block, and N number of cuboid block is once linked, and constitutes an annulus, wearable on arm
Surface electromyogram signal for detecting operator.Mobile robotic arm subsystem is respectively mounted one in the left and right sides of mobile platform
The five degree of freedom robotic arm of anthropoid arm, is respectively mounted a clamper, at the rear of mobile platform in the end of robotic arm
One supporting plate is installed, robotic arm using or the article fetched can put on the supporting plate, wherein N represents number of components can be
One or more.
A kind of technical scheme of the invention is to provide a kind of control that machine arm system is moved based on arm surface electromyographic signal
Method processed, it is characterised in that：The wearable surface myoelectric collection ring worn by using operator obtains the myoelectricity of arm surface
Signal is active to estimate arm muscles, sets up the relation of muscle activity and operator's arm rigidity, and operator is by adjusting arm
Rigidity, the movement velocity of robotic arm in mobile robotic arm subsystem can be controlled with real time remote by wireless network.Using N number of
N group data are taken average amplitude by biological myoelectric sensor, are then calculated using average filter method, so as to ensure that robot is transported
The stationarity of dynamic speed control.Decide whether that robotic arm and clamper work using operator's gesture, when not needing machine
When arm works, operator's arm can be placed arbitrarily, prevented the too long muscular fatigue of arm work and increased robotic arm utilization ratio,
When needing gripping article, operator is that can control by gesture.Operator's left and right arm two inertial measuring units of each band, respectively
The upper arm and underarm of arm, can calculate 5 joint angles of every arm shoulder joint of operator and elbow joint, by joint angles
Mobile robotic arm subsystem is sent to by wireless network, is capable of achieving to two controls of robotic arm motion.
Near-end control subsystem is by acquisition operations person's arm attitude and arm surface electromyographic signal, remote control moving machine
The motion of device arm subsystem, as shown in Figure 1.
Specific control method：
Two wearable surface myoelectric collection rings are worn over left and right underarm by operator, by the detectable behaviour of biological myoelectric sensor
The electromyographic signal of author's arm surface.Electromyographic signal to collecting can carry out both sides treatment：First, by learning algorithm
Recognize the gesture of operator；Second, electromyographic signal and arm rigidity model are set up, by estimating arm rigidity to mobile platform
Carry out speed control.The gesture of operator is resolved to, first is used to control distal end to move the robotic arm subsystem direction of motion；The
Two, the switch worked as robotic arm with a gesture；3rd, to the work of gesture control robotic arm end gripper.Speed
Degree control gain is used for the movement velocity that remote control moves robotic arm subsystem.Meanwhile, by four wearable inertia measurement dresses
Put the upper arm and underarm of band respectively in operator's left and right arm, the arm attitude data for calculating operator.It is calculated behaviour
The arm joint angle of author is sent to distal end and moves robotic arm subsystem, the motion for controlling robotic arm by wireless network.
The invention discloses a kind of system and control method of remote controlled mobile robotic arm, the system can realize one
Individual one movable machine arm of operator's remote control without robot control experience.The present invention makes full use of the upper of human body
Limb carries out operable control.First, recognize the gesture of operator to REMOTE MACHINE arm using the electromyographic signal of arm surface
The direction of motion of system, the operating switch of robotic arm, the clamper of robotic arm end are controlled.Second, operated by detecting
Person's the muscles of the arm activity carries out remote operating control to the movement velocity of REMOTE MACHINE arm subsystem.3rd, by operator
The Attitude Calculation of upper arm and forearm, the motion of remote control of machine arm.
Brief description of the drawings
Fig. 1 is control method flow chart of the present invention；
Fig. 2 is wearable surface myoelectric collection ring of the invention；
Fig. 3 is inertial measuring unit of the invention；
Fig. 4 is the overall schematic of the mobile robotic arm subsystem of the present invention；
Fig. 5 is the overall front view of the mobile robotic arm subsystem of the present invention；
Fig. 6 is the overall front view of the mobile robotic arm subsystem of the present invention；
Fig. 7 is the overall top view of the mobile robotic arm subsystem of the present invention.
Wherein 1 is mobile platform；2 is supporting plate；3 is robotic arm；4 is clamper.
Specific embodiment
Specific embodiment of the invention is：Each arm of operator two inertial measuring units of each band, respectively positioned at hand
The upper arm and underarm of arm.The data measured using inertial measuring unit, can calculate the five of operator's shoulder joint and elbow joint
Individual joint angles, so that it is determined that the arm attitude of operator.
Two wearable surface myoelectric collection rings are worn over the left and right underarm of operator respectively.One of arm is collected
Electromyographic signal be used to parse the gesture of operator, the electromyographic signal that another surface myoelectric collection ring is collected is used to estimate to be grasped
Author's the muscles of the arm activity.Treatment carried out to electromyographic signal simultaneously of both：First, by learning algorithm, believed by myoelectricity
Number parsing operator gesture；Second, electromyographic signal is averaged, filter, sampled, operator is estimated by electromyographic signal
The muscles of the arm activity, and then calculating speed control gain, computational methods are as follows：
The N number of biological myoelectric sensor detection of wearable surface electromyogram signal acquisition ring obtains signal for ui(k), i = 1,
2...N, k represents sampling instant.
1. electromyographic signal average amplitude is calculated
2. pair amplitude uses average filter method
Here M is a positive integer, can take M=20
3. the mapping set up between electromyographic signal and muscle activity
, A is the Nonlinear Mapping factor.
4. calculating speed control gain
Gain (k) represents speed control gain, GainmaxAnd GainminRepresent maximum respectively and control gain with minimum speed,
Can be calculated before operation. αmaxAnd αmaxMuscle activity maximal and minmal value is represented respectively, can before operation be measured and be obtained.
Computer is by 5 joint angles of operator, the gesture parsed by electromyographic signal and the speed control being calculated
Gain is sent to distal end and moves robotic arm subsystem by wireless network.The different hand signals for receiving are used for three aspects：
First is used for the direction of motion that remote control moves robotic arm subsystem；One controlling switch worked as robotic arm 3；The
Three, control the work of the end gripper 4 of robotic arm 3.Speed control gain signal carrys out remote control movement robotic arm subsystem
Movement velocity.By changing 5 joint angles of operator's arm come remote operating robotic arm 3.
Motor message of 6 kinds of gestures as REMOTE MACHINE arm subsystem is set in this example.6 gestures（The right hand）Can divide
Not Wei forefinger and thumb contact and remaining finger stretch（OK gestures）, clench fist, palm inwardly, palm-outward, middle finger and thumb
Double-click and launch palm.
Wherein, preceding 4 gestures represent mobile robot and stop, advancing, turn left, turn right successively；Middle finger is double with thumb
The working condition for selecting control robotic arm 3 is hit, double-click once makes robotic arm 3 enter working condition, double-clicks again, can make machine
Device arm 3 is in resting state；Launching palm is used to control the work of robotic arm clamper 4.
Two wearable surface electromyogram signal acquisition rings are worn over two underarms of operator respectively, meanwhile, in operation
The upper arm and underarm of person's right hand put on inertial measuring unit respectively.The electromyographic signal and inertia that surface myoelectric collection ring is collected
The data is activation of measurement apparatus collection is to computer.Wherein, the electromyographic signal of the right hand is used to parse the gesture of operator, the flesh of left hand
Electric signal is used for calculating speed and controls gain.5 joints of the data calculating operation person's right arm gathered with inertial measuring unit
Angle, determines the attitude of right arm.Then gesture information, speed control gain and 5 joint angles are sent by wireless network
Robotic arm subsystem is moved to distal end.
When detecting on operator clenches fist, mobile robotic arm advances；When operator is detected in OK gestures, moving machine
Device arm stops；When detecting operator's right hand palm and being inside, mobile robotic arm is turned left；When detecting operator's right hand palm
When outwards, mobile robotic arm is turned right；When operator increases the rigidity of arm, the movement velocity of mobile robotic arm is accelerated；Work as behaviour
Author weakens the rigidity of arm, and the movement velocity of mobile robotic arm slows down.When need robotic arm 3 work when, operator's middle finger with
Thumb is double-clicked, and operator can be with remote operating robotic arm 3.When operator refers to again to be double-clicked with thumb, robotic arm 3 stops work
Make.When operator needs to take object with the clamper 4 of robotic arm 3, when operator launches palm, control robotic arm folder is can control
The work of holder 4.
Above-described embodiment is the present invention preferably implementation method, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (7)
1. a kind of mobile machine arm system based on arm surface electromyographic signal, it is characterised in that it is adopted by wearable surface myoelectric
Collection ring, inertial measuring unit, computer and mobile robotic arm subsystem composition, wearable surface myoelectric collection ring, inertia measurement dress
Put and wirelessly connect computer respectively with mobile mechanical arm subsystem.
2. a kind of mechanically moving arm system according to claim 1, it is characterised in that：Described wearable surface myoelectric is adopted
Collection ring is respectively embedded in N number of cuboid block by N pieces biology myoelectric sensor, and N number of cuboid block is once linked, and constitutes a circle
Ring, it is wearable on arm for detecting the surface electromyogram signal of operator.
3. a kind of mechanically moving arm system according to claim 1 and 2, it is characterised in that：Described mobile robotic arm
System is respectively mounted a five degree of freedom robotic arm for anthropoid arm in the left and right sides of mobile platform, in the end of robotic arm
Be respectively mounted a clamper, one supporting plate be installed at the rear of mobile platform, robotic arm using or the article fetched can
Put on the supporting plate.
4. it is a kind of based on arm surface electromyographic signal move machine arm system control method, it is characterised in that：By using behaviour
The electromyographic signal that the wearable surface myoelectric collection ring that author wears obtains arm surface is active to estimate arm muscles, sets up flesh
Meat activity and the relation of operator's arm rigidity, operator, can be remote in real time by wireless network by adjusting the rigidity of arm
The movement velocity of robotic arm in process control movement robotic arm subsystem.
5. the control method of mobile machine arm system according to claim 4, it is characterised in that：Using N number of biological myoelectricity
N group data are taken average amplitude by sensor, are then calculated using average filter method, so as to ensure robot movement velocity control
The stationarity of system.
6. the control method of mobile machine arm system according to claim 4, it is characterised in that determined using operator's gesture
Whether fixed to need robotic arm and clamper to work, when not needing robotic arm to work, operator's arm can be placed arbitrarily, be prevented
Arm works too long muscular fatigue and increase robotic arm utilization ratio, it is necessary to when gripping article, operator is controllable by gesture
System.
7. the control method of mobile machine arm system according to claim 4, it is characterised in that operator's left and right arm is each
Two inertial measuring units of band, the upper arm and underarm of arm, can calculate every arm shoulder joint of operator and elbow joint respectively
5 joint angles, joint angles are sent to mobile robotic arm subsystem by wireless network, be capable of achieving to two robotic arms
The control of motion.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378944A (en) * | 2017-06-20 | 2017-11-24 | 东南大学 | A kind of multi-dimensional surface electromyographic signal prosthetic hand control method based on PCA |
| CN107553499A (en) * | 2017-10-23 | 2018-01-09 | 上海交通大学 | Natural the gesture motion control system and method for a kind of Multi-shaft mechanical arm |
| CN107647951A (en) * | 2017-09-29 | 2018-02-02 | 上海术理智能科技有限公司 | For method, system and the computer-readable medium for aiding in upper and lower extremities to move |
| CN107817731A (en) * | 2017-11-27 | 2018-03-20 | 中国兵器工业计算机应用技术研究所 | Merge unmanned the platform control system and control method of myoelectricity and brain electric information |
| CN107856014A (en) * | 2017-11-08 | 2018-03-30 | 浙江工业大学 | Mechanical arm pose control method based on gesture recognition |
| CN108062102A (en) * | 2018-01-16 | 2018-05-22 | 苏州晨本智能科技有限公司 | A kind of gesture control has the function of the Mobile Robot Teleoperation System Based of obstacle avoidance aiding |
| CN108127673A (en) * | 2017-12-18 | 2018-06-08 | 东南大学 | A kind of contactless robot man-machine interactive system based on Multi-sensor Fusion |
| CN108829252A (en) * | 2018-06-14 | 2018-11-16 | 吉林大学 | Gesture input computer character device and method based on electromyography signal |
| CN109508088A (en) * | 2018-10-23 | 2019-03-22 | 诺百爱（杭州）科技有限责任公司 | One kind is based on electromyography signal Sign Language Recognition translation armlet and sign Language Recognition Method |
| CN110039507A (en) * | 2019-04-09 | 2019-07-23 | 华南理工大学 | A kind of remote control system and method based on ectoskeleton data glove and myoelectricity bracelet |
| CN110413126A (en) * | 2019-08-02 | 2019-11-05 | 李文豫 | Wearable device based on arm body feeling interaction technology |
| CN110584790A (en) * | 2019-08-13 | 2019-12-20 | 广东工业大学 | Arm stiffness-based teleoperation proportion control method for surgical robot |
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| CN111360815A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Human-computer interaction motion control method based on electromyographic signals and joint stress |
| CN112405539A (en) * | 2020-11-11 | 2021-02-26 | 东南大学 | Robot natural control method based on electromyographic signals and electroencephalogram error potentials |
| CN113021349A (en) * | 2021-03-24 | 2021-06-25 | 季华实验室 | Remote operation control method, device, system, equipment and storage medium |
| CN114714358A (en) * | 2022-04-18 | 2022-07-08 | 山东大学 | Method and system for teleoperation of mechanical arm based on gesture protocol |
| CN115582830A (en) * | 2021-07-05 | 2023-01-10 | 青岛大学 | System and method for remotely controlling robot arm joint based on inertial sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378944A (en) * | 2017-06-20 | 2017-11-24 | 东南大学 | A kind of multi-dimensional surface electromyographic signal prosthetic hand control method based on PCA |
| CN107647951A (en) * | 2017-09-29 | 2018-02-02 | 上海术理智能科技有限公司 | For method, system and the computer-readable medium for aiding in upper and lower extremities to move |
| CN107553499A (en) * | 2017-10-23 | 2018-01-09 | 上海交通大学 | Natural the gesture motion control system and method for a kind of Multi-shaft mechanical arm |
| CN107856014A (en) * | 2017-11-08 | 2018-03-30 | 浙江工业大学 | Mechanical arm pose control method based on gesture recognition |
| CN107817731A (en) * | 2017-11-27 | 2018-03-20 | 中国兵器工业计算机应用技术研究所 | Merge unmanned the platform control system and control method of myoelectricity and brain electric information |
| CN108127673A (en) * | 2017-12-18 | 2018-06-08 | 东南大学 | A kind of contactless robot man-machine interactive system based on Multi-sensor Fusion |
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