光学精密工程2023，Vol.31Issue(23)：3414-3425,12.DOI:10.37188/OPE.20233123.3414
光纤光栅波电转换的人机仿生跟随
Bionic tracing of human and robotic arm based on FBG's wavelength-electric conversion
摘要
Abstract
To expand the application of fiber Bragg grating sensors in the field of robotic intelligent sens-ing,we have designed a novel FBG forearm sensing sheath.In this workstudy,a wavelength-electric con-version control system and the an algorithm forof human-computer bionic tracing were developed.There were three FBG sensing units including tension rings in the forearm sensing sheath.The tension rings made of spandex polyurethane fibers exerted a pre-tightening force on FBGs,which could effectively avoid the traction direction deviation caused by clothing or skin gathering.The joint movements caused the span-dex polyurethane fibers to drive the FBGs stretch or axial contractionng axially and the wavelengths shift of FBGs'wavelengths shift.Thereafter,the wavelength-electric conversion control system transfered the motion posture features of human elbow bending angle α,wrist pitching angle β,and knuckle joint motion angle γ to the robot arm's direction θ,height φ,and mechanical claw opening and closing angle ψ,respec-tively.By deducing the relationship between the range of the human joint movement's range and the output range of the robot arm,the detection coefficient and the control coefficient were obtained.Then,the wavelength-electric conversion coefficient was deduced by converting the dynamic wavelength to the con-trol electric signal in real-time.The experimental results demonstrate that this wavelength-electric conver-sion control system can make the robotic arm trace the human elbow bending,wrist pitching,and finger joint motion with good linear responses.Within the experimental range,the maximum cumulative error of wavelength-electric conversion coefficient of direction,height,and open/close control output are 0.771 11%,1.992 91%,and 0.341 17%,and the deviation of three control angle outputs are 1.135 60°,1.720 56°,and 1.826 57°,respectively.The wavelength-electric conversion control system has good con-trol accuracy and it can make the robotic arm track human forearm movements.The research results can provide a theoretical basis to further develop the FBG sensing system of bionic tracing for the robotic arm.关键词
光纤布拉格光栅/仿生跟随/波电转换/姿态特征Key words
optical fiber Bragg grating/bionic tracing/wave-electric conversion/posture feature分类
电子信息工程引用本文复制引用
王昊祥,冯艳,潘睿智,张洪溥,周依霖,熊根良,张华..光纤光栅波电转换的人机仿生跟随[J].光学精密工程,2023,31(23):3414-3425,12.基金项目
国家自然科学基金资助项目(No.51665039) （No.51665039）
上海市地方院校能力建设项目(No.23010501600) （No.23010501600）
