【摘要】：針對(duì)人機(jī)交互中主從手映射系統(tǒng)反饋信息缺乏、映射精確度及可穿戴性差等存在的缺點(diǎn),提出一種基于織物可拉伸傳感器以及具有反饋機(jī)制的主從手映射操控系統(tǒng)。以萊卡織物表面旋涂石墨烯/聚苯胺復(fù)合導(dǎo)電材料,有機(jī)硅導(dǎo)電銀膠作為電極,研制一種全柔性織物可拉伸傳感器。同時(shí)將該拉伸傳感器布置于人手及機(jī)械手,構(gòu)成2×5的拉伸傳感陣列。結(jié)合主從手拉伸傳感信息,通過改進(jìn)D-H算法,建立手勢(shì)識(shí)別模型。利用BP神經(jīng)網(wǎng)絡(luò)對(duì)主從手拉伸傳感器信息映射進(jìn)行離線建模,結(jié)合在線優(yōu)化算法,引入拉伸傳感器信息反饋機(jī)制,實(shí)現(xiàn)主從手交互手勢(shì)的高效、精準(zhǔn)映射,建立具有反饋機(jī)制的手勢(shì)映射系統(tǒng)。通過實(shí)驗(yàn)分析傳感器的拉伸特性,并對(duì)有、無反饋機(jī)制的手勢(shì)映射系統(tǒng)的映射精準(zhǔn)度進(jìn)行對(duì)比實(shí)驗(yàn)。結(jié)果表明,所設(shè)計(jì)的基于柔性織物拉伸傳感器、具有反饋機(jī)制的主從手映射系統(tǒng)提升了手勢(shì)映射的精準(zhǔn)度,并兼具良好的穿戴性。
[Abstract]:A master-slave mapping control system based on fabric extensible sensor and feedback mechanism is proposed to overcome the shortcomings of lack of feedback information, poor mapping accuracy and wearability in man-machine interaction. A fully flexible fabric tensile sensor was developed using the composite conductive material of graphene / Polyaniline on the surface of Leca fabric and silicone conductive silver glue as the electrode. At the same time, the drawing sensor is arranged on the hand and manipulator to form a 2 脳 5 stretch sensor array. Combined with the sensing information of master and slave hand, a hand gesture recognition model was established by improving D-H algorithm. The information mapping of master-slave hand stretching sensor is modeled offline by BP neural network. Combining with online optimization algorithm, the information feedback mechanism of stretching sensor is introduced to realize the efficient and accurate mapping of master-slave hand gesture. A gesture mapping system with feedback mechanism is established. The stretching characteristics of the sensor are analyzed experimentally, and the mapping accuracy of the gesture mapping system without feedback mechanism is compared. The results show that the master-slave mapping system based on flexible fabric stretch sensor has improved the precision of gesture mapping and has good wearability.
【作者單位】： 合肥工業(yè)大學(xué)大學(xué)電子科學(xué)與應(yīng)用物理學(xué)院;
【基金】：國(guó)家自然科學(xué)基金(61471155,61673369)項(xiàng)目資助
【分類號(hào)】：TP212;TP391.41

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