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WO2017211950A1 - Dispositif de retour haptique pour un système manipulateur - Google Patents

Dispositif de retour haptique pour un système manipulateur Download PDF

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Publication number
WO2017211950A1
WO2017211950A1 PCT/EP2017/063956 EP2017063956W WO2017211950A1 WO 2017211950 A1 WO2017211950 A1 WO 2017211950A1 EP 2017063956 W EP2017063956 W EP 2017063956W WO 2017211950 A1 WO2017211950 A1 WO 2017211950A1
Authority
WO
WIPO (PCT)
Prior art keywords
feedback
manipulator
feedback device
elements
user
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2017/063956
Other languages
German (de)
English (en)
Inventor
Gerhard Hietmann
Martin Riedel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of WO2017211950A1 publication Critical patent/WO2017211950A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/163—Wearable computers, e.g. on a belt
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
    • G06F1/1637—Details related to the display arrangement, including those related to the mounting of the display in the housing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
    • G06F1/1684—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675
    • G06F1/169—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675 the I/O peripheral being an integrated pointing device, e.g. trackball in the palm rest area, mini-joystick integrated between keyboard keys, touch pads or touch stripes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40414—Man robot interface, exchange of information between operator and robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40619—Haptic, combination of tactile and proprioceptive sensing

Definitions

  • the invention relates to portable, haptic feedback devices for
  • Manipulator systems, and manipulator systems comprising at least one portable haptic feedback device, which is adapted to feed back manipulator information to a user and input commands for a
  • Manipulator systems are typically used in industrial manufacturing, wherein a manipulator system at least one manipulator and a
  • Control unit which is adapted to the at least one
  • manipulators are used as manipulators, which have a large number of freely programmable movement axes. Such industrial robots are designed to carry end effectors, such as tools or grippers.
  • manipulators are used in industrial production for various work processes that enable a human-robot collaboration (MRC). This exploits that
  • the MRK advantageously combines both strengths.
  • MRK systems are i.a. to call manually guided manipulators and assistant robots.
  • the former include manipulators, the one hand, for example, directly or via telemanipulation
  • loads can be offset.
  • Assist robots are manipulators that allow an operator without separating
  • the manipulator virtual guide aids haptically be reported.
  • the manipulator can not be moved beyond defined safety areas or the manipulator is switched to a predetermined trajectory "soft" and is the "harder", the further he moves from the
  • Movement path moves away. This is achieved by using the manipulator in the
  • Compliance rule is regulated. Since the haptic feedback is generated directly by the manipulator, their application is limited to cases in which the manipulator is immediately hand-guided.
  • programming devices are known, such as DE 10 2013 109 753 Ai, which haptic feedback, for example by means of a
  • the object is achieved by a portable, haptic feedback device according to claim 1 and a manipulator system according to claim 11.
  • Feedback device in particular in the form of a bracelet, for a
  • a manipulator system comprising: a plurality of haptic feedback elements that are substantially annularly arrangeable to a portable one
  • Form feedback device which is adapted to a body part of a User at least partially enclose, with each of the haptic
  • Feedback elements is adapted to be controlled separately to provide a user with a directional haptic feedback corresponding to a manipulator information.
  • the feedback device further comprises at least one input element, which at the
  • Feedback device is arranged and adapted to provide input commands for a controller of a manipulator.
  • Haptic feedback devices are particularly suitable for use in manipulator systems because manipulator systems are often used in loud and confusing environments. Therefore, there is a danger that a user will miss / overhear warnings issued by corresponding feedback devices if these feedbacks are made acoustically or visually.
  • the Confirmation device carries.
  • the feedback device may at least partially enclose a body part of the user, wherein the body part may be, for example, an arm or a wrist, so that the portable haptic
  • Feedback device can be worn as a bracelet.
  • Feedback device does not have to form a completely closed band, but may be open on one side, so that a C-shaped
  • the response device may enclose other body parts, such as an upper arm, a part of a leg, a part of the thorax and / or the head, etc.
  • the haptic feedback elements are preferably adapted to
  • a first manipulator information which describes, for example, a current and / or planned direction of movement of a manipulator, can be displayed by the separate actuation of the feedback elements.
  • the at least one input element may be, for example, a wireless emergency stop switch, or corresponding switches and / or buttons, which are configured, for example, to start or stop a manipulator.
  • corresponding keys may be provided which, for example, set teach-in points in the path programming of a manipulator or provide other functions, such as the on / off of an end effector, the
  • Input element to be a consent switch, for example, allows the confirmation of a menu selection, especially in the programming of the manipulator.
  • classic input elements such as buttons and switches can also
  • Selection wheels, joysticks and the like may be provided, for example, to control the manipulator directly.
  • the feedback device may further comprise an optical display which is adapted to display manipulator information and / or further information.
  • the visual display may visually display the haptic feedback information to provide a redundant display, thereby increasing the security of the system.
  • further information can be provided on the display.
  • the optical display can be used to provide information which is used to program a trajectory or a
  • Flow logic of a manipulator system can be used.
  • the feedback device may comprise at least one touch-sensitive input element, which is preferably formed integrally with the optical display and / or one of the feedback elements.
  • the feedback device for example, comprise a touch-sensitive display, which is set up for corresponding inputs of a user. If the touch-sensitive input element is formed integrally with one of the feedback elements, it may, for example, be similar to a mouse button of a
  • the at least one touch-sensitive input element can be arranged between two adjacent feedback elements, wherein preferably a plurality of touch-sensitive input elements circumferentially distributed, each disposed between adjacent feedback elements, when the
  • Feedback device is arranged annularly.
  • the feedback device can be used as a virtual input wheel.
  • a virtual input wheel can be used to specify an orientation of an axis of the manipulator and / or to change a parameter for controlling the manipulator. For example, an allowable manipulator speed can be set. Other parameters can also be changed.
  • the feedback device may comprise at least one sensor configured to determine the orientation and / or position of the feedback device in space, wherein the
  • Feedback device is preferably adapted to implement changes in orientation and / or position as input commands.
  • a sensor which is adapted to the orientation and / or the position of
  • the upward-oriented feedback element can always be actuated in order to make the corresponding movement to the user
  • Feedback device is not converted, but it provides an immediate haptic, directional feedback.
  • Possible sensors are acceleration sensors, or other sensors that provide a determination of
  • Orientation and / or position of the feedback device allow. Furthermore, such sensors can be used to generate input commands to a controller. For example, if a user wears a wearable haptic feedback device in the form of a bracelet, then rotating the forearm about its longitudinal axis may be considered a rotational movement of a virtual
  • Input wheels are interpreted and a corresponding input command to a
  • Control device of the manipulator system are sent.
  • a specific control mode can be switched on or off by the correspondingly detected rotation of the feedback device, or in another
  • an axis of the manipulator are moved in accordance with the movement performed by the user. Likewise, if the position of the manipulator
  • Feedback device can be determined by means of the sensors, a forward and / or backward movement of a user as pressing a switch
  • Feedback device in a direction A of the feedback device to be arranged at least two rows. Due to the separate control of the individual feedback elements so direction-specific haptic feedback can be provided to a user.
  • the feedback device may be at least eight
  • Comprise feedback elements which are arranged in at least four rows, wherein the rows comprise at least two feedback elements, which rows are preferably distributed uniformly circumferentially when the portable
  • Feedback means at least partially surrounds a body part of a user, such as in the form of a bracelet. If the four rows are uniformly distributed circumferentially and, for example, attached to a forearm of a user, so are directional haptic
  • Feedback in six spatial degrees of freedom possible For example, if it is confirmed in which direction an axis of a manipulator moves, it can be indicated by driving the corresponding row of feedback elements, in which direction the axis moves.
  • a series of feedback elements is disposed on an upper surface of the lower arm, a second series of feedback elements on the underside of the lower arm, and the other two rows of feedback elements are disposed laterally on the lower arm.
  • an axis of a manipulator moves obliquely to the one
  • corresponding rows of feedback elements so adjacent rows can be controlled simultaneously, preferably with different intensity, so that an oblique movement of the axis of the manipulator can be fed back to the user. For example, if the axis moves substantially in a direction of the forearm, firstly a first element of a row and shortly thereafter a second element of the series can be driven to signal the user the direction of movement of the axis. If an opposite direction of movement is to be confirmed, first the second feedback element and then the first feedback element are activated.
  • the feedback elements may be addressed in a particular temporal sequence to provide directional haptic feedback in at least six spatial degrees of freedom.
  • a time sequence may provide for driving the uniformly circumferentially distributed rows.
  • Intensity can be controlled.
  • the amplitude of the vibration or the frequency of the vibration may be changed to, for example, the proximity of the feedback device to a
  • the feedback device may be configured to provide feedback to a user about at least one of the following:
  • temporal sequences can be used for this purpose
  • Feedback elements to control separately and / or the intensity of the control can be adjusted to provide a corresponding feedback.
  • the corresponding feedback of the feedback device depending on the intended feedback can be freely programmable to provide a universally applicable feedback device. This is the
  • Feedback device preferably configured to communicate with a control device of a manipulator system, in particular wireless, to
  • the current state of the manipulator may, for example, relate to information as to whether the manipulator is switched on or off or in a standby state. If current or planned directions of movement of a manipulator and / or an axis of a manipulator are confirmed, the user can recognize a possible collision and move away from the corresponding danger zone. Likewise, others can
  • a manipulator system which includes a plurality of possibly mobile manipulators, which are, for example, in front of and behind the user, so that the user can not keep all manipulators in view. Threatens a danger, such as a collision, or moves a manipulator the user, so he can be informed by an appropriate feedback early on the movement and facing an imminent collision, or the potential
  • the manipulator system may include sensors that sense the location, i. monitor the position and orientation of the portable haptic feedback device in the manipulator system.
  • sensors may be, for example, optical sensors, such as stereo cameras, which allow items to be "tracked.”
  • feedback may be output informing of actual distances between the manipulator and a feedback device
  • Manipulator system comprising at least one feedback device, as described above, at least one manipulator and at least one
  • a controller configured to control the manipulator and send manipulator information to the feedback device to provide directional haptic feedback to a user, the controller preferably further configured to receive input commands from the feedback device.
  • the corresponding input commands can be generated both by the input elements of the feedback device or by a corresponding change in the position of the feedback device, as described above.
  • Fig. 1 is a portable haptic feedback device
  • Fig. 2 is a schematic view of another portable haptic
  • Fig. 3 is a schematic view of a manipulator system.
  • FIG. 1 shows a portable haptic feedback device 100 in the form of a manipulator system wristband comprising a plurality of haptic feedback elements 111, 121, 131, 132, 141, 142.
  • the haptic feedback device 100 in the form of a manipulator system wristband comprising a plurality of haptic feedback elements 111, 121, 131, 132, 141, 142.
  • Feedback elements are substantially annularly arrangeable to a portable Form a feedback device 100 which is adapted to at least partially enclose a body part of a user (not shown).
  • the haptic feedback elements are arranged in four rows 110, 120, 130, 140, which are coupled to one another via intermediate elements 160.
  • the intermediate elements may be touch-sensitive input elements 160.
  • touch-sensitive input elements may be formed integrally with the haptic feedback elements.
  • the touch-sensitive input elements can be used, for example, as a virtual input wheel.
  • the feedback device 100 may comprise input elements 150, 151, 152, 153, 154, wherein the input elements 150, 151 may be, for example, confirmation buttons.
  • the input elements 153, 154 may be, for example, a rocker switch or the like to make a selection of an input command, which is displayed on an optical display device 170, for example.
  • the haptic feedback elements 111, 121, 131, 132, 141, 142 may be arranged such that one haptic feedback element on the underside and the top of the forearm respectively lie comes.
  • Other haptic feedback elements may be arranged laterally on the forearm.
  • Other arrangements and orientations of the haptic feedback elements are also possible.
  • Input elements 150, 151, 152, 153, 154, the optical display device 170 and the sensors 180 relative to the haptic feedback elements 111, 121, 131, 132, 141, 142 differ from the representation shown in Fig. 1.
  • the optical display device 170 may be, for example, a touch-sensitive display.
  • the input element 155 may be, for example, touch-sensitive and used as a kind of mouse button.
  • the input element 152 may be, for example, an emergency stop switch which stops a manipulator by operation.
  • the feedback device 100 may be a wireless
  • Communication interface 190 may receive and / or send commands, for example. Via the communication interface 190, the
  • Manipulator system 1 communicate (see Fig. 3). Moreover, the
  • each of the rows no, 120, 130, 140 comprises two haptics
  • FIG. 2 shows another haptic feedback device 100 'comprising twelve feedback elements 111, 112, 113, 121, 131, 132, 133, 141, 142, 143.
  • the feedback elements may be configured to generate a vibration to provide haptic feedback to a user.
  • the feedback elements are arranged in four rows 110, 120, 130, 140, each row comprising three feedback elements.
  • the feedback elements can each have intermediate elements 160 which are, for example, touch-sensitive
  • Input elements may be coupled to an annular
  • Form feedback device By suitable separate activation of the feedback elements, preferably in a time sequence, can
  • an axis of a manipulator moves in the direction A
  • the feedback elements 112, 132, 142 and thereon the feedback elements 111, 131, 141 can be controlled so that the vibration from the feedback elements 113, 133, 143 to the feedback elements 111, 131, 141 continues.
  • a corresponding opposite movement of the axis of the manipulator can be confirmed.
  • the feedback element 121 is driven, so, for example, a rotation of an axis of a manipulator can be confirmed.
  • Alternative temporal sequences are also possible to different directional
  • the frequency and / or the amplitude of the vibration can also be changed in order, for example, to haptically confirm a force acting on the manipulator, a speed or an imminent collision.
  • FIG. 3 shows a manipulator system which comprises at least one manipulator 10 which is controlled by a control device 20.
  • the manipulator is MRK-enabled and works with a user 50 who has a haptic
  • Feedback device 100 in the form of a bracelet around an arm 55 carries.
  • the haptic feedback device may be via a wireless
  • Communication interface 190 communicate with a wireless communication interface 25 of the controller 20 to exchange data such as feedback commands or input commands.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention concerne un dispositif de retour haptique (100) portable destiné à un système manipulateur (1), et comprenant une pluralité d'éléments de retour haptique (111, 112, 113, 121, 122, 123, 131, 132, 133, 141, 142, 143) aptes à être disposés sensiblement de manière annulaire pour former un dispositif de retour (100) portable. Le dispositif est conçu pour entourer au moins partiellement une partie (5) du corps d'un utilisateur (50). En outre, chaque élément de retour haptique est conçu pour être commandé séparément pour fournir à un utilisateur (50) un retour haptique spécifique en termes de direction, lequel retour haptique correspondant à une information liée au manipulateur.
PCT/EP2017/063956 2016-06-10 2017-06-08 Dispositif de retour haptique pour un système manipulateur Ceased WO2017211950A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202016003692.1U DE202016003692U1 (de) 2016-06-10 2016-06-10 Haptische Rückmeldungsvorrichtungen für ein Manipulatorsystem
DE202016003692.1 2016-06-10

Publications (1)

Publication Number Publication Date
WO2017211950A1 true WO2017211950A1 (fr) 2017-12-14

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ID=59034777

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/063956 Ceased WO2017211950A1 (fr) 2016-06-10 2017-06-08 Dispositif de retour haptique pour un système manipulateur

Country Status (2)

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DE (1) DE202016003692U1 (fr)
WO (1) WO2017211950A1 (fr)

Cited By (3)

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CN112888394A (zh) * 2018-11-27 2021-06-01 柯惠Lp公司 用于外科手术器械和机器人外科手术系统的触觉反馈装置
US11701188B2 (en) 2017-05-10 2023-07-18 Mako Surgical Corp. Robotic spine surgery system and methods
US12472017B2 (en) 2017-05-10 2025-11-18 Mako Surgical Corp. Robotic spine surgery system and methods

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11701188B2 (en) 2017-05-10 2023-07-18 Mako Surgical Corp. Robotic spine surgery system and methods
US12035985B2 (en) 2017-05-10 2024-07-16 Mako Surgical Corp. Robotic spine surgery system and methods
US12472017B2 (en) 2017-05-10 2025-11-18 Mako Surgical Corp. Robotic spine surgery system and methods
US12478442B2 (en) 2017-05-10 2025-11-25 Mako Surgical Corp. Robotic spine surgery system and methods
CN112888394A (zh) * 2018-11-27 2021-06-01 柯惠Lp公司 用于外科手术器械和机器人外科手术系统的触觉反馈装置
CN112912027A (zh) * 2018-11-27 2021-06-04 柯惠Lp公司 用于手术器械和机器人手术系统的触觉反馈装置
EP3886748A4 (fr) * 2018-11-27 2022-08-17 Covidien LP Dispositif de rétroaction haptique pour instruments chirurgicaux et systèmes chirurgicaux robotiques
EP3886747A4 (fr) * 2018-11-27 2022-10-05 Covidien LP Dispositif de rétroaction haptique pour instruments chirurgicaux et systèmes chirurgicaux robotiques

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