Humanoid robot data collection system
The humanoid robot data collection system may include a wearable data collection apparatus, a computer, and a humanoid robot in data communication via a network. The wearable data collection apparatus worn by a human operator to control a robot for the purpose of collecting robot data. The wearable data collection apparatus generates pilot movement data based on various sensors contain in the wearable data collection apparatus, where the pilot movement data is used to generate robot control data and sends this control data to the robot in real-time. The wearable data collection apparatus includes a base mount, articulated arms extending from the base mount, sensors coupled to articulated arms, gloves with sensors coupled to the articulated arms, and a piloting control system operatively connected to the plurality of sensors.
1 . A mobile wearable data collection apparatus for use with a humanoid robot, and wherein said mobile wearable data collection apparatus comprises:
a headset configured to be worn by the operator and that includes a display providing virtual reality and/or augmented reality visual feedback to the operator;
a glove having a flexible textile and a finger portion, wherein the glove is configured to be worn by an operator and provide haptic feedback to the operator;
a rigid housing coupled to a dorsal side of the glove;
a finger encoder mounted at the rigid housing and configured to detect a finger movement of the operator; and
a first deformable connector pivotably coupled to the finger encoder at a proximal end of the first deformable connector and coupled to a tip of the finger portion of the glove at a distal end of the first deformable connector, wherein the deformable connector is configured to flex in a flexion/extension direction with the finger movement of the operator.
2 . The mobile wearable data collection apparatus of claim 1 , wherein the distal end of the first deformable connector is pivotably coupled to the tip of the finger portion of the glove.
3 . The mobile wearable data collection apparatus of claim 2 , wherein the pivotable coupling of the first deformable connector to the tip of the finger portion permits pivoting of the tip of the finger portion of the glove about a pivot axis that is substantially parallel to an encoder axis about which the first deformable connector is pivotably coupled to the first finger encoder, and wherein said pivotable coupling of the first deformable connector to the tip of the finger portion resists rotation of the tip of the finger portion of the glove about any other axis that is not substantially parallel to the encoder axis.
4 . The mobile wearable data collection apparatus of claim 1 , further comprising a haptic button coupled to the tip of the finger portion of a palmar side of the glove.
5 . The mobile wearable data collection apparatus of claim 1 , further comprising:
a first thumb encoder;
a second deformable connector pivotably coupled to both: (i) the first thumb encoder and (ii) a thumb portion of the glove; and
a second thumb encoder pivotably coupled to the rigid housing and coupled to the first thumb encoder, wherein each of the first thumb encoder and the second thumb encoder are configured to detect a thumb movement of the operator.
6 . The mobile wearable data collection apparatus of claim 1 , further comprising:
an articulating arm configured to be removably worn by the operator and extending from a torso of the operator at a proximal end of the articulating arm to a hand of the operator at a distal end of the articulating arm, and
wherein the distal end of the articulating arm includes a glove mount that is configured to be detachably coupled to the rigid housing coupled to the dorsal side of the glove.
7 . The mobile wearable data collection apparatus of claim 1 , further comprising:
a base mount configured to be worn by the operator and an articulated arm coupled to the base mount and to the operator, and
wherein the base mount and the articulated arm are configured to be carried by the operator without external support as the operator walks through the environment.
8 . The mobile wearable data collection apparatus of claim 7 , wherein the articulated arm comprises a glove mount and a plurality of rigid frame links pivotably coupled between the base mount and the glove mount via a plurality of joints.
9 . The mobile wearable data collection apparatus of claim 1 , further comprising:
a head position sensor; and
a piloting control system configured to be carried by the operator and to obtain positional data of the finger from the finger encoder and positional data of the head from the head position sensor.
10 . The mobile wearable data collection apparatus of claim 1 , wherein the mobile wearable data collection apparatus is configured to:
further collect robot data generated by the humanoid robot, relate the collected robot data to at least data generated by the finger encoder, and provide the collected robot data for training an artificial intelligence model.