CN109276414B - Lower limb exoskeleton robot - Google Patents
Lower limb exoskeleton robot Download PDFInfo
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- CN109276414B CN109276414B CN201811438971.9A CN201811438971A CN109276414B CN 109276414 B CN109276414 B CN 109276414B CN 201811438971 A CN201811438971 A CN 201811438971A CN 109276414 B CN109276414 B CN 109276414B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
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Abstract
The invention relates to a lower limb exoskeleton robot. The thigh support part of the robot is connected with the shank support part; the shank support portion is connected with the foot support portion; the power chamber is fixed on the side part of the shank supporting part; the thigh support part comprises a thigh front side support plate, a thigh rear side support plate, a thigh frame, a thigh gyroscope, an acceleration sensor, four thigh connecting rods and four thigh pressure sensors; the power chamber consists of a power chamber bottom plate, a power chamber shell, a control cabin, an energy release device, a motor driving device and a knee joint driven body. The robot can recover the energy in the walking process of the wearer and transmit the energy to the energy release device, and the energy release device and the motor drive device provide assistance for the walking of the wearer, so that the aim of saving energy is fulfilled.
Description
Technical Field
The invention relates to the technical field of auxiliary robots, in particular to a wearable walking-assisting lower limb exoskeleton and a control method thereof.
Background
In the 21 st century, the aging of the Chinese population was gradually aggravated, and by 2050, it was predicted that the aging population of China would be up to one third of the total population. Knee arthritis is the predominant condition in geriatric joint diseases, and it is counted that 10% of men and 13% of women in the elderly over 60 years old suffer from arthritis. Knee joint pain caused by arthritis seriously affects walking ability of patients, and brings a lot of difficulties to free travel of the elderly. In order to share the weight born by the knee joint and assist the walking process, the lower limb exoskeleton is a solution with a very good application prospect.
Lower extremity exoskeletons are generally divided into powered and unpowered forms that cooperate with the wearer to sense the wearer's intent to exercise and to provide assistance to their particular joints to enhance the wearer's ability to exercise. While powered exoskeletons generally require an additional energy source to provide energy input to their actuators, unpowered exoskeletons often employ energy recovery to store energy during movement of the body through mechanical elasticity or a specially-made energy storage element and release the energy as needed.
Lower limb walking-aid exoskeletons for the elderly and the like with weak mobility generally employ a battery scheme such as HAL from Cyberdine corporation of japan, and exoskeletons named as weight-supporting systems and the like issued by Honda corporation. Limited by the energy density of the batteries and the energy conversion efficiency of the motors, such exoskeletons typically require relatively large articulation drive motors and heavy storage batteries, often with overall weights of greater than 10kg. The practical performance of the lower limb exoskeleton is further improved, the power module needs to be optimized, the energy consumption of the power module is reduced, and the overall efficiency is improved through a lightweight design method. The existing lower limb exoskeleton is limited by factors such as driver efficiency, mechanism weight and cost, and the assistance effect and the structural portability cannot be considered, extra load can cause burden to a user, and the lower limb exoskeleton is difficult to adapt to daily action requirements of the old and the people with weak action ability.
The characteristics of the power exoskeleton and the unpowered exoskeleton are combined, the auxiliary peak output of the driving motor is carried out by the energy recovery and recycling device, the requirements of knee joint assistance on motor power can be reduced, the motor output curve is smoother, the smaller driving motor can be selected, and the overall weight of the exoskeleton is reduced from the angles of a driver and a power supply.
Disclosure of Invention
The invention aims to provide a wearable lower limb exoskeleton robot and a control method thereof, aiming at the problems of low energy utilization efficiency and heavy mechanism weight in the walking-assisting lower limb exoskeleton technology in the prior art. The robot is characterized in that an energy collecting device is arranged on the foot of the exoskeleton, an energy releasing device and a motor driving device are arranged on the shank, and the outputs of the energy releasing device and the motor driving system are used for driving the target joint of the exoskeleton to form a double driving system.
The technical scheme of the invention is as follows:
a lower limb exoskeleton robot, comprising a thigh support part, a shank support part, a foot support part and a power chamber;
the thigh support part is connected with the shank support part; the shank support portion is connected with the foot support portion; the power chamber is fixed on the side part of the shank supporting part;
the thigh support part comprises a thigh front side support plate, a thigh rear side support plate, a thigh frame, a thigh gyroscope and an acceleration sensor, four thigh connecting rods and four thigh pressure sensors.
The thigh frame body is annular, and the thigh front side supporting plate and the thigh rear side supporting plate are respectively positioned at the front side and the rear side in the annular structure; the front side of the thigh frame is provided with brackets extending upwards and downwards, the tail end of each bracket is respectively connected with one ends of two thigh connecting rods, and the other ends of the two thigh connecting rods are respectively connected with the upper and lower parts of the thigh front supporting plate; similarly, the rear side of the thigh frame is provided with a bracket extending upwards and downwards, the tail end of the bracket is provided with a mounting shaft hole which is respectively connected with one ends of two thigh connecting rods, and the other ends of the thigh connecting rods are respectively connected with the upper and lower parts of the thigh rear supporting plate; the two sides of the middle part of the thigh frame are respectively provided with a first supporting arm which extends downwards; the inner sides of the front support plate and the rear support plate are respectively provided with two thigh pressure sensors which are respectively arranged up and down along the central axes of the front support plate and the rear support plate; a thigh gyroscope and an acceleration sensor are arranged on the outer side of the first supporting arm of the thigh frame;
the shank supporting part comprises a shank front side supporting plate, a shank rear side supporting plate, a shank supporting frame, a shank gyroscope, an acceleration sensor, four shank connecting rods and four shank pressure sensors;
the shank frame body is annular, and the shank front side supporting plate and the shank rear side supporting plate are positioned at the front side and the rear side in the annular structure; the front side of the shank frame is provided with a bracket extending upwards and downwards, the tail ends of the bracket are respectively connected with one ends of two shank connecting rods, and the other ends of the two shank connecting rods are respectively connected with the upper part and the lower part of the shank front side supporting plate; similarly, the back side of the shank frame is provided with a bracket extending upwards and downwards, the tail ends of the bracket are respectively connected with one ends of two shank connecting rods, and the other ends of the two shank connecting rods are respectively connected with the upper part and the lower part of the shank back side supporting plate; the second supporting arms which extend upwards are arranged on the inner side and the outer side of the shank frame, and the tail ends of the second supporting arms are connected with the first supporting arm shafts of the thigh frame and form exoskeleton knee joints; the outer side of the shank frame is provided with a third supporting arm which extends downwards and is connected with a foot fixing frame contained in the foot supporting part, and the third supporting arm is fixedly provided with a power chamber; the inner sides of the shank front side supporting plate and the shank rear side supporting plate are respectively provided with two shank pressure sensors which are respectively arranged along the central axes of the shank front side supporting plate and the shank rear side supporting plate; the outer side of the third supporting arm of the shank frame is provided with a shank gyroscope and an accelerometer.
The foot support portion includes a foot mount, an energy recovery device, and a plantar pressure sensor;
the foot fixing frame is hinged with the shank frame through a mounting shaft hole at the upper side of the foot fixing frame, an annular buckle belt is arranged at the inner side of the foot fixing frame and used for fixing the foot of a wearer when the foot fixing frame is used, the outer side of the foot fixing frame is a vertical plane, and an energy recovery device is fixed; the energy recovery device is divided into a pressure block and a transmission system which are in contact with the ground, wherein the pressure block is in contact with the ground;
the power chamber consists of a power chamber bottom plate, a power chamber shell, a control cabin, an energy release device, a motor driving device and a knee joint driven body;
the energy release device consists of a coil spring box, a ratchet wheel, a pawl and an electromagnetic push rod; the motor driving device consists of a direct current motor, a speed reducer and a driving gear;
the power chamber bottom plate is a vertical plate and is fixed on a third supporting arm at the outer side of the shank frame, the energy release device and the motor driving device are fixed on the power chamber bottom plate, the knee joint driven body is a gear and a wire spool which are equiaxed, the knee joint driven body is coaxial with the exoskeleton knee joint and is fixed on a second supporting arm of the thigh frame, the power chamber shell is fixed on the second supporting arm of the thigh frame and is buckled with the power chamber bottom plate, and the control cabin is attached to the inner side of the power chamber shell; the energy release device, the motor driving device and the knee joint driven body are all positioned on the central axis in the power chamber shell;
the ratchet wheel is provided with a wire spool on the outer side, the ratchet wheel on the ratchet wheel is respectively connected with the upper end of the energy storage steel cable and the lower end of the energy release steel cable, and the upper end of the energy release steel cable is fixed with the wire spool part of the knee joint driven body; the coil spring box and the ratchet wheel are coaxially arranged on the lower side of the power chamber bottom plate; the tail end of the pawl is arranged on the bottom plate of the power chamber through a shaft, and the lower part of the top end of the pawl is meshed with the ratchet wheel; the electromagnetic push rod is connected with the upper part of the top end of the pawl through a connecting rod; an output shaft of the direct current motor is connected with an input shaft of the speed reducer, and a driving gear is fixed on the output shaft of the speed reducer and meshed with a gear part of the knee joint driven body;
an embedded single-chip microcomputer main control board and a power supply system are arranged in the control cabin, the single-chip microcomputer main control board comprises an embedded single-chip microcomputer, a motor, an electromagnetic push rod driving module and a sensor signal processing circuit, the motor, the electromagnetic push rod driving module and the sensor signal processing circuit are respectively connected with a port of the embedded single-chip microcomputer, and the power supply system is connected with the embedded single-chip microcomputer main control board; the thigh pressure sensor, the sole pressure sensor, the thigh gyroscope and the accelerometer, and the shin gyroscope and the accelerometer are respectively connected to the sensor signal processing circuit of the main control board; the microprocessor is connected with the driving module, and the driving module is respectively connected with the direct current motor and the electromagnetic push rod; the power supply system is respectively connected with the direct current motor, the electromagnetic push rod and the control circuit.
The control method of the lower limb exoskeleton robot comprises the following steps:
the first step, the embedded single chip microcomputer respectively collects the contact force F between the thigh and the thigh front side supporting plate 1 and the thigh rear side supporting plate by utilizing the thigh pressure sensor g1 、F g2 、F g3 、F g4 The method comprises the steps of carrying out a first treatment on the surface of the The contact force F between the shank and the shank anterior side support plate and the shank posterior side support plate 22 are respectively collected by a shank pressure sensor j1 、F j2 、F j3 、F j4 The method comprises the steps of carrying out a first treatment on the surface of the Then, according to the following formulas (1) - (4), the knee joint expected angle signal q reflecting the movement intention track of the wearer is obtained d ；
Wherein the ELM input is x= [ F g1 、F g2 、F g3 、F g4 、F j1 、F j2 、F j3 、F j4 ]' output q d The =f (x) function is:
at the output level, the number of output nodes is denoted 1. H= [ H ] 1 ,...,h L ] T (the number of hidden nodes in the hidden layer is denoted as L) represents the nonlinear feature mapping between the hidden layer and the output vector of the output, β= [ β ] 1 ,...,β L ] T Is an output weight matrix;
given an input vector, the output of a hidden node can be expressed as:
h i (x)＝G(a i ,b i ,x),a i ∈R d ,b i ∈R (2)
G(a i ,b i x) function is a sigmoid function:
finally obtaining an output weighting vector H; in the step (4), a step of, in the case of the method,is a hidden layer output matrix:
secondly, the embedded singlechip collects the gyroscope and acceleration information Gyro of the thigh and the shank by using the thigh gyroscope and the acceleration sensor, the shank gyroscope and the acceleration sensor respectively g 、Acc g 、Gyro j 、Acc j Obtaining knee joint angle value q by using the information through a complementary filtering algorithm; collecting plantar pressure value F by plantar pressure sensor s The method comprises the steps of carrying out a first treatment on the surface of the Energy harvesting estimator utilizing F s And q estimating the energy E collected in a gait cycle;
the embedded singlechip calculates E value and energy E collected in the next gait cycle of normal gait (1.1 m/s) 0 Comparing, controlling the release time t of the pawl through the electromagnetic push rod to control the triggering of the energy collecting device;
the triggering time of the energy collecting device under the normal gait cycle is t 0 If the energy ratio E is collected 0 Big rule earlier than time t 0 Released if the energy ratio E is collected 0 The small rule is later than time t 0 Releasing;
the algorithm of the energy collection estimator in the second step is consistent with the algorithm adopted by the motion intention predictor in the first step, and is ELM, and the input of the extreme learning machine in the second step is x= [ Gyro ] g 、Acc g 、Gyro j 、Acc j ]' the output is e=f (x);
thirdly, calculating a mathematical description expression of the lower limb exoskeleton dynamics model:
wherein D is the centralized total interference of the system consisting of the uncertainty interference and the model uncertainty interference caused by the assistance provided by the energy recovery device;
fourth, the interference observer (i.e., the following formulas (6) - (8)) estimates the total interference D concentrated in the system to obtain an estimated valueBy->Compensating the output control force rejection tau of the nonsingular terminal sliding mode controller;
wherein, the liquid crystal display device comprises a liquid crystal display device,
wherein the method comprises the steps ofFor the output of the disturbance observer, z is an auxiliary variable defined for facilitating the design of the disturbance observer; l (L) 1 、L 2 、L 3 For the observer gain matrix to be designed, L 1 ＝diag(l 11 ，l 12 )，L 2 ＝diag(l 21 ，l 22 )，l 2 ＝min{l 2i And/l 2 ≥||D||，L 3 ＝diag(l 31 ,l 32 )，l 1i ,l 3i ＞0，0＜p＜1；
The lyapunov function is selected as:
for V 0 Deriving and combining (7) and (5) to obtain
Due to l 2 Not less than D, and the equation (10) can be rewritten as
Wherein l 1 ＝min{l 1i }，l 3 ＝min{l 3i }；
For the exoskeleton dynamics model (5),if there is a continuously differentiable positive definite function V (x): D.fwdarw.R n And the real number p > 0, q > 0,0 < r < 1, and there is a neighborhood containing the originMake the following steps
The origin is locally stable for a limited time;
if D 0 ＝D＝R n And V (x) is radially unbounded, the origin of the system (6) is globally limited in time stable, the arrival time
From the above formulas (12) - (13), it is apparent that for t.gtoreq.t 1 ，V 0 ≡0, wherein,
when t is greater than or equal to t 1 When z=0 is obtained, so that t is larger than or equal to t 1 In the time-course of which the first and second contact surfaces,
defining interference estimation errorsObtained from (5) - (8)
Deriving interference estimation errors from equation (15)Finite time convergenceTo zero, i.e
Fifthly, calculating the control force rejection tau in the lower limb exoskeleton model through a nonsingular terminal sliding mode controller;
by the lower limb exoskeleton dynamics model established in the third step, i.e., equation (5), a tracking error e (t) =q is defined d (t) -q (t), designing a nonsingular terminal sliding mode function s with higher convergence speed and no singular point
Wherein s= [ s ] 1 ,s 2 ] T ，A＝diag(a 1 ,a 2 )，B＝diag(b 1 ,b 2 )，γ 1 ＝diag(γ 11 ,γ 12 )，γ 2 ＝diag(γ 21 ,γ 22 )，a i ＞0，b i ＞0，1＜γ 2i ＜2，γ 1i ＞γ 2i ；
The differentiation of the sliding mode function is:
substituting the formula (5) into the above formula to obtain
The disturbance observer estimated lumped disturbance proposed by formulas (6) - (8) is used for compensating the controller, and the nonsingular terminal sliding mode controller is that
Wherein K is 1 ＝diag(k 11 ,k 12 )，K 2 ＝diag(k 21 ,k 22 )，k 1i ＞0，k 2i ＞0，0＜ρ＜1；
Considering a lower limb exoskeleton dynamics model, namely a formula (5), designing disturbance observers in a terminal sliding mode form as (6) - (8), and if the control law is designed as (20), converging the track tracking error to zero for a limited time;
selecting lyapunov function
For V 1 Differentiation to obtain
Substituting formula (19) into formula (22) to obtain
Substituting formula (20) into formula (23) to obtain
Combined (16), when t is more than or equal to t 1 At the time, there are
Wherein, the liquid crystal display device comprises a liquid crystal display device,when->In the time-course of which the first and second contact surfaces,K 1 、K 2 determining a diagonal matrix for positive;
wherein the method comprises the steps ofk 1 ＝min{k 1i }＞0，k 2 ＝min{k 2i }＞0。
In combination with formula (21), formula (26) can be rewritten as
From the following equation (28), it can be demonstrated that the lower extremity exoskeleton kinetic model tracking error can reach the slip plane s=0 in a limited time; the time to reach the slide surface is
t≤-ln((k 1 V 1 (1-ρ)/2 +2 (ρ-1)/2 k 2 )/2 (ρ-1)/2 k 2 )/(k 2 (1-ρ) (28)
When (when)In this case, formula (17) is substituted into formula (1), taking into consideration +.>Obtaining the product
And sixthly, converting the control input value tau calculated by the nonsingular terminal sliding mode controller into a duty ratio input signal required by a motor driving system by the embedded single chip microcomputer, controlling the rotating direction and speed of the motor by the motor driving system, driving a gear at the driven body position of the knee joint, driving the knee joint to operate, and completing the control of the whole exoskeleton structure.
The invention has the substantial characteristics that:
the energy collecting device is arranged on the foot of the exoskeleton, the energy releasing device and the motor driving device are arranged on the shank, and the output of the energy releasing device and the motor driving system is used for driving the target joint (knee joint in the invention) of the exoskeleton to form a double driving system. In the working process, the energy collecting device can recover the energy of the wearer in the walking process and transmit the energy to the energy releasing device, and the energy releasing device and the motor driving device provide assistance for the walking of the wearer, so that the aim of saving energy is achieved.
The beneficial effects of the invention are as follows:
1) The exoskeleton robot disclosed by the invention is convenient to wear and has good fit with the surface of the lower limb of a human body;
2) The thigh support part and the shank support part can provide auxiliary support for the knee joint, so that the pressure born by the knee joint of a human body in the process of standing and walking is reduced, and the effect of relieving joint pain is achieved;
3) The power scheme combines active driving and energy recovery, so that the requirement of knee joint assistance on motor power can be reduced, a smaller driving motor can be selected, the mechanism weight is reduced, the energy utilization efficiency is improved, and the endurance time is prolonged;
4) The control system provided by the invention can sense the movement intention of a wearer, provide auxiliary torque according to the requirement of the wearer, and improve the movement function of a human body.
Drawings
FIGS. 1-2 are isometric views of an embodiment of a wearable lower extremity exoskeleton robot provided by the present invention;
fig. 3 is a side view of an embodiment of a wearable lower extremity exoskeleton robot provided by the present invention.
FIG. 4 is a front view of a power chamber of an embodiment of a wearable lower extremity exoskeleton robot provided by the present invention;
FIG. 5 is a primary device identification diagram of a power chamber of an embodiment of a wearable lower extremity exoskeleton robot provided by the present invention; wherein fig. 5 (a) is a partial cross-sectional view, and fig. 5 (b) is a front view;
FIG. 6 is a specific component identification diagram of a power chamber of an embodiment of a wearable lower extremity exoskeleton robot provided by the present invention; fig. 6 (a) is a partial cross-sectional view, and fig. 6 (b) is a front view;
FIG. 7 is a control schematic block diagram of a wearable lower limb exoskeleton robot embodiment provided by the present invention;
FIG. 8 is a schematic diagram of an energy harvesting estimator for estimating the amount of harvesting of the energy recovery device provided by the present invention;
FIG. 9 is a diagram of a MATLAB/simulink simulation program framework partially built for a verification algorithm in accordance with the present invention;
FIG. 10 is a graph of knee angle following a desired trajectory;
fig. 11 is a graph of knee angle following error.
In the figure: 1: thigh support part, 11: strand front support plate, 12: strand backside support plate, 13: thigh frame, 14: thigh link, 15: thigh pressure sensor, 16: a thigh gyroscope and accelerometer; 2: shank support portion, 21: anterior tibial support plate, 22: shank posterior support plate, 23: shank frame, 24: shank link, 25: shank pressure sensor, 26: a shank gyroscope and accelerometer; 3: foot-supporting portion, 31: foot mount, 32: energy recovery device, 33: a plantar pressure sensor; 4: power chamber, 41: power chamber floor, 42: power chamber housing, 43: control pod, 44: energy release device, 441: coil spring case, 442: ratchet wheel, 443: pawl, 444: electromagnetic push rod, 45: motor drive apparatus 451: dc motor, 452: speed reducer, 453: drive gear, 46: a knee joint driven body; 5: an energy storage steel rope; 6: and (5) releasing energy steel ropes.
Detailed Description
The following description will clearly and completely describe the technical solution in the embodiments of the present invention with reference to the drawings, and it should be noted that the structures, proportions, sizes and the like illustrated in the drawings are only used in conjunction with the disclosure of the present specification, so as to enable those skilled in the art to understand and read the disclosure, and are not intended to limit the applicable limitations of the present invention, and any modification of the structures, changes in the proportions or adjustment of the sizes should still fall within the scope of the disclosure of the present invention without affecting the efficacy and the achieved objects of the present invention.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and are not limited to the specific terms such as "upper," "lower," "left," "right," "inner," "outer," etc., as used in the description of the present invention, but are merely for descriptive purposes and not intended to limit the scope of the invention in which the invention may be practiced, as such, but rather as variations or modifications in the relative relationships thereof without materially altering the skill in this disclosure.
Example 1
As shown in fig. 1 to 3, the exoskeleton robot of the present embodiment includes a thigh support portion 1, a shin support portion 2, a foot support portion 3, and a power chamber 4;
the thigh support part 1 and the shank support part 2 are connected through a group of joints, hereinafter referred to as an "exoskeleton knee joint"; the shank support portion 2 and the foot support portion 3 are connected by a set of joints, hereinafter referred to as "exoskeleton ankle joints"; the power chamber 4 is fixed to the side of the shank support portion 2.
The thigh support part 1 includes a thigh front side support plate 11, a thigh rear side support plate 12, a thigh frame 13, one each of a thigh gyroscope and an acceleration sensor 16, four thigh links 14, and four thigh pressure sensors 15.
The main body of the thigh frame 13 is annular, and the thigh front side supporting plate 11 and the thigh rear side supporting plate 12 are positioned at the front side and the rear side in the annular structure; the front side of the thigh frame 13 is provided with brackets extending upwards and downwards, the tail end of each bracket is provided with a mounting shaft hole which is respectively connected with one ends of two thigh connecting rods 14, and the other ends of the two thigh connecting rods 14 are respectively connected with the shaft holes at the upper and lower parts of the thigh front supporting plate 11; similarly, the rear side of the thigh frame 13 is provided with a bracket extending upwards and downwards, the tail end of the bracket is provided with a mounting shaft hole which is respectively connected with one ends of two thigh connecting rods 14, and the other ends of the thigh connecting rods 14 are respectively connected with the shaft holes at the upper and lower parts of the thigh rear side supporting plate 12; the first supporting arms which extend downwards are arranged on the inner side and the outer side of the thigh frame 13, the tail ends of the first supporting arms are provided with mounting shaft holes which are used for being connected with the second supporting arms of the shank frame 23 and forming an exoskeleton knee joint; the inner sides of the thigh front supporting plate 11 and the thigh rear supporting plate 12 are respectively provided with two thigh pressure sensors 15 which are respectively arranged up and down along the central axes of the thigh front supporting plate 11 and the thigh rear supporting plate 12; the thigh gyroscope and the acceleration sensor 16 are mounted outside the first support arm of the thigh frame 13.
The shank support portion 2 includes a shank anterior support plate 21, a shank posterior support plate 22, a shank support frame 23, one each of a shank gyroscope and an acceleration sensor 26, and four shank links 24, four shank pressure sensors 25.
The shank frame 23 is ring-shaped, and the shank anterior support plate 21 and the shank posterior support plate 22 are positioned on the anterior and posterior sides of the inside of the ring-shaped structure; the front side of the shank frame 23 is provided with a bracket extending upwards and downwards, the tail end of the bracket is provided with a mounting shaft hole which is respectively connected with one ends of two shank connecting rods 24, and the other ends of the two shank connecting rods 24 are respectively connected with the shaft holes at the upper and lower parts of the shank front side supporting plate 21; similarly, the back side of the shank frame 23 is provided with a bracket extending upwards and downwards, the tail end of the bracket is provided with an installation shaft hole which is respectively connected with one ends of two shank connecting rods 24, and the other ends of the two shank connecting rods 24 are respectively connected with the shaft holes at the upper and lower parts of the shank back side supporting plate 22; the second supporting arms which extend upwards are arranged on the inner side and the outer side of the shank frame 23, the tail ends of the second supporting arms are provided with mounting shaft holes which are used for being connected with the first supporting arms of the thigh frame 13 and forming an exoskeleton knee joint; the outer side of the shank frame 23 is provided with a third downward-extending supporting arm which is in a long rod shape, the tail end of which is provided with a mounting hole for connecting with a foot fixing frame 31 contained in the foot supporting part 3, and the third supporting arm is also used for fixing the power room 4; the inner sides of the shank anterior support plate 21 and the shank posterior support plate 22 are respectively provided with two shank pressure sensors 25 which are respectively arranged along the central axes of the shank anterior support plate 21 and the shank posterior support plate 22; the outer side of the third supporting arm of the shank frame 23 is provided with a shank gyroscope and accelerometer 26. The anterior, posterior, medial and lateral aspects of the present invention (e.g., in the tibial frame of this section) are relative to the position of the body itself.
As shown in fig. 4, the foot supporting portion 3 is constituted by a foot fixing frame 31, an energy recovery device 32, and a plantar pressure sensor 33.
The foot fixing frame 31 is hinged with the shank frame 23 through a mounting shaft hole on the upper side of the foot fixing frame 31, and an annular buckle belt is arranged on the inner side of the foot fixing frame 31 and used for fixing the foot of a wearer in use, and a vertical plane is arranged on the outer side of the foot fixing frame 31 and used for fixing the energy recovery device 32. The energy recovery device 32 is divided into a pressure block in contact with the ground, which moves upward when the foot-supporting portion 3 lands, and a transmission system, which converts this displacement into a linear motion on the energy storage cable 5.
As shown in fig. 5 and 6, the power chamber 4 is composed of a power chamber bottom plate 41, a power chamber housing 42, a control cabin 43, an energy release device 44, a motor drive device 45 and a knee joint driven body 46;
wherein the energy release device 44 is comprised of a coil spring case 441, a ratchet 442, a pawl 443, and an electromagnetic push rod 444; the motor driving device 45 is constituted by a dc motor 451, a speed reducer 452, and a drive gear 453.
The power chamber bottom plate 41 is a vertical plate and is fixed on a third supporting arm on the outer side of the shank frame 23, the energy release device 44 and the motor driving device 45 are fixed on the power chamber bottom plate 41, the knee joint driven body 46 is a gear and a wire spool which are equiaxed, coaxial with the exoskeleton knee joint and fixed on a second supporting arm of the thigh frame 13, the power chamber shell 42 is fixed on the second supporting arm of the thigh frame 13 and is buckled with the power chamber bottom plate 41 to cover other parts of the power chamber, and the control cabin 43 is attached on the inner side of the power chamber shell 42 for the installation of a hardware circuit of the controller and a power supply thereof; the energy release device 44, motor drive device 45 and knee driven body 46 are all located on the internal centerline of the power chamber housing 42.
The outer side of the ratchet 442 is provided with a wire spool, the ratchet teeth on the ratchet are respectively connected with the upper end of the energy storage steel cable 6 and the lower end of the energy release steel cable 5, and the upper end of the energy release steel cable 5 is fixed with the wire spool part of the knee joint driven body 46; the coil spring box 441 and the ratchet 442 are coaxially arranged on the lower side of the power chamber bottom plate 41, the coil spring is wound up when rotating around the shaft, energy is stored, and the coil spring is loosened when rotating reversely, and energy is released; the tail end of the pawl 443 is mounted on the power chamber bottom plate 41 by a shaft, and the lower part of the top end of the pawl 433 is engaged with the ratchet 442 to prevent the reverse rotation of the coil spring case 441; electromagnetic push rod 444 is connected with the upper part of the top end of pawl 443 through a connecting rod; when the electromagnetic push rod 444 is triggered, the pawl 443 is lifted upwards, so that the pawl 443 is disengaged from the ratchet 442, the energy release cable 5 is pulled to move downwards, and kinetic energy is transmitted to the wire spool part of the knee joint driven body 46; an output shaft of the dc motor 451 is connected to an input shaft of the speed reducer 452, and the driving gear 453 is fixed to the output shaft of the speed reducer 452 and meshes with the gear portion of the knee joint driven body 46, so that kinetic energy is transmitted to the gear portion of the knee joint driven body 46 when the dc motor 451 rotates.
An embedded single-chip microcomputer main control board and a power supply system are arranged in the control cabin 43, the single-chip microcomputer main control board comprises an embedded single-chip microcomputer, a motor, an electromagnetic push rod driving module and a sensor signal processing circuit, the motor, the electromagnetic push rod driving module and the sensor signal processing circuit are respectively connected with a port of the embedded single-chip microcomputer, and the power supply system is connected with the embedded single-chip microcomputer main control board and supplies power to the embedded single-chip microcomputer main control board; the thigh pressure sensor 15, the shin pressure sensor 25, the plantar pressure sensor 33, the thigh gyroscope and accelerometer 16, the shin gyroscope and accelerometer 26 are respectively connected to a sensor signal processing circuit of the main control board and are communicated with a microprocessor on the main control board to collect data; the microprocessor processes the data to obtain a control signal and sends the control signal to a driving module, and the driving module is connected with a direct current motor 451 and an electromagnetic push rod 444 and drives the direct current motor 451 and the electromagnetic push rod 444 to move; the power supply system consists of a storage battery and a voltage stabilizing circuit and is responsible for supplying power to the direct current motor 451, the electromagnetic push rod 444 and the control circuit.
The working procedure of example 1 of the present invention is as follows:
when a wearer wears the exoskeleton robot according to embodiment 1 of the present invention to walk, the dc motor 451 acts according to the control signal requirement, and the generated power is transmitted to the exoskeleton knee joint through the decelerator 452, the driving gears 453 and 46, and the knee joint driven body, so as to provide assistance to the knee joint of the wearer through the thigh support portion 1 and the shin support portion 2;
when the heel falls and begins to contact the ground when the exoskeleton corresponds to the initial stage of the support phase of the lower limb in the gait cycle, the energy recovery device 32 contacts with the ground and is compressed under the action of the contact force, the energy storage steel rope 6 is dragged to move downwards, the traction ratchet 442 rotates forwards, and the coil spring box 441 stores the energy transmitted by the energy storage steel rope 6; after the lower limb of the wearer enters the support period, the energy recovery device 32 does not move any more, the coil spring box 441 does not rotate any more, and at the moment, the pawl 443 is meshed with the ratchet wheel 442 to prevent the reverse rotation of the pawl 443; when the swing period starts and the knee joint of the wearer needs assistance, the electromagnetic push rod 444 is driven by the control circuit to lift the pawl 443 upwards, so that the pawl 443 is disengaged from the ratchet 442, the ratchet 442 rotates reversely, and the energy release cable 5 is dragged downwards, so that the stored energy is transmitted to the knee joint driven body 46, and assistance is provided for the motor driving device.
Example 2
The embodiment of the invention provides a control method for the exoskeleton robot described in embodiment 1. The control method comprises a motion intention predictor, an energy collection estimator, an energy recovery trigger, a limited time convergence interference observer and a nonsingular terminal sliding mode controller, and comprises the following specific steps.
First, the embedded single chip microcomputer collects the contact force F between the thigh and the thigh front side support plate 11 and the thigh rear side support plate 12 respectively by using the thigh pressure sensor 15 g1 、F g2 、F g3 、F g4 The method comprises the steps of carrying out a first treatment on the surface of the The contact force F between the shank and the shank anterior support plate 21, the shank posterior support plate 22 is collected by the shank pressure sensor 25 j1 、F j2 、F j3 、F j4 The method comprises the steps of carrying out a first treatment on the surface of the Then, according to the following formulas (1) - (4), the knee joint expected angle signal q reflecting the movement intention track of the wearer is obtained d ；
Formulas (1) - (4) described in step one are motion intention predictors, specifically, extreme Learning Machines (ELMs), and as shown in fig. 8, parameters in the ELMs are adaptively trained by input and output data acquired before wearing. Training deviceAfter the training is finished, a corresponding output signal q can be directly obtained according to the input signal d Inputting the data to a nonsingular terminal sliding mode controller;
the specific steps are as follows.
ELM input is x= [ F g1 、F g2 、F g3 、F g4 、F j1 、F j2 、F j3 、F j4 ]' output q d The =f (x) function can be expressed as:
at the output level, the number of output nodes is denoted 1. H= [ H ] 1 ,...,h L ] T (the number of hidden nodes in the hidden layer is denoted as L) represents the nonlinear feature mapping between the hidden layer and the output vector of the output, β= [ β ] 1 ,...,β L ] T Is an output weight matrix;
the output function of the hidden node may be used in a variety of different forms, such as an S-function, a gaussian function, a multiple quadratic function, etc. Given an input vector, the output of a hidden node can be expressed as:
h i (x)＝G(a i ,b i ,x),a i ∈R d ,b i ∈R (2)
the ELM general approximation capability theorem can be satisfied if the activation function with hidden node parameters is a nonlinear piecewise continuous function. In this patent, G (a) i ,b i X) function is selected as sigmoid function:
finally, an output weighting vector H is obtained. In the step (4), a step of, in the case of the method,is a hidden layer output matrix:
the aim of the training process is to try out the estimated value as close to the true value as possible, minimizing the estimation error.
Second, the embedded single-chip microcomputer collects the gyros and acceleration information gyros of the thigh and the shank by using the thigh gyroscope and the acceleration sensor 16, the shank gyroscope and the acceleration sensor 26, respectively g 、Acc g 、Gyro j 、Acc j Obtaining knee joint angle value q by using the information through a complementary filtering algorithm; plantar pressure value F is acquired by plantar pressure sensor 33 s The method comprises the steps of carrying out a first treatment on the surface of the Energy harvesting estimator utilizing F s And q estimating the energy E collected in a gait cycle;
the embedded singlechip calculates E value and energy E collected in the next gait cycle of normal gait (1.1 m/s) 0 In comparison, the triggering of the energy harvesting device is controlled by controlling the release time t of the pawl 443 by the electromagnetic push rod 444. The triggering time of the energy collecting device under the normal gait cycle is t 0 (this value is obtained from trial and error experiments before wearing by different wearers), if the energy ratio E is collected 0 Big rule earlier than time t 0 Released if the energy ratio E is collected 0 The small rule is later than time t 0 Releasing.
The algorithm of the energy collection estimator in the second step is consistent with the algorithm adopted by the motion intention predictor in the first step, and is ELM, and the input of the extreme learning machine in the second step is x= [ Gyro ] g 、Acc g 、Gyro j 、Acc j ]' the output is e=f (x).
Thirdly, calculating a mathematical description expression of the lower limb exoskeleton dynamics model, and arranging the mathematical description expression into the following form:
where D is the aggregate total disturbance of the system consisting of the uncertainty disturbance and the model uncertainty disturbance from the assistance provided by the energy recovery device 32.
Fourth, the interference observer (i.e., the following formulas (6) - (8)) estimates the total interference D concentrated in the system to obtain an estimated valueBy->And compensating the output control force rejection tau of the nonsingular terminal sliding mode controller.
If the total disturbance in the set cannot be estimated and compensated for in a limited time, the disturbance will have a long impact on the control accuracy. In order to realize accurate estimation of lumped interference in a shorter time, the patent estimates the lumped interference through a limited-time interference observer, so that the control system is compensated, and the influence caused by the compensation is reduced;
the designed finite time interference observer is in the specific form of
Wherein the method comprises the steps ofFor the output of the disturbance observer, z is an auxiliary variable defined for facilitating the design of the disturbance observer. L (L) 1 、L 2 、L 3 For the observer gain matrix to be designed, L 1 ＝diag(l 11 ，l 12 )，L 2 ＝diag(l 21 ，l 22 )，l 2 ＝min{l 2i And/l 2 ≥||D||，L 3 ＝diag(l 31 ,l 32 )，l 1i ,l 3i ＞0，0＜p＜1。
Considering the exoskeleton system (5), finite-time interference observers (6) - (8) are designed, and if the proposed interference observers are used for estimating the composite interference, the interference estimation error converges to zero in finite time.
To further illustrate the validity of the interference observer designed in the above steps, the lyapunov function is chosen as:
for V 0 Deriving and combining (7) and (5) to obtain
Due to l 2 Not less than D, and the equation (10) can be rewritten as
Wherein l 1 ＝min{l 1i }，l 3 ＝min{l 3i }。
For the exoskeleton dynamics model (5), if there is a continuously differentiable positive definite function V (x): D→R n And the real number p > 0, q > 0,0 < r < 1, and there is a neighborhood containing the originMake the following steps
The origin is locally stable for a limited time. If D 0 ＝D＝R n And V (x) is radially unbounded, the origin of the system (6) is fullLocal time of day stabilization, time of arrival
/>
From the above formulas (12) - (13), it is apparent that for t.gtoreq.t 1 ，V 0 ≡0, wherein,
from (14), it can be seen that the interference estimation error convergence time and/ 1 、l 3 And p, the convergence time can be adjusted by varying the magnitudes of these values. When t is greater than or equal to t 1 When z=0 is obtained, so that t is larger than or equal to t 1 In the time-course of which the first and second contact surfaces,
defining interference estimation errorsObtained from (5) - (8)
Deriving interference estimation errors from equation (15)The finite time converges to zero, i.e
Therefore, the designed interference observer can accurately estimate the lumped interference in a limited time, the estimation error is zero, and the interference only has short-time influence on the control precision. The interference observer form taken in step four proved to be effective.
And fifthly, calculating the control force rejection tau in the lower limb exoskeleton model through a nonsingular terminal sliding mode controller.
The specific steps are that a tracking error e (t) =q is defined by a lower limb exoskeleton dynamics model established in the third step, namely a formula (5) d (t) -q (t), designing a nonsingular terminal sliding mode function s with higher convergence speed and no singular point
Wherein s= [ s ] 1 ,s 2 ] T ，A＝diag(a 1 ,a 2 )，B＝diag(b 1 ,b 2 )，γ 1 ＝diag(γ 11 ,γ 12 )，γ 2 ＝diag(γ 21 ,γ 22 )，a i ＞0，b i ＞0，1＜γ 2i ＜2，γ 1i ＞γ 2i 。
The differentiation of the sliding mode function is:
substituting the formula (5) into the above formula to obtain
The interference observer estimates lumped interference proposed by formulas (6) - (8) are used for compensating the controller, and the nonsingular terminal sliding mode controller can be designed as follows
Wherein K is 1 ＝diag(k 11 ,k 12 )，K 2 ＝diag(k 21 ,k 22 )，k 1i ＞0，k 2i ＞0，0＜ρ＜1。
Considering the lower extremity exoskeleton dynamics model, equation (5), the disturbance observer in the form of terminal sliding mode is designed as (6) - (8), if the control law is designed as (20), the trajectory tracking error converges to zero for a limited time.
To further illustrate the effectiveness of the design control law in the above steps, the Lyapunov function is selected
For V 1 Differentiation to obtain
Substituting formula (19) into formula (22) to obtain
Substituting formula (20) into formula (23) to obtain
Combined (16), when t is more than or equal to t 1 At the time, there are
Wherein, the liquid crystal display device comprises a liquid crystal display device,when->In the time-course of which the first and second contact surfaces,K 1 、K 2 a diagonal matrix is defined for the positive.
Wherein the method comprises the steps ofk 1 ＝min{k 1i }＞0，k 2 ＝min{k 2i }＞0。
In combination with formula (21), formula (26) can be rewritten as
From equation (28) below, it can be demonstrated that the lower extremity exoskeleton kinetic model tracking error can reach the slip plane s=0 in a limited time. The time to reach the slide surface is
t≤-ln((k 1 V 1 (1-ρ)/2 +2 (ρ-1)/2 k 2 )/2 (ρ-1)/2 k 2 )/(k 2 (1-ρ) (28)
When (when)In this case, formula (17) is substituted into formula (1), taking into consideration +.>Obtaining the product
As a result of the fact that,instead of the attractor, the tracking error likewise converges in a finite time. Thus, the system state always reaches the slip plane s=0 in a finite time as long as the appropriate control parameters are selected.
Also, in the sliding phase, the tracking error e can converge to zero for a finite time along the sliding mode plane s=0. Therefore, the track tracking error of the system converges to zero for a limited time, and the control law adopted in the fifth step is proved to be effective.
And sixthly, converting the control input value tau calculated by the nonsingular terminal sliding mode controller into a duty ratio input signal required by a motor driving system by the embedded single chip microcomputer, wherein the motor driving system controls the rotating direction and speed of a motor, drives a gear at the position of a knee joint driven body 46, drives the knee joint to operate, and completes the control of the whole exoskeleton structure.
In order to further illustrate the effectiveness of the control algorithm, a simulation experiment of the overall control algorithm is further designed. Taking the height and weight of a wearer to be 1.75m and 60kg, measuring the structural length and weight of each part of the exoskeleton of the lower limb, constructing a control system simulation platform shown in figure 9 in MATLAB, and in the swing phase process, linearly correlating the angle change with the moment input, wherein the expected track is obtained by collecting the actual joint angle in the human body walking process on level ground. The simulation results shown in fig. 10 and 11 can be finally obtained.
As can be seen in fig. 10, the control system is designed to allow the lower extremity exoskeleton output angle to follow well the changes in the desired trajectory. It can be seen from fig. 11 that the control system can make the system following error be 0 after a short adjustment, and based on this, the rationality and effectiveness of the overall control algorithm are further proved.
Finally, it should be noted that: while the preferred embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention, and these changes relate to the related art well known to those skilled in the art, which fall within the scope of the present invention.
The invention is not a matter of the known technology.
Claims (2)
1. The lower limb exoskeleton robot is characterized by comprising a thigh support part, a shank support part, a foot support part and a power chamber;
the thigh support part is connected with the shank support part; the shank support portion is connected with the foot support portion; the power chamber is fixed on the side part of the shank supporting part;
the thigh support part comprises a thigh front side support plate, a thigh rear side support plate, a thigh frame, a thigh gyroscope, an acceleration sensor, four thigh connecting rods and four thigh pressure sensors;
the thigh frame body is annular, and the thigh front side supporting plate and the thigh rear side supporting plate are respectively positioned at the front side and the rear side in the annular structure; the front side of the thigh frame is provided with brackets extending upwards and downwards, the tail end of each bracket is respectively connected with one ends of two thigh connecting rods, and the other ends of the two thigh connecting rods are respectively connected with the upper and lower parts of the thigh front supporting plate; similarly, the rear side of the thigh frame is provided with a bracket extending upwards and downwards, the tail end of the bracket is provided with a mounting shaft hole which is respectively connected with one ends of two thigh connecting rods, and the other ends of the thigh connecting rods are respectively connected with the upper and lower parts of the thigh rear supporting plate; the two sides of the middle part of the thigh frame are respectively provided with a first supporting arm which extends downwards; the inner sides of the front support plate and the rear support plate are respectively provided with two thigh pressure sensors which are respectively arranged up and down along the central axes of the front support plate and the rear support plate; a thigh gyroscope and an acceleration sensor are arranged on the outer side of the first supporting arm of the thigh frame;
the shank supporting part comprises a shank front side supporting plate, a shank rear side supporting plate, a shank supporting frame, a shank gyroscope, an acceleration sensor, four shank connecting rods and four shank pressure sensors;
the main body of the shank supporting part is annular, and the shank front side supporting plate and the shank rear side supporting plate are positioned at the front side and the rear side in the annular structure; the front side of the shank supporting part is provided with a bracket extending upwards and downwards, the tail ends of the bracket are respectively connected with one ends of two shank connecting rods, and the other ends of the two shank connecting rods are respectively connected with the upper part and the lower part of the shank front side supporting plate; similarly, the rear side of the shank supporting part is provided with a bracket extending upwards and downwards, the tail ends of the bracket are respectively connected with one ends of two shank connecting rods, and the other ends of the two shank connecting rods are respectively connected with the upper part and the lower part of the shank rear side supporting plate; the second supporting arms which extend upwards are arranged on the inner side and the outer side of the shank supporting part, and the tail ends of the second supporting arms are connected with the first supporting arm shafts of the thigh frames and form exoskeleton knee joints; the outer side of the shank supporting part is provided with a third supporting arm which extends downwards and is connected with a foot fixing frame contained in the foot supporting part, and the third supporting arm is fixedly provided with a power chamber; the inner sides of the shank front side supporting plate and the shank rear side supporting plate are respectively provided with two shank pressure sensors which are respectively arranged along the central axes of the shank front side supporting plate and the shank rear side supporting plate; a shin gyroscope and an accelerometer are arranged on the outer side of the third supporting arm of the shin supporting part;
the foot support portion includes a foot mount, an energy recovery device, and a plantar pressure sensor;
the foot fixing frame is hinged with the shank supporting part through a mounting shaft hole at the upper side of the foot fixing frame, the inner side of the foot fixing frame is provided with an annular buckle belt for fixing the foot of a wearer during use, the outer side of the foot fixing frame is a vertical plane, and an energy recovery device is fixed; the energy recovery device is divided into a pressure block and a transmission system which are in contact with the ground, wherein the pressure block is in contact with the ground;
the power chamber consists of a power chamber bottom plate, a power chamber shell, a control cabin, an energy release device, a motor driving device and a knee joint driven body;
the energy release device consists of a coil spring box, a ratchet wheel, a pawl and an electromagnetic push rod; the motor driving device consists of a direct current motor, a speed reducer and a driving gear;
the power chamber bottom plate is a vertical plate and is fixed on a third supporting arm at the outer side of the shank supporting part, the energy release device and the motor driving device are fixed on the power chamber bottom plate, the knee joint driven body is a gear and a wire spool which are equiaxed, the knee joint driven body is coaxial with the exoskeleton knee joint and is fixed on a second supporting arm of the thigh frame, the power chamber shell is fixed on the second supporting arm of the thigh frame and is buckled with the power chamber bottom plate, and the control cabin is attached to the inner side of the power chamber shell; the energy release device, the motor driving device and the knee joint driven body are all positioned on the central axis in the power chamber shell;
the ratchet wheel is provided with a wire spool on the outer side, the ratchet wheel on the ratchet wheel is respectively connected with the upper end of the energy storage steel cable and the lower end of the energy release steel cable, and the upper end of the energy release steel cable is fixed with the wire spool part of the knee joint driven body; the coil spring box and the ratchet wheel are coaxially arranged on the lower side of the power chamber bottom plate; the tail end of the pawl is arranged on the bottom plate of the power chamber through a shaft, and the lower part of the top end of the pawl is meshed with the ratchet wheel; the electromagnetic push rod is connected with the upper part of the top end of the pawl through a connecting rod; an output shaft of the direct current motor is connected with an input shaft of the speed reducer, and a driving gear is fixed on the output shaft of the speed reducer and meshed with a gear part of the knee joint driven body.
2. The lower limb exoskeleton robot of claim 1, wherein an embedded single-chip microcomputer main control board and a power supply system are arranged in the control cabin, the single-chip microcomputer main control board comprises an embedded single-chip microcomputer, a motor, an electromagnetic push rod driving module and a sensor signal processing circuit, the motor, the electromagnetic push rod driving module and the sensor signal processing circuit are respectively connected with a port of the embedded single-chip microcomputer, and the power supply system is connected with the embedded single-chip microcomputer main control board; the thigh pressure sensor, the sole pressure sensor, the thigh gyroscope and the accelerometer, and the shin gyroscope and the accelerometer are respectively connected to the sensor signal processing circuit of the main control board; the microprocessor is connected with the driving module, and the driving module is respectively connected with the direct current motor and the electromagnetic push rod; the power supply system is respectively connected with the direct current motor, the electromagnetic push rod and the control circuit.
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| CN110125908B (en) * | 2019-04-16 | 2022-06-14 | 上海大学 | Labor-saving walking aid without external power input |
| CN110653796B (en) * | 2019-09-11 | 2022-09-13 | 西北机电工程研究所 | Flexible exoskeleton power-assisted robot |
| CN110524525B (en) * | 2019-10-05 | 2022-04-26 | 河北工业大学 | Lower limb exoskeleton control method |
| CN111965979B (en) * | 2020-08-28 | 2021-09-24 | 南京工业大学 | Limited time control method based on exoskeleton robot actuator |
| CN112711838B (en) * | 2020-12-23 | 2022-03-22 | 华南理工大学 | Electric energy cost estimation method for ankle joint flexible walking exoskeleton |
| CN116214481B (en) * | 2023-01-18 | 2023-08-11 | 首都体育学院 | Passive ankle joint exoskeleton capable of reducing walking energy consumption |
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