CN108175639B - The bionical dynamic knee joint system in the wearable list source of one kind and its control method - Google Patents
The bionical dynamic knee joint system in the wearable list source of one kind and its control method Download PDFInfo
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
-
- 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
-
- 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
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
-
- 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
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
Abstract
The invention discloses the bionical dynamic knee joint system in the wearable list source of one kind and its control methods.The present invention acquires the reciprocal force between user and bionical dynamic knee joint using thigh force snesor and shank force snesor, and thigh angle sensor and shank angular transducer acquire the location information of bionical dynamic knee joint, be transmitted separately to intelligent control unit；According to interaction force information and location information, and pass through Jacobi's transformation, generate expectation tracking velocity, pass through proportional integral differential PID control again, obtain the input current order of motor, send motor to, motor passes through thigh kinematic link and the bionical dynamic knee joint movement of shank kinematic link control biomimetics dynamic knee joint, to to bionical dynamic knee joint feedback control, it realizes that bionical dynamic knee joint can quickly, flexibly, smoothly follow the motion of knee joint of user according to the motion intention of user, auxiliary force support is provided in real time user.
Description
Technical field
The present invention relates to rehabilitation and Intelligent bionic machinery people fields, and in particular to a kind of bionical power knee in wearable single source
Articular system and its control method.
Background technique
Due to age growth, muscle damage, neurotrosis, disability etc., with the presence of the knee joint of a big chunk people
Dyskinesia.In order to restore their locomitivity, promotes kneed Health restoration, dynamic knee joint dress can be used
(also referred to as ectoskeleton knee joint robot, knee joint power-assisting robot etc.) is set, to provide power support for impaired knee joint.
It the problems such as in order to solve weaker user's knee joint muscular strength, dyskinesia, helps them to restore motion of knee joint ability again, opens
Sending out wearable bionical dynamic knee joint convalescence device with independent intellectual property rights and studying corresponding control strategy has weight
Big realistic meaning.
The critical issue of bionical dynamic knee joint control is to take which kind of suitable signal and provide conjunction at the time of appropriate
Suitable power-assisted." a kind of ectoskeleton pedipulator rehabilitation system standing pattern control method " (application number that Chinese patent is announced
201710103758.1) control method based on myoelectricity is used, the method is by the factors shadow such as personal feature difference, fur
It rings, while needing largely training and modeling using preceding progress, it is more difficult in daily universal quickly application.Man-machine friendship
Mutual power is opposite to be not readily susceptible to significantly affecting for individual difference.Chinese patent announce " under a kind of wearable assistance exoskeleton
It is used in the control method of limb mechanism " (application number 201510501879.2) directly interaction force signal multiplied by a constant coefficient
The end expectation driving speed of auxiliary device is obtained, the method does not account for the kinetic characteristics in human-computer interaction process, required
The control energy wanted is larger, while desired trajectory generated is also not smooth enough, cannot flexible, submissive, cosily track and auxiliary
Help user.
Summary of the invention
In view of the above problems, the purpose of the present invention is to provide a kind of bionical dynamic knee joint system in wearable single source and
Its control method can both use knee joint power-assisted in the process of walking, can be used in rehabilitation training.
An object of the present invention is to provide a kind of bionical dynamic knee joint systems in wearable single source.
The bionical dynamic knee joint system in wearable single source of the invention include: thigh force snesor, shank force snesor,
Thigh angle sensor, shank angular transducer, intelligent control unit, motor, thigh kinematic link and shank kinematic link；Its
In, one end of thigh kinematic link and shank kinematic link is separately mounted on bionical dynamic knee joint, thigh kinematic link and
The other end of shank kinematic link be respectively set thigh connection bandage connect bandage with shank, respectively by thigh connection bandage with
Bionical dynamic knee joint is strapped on the thigh and shank of user by shank connection bandage；It is passed in thigh connection bandage and thigh
Thigh force snesor and thigh angle sensor be set between dynamic connecting rod, and shank connection bandage and shank kinematic link it
Between shank force snesor and shank angular transducer are set；Thigh force snesor, shank force snesor, thigh angle sensor and
Shank angular transducer is respectively connected to intelligent control unit；Intelligent control unit is connected to motor；Motor is connected to thigh biography
Dynamic connecting rod and shank kinematic link；Between thigh force snesor and shank force snesor acquisition user and bionical dynamic knee joint
Reciprocal force, thigh angle sensor and shank angular transducer acquire the location information of bionical dynamic knee joint, transmit respectively
To intelligent control unit；Intelligent control unit generates expectation according to interaction force information and location information, and by Jacobi's transformation
Tracking velocity, and the input current order of motor is obtained by proportional integral differential PID control according to desired tracking velocity, it passes
Motor is given, motor passes through thigh kinematic link and the bionical dynamic knee joint fortune of shank kinematic link control biomimetics dynamic knee joint
It is dynamic, to realize that bionical dynamic knee joint can be fast according to the motion intention of user to bionical dynamic knee joint feedback control
Speed follows the motion of knee joint of user, provides user auxiliary force support in real time.
Six-dimension force sensor is respectively adopted in thigh force snesor and shank force snesor.
It is another object of the present invention to provide a kind of controlling parties of the bionical dynamic knee joint system in wearable single source
Method.
The control method of the bionical dynamic knee joint system in wearable single source of the invention, comprising the following steps:
1) it is connected in thigh and thigh force snesor and thigh angle sensor is set between bandage and thigh kinematic link, and
It is connected to intelligent control unit, and is connected in shank and shank force snesor and shank is set between bandage and shank kinematic link
Angular transducer, and it is connected to intelligent control unit, intelligent control unit is connected to motor, and motor is connected to thigh kinematic link
With shank kinematic link, and bandage is connected by thigh respectively and connects bandage with shank bionical dynamic knee joint is strapped in use
On the thigh and shank of person, and guarantee that the rotary motion of bionical dynamic knee joint is opposite with the kneed rotary motion of user
It coincide；
2) after the bionical dynamic knee joint system energization in wearable single source, by way of automatically correcting zero point, so that imitative
Raw dynamic knee joint and force snesor zero；
3) reciprocal force between thigh force snesor and shank force snesor acquisition user and bionical dynamic knee joint is believed
Breath, thigh angle sensor and shank angular transducer acquire the location information of bionical dynamic knee joint, and are transmitted to intelligent control
Unit processed；
4) intelligent control unit passes through interaction force information and location information, extracts force vector special type parameter, is known by mode
Not Tui Duan user motion intention；
5) intelligent control unit passes through interaction force information and location information, and by Jacobi's transformation, generates bionical power
Kneed expectation tracking velocity；
6) intelligent control unit passes through proportional integral differential according to the expectation tracking velocity of the bionical dynamic knee joint of generation
PID control obtains the input current order of motor, sends motor to, and motor passes through thigh kinematic link and shank kinematic link control
Bionical dynamic knee joint movement is made, thus to bionical dynamic knee joint feedback control；
7) step 3)~6 are repeated), realize that bionical dynamic knee joint quickly follows user according to the motion intention of user
Motion of knee joint, user is provided in real time auxiliary force support.
In step 2), in the case where moving original state, due to the difference of user's individual, in the feelings that bandage is connected and fixed
Under condition, the original state of force snesor be it is inconsistent, at this time by way of automatically correcting zero point so that bionical power knee close
Section and force snesor zero.
In step 4), force vector special type parameter includes the size of power, velocity and acceleration.
In step 5), intelligent control unit passes through interaction force information and location information, generates expectation tracking velocity, including
Following steps:
A) bionical dynamic knee joint follows human motion in real time, it is expected that trace point is the Real-time of bionical dynamic knee joint
Border position, then reciprocal force and desired tracking velocity meet:
Wherein, V (s) is the expectation tracking velocity of bionical dynamic knee joint end, and F (s) is user and bionical power knee
Reciprocal force between joint, MaAnd BaRespectively adjustable inertial parameter and damping parameter, s are Laplace transform；
B) above-mentioned calculation formula can be write as under time domain:
Wherein, V (t) is the expectation tracking velocity of the bionical dynamic knee joint end of t moment under time domain, and F (t) is under time domain
Reciprocal force between the user of t moment and bionical dynamic knee joint；
C) above-mentioned time-domain calculation formula is write as discrete form:
Wherein, T is sample period time constant, Vn(t) for current time bionical dynamic knee joint end expectation with
Track speed, Vn-1It (t) is the expectation tracking velocity of the bionical dynamic knee joint end of last moment；
D) according to above-mentioned discrete form formula, the expectation tracking velocity of the bionical dynamic knee joint end at current time is obtained
Calculating derivation formula:
E) it according to the expectation tracking velocity of bionical dynamic knee joint end, is converted by Jacobi's movement relation bionical dynamic
The kneed expectation tracking velocity of powerIts calculation formula is as follows:
Wherein, J is the kinematics Jacobian matrix of bionical dynamic knee joint.
In step 6), intelligent control unit passes through PID according to the expectation tracking velocity of the bionical dynamic knee joint of generation
Control obtains the practical control output torque order τ of motor, further according to the practical control output torque order τ of motor, obtains electricity
The input current order I of machinec, calculation formula is as follows:
Wherein, KtFor motor torque constant.
Advantages of the present invention:
The present invention is using between thigh force snesor and shank force snesor acquisition user and bionical dynamic knee joint
Reciprocal force, thigh angle sensor and shank angular transducer acquire the location information of bionical dynamic knee joint, are transmitted separately to
Intelligent control unit；According to interaction force information and location information, and by Jacobi's transformation, expectation tracking velocity is generated, then lead to
Proportional integral differential PID control is crossed, the input current order of motor is obtained, sends motor to, motor passes through thigh kinematic link
With the bionical dynamic knee joint movement of shank kinematic link control biomimetics dynamic knee joint, controlled to be fed back to bionical dynamic knee joint
System realizes that bionical dynamic knee joint can quickly, flexibly, smoothly follow the knee joint of user according to the motion intention of user
Movement provides in real time user auxiliary force support.
Detailed description of the invention
Fig. 1 is the front view of one embodiment of the bionical dynamic knee joint system in wearable single source of the invention；
Fig. 2 is the side view of one embodiment of the bionical dynamic knee joint system in wearable single source of the invention；
Fig. 3 is the flow chart of the control method of the bionical dynamic knee joint system in wearable single source of the invention.
Specific embodiment
With reference to the accompanying drawing, by specific embodiment, the present invention is further explained.
As shown in Figure 1, wearable single bionical dynamic knee joint system in source of the present embodiment include: thigh force snesor 1,
Shank force snesor 2, thigh angle sensor 3, shank angular transducer 4, intelligent control unit 5, motor 6, thigh transmission connect
Bar 7, shank kinematic link 8, thigh connection bandage 9 connect bandage 10 with shank；Wherein, thigh kinematic link 7 and shank transmission
One end of connecting rod 8 is separately mounted on bionical dynamic knee joint, the other end point of thigh kinematic link 7 and shank kinematic link 8
Not She Zhi thigh connect bandage 9 and connect bandage with shank, connecting with shank bandage by thigh connection bandage 9 respectively bionical will move
Power knee joint is strapped on the thigh and shank of user；It is connected in thigh and thigh is set between bandage 9 and thigh kinematic link 7
Force snesor 1 and thigh angle sensor 3, and connected in shank and small leg strength biography is set between bandage and shank kinematic link 8
Sensor 2 and shank angular transducer 4；Thigh force snesor 1, shank force snesor 2, thigh angle sensor 3 and shank angle
Sensor 4 is respectively connected to intelligent control unit 5；Intelligent control unit 5 is connected to motor 6；Motor 6 is connected to thigh transmission and connects
Bar 7 and shank kinematic link 8.
The control method of the bionical dynamic knee joint system in wearable single source of the present embodiment, comprising the following steps:
1) it is connected in thigh and thigh force snesor 1 and thigh angle sensor is set between bandage 9 and thigh kinematic link 7
3, and it is connected to intelligent control unit 5, and connect in shank and shank force snesor is set between bandage and shank kinematic link 8
2 and shank angular transducer 4, and it is connected to intelligent control unit 5, intelligent control unit 5 is connected to motor 6, and motor 6 is connected to
Thigh kinematic link 7 and shank kinematic link 8, and connecting bandage 10 with shank by thigh connection bandage 9 respectively will be bionical dynamic
Power knee joint is strapped on the thigh and shank of user, and guarantees the rotary motion of bionical dynamic knee joint and the knee of user
The rotary motion in joint coincide relatively.
2) in the case where moving original state, due to the difference of user's individual, in the case where bandage is connected and fixed, power is passed
The original state of sensor is inconsistent.After the bionical dynamic knee joint system energization in wearable list source, pass through automatic school at this time
The mode of positive zero point, so that bionical dynamic knee joint and force snesor zero.
3) thigh force snesor 1 and shank force snesor 2 acquire the reciprocal force between user and bionical dynamic knee joint
Information, thigh angle sensor 3 and shank angular transducer 4 acquire the location information of bionical dynamic knee joint, and are transmitted to intelligence
It can control unit 5.
4) intelligent control unit 5 passes through interaction force information and location information, force vector special type parameter is extracted, including the big of power
Small, velocity and acceleration infers the motion intention of user by pattern-recognition；
5) intelligent control unit 5 passes through interaction force information and location information, and by Jacobi's transformation, generates bionical power
Kneed expectation tracking velocity:
A) bionical dynamic knee joint follows human motion in real time, it is expected that trace point is the Real-time of bionical dynamic knee joint
Border position, then reciprocal force and desired tracking velocity meet:
Wherein, V (s) is the expectation tracking velocity of bionical dynamic knee joint end, and F (s) is user and bionical power knee
Reciprocal force between joint, MaAnd BaAdjustable inertial parameter and damping parameter respectively in human-computer interaction model, s are that drawing is general
Lars transformation；
B) above-mentioned calculation formula can be write as under time domain:
C) above-mentioned time-domain calculation formula is write as discrete form:
Wherein, T is using cycle time constant, and subscript n represents current time, and subscript n -1 represents last moment；
D) according to above-mentioned discrete form formula, the expectation tracking velocity of the bionical dynamic knee joint end at current time is obtained
Calculating derivation formula:
E) it according to the expectation tracking velocity of bionical dynamic knee joint end, is converted by Jacobi's movement relation bionical dynamic
The kneed expectation tracking velocity of powerIts calculation formula is as follows:
Wherein, J is the kinematics Jacobian matrix of bionical dynamic knee joint.
6) intelligent control unit 5 is obtained according to the expectation tracking velocity of the bionical dynamic knee joint of generation by PID control
The practical control output torque order τ of motor 6 obtains the defeated of motor 6 further according to the practical control output torque order τ of motor 6
Enter current order Ic,KtFor motor torque constant, input current order IcSend motor 6 to, motor 6 is passed by thigh
Dynamic connecting rod 7 and the movement of 8 control biomimetics dynamic knee joint of shank kinematic link, thus to bionical dynamic knee joint feedback control.
7) step 3)~6 are repeated), realize that bionical dynamic knee joint quickly follows user according to the motion intention of user
Motion of knee joint, user is provided in real time auxiliary force support.
It is finally noted that the purpose for publicizing and implementing example is to help to further understand the present invention, but this field
Technical staff be understood that without departing from the spirit and scope of the invention and the appended claims, it is various replacement and repair
It is all possible for changing.Therefore, the present invention should not be limited to embodiment disclosure of that, and the scope of protection of present invention is to weigh
Subject to the range that sharp claim defines.
Claims (6)
1. a kind of control method of the bionical dynamic knee joint system in wearable single source, which is characterized in that the control method packet
Include following steps:
1) it is connected in thigh and thigh force snesor and thigh angle sensor is set between bandage and thigh kinematic link, and connected
To intelligent control unit, and setting shank force snesor and shank angle between shank connection bandage and shank kinematic link
Sensor, and be connected to intelligent control unit, intelligent control unit are connected to motor, and motor is connected to thigh kinematic link and small
Leg kinematic link, and bandage is connected with shank by thigh connection bandage respectively, bionical dynamic knee joint is strapped in user's
On thigh and shank, and guarantee the rotary motion of bionical dynamic knee joint kiss opposite with the kneed rotary motion of user
It closes；
2) after the bionical dynamic knee joint system energization in wearable single source, by way of automatically correcting zero point, so that bionical dynamic
Power knee joint and force snesor zero；
3) the interaction force information between thigh force snesor and shank force snesor acquisition user and bionical dynamic knee joint, greatly
Leg angular transducer and shank angular transducer acquire the location information of bionical dynamic knee joint, and are transmitted to intelligent control single
Member；
4) intelligent control unit passes through interaction force information and location information, extracts force vector special type parameter, is pushed away by pattern-recognition
The motion intention of disconnected user；
5) intelligent control unit passes through interaction force information and location information, and by Jacobi's transformation, generates bionical power knee and close
The expectation tracking velocity of section；
6) intelligent control unit passes through proportional integral differential PID according to the expectation tracking velocity of the bionical dynamic knee joint of generation
Control obtains the input current order of motor, sends motor to, and motor is controlled by thigh kinematic link and shank kinematic link
Bionical dynamic knee joint movement, thus to bionical dynamic knee joint feedback control；
7) step 3)~6 are repeated), realize that bionical dynamic knee joint quickly follows the knee of user according to the motion intention of user
Joint motions provide in real time user auxiliary force support.
2. control method as described in claim 1, which is characterized in that in step 2), in the case where moving original state, by certainly
The mode of dynamic suppressed zero, so that bionical dynamic knee joint and force snesor zero.
3. control method as described in claim 1, which is characterized in that in step 4), force vector special type parameter includes power
Size, velocity and acceleration.
4. control method as described in claim 1, which is characterized in that in step 5), intelligent control unit passes through reciprocal force
Information and location information generate expectation tracking velocity, comprising the following steps:
A) bionical dynamic knee joint follows human motion in real time, it is expected that trace point is the live actual position of bionical dynamic knee joint
It sets, then reciprocal force and desired tracking velocity meet:
Wherein, V (s) is the expectation tracking velocity of bionical dynamic knee joint end, and F (s) is user and bionical dynamic knee joint
Between reciprocal force, MaAnd BaRespectively adjustable inertial parameter and damping parameter, s are Laplace transform；
B) above-mentioned calculation formula can be write as under time domain:
Wherein, V (t) is the expectation tracking velocity of the bionical dynamic knee joint end of t moment under time domain, when F (t) is t under time domain
Reciprocal force between the user at quarter and bionical dynamic knee joint；
C) above-mentioned time-domain calculation formula is write as discrete form:
Wherein, T is sample period time constant, Vn(t) speed is tracked for the expectation of the bionical dynamic knee joint end at current time
Degree, Vn-1It (t) is the expectation tracking velocity of the bionical dynamic knee joint end of last moment, FnIt (t) is the user at current time
With the reciprocal force between bionical dynamic knee joint；
D) according to above-mentioned discrete form formula, the meter of the expectation tracking velocity of the bionical dynamic knee joint end at current time is obtained
Calculate derivation formula:
E) according to the expectation tracking velocity of bionical dynamic knee joint end, bionical power knee is converted by Jacobi's movement relation
The expectation tracking velocity in jointIts calculation formula is as follows:
Wherein, J is the kinematics Jacobian matrix of bionical dynamic knee joint.
5. control method as described in claim 1, which is characterized in that in step 6), intelligent control unit is according to generation
The expectation tracking velocity of bionical dynamic knee joint obtains the practical control output torque order τ of motor, then root by PID control
According to the practical control output torque order τ of motor, the input current order I of motor is obtainedc, calculation formula is as follows:
Wherein, KtFor motor torque constant.
6. a kind of bionical dynamic knee joint system in wearable single source, which is characterized in that the system comprises: big leg strength sensing
Device, shank force snesor, thigh angle sensor, shank angular transducer, intelligent control unit, motor, thigh kinematic link
With shank kinematic link；Wherein, one end of thigh kinematic link and shank kinematic link is separately mounted to bionical dynamic knee joint
On, thigh kinematic link, which with the other end of shank kinematic link is respectively set thigh and connects bandage, connects bandage with shank, respectively
It connects bandage with shank by thigh connection bandage bionical dynamic knee joint is strapped on the thigh and shank of user；Big
Leg, which connects, is arranged thigh force snesor and thigh angle sensor between bandage and thigh kinematic link, and taut in shank connection
Shank force snesor and shank angular transducer are set between band and shank kinematic link；Thigh force snesor, small leg strength sensing
Device, thigh angle sensor and shank angular transducer are respectively connected to intelligent control unit；Intelligent control unit is connected to electricity
Machine；Motor is connected to thigh kinematic link and shank kinematic link；Thigh force snesor and shank force snesor acquire user
With the reciprocal force between bionical dynamic knee joint, thigh angle sensor and shank angular transducer acquire bionical dynamic knee joint
Location information, be transmitted separately to intelligent control unit；Intelligent control unit passes through according to interaction force information and location information
Jacobi's transformation generates expectation tracking velocity, and obtains electricity by proportional integral differential PID control according to desired tracking velocity
The input current order of machine, sends motor to, and motor passes through thigh kinematic link and shank kinematic link control biomimetics power knee
The bionical dynamic knee joint movement in joint, to realize that bionical dynamic knee joint being capable of root to bionical dynamic knee joint feedback control
The motion of knee joint that user is quickly followed according to the motion intention of user provides in real time user auxiliary force support.
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| CN201711476039.0A CN108175639B (en) | 2017-12-29 | 2017-12-29 | The bionical dynamic knee joint system in the wearable list source of one kind and its control method |
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| CN201711476039.0A CN108175639B (en) | 2017-12-29 | 2017-12-29 | The bionical dynamic knee joint system in the wearable list source of one kind and its control method |
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| CN108175639B true CN108175639B (en) | 2019-08-30 |
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| CN109199799A (en) * | 2018-09-18 | 2019-01-15 | 内蒙古工业大学 | A kind of knee joint exoskeleton mechanism based on connecting rod driving |
| CN111374674B (en) * | 2018-12-29 | 2023-02-10 | 西安思博探声生物科技有限公司 | Knee joint movement information processing equipment |
| CN109752131B (en) * | 2019-02-27 | 2020-11-13 | 北京理工大学 | Two-dimensional force measuring device and method for exoskeleton robot |
| CN110279986A (en) * | 2019-03-29 | 2019-09-27 | 中山大学 | A kind of healing robot control method based on electromyography signal |
| CN110811941A (en) * | 2019-11-07 | 2020-02-21 | 北京精博现代假肢矫形器技术有限公司 | Intelligent data acquisition device for bionic knee joint |
| CN111938656A (en) * | 2020-07-28 | 2020-11-17 | 南京审计大学 | Real-time walking mode identification method and system based on knee joint exoskeleton |
| CN115167246A (en) * | 2021-01-07 | 2022-10-11 | 国家康复辅具研究中心 | Wheelchair posture adjusting method and system |
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| CN101646534B (en) * | 2007-06-27 | 2012-03-21 | 松下电器产业株式会社 | Apparatus and method for controlling robot arm, and robot |
| CN101336848B (en) * | 2008-08-22 | 2011-05-04 | 中国人民解放军海军航空工程学院 | Man machine exoskeleton system and force control method thereof |
| JP5506617B2 (en) * | 2009-12-28 | 2014-05-28 | 本田技研工業株式会社 | Robot control device |
| EP2497610B1 (en) * | 2011-03-09 | 2014-10-22 | Syco Di Hedvig Haberl & C. S.A.S. | System for controlling a robotic device during walking, in particular for rehabilitation purposes, and corresponding robotic device |
| CN105411813A (en) * | 2015-12-29 | 2016-03-23 | 华南理工大学 | Wearable bionic exoskeleton mechanical leg rehabilitation device |
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