CN101786478A - Fictitious force-controlled lower limb exoskeleton robot with counter torque structure - Google Patents
Fictitious force-controlled lower limb exoskeleton robot with counter torque structure Download PDFInfo
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Abstract
The invention relates to a fictitious force-controlled lower limb exoskeleton robot with a counter torque structure. The robot comprises sensing boots, ankle joints, shanks, knee joints, a hydraulic actuator, thighs, the counter torque structure, a waistband, hip joints, a damping spring, batteries, a carrying rack, a back frame, a controller and a hydraulic system, wherein the sensing boots are connected with the shanks through the ankle joints; the shanks are connected with the thighs through the knee joints; the thighs are connected with the waistband through the hip joints; the carrying rack is stably hung on the back frame through a mechanical structure; the batteries are fixed on the two sides of the carrying rack through bandages; the controller is fixed on a position between the carrying rack and the batteries; and the hydraulic system is arranged on a position below the battery and is flexibly connected with the hydraulic actuator. The robot has the advantages of reducing loading effect felt by a human body, reducing human body energy consumption and fatigue feeling and realizing long-distance and long-time load walking.
Description
[technical field]
The present invention relates to the exoskeleton robot technical field, specifically, is a kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure.
[background technology]
Lower limb exoskeleton robot is generally used at a distance (normally outdoor) carrying heavy goods, and its road of walking is that other wheeled vehicles are unpassable.The wheeled vehicles of comparing has many potential advantages based on ectoskeletal work-saving device, if can adapt to complicated accidental relief.The people is in amusement, work or when warlike operation, can bear a heavy burden with lower limb exoskeleton robot: the hiker carries assistant product with lower limb exoskeleton robot, fire fighter or first aid team member carry oxygen canister and other mechanical equipment with lower limb exoskeleton robot, the soldier carries weight with lower limb exoskeleton robot, passes through various complex-terrains and long distance walking.
[summary of the invention]
The objective of the invention is to overcome the deficiencies in the prior art, a kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure is provided.
The objective of the invention is to be achieved through the following technical solutions:
A kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure comprises the sensing boots, ankle-joint, shank, knee joint, hydraulic actuator, thigh, counter torque structure, waistband, hip joint, damping spring, battery, luggage carrier, back of the body frame, controller and hydraulic efficiency pressure system; The sensing boots are connected by ankle-joint with shank, and shank is connected by knee joint with thigh, and thigh is connected by hip joint with waistband; Luggage carrier firmly is affiliated on back of the body frame by physical construction, and battery is fixed on the luggage carrier both sides by bandage, and controller is fixed on the midway location of luggage carrier and battery, and hydraulic efficiency pressure system is arranged on the battery lower position, is connected with hydraulic actuator is submissive;
Respectively be provided with the coupling end of hydraulic actuator on described thigh and the shank,, realize kneed rotatablely moving by stretching of hydraulic actuator;
Described sensing boots mainly comprise load are sent to ground-surface heel and are the toe head of comfortable design-calculated bending, are used to measure the plantar pressure of human body plantar pressure and exoskeleton end; By being embedded into the forward foot in a step pressure sensor in the sole, the variation that rear foot pressure sensor is measured foot force, be used for virtually being controlled by power; See also Fig. 4, the sensing boots contain the forward foot in a step pressure sensor that is placed in sensing boots tiptoe place, the rear foot pressure sensor at sensing boots heel place and the pin side pressure sensor at sensing boots pin side place, are respectively applied for measurement human body tiptoe, human body heel and exoskeleton and act on ground pressure;
The pin side pressure sensor of sensing boots connects firmly by ankle-joint and shank end, the setting of this sensor is in order to carry out the test of lower limb exoskeleton load-carrying capacity, under the ideal control condition, all heavy burdens all will act on the lower limb exoskeleton, therefore the pressure of lower limb exoskeleton end should be the summation of sole mass and heavy burden, value by measuring the pin side pressure sensor can evaluation system load-bearing capacity, this method is more convenient than other method, succinctly;
Described ankle-joint adopts sphere higher pair connection mode, realizes that three of joint rotatablely move, and mainly is made up of ball-type dwang, ball-type turning set, and is connected with pin side senser pipe link by attaching parts, finishes being connected of shank and sensing boots; With reference to Fig. 3, the energy stroage spring upper end of ankle-joint connects firmly on the shank expansion link, the lower end connects firmly on pin side senser pipe link, be used for storing the part muscular energy that the walking human body is consumed, and be used for auxiliary human body walking at suitable this part energy of gait phase automatic release, with saving in energy;
Described thigh adopts the arc design, has guaranteed that hip joint crosses along slipping over to kneed geometric position, and hydraulic actuator is thoroughly withdrawn when shank is crooked; Hip joint adopts sphere higher pair connection mode, realizes that two of joint rotatablely move, and the assurance exoskeleton can be realized keeping straight on and turning with human body; With reference to Fig. 2, near the counter torque structure the hip joint comprises the counter torque spring, recoil spring, sliding sleeve, slide bar etc., the assist function of realization hip joint; Counter torque spring one end is connected by sphere higher pair and waistband are terminal, and an end and sliding sleeve are connected; The moment loading of counter torque spring has been resisted the overturning couple that bears a heavy burden and cause, makes exoskeleton keep anterior-posterior balance, and this method of designing need not control, has passive dynamic (dynamical) characteristic, has reduced system energy consumption.
Compared with prior art, good effect of the present invention is:
Principle of the present invention is the elastic element of the counter torque structure by hip joint, kneed hydraulic unit driver and ankle-joint, to be made it by power-control method be a telescopic crutch in the equivalence of single leg driving phase by virtual, directly give ground with the heavy burden force transmission, thereby reduce the load effect that the human feeling arrives, reduce energy consumption of human body and sense of fatigue, realize long distance time heavy burden walking.
It is big that the virtual characteristics of being controlled by power of the present invention are that this control algorithm has remedied the departure that adopts constant-rate spring open loop control to be caused in the passive power control, applicability is single, can't real-time regulated etc. defective, it does not need accurate kinetic model to carry out the calculating of real-time moment of torsion simultaneously, improved the reliability of computation speed and system, owing to made full use of the dynamics of human body, will help to reduce the consumption of energy in addition.
[description of drawings]
Fig. 1 is a lower limb exoskeleton robot overall structure scheme drawing;
Fig. 2 is a lower limb exoskeleton robot counter torque structure scheme drawing;
Fig. 3 is a lower limb exoskeleton robot ankle-joint structural representation;
Fig. 4 is that lower limb exoskeleton robot sensing boots pressure sensor is arranged scheme drawing;
Fig. 5 is virtual by power controller chassis figure for the lower limb exoskeleton robot use;
Label in the accompanying drawing is respectively: 1, the sensing boots, 2, ankle-joint, 3, shank, 4, knee joint, 5, hydraulic actuator, 6, thigh, 7, counter torque structure, 8, waistband, 9, hip joint, 10, damping spring, 11, hydraulic efficiency pressure system, 12, battery, 13, controller, 14, luggage carrier, 15, back of the body frame, 16, retracting cylinder, 17, recoil spring, 18, sliding sleeve, 19, the counter torque spring, 20, slide bar, 21, the shank expansion link, 22, energy stroage spring, 23, the ball-type dwang, 24, the ball-type turning set, 25, attaching parts, 26, pin side senser pipe link, 27, sole, 28, forward foot in a step pressure sensor, 29, the pin side pressure sensor, 30, rear foot pressure sensor.
[specific embodiment]
The present invention below is provided a kind of specific embodiment with Fictitious force-controlled lower limb exoskeleton robot of counter torque structure.
See also accompanying drawing 1, a kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure comprises sensing boots 1, ankle-joint 2, shank 3, knee joint 4, hydraulic actuator 5, thigh 6, counter torque structure 7, waistband 8, hip joint 9, damping spring 10, hydraulic efficiency pressure system 11, battery 12, controller 13, luggage carrier 14 and back of the body frame 15; Sensing boots 1 are connected by ankle-joint 2 with shank 3, and shank 3 is connected by knee joint 4 with thigh 6, and thigh 6 is connected by hip joint 9 with waistband 8; Luggage carrier 14 firmly is affiliated on back of the body frame 15 by physical construction, battery 12 is fixed on luggage carrier 14 both sides by bandage, controller 13 is fixed on the midway location of luggage carrier 14 and battery 12, and hydraulic efficiency pressure system 11 is arranged on battery 12 lower positions, with 5 submissive connections of hydraulic actuator;
Waistband 8 links to each other with rotary motion pair symmetrically with luggage carrier 14.Between waistband 8 and luggage carrier 14, add damping spring 10, range of movement with restriction waistband 8, and produce a buffer action power and isolate the destruction of the impact of shank for battery entrained on the luggage carrier 14 12, controller 13 and load, more stable article carrying platform is provided.
Shank 3 is connected by ankle-joint 2 with sensing boots 1, ankle-joint 2 uses sphere higher pair connection mode, three that realize the joint rotatablely move, mainly form by ball-type dwang 23, ball-type turning set 24, and be connected with pin side senser pipe link 26 by attaching parts 25, finish being connected of shank 3 and sensing boots 1.See also accompanying drawing 3, energy stroage spring 22 upper ends of ankle-joint 2 connect firmly on shank expansion link 21, the lower end connects firmly on pin side senser pipe link 26, be used for storing the part muscular energy that the walking human body is consumed, and be used for auxiliary human body walking at suitable this part energy of gait phase automatic release, with saving in energy.
The pin side pressure sensor 29 of sensing boots 1 connects firmly by ankle-joint 2 and shank 3 ends.The demarcation of this sensor can be undertaken by the test of lower limb exoskeleton load-carrying capacity.Value by measuring pin side pressure sensor 29 can also evaluation system load-bearing capacity.This method is more more convenient than other method, and is succinct.
Sensing boots 1 mainly comprise load are sent to ground-surface heel and are the toe head of comfortable design-calculated bending, are used to measure the plantar pressure of human body plantar pressure and exoskeleton end.By being embedded into the forward foot in a step pressure sensor 28 in the sole 27, the variation that rear foot pressure sensor 30 is measured foot force, be used for virtually being controlled by power.See also accompanying drawing 4, sensing boots 1 contain the forward foot in a step pressure sensor 28 that is placed in sensing boots 1 tiptoe place, the rear foot pressure sensor 30 at sensing boots 1 heel place and the pin side pressure sensor 29 at sensing boots 1 pin side place, are respectively applied for measurement human body tiptoe, human body heel and exoskeleton and act on ground pressure.
The length that the slide bar 20 of exoskeleton robot thigh 6 ends and the shank expansion link 21 of shank 3 ends can be regulated thigh 6 and shank 3 respectively to enlarge the comformability scope of lower limb exoskeleton robot, adapts to different wearers and dresses.
When human body is being born weight when walking, the gait of human body mainly be divided into support and swing mutually, the lower limb exoskeleton control part that the present invention relates to mainly acts on the support phase stage.
See also accompanying drawing 2, when the people is supporting phase time, sliding sleeve 18 in the counter torque structure 7 will move downward along slide bar 20, extruding recoil spring 17, along with the trunk of human body and the angle of thigh become big, it is big that the application force of recoil spring 17 becomes, be converted to the reaction torque of hip joint 9, compress fully up to recoil spring 17, make hip joint 9 motions locked, bear a heavy burden and then the load force transmission is arrived knee joint 4 by counter torque structure 7.
See also accompanying drawing 1, when the people is supporting phase time, knee joint 4 adopts the hydraulic-driven technology, and by power-control method, when being implemented in knee joint 4 and stretching, hydraulic actuator 5 is makeup energy effectively, the jacking weight by virtual; When knee joint 4 bendings, hydraulic actuator 5 is as the damper consumed energy.
See also accompanying drawing 3, when the people is supporting phase time, the energy stroage spring 22 of ankle-joint 2 is subjected to the pressure of load and shrinks, thereby the part elastic energy is stored.When the people in the time will lifting pin, energy stroage spring discharges this part elastic energy that stores, and helps people and exoskeleton robot to lift pin, thus the consumption of biological energy source when saving people's walking reduces human-body fatigue.
See also accompanying drawing 1, when the people the swing phase time, hip joint 9, ankle-joint 2, counter torque structure 7 grades all need not control, follow the human body passive movement with exoskeleton.
See also accompanying drawing 5, the virtual main thought of being controlled by power is summarized as follows, (1) from the angle of body gait biomechanics, make full use of the peculiar spring performance of human muscle, on the exoskeleton joint, add equivalence by dynamic elements, as spring, damper, mass, latch etc., make its all kinds of power that produce the simulate muscular action effect and the linearity and the nonlinear relationship of position, make up feedforward controller with this at body gait.(2) utilization active force mode is by virtual these passive devices of mechanical hydraulic unit, the joint can be produced meet the various impedance operators of body gait mechanical property, really participated in ectoskeletal action as these virtual components, keep the passive characteristic of exoskeleton self simultaneously, make system stability.(3) dress bone when walking clothes as the people, actuating unit will fictionalize as the similar mechanical element by dynamics, make exoskeleton can follow the human synovial motion and produce suitable moment of torsion, thereby reduce the expenditure of energy of human body.This control method is by active force controlled reset moment of torsion, rather than control joint angle position, thereby has fully simulated the natural characteristic of human walking.
The principle of feedforward controller is that the passive characteristic of utilization mechanical element is simulated human body muscular movement mechanical property, parameter presets is carried out in control, can standard turn to a kind of state machine system in form, when running into the service conditions change, need change the combination of mechanical element again and reset initial condition, help improving response time and reduce energy consumption.By the body gait experiment, gather the motion-promotion force mathematic(al) parameter in human body each joint under gait different phase and different loads state earlier; Be optimized for data by data processing algorithm again, to obtain suitable parameters and to regulate rule; Need model at last, can set up required passive device model and parameter setting thereof in conjunction with the human muscle.
Feedback controller is followed the tracks of human body motion track by controlling the between humans and machines application force in real time, and correction power control parameter improves system stability, helps helping wearer to finish more motor function.Adopt the active force feedback control algorithm, realize the compliance control in joint, simultaneously can't shock resistance in order to overcome that ACTIVE CONTROL is existing, problems such as high energy consumption by adding flexible damping element, are improved system performance.
See also accompanying drawing 5, the Gait Recognition device in the control system can be judged the residing gait state of human body according to the observed reading of forward foot in a step pressure sensor 28, rear foot pressure sensor 30.
It is big that the virtual characteristics of being controlled by power are that this control algorithm has remedied the departure that adopts constant-rate spring open loop control to be caused in the passive power control, applicability is single, can't real-time regulated etc. defective, it does not need accurate kinetic model to carry out the calculating of real-time moment of torsion simultaneously, improved the reliability of computation speed and system, owing to made full use of the dynamics of human body, will help to reduce the consumption of energy in addition.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, without departing from the inventive concept of the premise; can also make some improvements and modifications, these improvements and modifications also should be considered within the scope of protection of the present invention.
Claims (6)
1. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure comprises the sensing boots, ankle-joint, shank, knee joint, hydraulic actuator, thigh, counter torque structure, waistband, hip joint, damping spring, battery, luggage carrier, back of the body frame, controller and hydraulic efficiency pressure system; It is characterized in that the sensing boots are connected by ankle-joint with shank, shank is connected by knee joint with thigh, and thigh is connected by hip joint with waistband; Luggage carrier firmly is affiliated on back of the body frame by physical construction, and battery is fixed on the luggage carrier both sides by bandage, and controller is fixed on the midway location of luggage carrier and battery, and hydraulic efficiency pressure system is arranged on the battery lower position, is connected with hydraulic actuator is submissive.
2. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1 is characterized in that, respectively is provided with the coupling end of hydraulic actuator on described thigh and the shank.
3. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that described sensing boots contain the forward foot in a step pressure sensor that is placed in sensing boots tiptoe place, the rear foot pressure sensor at sensing boots heel place and the pin side pressure sensor at sensing boots pin side place.
4. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that, described ankle-joint adopts sphere higher pair connection mode, form by ball-type dwang, ball-type turning set, and be connected with pin side senser pipe link by attaching parts, finish being connected of shank and sensing boots; The energy stroage spring upper end of ankle-joint connects firmly on the shank expansion link, and the lower end connects firmly on pin side senser pipe link.
5. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that, described thigh adopts the arc design, hip joint adopts sphere higher pair connection mode, two that realize the joint rotatablely move, and guarantee that exoskeleton can be with human body realization craspedodrome and turning.
6. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1 is characterized in that, near the counter torque structure the described hip joint comprises the counter torque spring, recoil spring, sliding sleeve, slide bar, the assist function of realization hip joint; Counter torque spring one end is connected by sphere higher pair and waistband are terminal, and an end and sliding sleeve are connected.
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| CN2010101120407A CN101786478B (en) | 2010-02-23 | 2010-02-23 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
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| US5476441A (en) * | 1993-09-30 | 1995-12-19 | Massachusetts Institute Of Technology | Controlled-brake orthosis |
| GB2400686A (en) * | 2003-04-04 | 2004-10-20 | Christopher Charles Box | Motion logging and robotic control and display system |
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