CN103040586A - External skeleton robot for exercising lower limbs and exercise control method thereof - Google Patents
External skeleton robot for exercising lower limbs and exercise control method thereof Download PDFInfo
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Abstract
The invention relates to an external skeleton robot for exercising lower limbs and an exercise control method thereof. The robot comprises the following four parts of a support balance frame, external skeleton mechanical legs, a running machine and a control system. The exercise control method has two modes, namely a passive walking exercise mode and an active walking exercise mode. In the passive walking exercise mode, the robot is controlled to drive an operator to complete specific exercise or exercise by a correct physiological gait trajectory; in the active walking exercise mode, the robot inhibits the limited abnormal exercise of the operator, directly corrects the limited abnormal exercise or generates gait exercise trajectories expected by the operator through a self-adaptive controller and indirectly fulfills the aim that the robot supplies walking exercise auxiliary force and resistance. The external skeleton robot can improve the exercise ability of limbs of human bodies, can assist persons walking and can reduce the exercise intensity under the condition that the persons bear load or walk for a long time.
Description
Technical field
The present invention relates to a kind of exoskeleton robot and motion control method thereof for the lower extremity movement training.Be mainly used in the exoskeleton robot device of the detection of human body lower limbs movable information and lower extremity movement power-assisted.
Background technology
Day by day quickening along with progress, growth in the living standard and the rhythm of life of science and technology, people enjoying that various high-tech instruments bring simultaneously easily, the necessity of having ignored physical training, increasing youthful health body constitution is constantly descending.On the other hand, China is stepping into aging society with many countries are the same in the world, and the proportion that handicapped old people occupies is also increasing.Therefore, be necessary very much to research and develop a kind of power assisting device that improves the human body limb movement function, help people to carry out the lower extremity movement training, strengthen health body constitution.
Lower limb exoskeleton robot is the same device of similar human body ectoskeleton, with it it can the person of being operated be through, drive human hip, knee joint and ankle joint and carry out the motion that is consistent with human body walking, this walking servomechanism not only has simple mechanically aided function, and can help user to keep the walking balance.
Domestic and international many research worker are being carried out the research work of lower limb exoskeleton robot at present, but these ectoskeleton pedipulator training action kinds are fewer, actuating range has limitation, motion amplitude is less, majority has been ignored the active exercise intention of operator's lower limb, the Real-time Feedback that lacks movable information haves much room for improvement in the stability, safety and the sense of reality that operate.
Summary of the invention
The object of the invention is to the deficiency for the prior art existence, a kind of exoskeleton robot and motion control method thereof for the lower extremity movement training is provided, improve the human body limb movement ability, and introducing operator active exercise intention, strengthened operator's active property of participation, more complete, realized the walking movement of lower limb power-assisted more truly.
For achieving the above object, research of the present invention and conceive as follows: the lower limb exoskeleton robot that is used for improving the human body limb movement ability comprises that balance support frame, ectoskeleton pedipulator, treadmill and control system four parts form.Balance support frame lower end and treadmill are affixed, and the ectoskeleton pedipulator is fixed in balance support frame middle part, and its vola contacts with running belt of running machine, and user is dressed upper ectoskeleton pedipulator, by the control of control system, carries out training at treadmill.
The ectoskeleton pedipulator is made of 2 exoskeleton-type pedipulators, every pedipulator has 3 rotational freedoms, and hip joint, knee joint, ankle joint respectively have 1 degree of freedom, is to be rotationally connected, can simulate the rotation in people three joints in the sagittal plane when walking, realize the motion of Three Degree Of Freedom.The Linear actuator of driving device lower limb is installed and measures the joint rotation angle angular transducer at each joint, at the rear of Linear actuator the one dimension pull pressure sensor is installed, the driving force that provides for detection of driver.
For operator's different wishes, the control method of this lower limb exoskeleton robot for improving the human body limb movement ability is implemented passive walking movement and two kinds of mode of operations of active walking movement:
Under the passive walking movement pattern, control suppresses all abnormal motions of operator, and the drive operator finishes specific motion or with correct physiology's gait orbiting motion, the operator does not need oneself firmly, and walking movement is done by the passive robot that follows fully;
Initiatively under the walking movement pattern, robot suppresses the limited abnormal motion of operator, act on the joint drive power that robot produces by operator in the real-time detection motor process, and then adopt inverse dynamics model to extract the active exercise intention that human-computer interaction moment is come decision operation person's lower limb, and utilize impedance controller mutual moment to be converted into the correction of gait track, directly revise or produce by adaptive controller the gait track of operator's expectation, realize that indirectly robot provides the purpose of walking auxiliary force, resistance, strengthen operator's initiative.
Design of the present invention is: adopt lower limb exoskeleton robot to improve the human body lower limbs motor capacity.According to the needs of human body for auxiliary walking, be divided into the active walking movement pattern that pedipulator provides the passive walking movement pattern of all auxiliary forces and the part auxiliary force is provided.Under the Passive Mode, pedipulator provides the needed whole strength of human locomotion and heavy burden ability, the drive operator walks with physiology's gait track of standard on treadmill or finishes specific motion, adopt the position servo control method based on the PD feedback this moment, effectively realizes the tracking control of gait track.Under active walking movement pattern, considered operator's initiative, detect and extract human-computer interaction moment by force transducer, set up human-computer interaction moment and depart from the impedance Control Model of predetermined joint trajectories deviation, realize the impedance Control under the active training pattern.And impedance Control can only produce on this track basis deviation all the time based on a fixing reference locus, is difficult to adapt to the adjustment of Different Individual gait track; Because for part population, such as partially or completely losing the locomotor activity old people, may be because the incoordination of the muscle strength that lower limb muscular spasm, muscular tone etc. cause, with so that the variation of human-computer interaction moment is excessive or too small, also bigger than normal or less than normal through the trajector deviation that impedance Control Model is calculated, revised gait track will certainly will affect the comfortableness of walking not in full conformity with physiology's rule, even may cause the harm to health.Therefore propose gait track adaptive control algolithm, consider from the overall effect the intention that the operator initiatively participates in.
The exoskeleton robot motion control method that is used for the lower extremity movement training, it is characterized in that for the different needs of human body, be divided into passive walking movement and aggressive mode, and can be according to operator's type under the active Walking Mode, select impedance Control or self-adaptation control method, specific implementation process is as follows:
1, under the passive walking movement pattern, the operator is under the fully drive of exoskeleton-type pedipulator, on treadmill with the walking of physiology's gait track of standard or finish specific motion, and the angle, angular velocity that detect in real time each joint in the gait processes are as feedback signal, employing is based on the position servo control method of PD feedback, and the moving operator of the driving device bottom bands of trouser legs realizes walking movement.
2, under the active walking movement pattern, it is a typical double closed-loop control system model, and internal ring is that outer shroud is location-based impedance Control power ring based on the Position Control ring of PD feedback; In the walking movement process, each joint drive power of utilizing the pull pressure sensor Real-time Collection installed behind the joint driver under operator's lower limb active role power, to produce, and then calculate in conjunction with the inverse dynamics model of robot and to extract each joint human-computer interaction moment, thereby obtain operator's lower extremity movement intention; Utilize impedance controller that each joint man-machine interaction moment is converted into position, speed and the acceleration correction amount of corresponding gait track, produce the gait track of operator's expectation; Or the correct physiology's gait track in each joint of n item Fourier expansion formula the Fitting Calculation before adopting, determine its initializer, with each joint gait trajectory parameters, each joint adopts 3 trajectory parameters to represent respectively the zoom factor of joint angles amplitude, realizes the adjusting of training stride again; The regulatory factor of gait cycle; The side-play amount of joint angles, the sole of the foot that can change the bending of hip joint and span, kneed amount of bow, ankle joint is bent and is crooked.Then the best square approach method of the Euclid norm by each joint trajectories deviation is set up object function, with corresponding trajectory parameters initial value object function is utilized gradient method iterative joint angles trajectory parameters in each gait cycle scope, the parameterized gait track of the Fitting Calculation from the overall effect, and then the track of generating run person expectation, and be input in the joint of robot endocyclic position controller, the servo-driver of controlling each joint is realized the track output of expectation, thereby driven machine people constantly adjusts the walking track according to operator's active exercise intention, realize that indirectly robot provides the walking auxiliary force, the purpose of resistance strengthens operator's initiative.
The present invention is used for the exoskeleton robot motion control method of lower extremity movement training, adopt two kinds of motor patterns, passive and Walking Mode initiatively, by specific motor function and obtain the active exercise intention of operator in the walking movement, drive fully or the assist operator lower limb are realized walking movement with this driven machine people.This control method realizing on the allokinetic basis preferably, introduces operator's active exercise intention, strengthened operator's active property of participation, and is more complete, realized the walking movement of lower limb power-assisted more truly.
According to foregoing invention research and design, the present invention adopts following technical proposals:
A kind of exoskeleton robot for the lower extremity movement training comprises balance support frame, ectoskeleton pedipulator, treadmill and control system.It is characterized in that: described balance support frame lower end and treadmill are affixed; Described ectoskeleton pedipulator is fixed in balance support frame middle part, and its vola contacts with running belt of running machine; Described control system connects treadmill and ectoskeleton pedipulator; User is dressed upper ectoskeleton pedipulator, by the control of control system, carries out training at treadmill.
Described ectoskeleton pedipulator has 2, and every pedipulator all includes hip joint, knee joint and three joints of ankle joint, and respectively there is 1 degree of freedom in each joint, is to be rotationally connected; At each joint Linear actuator and angular transducer are installed, at the rear of Linear actuator the one dimension pull pressure sensor are installed.
Described control system comprises industrial computer, data collecting card, motion control card, man machine interface, serial ports, signal processing circuit, servo-driver and drive circuit; Limit switch, force transducer and angular encoder in the described ectoskeleton pedipulator are sent signal into signal processing circuit, and the data communication device after handling is crossed data collecting card and industrial computer transmission; Serial ports is at the head of treadmill, and treadmill instruction and treadmill speed are transmitted by serial ports and industrial computer; The SERVO CONTROL amount of Linear actuator is connected servo-driver and is connected with motion control card with drive circuit with the motor encoder signal, the signal that then motion control card is produced is communicated with industrial computer.Man machine interface shows at industrial computer.
A kind of exoskeleton robot motion control method for the lower extremity movement training, adopt above-mentioned robot to carry out training, it is characterized in that the different wishes for the operator, described lower extremity movement training comprises passive walking movement and two kinds of mode of operations of active walking movement.
Above-mentioned control method, the control step is as follows: when industrial computer sends command signal according to the control sequence of realizing by the VC programming, and through motion control card output SERVO CONTROL amount in drive circuit, servo-driver can receive instruction, and the control Linear actuator realizes that pedipulator drives the function of operator's walking movement; Meanwhile industrial computer sends the synchronous coordination motion that instruction realizes treadmill by serial ports; Industrial computer is by the signal of data collecting card Real-time Collection angular encoder, force transducer and limit switch, feed back in the controller of gait track, realize the TRAJECTORY CONTROL under the different mode, and current walking speed, cycle, training time, joint angles and human-computer interaction force information are presented in the man machine interface.
Above-mentioned control method, under the passive walking movement pattern, the operator is under the fully drive of exoskeleton-type pedipulator, on treadmill with the walking of physiology's gait track of standard or finish specific motion, and the angle, angular velocity that detect in real time each joint in the gait processes are as feedback signal, employing is based on the position servo control method of PD feedback, and the moving operator of the driving device bottom bands of trouser legs realizes walking movement.
Above-mentioned control method initiatively under the walking movement pattern, becomes a typical double closed-loop control system model, and internal ring is that outer shroud is location-based impedance Control power ring based on the Position Control ring of PD feedback; In the walking movement process, each joint drive power of utilizing the pull pressure sensor Real-time Collection installed behind the joint driver under operator's lower limb active role power, to produce, and then calculate in conjunction with the inverse dynamics model of robot and to extract each joint human-computer interaction moment, thereby obtain operator's lower extremity movement intention; Utilize impedance controller that each joint man-machine interaction moment is converted into position, speed and the acceleration correction amount of corresponding gait track, produce the gait track of operator's expectation; And then the track of generating run person expectation, and be input in the joint of robot endocyclic position controller, the servomotor of controlling each joint is realized the track output of expectation, thereby driven machine people constantly adjusts the walking track according to operator's active exercise intention, realize that indirectly robot provides the purpose of walking auxiliary force, resistance, strengthens operator's initiative.
The present invention has following apparent outstanding substantive distinguishing features and remarkable advantage compared with prior art:
Adopt the lower limb exoskeleton robot of automatization, the structure of simulation people lower limb, auxiliary people carries out walking movement, reduces the exercise intensity of people in heavy burden or for a long time walking situation.Two kinds of motor patterns are provided, and under Passive Mode, the gait cycle of assisted walk motion, stride, movement time etc. all can be regulated manually or automatically, have improved the automaticity of assisted walk motion; Can by regulating impedance parameter, adapt to different personal feature and the motion requirements of operator; The parametrization of gait track is easy to realize the online adjustment of gait track under the active training pattern; Control method has been introduced operator's active exercise intention, and can show in real time and record the information such as speed, time, cycle, joint trajectories, driving force, human-computer interaction moment of assisted walk by VC programming, help the operator to understand the walking states of oneself.
Description of drawings
Fig. 1 is the lower limb exoskeleton robot system schematic;
Fig. 2 is exoskeleton-type pedipulator structure chart;
Fig. 3 is the control system structural representation;
Fig. 4 is man machine interface sketch map of the present invention;
Fig. 5 is control principle block diagram of the present invention.
The specific embodiment
The preferred embodiments of the present invention accompanying drawings is as follows:
Embodiment one:
Referring to Fig. 1 and Fig. 2, a kind of lower limb exoskeleton robot for lower extremity movement training is by balance support frame (1), ectoskeleton pedipulator (2), treadmill (3) and composition of the control system.It is characterized in that: balance support frame (1) lower end and treadmill are affixed, ectoskeleton pedipulator (2) is fixed in balance support frame (1) middle part, its vola is run band with treadmill (3) and is contacted, user is dressed upper ectoskeleton pedipulator (2), by the control of control system, carry out training at treadmill (3).
Embodiment two:
Present embodiment and embodiment one are basic identical, and special feature is as follows:
Described ectoskeleton pedipulator (2) (referring to Fig. 2) has hip joint flexion/extension, knee joint bending/stretching, extension, ankle plantar and bends/the dorsiflex three degree of freedom, can simulate the rotation in people three joints in the sagittal plane when walking, realize the motion of Three Degree Of Freedom, at each joint ball-screw Linear actuator (4) is installed and is used for driving each joint motions of orthosis.This walking lower limb exoskeleton robot system provides simple joint motion and the walking movement in each joint for the operator.(6) the individual angular transducer 6 that is installed in respectively hip, knee joint, ankle is used for measuring the joint angles of motor process, the driving force that (6) the individual pull pressure sensor (5) of installing at the rear of each Linear actuator provides for detection of driver (4), two kinds of information are all for detection of the walking movement state, and are applied in the different motor patterns.
Described control system comprises industrial computer (14), data collecting card (12), motion control card (13), man machine interface (15), serial ports (8), signal processing circuit (9), servo-driver (10) and drive circuit (11).Its structure is: the limit switch (7) in the ectoskeleton pedipulator (2), force transducer (5) and angular encoder (6) are sent signal into signal processing circuit (9), and the data communication device after handling is crossed data collecting card (12) and industrial computer (14) transmission; Serial ports (8) is at the head of treadmill (3), and treadmill instruction and treadmill speed are transmitted by serial ports (8) and industrial computer (14); The SERVO CONTROL amount of Linear actuator (4) is connected servo-driver (10) and is connected 11 with drive circuit with the motor encoder signal) be connected with motion control card (13), the signal that then motion control card (13) is produced is communicated with industrial computer (14).Man machine interface (15) shows at industrial computer (14).
Embodiment three:
Referring to Fig. 5, a kind of exoskeleton robot motion control method for the lower extremity movement training, adopt above-mentioned robot to carry out training, it is characterized in that: for operator's different wishes, described lower extremity movement training comprises passive walking movement and two kinds of mode of operations of active walking movement.
Embodiment four:
Present embodiment and embodiment three are basic identical, and special feature is as follows:
The above-mentioned exoskeleton robot motion control method that is used for the lower extremity movement training, the control step is as follows: when industrial computer (14) sends command signal according to the control sequence of realizing by the VC programming, and export the SERVO CONTROL amount through motion control card (13) and arrive in the drive circuit (11), servo-driver (10) can receive instruction, and control Linear actuator (4) realizes that pedipulator drives the function of operator's walking movement; Meanwhile industrial computer (14) sends the synchronous coordination motion that instruction realizes treadmill by serial ports (8); Industrial computer (14) is by the signal of data collecting card (12) Real-time Collection angular encoder (6), force transducer (5), limit switch (7) etc., feed back in the controller of gait track, realize the TRAJECTORY CONTROL under the different mode, and the information such as current walking speed, cycle, training time, joint angles, human-computer interaction power are presented in the man machine interface (15).Man machine interface is referring to accompanying drawing 4.
The above-mentioned exoskeleton robot motion control method that is used for the lower extremity movement training, under the passive walking movement pattern, the operator is under the fully drive of exoskeleton-type pedipulator, on treadmill with the walking of physiology's gait track of standard or finish specific motion, and the angle, angular velocity that detect in real time each joint in the gait processes are as feedback signal, employing is based on the position servo control method of PD feedback, and the moving operator of the driving device bottom bands of trouser legs realizes walking movement.
The above-mentioned exoskeleton robot motion control method that is used for the lower extremity movement training, initiatively under the walking movement pattern, it is a typical double closed-loop control system model, and internal ring is that outer shroud is location-based impedance Control power ring based on the Position Control ring of PD feedback; In the walking movement process, each joint drive power of utilizing the pull pressure sensor Real-time Collection installed behind the joint driver under operator's lower limb active role power, to produce, and then calculate in conjunction with the inverse dynamics model of robot and to extract each joint human-computer interaction moment, thereby obtain operator's lower extremity movement intention; Utilize impedance controller that each joint man-machine interaction moment is converted into position, speed and the acceleration correction amount of corresponding gait track, produce the gait track of operator's expectation; And then the track of generating run person expectation, and be input in the joint of robot endocyclic position controller, the servomotor of controlling each joint is realized the track output of expectation, thereby driven machine people constantly adjusts the walking track according to operator's active exercise intention, realize that indirectly robot provides the purpose of walking auxiliary force, resistance, strengthens operator's initiative.
Claims (7)
1. an exoskeleton robot that is used for the lower extremity movement training comprises balance support frame (1), ectoskeleton pedipulator (2), treadmill (3) and control system, and it is characterized in that: described balance support frame (1) lower end and treadmill are affixed; Described ectoskeleton pedipulator (2) is fixed in balance support frame (1) middle part, and its vola is run band with treadmill (3) and contacted; Described control system connects treadmill (1) and ectoskeleton pedipulator (2); User is dressed upper ectoskeleton pedipulator (2), by the control of control system, carries out training at treadmill (3).
2. the exoskeleton robot for lower extremity movement training according to claim 1, it is characterized in that described ectoskeleton pedipulator (2) has 2, every pedipulator all includes hip joint, knee joint and three joints of ankle joint, and respectively there is 1 degree of freedom in each joint, is to be rotationally connected; At each joint Linear actuator (4) and angular transducer (6) are installed, at the rear of Linear actuator (4) one dimension pull pressure sensor (5) are installed.
3. the exoskeleton robot for lower extremity movement training according to claim 1, it is characterized in that: described control system comprises industrial computer (14), data collecting card (12), motion control card (13), man machine interface (15), serial ports (8), signal processing circuit (9), servo-driver (10) and drive circuit (11); Limit switch (7) in the described ectoskeleton pedipulator (2), force transducer (5) and angular encoder (6) are sent signal into signal processing circuit (9), and the data communication device after handling is crossed data collecting card (12) and industrial computer (14) transmission; Serial ports (8) is at the head of treadmill (3), and treadmill instruction and treadmill speed are transmitted by serial ports (8) and industrial computer (14); The SERVO CONTROL amount of Linear actuator (4) is connected servo-driver (10) and is connected 11 with drive circuit with the motor encoder signal) be connected with motion control card (13), the signal that then motion control card (13) is produced is communicated with industrial computer (14); Man machine interface (15) shows at industrial computer (14).
4. one kind is used for the exoskeleton robot motion control method that lower extremity movement is trained, adopt the exoskeleton robot for the lower extremity movement training according to claim 1 to carry out training, it is characterized in that the different wishes for the operator, described lower extremity movement training comprises passive walking movement and two kinds of mode of operations of active walking movement.
5. the exoskeleton robot motion control method for lower extremity movement training according to claim 4, it is characterized in that, the control step is as follows: when industrial computer (14) sends command signal according to the control sequence of realizing by the VC programming, and export the SERVO CONTROL amount through motion control card (13) and arrive in the drive circuit (11), servo-driver (10) can receive instruction, and control Linear actuator (4) realizes that pedipulator drives the function of operator's walking movement; Meanwhile industrial computer (14) sends the synchronous coordination motion that instruction realizes treadmill by serial ports (8); Industrial computer (14) is by the signal of data collecting card (12) Real-time Collection angular encoder (6), force transducer (5) and limit switch (7), feed back in the controller of gait track, realize the TRAJECTORY CONTROL under the different mode, and current walking speed, cycle, training time, joint angles and human-computer interaction force information are presented in the man machine interface (15).
6. the exoskeleton robot motion control method for lower extremity movement training according to claim 4, it is characterized in that under the passive walking movement pattern, the operator is under the fully drive of exoskeleton-type pedipulator, on treadmill with the walking of physiology's gait track of standard or finish specific motion, and the angle, angular velocity that detect in real time each joint in the gait processes are as feedback signal, employing is based on the position servo control method of PD feedback, and the moving operator of the driving device bottom bands of trouser legs realizes walking movement.
7. the exoskeleton robot motion control method for lower extremity movement training according to claim 4, it is characterized in that under the active walking movement pattern, become a typical double closed-loop control system model, internal ring is that outer shroud is location-based impedance Control power ring based on the Position Control ring of PD feedback; In the walking movement process, each joint drive power of utilizing the pull pressure sensor Real-time Collection installed behind the joint driver under operator's lower limb active role power, to produce, and then calculate in conjunction with the inverse dynamics model of robot and to extract each joint human-computer interaction moment, thereby obtain operator's lower extremity movement intention; Utilize impedance controller that each joint man-machine interaction moment is converted into position, speed and the acceleration correction amount of corresponding gait track, produce the gait track of operator's expectation; And then the track of generating run person expectation, and be input in the joint of robot endocyclic position controller, the servomotor of controlling each joint is realized the track output of expectation, thereby driven machine people constantly adjusts the walking track according to operator's active exercise intention, realize that indirectly robot provides the purpose of walking auxiliary force, resistance, strengthens operator's initiative.
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