CN103263339A - Exoskeleton walk-assisting robot for old people and bionic control method for anti-falling gaits - Google Patents
Exoskeleton walk-assisting robot for old people and bionic control method for anti-falling gaits Download PDFInfo
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Abstract
The invention relates to an exoskeleton walk-assisting robot for old people and a bionic control method for anti-falling gaits. The exoskeleton walk-assisting robot comprises exoskeleton trunk components, joint components, an action control unit, an auxiliary unit and a power supply, wherein the exoskeleton trunk components are connected to a lower body of a user and assist the user to complete stand and walking actions; the joint components are connected with the exoskeleton trunk components and enable the exoskeleton trunk components to bend and stretch; the action control unit is capable of acquiring acceleration and angular speed signals during walking of the robot in real time, processing the signals and generating corresponding motion signals so as to control actions of the exoskeleton trunk components and to finish motion generation and reverse solution; and the power supply provides energy for the whole device. The exoskeleton walk-assisting robot for the old people is compact in structure, good in control effect, capable of acquiring accelerations in three directions and angular speeds in two directions in real time and judging falling states of the exoskeleton walk-assisting robot comprehensively, integrated with a posture reflex mechanism of human bodies and suitable for unknown unstructured complex terrains.
Description
Technical field
The present invention relates to device and the control method in a kind of rehabilitative engineering technology field, specifically relate to a kind of old people's ectoskeleton assistant robot and anti-bionical control method of falling down gait.
Background technology
The result of the 6th national census in 2010 shows, population accounts for 13.26% of national population more than 60 years old, estimates that the population of China more than 60 years old in 2015 will account for 14% of population above 200,000,000, the population of the year two thousand fifty China more than 60 years old will account for 21% of population above 400,000,000.The old people is owing to the decline of physiological function, and a little less than the strength of lower limb muscles was extremely thin, balanced capacity was very poor, very easily fall down, according to statistics, the 20% secondary injury that can cause limbs is arranged in the old people who falls down, 10% owing to fall down the disease that directly or indirectly causes and passed away in 1 year.Simultaneously, there is the lower extremity movement obstacle in the old people, causes handicapped, be difficult on the living conditions take care of oneself, have to long-term bed or by wheel chair sport usually causes urinary system infection, pressure ulcer, osteoporosis, phlebothrombosis etc., aspect body and mind, standing all the year round ordinary person know from experience less than misery.
The ectoskeleton assistant robot is a kind of biology-machinery-electronic installation, it is worn on old people's the lower limb, the ectoskeleton that serves as human body, help old people's walking of standing again, expansion old people's motor capacity, blood circulation promoting, prevent amyotrophy, reduce the generation of complication, can improve old people's dignity and self-confidence, recover self-care ability and viability.
At present, the control method commonly used of ectoskeleton assistant robot motion gait is, robot and movement environment are carried out accurate modeling, set up suitable adaptive control algorithm, obtain the optimum movement locus in each joint of ectoskeleton assistant robot then by methods such as track optimizings, in ectoskeleton assistant robot motor process, according to state and the ambient conditions adjustment movement parameter of system, in the motion gait of the basis of feedback mechanism control ectoskeleton assistant robot.This method needs loaded down with trivial details Dynamic Modeling, complex track planning, can be fit to simple, structurized level walking, but lack motility and environmental suitability, is difficult to be applicable to unknown, non-structured complex-terrain.
For a normal person, can walk very like a cork at complicated extreme terrain the unknown, non-structured, after running into the emergency situations unstability, the attitude that can adjust health rapidly and accurately prevents from falling down, human motion has very strong motility, harmony, stability and environmental suitability, and this mainly has benefited from feedback network abundant in the human motion nervous system and rational motor reflex mechanism.The postural reflex mechanism of human body refers to the posture information according to human body, coordinates polymyarian group motion, adjusts the athletic posture of human body, keeps the balance and stability of limbs, avoids falling down.
Summary of the invention
The present invention is directed to the prior art above shortcomings, utilize the postural reflex mechanism of human body, according to bionics principle, provide a kind of old people's ectoskeleton assistant robot and based on the anti-bionical control method of gait of falling down of this old people's ectoskeleton assistant robot, the present invention can realize old people and the motion of ectoskeleton assistant robot synchronous coordination, the ectoskeleton assistant robot is fallen down state monitors in real time, can promptly adjust the athletic posture of ectoskeleton assistant robot flexibly, keep the balance and stability of whole system, avoid falling down, be applicable to unknown, non-structured complex-terrain.
The present invention takes following technical scheme:
Old people's ectoskeleton assistant robot comprises:
The ectoskeleton torso member is used for being connected to the user lower part of the body, and auxiliary user is finished the walking action of standing, and comprises thigh parts, shank parts and foot plate;
Joint component, be used for connecting the ectoskeleton torso member, make and realize crooked and stretching, extension between each ectoskeleton torso member, comprise the hip joint parts that connect user waist and thigh parts, the knee components that connects thigh parts and shank parts, the ankle joint parts of connection shank parts and sole;
Action control unit can be obtained acceleration, angular velocity signal in the robot ambulation process in real time, and corresponding sports signal and then the action of control ectoskeleton torso member are handled and generated to signal, finishes the shatter-resistant action;
Auxiliary unit comprises and ties up at the user waist and be fixedly connected on belt on the hip joint parts, tie up on the user thigh and be fixedly connected on the thigh parts binder and for the protection of the user knee joint, be fixedly connected on the cushion knee cap on the knee components
And be used to whole device that the power supply of the energy is provided.
Further, described action control unit, comprise and to obtain the acceleration of walking process and the sensor of angular velocity in real time, the signal processor that can carry out signal condition and digital-to-analogue conversion to the signal that sensor is collected, link to each other with the hip joint parts and generate the motion controller of motor message control hip joint parts, move to generate with motion is anti-and separate, and action command is transferred to the central processing unit of motion controller, one end links to each other with the hip joint parts, the servomotor that the other end links to each other with the thigh parts, one end is connected on the thigh parts, and the other end is connected on the shank parts and drives the Pneumatic artificial muscle that the shank parts carry out coordination exercise.
Further, described sensor comprises the acceleration transducer that obtains the walking process acceleration in real time and the angular-rate sensor that obtains walking process angular velocity in real time, and the sensor all is installed on ectoskeleton assistant robot left side lower limb and right lower limb infall.
Further, described acceleration, angular velocity are that the mounting points with acceleration transducer and angular-rate sensor is that coordinate system oxyz is initial point o, the dead ahead of ectoskeleton assistant robot is the x axle, the front-right of ectoskeleton assistant robot is the y axle, is the numerical value that the z axle obtains perpendicular to the direction on ground.
Based on above-mentioned design, the present invention has also designed the anti-bionical control method of falling down gait of this old people's ectoskeleton assistant robot, may further comprise the steps:
(1) step: when the old people dresses the motion of ectoskeleton assistant robot, by being installed in the acceleration transducer of ectoskeleton assistant robot left side lower limb and right lower limb infall, obtain in real time before and after the ectoskeleton assistant robot direct of travel be described x axle, about be described y axle, be the acceleration a of described z axle up and down
x, a
y, a
zBelong to the rotation of ectoskeleton assistant robot around the rotation of z axle, very little with the relation of falling down attitude, in order to reduce redundancy, by being installed in the angular-rate sensor of ectoskeleton assistant robot left side lower limb and right lower limb infall, only obtaining the inclination of ectoskeleton assistant robot is the x axle, and pitching is the angular velocity omega of y axle
x, ω
y
(2) step: the acceleration that obtains is compared with the angular velocity predetermined threshold value corresponding with it, as acceleration a
x, a
y, a
zHas one at least greater than the setting threshold on the respective direction, perhaps angular velocity omega
x, ω
yHas one at least greater than the setting threshold on the respective direction, show that then the ectoskeleton assistant robot soon falls down, the action control unit control of ectoskeleton assistant robot generates action, prevent from falling down, namely on the basis of original proper motion gait, the postural reflex model that stack is set up according to the postural reflex mechanism of human body, otherwise return step (1).
(3) step: the situation of falling down of judging the ectoskeleton assistant robot, judge that namely robot falls down forward or fall down backward, fall down if be judged as forward, judge that then whether the allowance of falling down forward is less than zero, if less than zero, the ectoskeleton assistant robot steps forth and could keep balance and stability, otherwise the ectoskeleton assistant robot rests on the original place, utilizes the swing of wearer limbs just can recover whole balance; If judging the ectoskeleton assistant robot falls down backward, judge that then whether the allowance of falling down backward is less than zero, if less than zero, the ectoskeleton assistant robot strides backward and could keep balance and stability, otherwise the ectoskeleton assistant robot rests on the original place, utilizes the swing of wearer limbs just can recover whole balance.
(4) step: according to the judged result of step (3), judge that further whether the allowance of ectoskeleton assistant robot single stride is less than zero, if less than zero, the ectoskeleton assistant robot need stride again could keep balance and stability, otherwise the ectoskeleton assistant robot just can keep balance and stability through once striding.
(5) step: judge whether that according to ectoskeleton assistant robot proper motion pattern needs finish the anti-gait of falling down, finish if desired that the ectoskeleton assistant robot carries out attitude and restores, and revert to original proper motion gait, otherwise returns step (1).
Compared with prior art, advantage of the present invention mainly shows: its modular construction compactness of robot of the present invention's design, control effective, can satisfy human body actual motion needs, this method can be obtained the acceleration of three directions and the angular velocity of both direction in real time simultaneously, more fully the ectoskeleton assistant robot being fallen down state judges, improved the accuracy of judging, anti-emergency reaction time of falling down and the postural reflex mechanism that has merged human body have been striven for, can promptly adjust the athletic posture of ectoskeleton assistant robot flexibly, keep balance and stability, avoid falling down, be applicable to unknown, non-structured complex-terrain; Simultaneously of the present inventionly anti-ly fall down the gait control method, be equally applicable to other ectoskeleton assistant robots, have universality, wide adaptability.
Description of drawings
Fig. 1 is ectoskeleton assistant robot structural representation of the present invention;
Fig. 2 is user of the present invention and ectoskeleton assistant robot control sketch map;
Fig. 3 is the anti-bionical control flow chart of gait of falling down of ectoskeleton assistant robot of the present invention;
Fig. 4 is that acceleration transducer of the present invention and angular-rate sensor installation site and detection side are to sketch map;
Fig. 5 is the ectoskeleton assistant robot of the present invention illustraton of model that strides.
Among the figure: 1, belt, 2, central processing unit, 3, power supply, 4, hip joint parts, 5, the thigh parts, 6, Pneumatic artificial muscle, 7, ankle joint parts, 8, sole, 9, the shank parts, 10, knee components, 11, the cushion knee cap, 12, binder, 13, motion controller, 14, servomotor, 15, signal processor, 16, sensor.
The specific embodiment
The present invention is described further with specific embodiment by reference to the accompanying drawings.
Embodiment: the ectoskeleton assistant robot of the present invention's design all adopts existing parts or device, its compact conformation, the suitability is strong, and its control method also is not limited to the robot that the design mentions, to can obtaining acceleration, the angular velocity signal in the robot ambulation process in real time, can basis signal finish that motion generates and the assistant robot of the anti-other types of separating of motion is suitable equally.
The action control unit of present embodiment, comprise the acceleration that can obtain walking process in real time and the sensor 16 of angular velocity, the signal processor 15 that can carry out signal condition and digital-to-analogue conversion to the signal that sensor 16 is collected, link to each other with hip joint parts 4 and generate the motion controller 13 of motor message control hip joint parts 4, move to generate with motion is anti-and separate, and action command is transferred to the central processing unit 2 of motion controller 13, one end links to each other with hip joint parts 4, the servomotor 14 that the other end links to each other with thigh parts 5, one end is connected on the thigh parts 5, and the other end is connected on the shank parts 9 and drives the Pneumatic artificial muscle 6 that shank parts 9 carry out coordination exercise; Sensor 16 is sent to connected signal processor 15 with the signal that collects, 15 pairs of signals of signal processor nurse one's health with digital-to-analogue conversion after signal be sent to connected central processing unit 2 generate action commands, the motion controller 13 that is connected with central processing unit 2 generates the 14 generation actions of motor message control servomotor after receiving action command, shatter-resistant overall process between walking is finished in 14 motions of Pneumatic artificial muscle 6 coordinate Servo motors.
Concrete: described servomotor 14 adopts the RE40 series DC servo motor of Switzerland Maxon company.
Described motion controller 15 adopts the EPOS movement sequence controller of Switzerland Maxon company.
Described power supply 3 adopts Xi'an China to step the HMH-J3002410 type rechargeable type lithium battery of electronics technology company limited.
The artificial pneumatic muscles of Rubbertuator series of the Japanese Bridgestone of described Pneumatic artificial muscle 6 employings company.
Described acceleration transducer 16 adopts the MMA7330L series acceleration transducer of U.S. Freescale company, and angular-rate sensor 16 adopts the ADXRS300 series angular-rate sensor of U.S. ADI company.
Described signal processor 15 adopts the MC68HC series of signals processor of U.S. Freescale company.
Described central processing unit 2 adopts the MSC1210 series central processing unit of American TI Company.
As depicted in figs. 1 and 2, old people's ectoskeleton assistant robot comprises: the ectoskeleton torso member, be used for being connected to the user lower part of the body, and auxiliary user is finished the walking action of standing, and comprises thigh parts 5, shank parts 9 and sole 8; Joint component, be used for connecting the ectoskeleton torso member, make and realize crooked and stretching, extension between each ectoskeleton torso member, comprise the hip joint parts 4 that connect user waist and thigh parts 5, the knee components 10 that connects thigh parts 5 and shank parts 9, the ankle joint parts 7 of connection shank parts 9 and sole 8; Action control unit, comprise the acceleration that can obtain walking process in real time and the sensor 16 of angular velocity, the signal processor 15 that can carry out signal condition and digital-to-analogue conversion to the signal that sensor 16 is collected, link to each other with hip joint parts 4 and generate the motion controller 13 of motor message control hip joint parts 4, move and generate with motion is anti-and separate that (namely finishing the shatter-resistant action comprises and stepping forth, stride backward and action such as single stride), and action command is transferred to the central processing unit 2 of motion controller 13, one end links to each other with hip joint parts 4, the servomotor 14 that the other end links to each other with thigh parts 5, one end is connected on the thigh parts 5, and the other end is connected on the shank parts 9 and drives the Pneumatic artificial muscle 6 that shank parts 9 carry out coordination exercise; Auxiliary unit; comprise and tie up at the user waist and be fixedly connected on belt 1 on the hip joint parts 4; tie up on the user thigh and be fixedly connected on the thigh parts 5 binder 12 and for the protection of the user knee joint, be fixedly connected on the cushion knee cap 11 on the knee components 10 and be used to whole device that the power supply 3 of the energy is provided.
As shown in Figure 3, the present invention relates to the anti-bionical control method of falling down gait of above-mentioned old people's ectoskeleton assistant robot, may further comprise the steps:
In step S101, when the old people dresses ectoskeleton assistant robot motion beginning, obtain the acceleration a of ectoskeleton assistant robot in real time
x, a
y, a
zAnd angular velocity omega
x, ω
y
In step S102, acceleration and the predetermined threshold value of obtaining compared, as acceleration a
x, a
y, a
zHas one at least greater than the setting threshold on the respective direction, show that then the ectoskeleton assistant robot soon falls down, the action control unit control of ectoskeleton assistant robot generates action, prevent from falling down, namely on the basis of original proper motion gait, stack postural reflex model, otherwise return step S101.
In step S103, angular velocity and the predetermined threshold value of obtaining compared, work as angular velocity omega
x, ω
yHave one at least greater than the setting threshold on the respective direction, show that then the ectoskeleton assistant robot soon falls down, on the basis of original proper motion gait, stack postural reflex model, otherwise return step S101.
In step S104, utilize the postural reflex mechanism of human body, according to bionics principle, set up the postural reflex model of ectoskeleton assistant robot:
Wherein: t represents the time,
Expression ectoskeleton assistant robot proper motion model,
Expression ectoskeleton assistant robot attitudinal reflex model, A represents the motion amplitude of ectoskeleton assistant robot, T represents the period of motion of ectoskeleton assistant robot, α represents that the phase angle of the left leg of ectoskeleton assistant robot and right leg hip joint is poor, β represents that the ectoskeleton assistant robot is poor with the phase angle of the knee joint of leg and hip joint, φ represents that the time delay phase angle of attitudinal reflex is poor, subscript h represents the hip joint of ectoskeleton assistant robot, subscript k represents the knee joint of ectoskeleton assistant robot, subscript p represents attitudinal reflex
The hip joint proper motion model of expression ectoskeleton assistant robot,
The knee joint proper motion model of expression ectoskeleton assistant robot,
The hip joint attitudinal reflex model of expression ectoskeleton assistant robot,
The knee joint attitudinal reflex model of expression ectoskeleton assistant robot, A
hThe proper motion hip joint motion amplitude of expression ectoskeleton assistant robot, A
kThe proper motion motion of knee joint amplitude of expression ectoskeleton assistant robot, A
H, pThe hip joint attitudinal reflex motion amplitude of expression ectoskeleton assistant robot, A
H, pThe knee joint attitudinal reflex motion amplitude of expression ectoskeleton assistant robot.
In step S105, judge that whether allowance that the ectoskeleton assistant robot falls down forward is less than zero, if less than zero, the ectoskeleton assistant robot steps forth and could keep balance and stability, otherwise the ectoskeleton assistant robot rests on the original place, utilizes the swing of wearer limbs just can recover whole balance.
In step S106, judge that whether allowance that the ectoskeleton assistant robot falls down backward is less than zero, if less than zero, the ectoskeleton assistant robot strides backward and could keep balance and stability, otherwise the ectoskeleton assistant robot rests on the original place, utilizes the swing of wearer limbs just can recover whole balance.
In step S107, judged result according to step S106 or step S107, judge that further whether the allowance of ectoskeleton assistant robot single stride is less than zero, if less than zero, the ectoskeleton assistant robot need stride again could keep balance and stability, otherwise the ectoskeleton assistant robot just can keep balance and stability through once striding.
In step S108, judge whether that according to ectoskeleton assistant robot proper motion pattern needs finish the anti-gait of falling down, finish if desired, the ectoskeleton assistant robot carries out attitude and restores, and revert to original proper motion gait, otherwise returns step S101.
In Fig. 4, acceleration transducer and angular-rate sensor are installed in ectoskeleton assistant robot left side lower limb and right lower limb infall, the initial point o of coordinate system oxyz is the mounting points of acceleration transducer and angular-rate sensor, the x axle points to the dead ahead of ectoskeleton assistant robot, the y axle points to the front-right of ectoskeleton assistant robot, the z axle is perpendicular to ground, and original state is that the ectoskeleton assistant robot is when upright.The acceleration a of (x axle) before and after acceleration transducer detects
x, about the acceleration a of (y axle)
y, the acceleration a of (z axle) up and down
zBelong to the rotation of ectoskeleton assistant robot around the rotation of z axle, very little with the relation of falling down attitude, in order to reduce redundancy, angular-rate sensor just detects the angular velocity omega that rolls (x axle)
x, pitching (y axle) angular velocity omega
y
In Fig. 5, T represents the moment of ectoskeleton assistant robot ankle joint, l represents the length of ectoskeleton assistant robot supporting leg, m represents the quality except ectoskeleton assistant robot supporting leg, D represents that ectoskeleton assistant robot barycenter is with respect to the horizontal range of tiptoe, L represents that ectoskeleton assistant robot barycenter is to the length of ankle joint, b represents that ectoskeleton assistant robot heel is with respect to the horizontal range of ankle joint, d represents the length that strides of ectoskeleton assistant robot, and θ represents the angle of ectoskeleton assistant robot barycenter and ankle joint line and trunnion axis forward.When barycenter was positioned at initial position, angle was θ
0:
When barycenter arrives supporting leg foremost the time in the projection of horizontal plane, angle is θ
1:
When barycenter when the projection of horizontal plane arrives the feet rearmost end, angle is θ
2:
θ
3The angle of contacting to earth that expression ectoskeleton assistant robot is led leg:
The allowance that the ectoskeleton assistant robot steps forth:
Wherein, E is the kinetic energy of ectoskeleton assistant robot barycenter when being positioned at original position:
ω is ectoskeleton assistant robot barycenter angular velocity with respect to ankle joint when being positioned at original position.
P
0Be the potential energy of ectoskeleton assistant robot barycenter when the initial position:
P
0=mgL sinθ
0 （8）
P
1For ectoskeleton assistant robot barycenter arrives the potential energy of feet foremost the time in the projection of horizontal plane:
P
1=mgL sinθ
1 （9）
Work as S
1＜0 o'clock, the ectoskeleton assistant robot need step forth and could keep balance and stability.
Work as S
1〉=0 o'clock, the ectoskeleton assistant robot rested on the original place, utilized the swing of wearer limbs just can recover whole balance.
The allowance that the ectoskeleton assistant robot strides backward:
Wherein, P
2Be the potential energy of ectoskeleton assistant robot barycenter when the projection of horizontal plane arrives the feet rearmost end:
P
2=mgL sinθ
2 （11）
Work as S
2＜0 o'clock, the ectoskeleton assistant robot need stride backward could keep balance and stability.
Work as S
2〉=0 o'clock, the ectoskeleton assistant robot rested on the original place, utilized the swing of wearer limbs just can recover whole balance.
The allowance of ectoskeleton assistant robot single stride:
S
3=E-(P
1-P
0)-W （12）
Wherein, W is the supporting leg and leading leg of the ectoskeleton assistant robot ceiling capacity that the back ankle joint absorbs that contacts to earth.
Work as S
3＜0 o'clock, the ectoskeleton assistant robot need stride again could keep balance and stability.
Work as S
3〉=0 o'clock, the ectoskeleton assistant robot just can keep balance and stability through once striding.
The above; only be the preferable specific embodiment of the present invention; but protection scope of the present invention is not limited thereto; all are familiar with those skilled in the art in technical scope disclosed by the invention, are equal to replacement or change and all should be encompassed within protection scope of the present invention according to technical scheme of the present invention and design of the present invention.
Claims (9)
1. old people's ectoskeleton assistant robot comprises:
The ectoskeleton torso member is used for being connected to the user lower part of the body, and auxiliary user is finished the walking action of standing, and comprises thigh parts, shank parts and foot plate;
Joint component, be used for connecting the ectoskeleton torso member, make and realize crooked and stretching, extension between each ectoskeleton torso member, comprise the hip joint parts that connect user waist and thigh parts, the knee components that connects thigh parts and shank parts, the ankle joint parts of connection shank parts and sole;
Auxiliary unit, comprise and tie up at the user waist and be fixedly connected on belt on the hip joint parts, tie up on the user thigh and be fixedly connected on the thigh parts binder and for the protection of the user knee joint, be fixedly connected on the cushion knee cap on the knee components;
And be used to whole device that the power supply of the energy is provided, it is characterized in that: described robot also comprises acceleration, the angular velocity signal that can obtain in real time in the robot ambulation process, corresponding sports signal and then the action of control ectoskeleton torso member are handled and generated to signal, finish the action control unit of shatter-resistant process.
2. old people's ectoskeleton assistant robot according to claim 1, it is characterized in that: described action control unit, comprise and to obtain the acceleration of walking process and the sensor of angular velocity in real time, the signal processor that can carry out signal condition and digital-to-analogue conversion to the signal that sensor is collected, link to each other with the hip joint parts and generate the motion controller of motor message control hip joint parts, move to generate with motion is anti-and separate, and action command is transferred to the central processing unit of motion controller, one end links to each other with the hip joint parts, the servomotor that the other end links to each other with the thigh parts, one end is connected on the thigh parts, and the other end is connected on the shank parts and drives the Pneumatic artificial muscle that the shank parts carry out coordination exercise.
3. old people's ectoskeleton assistant robot according to claim 2, it is characterized in that: described sensor comprises the acceleration transducer that obtains the walking process acceleration in real time and the angular-rate sensor that obtains walking process angular velocity in real time, and the sensor all is installed on ectoskeleton assistant robot left side lower limb and right lower limb infall.
4. old people's ectoskeleton assistant robot according to claim 3, it is characterized in that: described acceleration, angular velocity are that the mounting points with acceleration transducer and angular-rate sensor is coordinate system oxyz initial point o, the dead ahead of ectoskeleton assistant robot is the x axle, the front-right of ectoskeleton assistant robot is the y axle, is the numerical value that the z axle obtains perpendicular to the direction on ground.
5. the anti-bionical control method of falling down gait of old people's ectoskeleton assistant robot according to claim 3 is characterized in that: may further comprise the steps
(1) step: when the old people dresses the motion of ectoskeleton assistant robot, by being installed in the acceleration transducer of ectoskeleton assistant robot left side lower limb and right lower limb infall, obtain in real time before and after the ectoskeleton assistant robot direct of travel be described x axle, about be described y axle, be the acceleration a of described z axle up and down
x, a
y, a
zBelong to the rotation of ectoskeleton assistant robot around the rotation of z axle, very little with the relation of falling down attitude, in order to reduce redundancy, by being installed in the angular-rate sensor of ectoskeleton assistant robot left side lower limb and right lower limb infall, only obtaining the inclination of ectoskeleton assistant robot is the x axle, and pitching is the angular velocity omega of y axle
x, ω
y
(2) step: the acceleration that obtains is compared with the angular velocity predetermined threshold value corresponding with it, as acceleration a
x, a
y, a
zHas one at least greater than the setting threshold on the respective direction, perhaps angular velocity omega
x, ω
yHas one at least greater than the setting threshold on the respective direction, show that then the ectoskeleton assistant robot soon falls down, the action control unit control of ectoskeleton assistant robot generates action, prevent from falling down, namely on the basis of original proper motion gait, the postural reflex model that stack is set up according to the postural reflex mechanism of human body, otherwise return step (1);
(3) step: the situation of falling down of judging the ectoskeleton assistant robot, judge that namely robot falls down forward or fall down backward, fall down if be judged as forward, judge that then whether allowance that the ectoskeleton assistant robot falls down forward is less than zero, if less than zero, the ectoskeleton assistant robot steps forth, otherwise the ectoskeleton assistant robot rests on the original place; Fall down backward if judge the ectoskeleton assistant robot, whether then judge allowance that the ectoskeleton assistant robot falls down backward less than zero, if less than zero, the ectoskeleton assistant robot strides backward, otherwise the ectoskeleton assistant robot rests on the original place;
(4) step: according to the judged result of step (3), judge that further whether the allowance of ectoskeleton assistant robot single stride is less than zero, if less than zero, the ectoskeleton assistant robot need stride again could keep balance and stability, otherwise the ectoskeleton assistant robot just can keep balance and stability through once striding;
(5) step: judge whether that according to ectoskeleton assistant robot proper motion pattern needs finish the anti-gait of falling down, finish if desired that the ectoskeleton assistant robot carries out attitude and restores, and revert to original proper motion gait, otherwise returns step (1).
6. old people's ectoskeleton assistant robot according to claim 5 prevents falling down the bionical control method of gait, and it is characterized in that: the postural reflex model of described stack refers to
Wherein: the t express time,
Expression ectoskeleton assistant robot proper motion model,
Expression ectoskeleton assistant robot postural reflex model, subscript h represents the hip joint of ectoskeleton assistant robot, subscript k represents the knee joint of ectoskeleton assistant robot, subscript p represents postural reflex, A represents the motion amplitude of ectoskeleton assistant robot, T represents the period of motion of ectoskeleton assistant robot, α represents that the phase angle of ectoskeleton assistant robot left side lower limb and right lower limb hip joint is poor, β represents that the ectoskeleton assistant robot is poor with the phase angle of the knee joint of lower limb and hip joint, and φ represents that the time-delay phase angle of postural reflex is poor.
7. old people's ectoskeleton assistant robot according to claim 6 prevents falling down the bionical control method of gait, and it is characterized in that: the allowance of falling down forward refers to
Wherein: θ
0Angle when the expression barycenter is positioned at initial position, θ
1The expression barycenter arrives the angle of supporting leg foremost the time in the projection of horizontal plane, and T represents the moment of ectoskeleton assistant robot ankle joint, and d represents the length that strides of ectoskeleton assistant robot, the kinetic energy when E represents that ectoskeleton assistant robot barycenter is positioned at original position, P
0The potential energy of expression ectoskeleton assistant robot barycenter when initial position, P
1Expression ectoskeleton assistant robot barycenter arrives the potential energy of feet foremost the time in the projection of horizontal plane.
8. old people's ectoskeleton assistant robot according to claim 6 prevents falling down the bionical control method of gait, and it is characterized in that: the allowance of falling down backward refers to
Wherein: θ
0Angle when the expression barycenter is positioned at initial position, θ
2The angle of expression barycenter when the projection of horizontal plane arrives the feet rearmost end, T represents the moment of ectoskeleton assistant robot ankle joint, d represents the length that strides of ectoskeleton assistant robot, the kinetic energy when E represents that ectoskeleton assistant robot barycenter is positioned at original position, P
0The potential energy of expression ectoskeleton assistant robot barycenter when initial position, P
2The potential energy of expression ectoskeleton assistant robot barycenter when the projection of horizontal plane arrives the feet rearmost end.
9. old people's ectoskeleton assistant robot according to claim 6 prevents falling down the bionical control method of gait, and it is characterized in that: the allowance of single stride refers to
S
3=E-(P
1-P
0)-W
Wherein: the kinetic energy when E represents that ectoskeleton assistant robot barycenter is positioned at original position, P
0The potential energy of expression ectoskeleton assistant robot barycenter when initial position, P
1Expression ectoskeleton assistant robot barycenter arrives the potential energy of feet foremost the time in the projection of horizontal plane, and W is the supporting leg of ectoskeleton assistant robot and the leading leg ceiling capacity that the back ankle joint absorbs that contacts to earth.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310184590.3A CN103263339B (en) | 2013-05-17 | 2013-05-17 | The biomimetic control method of old people's ectoskeleton assistant robot and falling-resistant gait |
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