CN103284822B - Lower limb exoskeleton boosting device and control method - Google Patents
Lower limb exoskeleton boosting device and control method Download PDFInfo
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- CN103284822B CN103284822B CN201310202205.3A CN201310202205A CN103284822B CN 103284822 B CN103284822 B CN 103284822B CN 201310202205 A CN201310202205 A CN 201310202205A CN 103284822 B CN103284822 B CN 103284822B
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Abstract
The invention relates to a boosting device, in particular to a lower limb exoskeleton boosting device. The lower limb exoskeleton boosting device comprises thigh connecting rods, crus connecting rods, a waist protection pad, hip joints and knee joints, the thigh connecting rods are connected with the crus connecting rods through the knee joints, the waist protection pad is connected with the thigh connecting rods through the hip joints, and a joint portion of each of the hip joints and the knee joints comprises a joint box, a servo motor, a harmonic gear, a driving worm gear and a driven worm gear, wherein the servo motor is connected on the joint box, the driving worm gear and the harmonic gear are coaxially connected with the servo motor, and the driven worm gear is meshed with the driving worm gear. The driven worm gear of each hip joint is connected with the corresponding thigh connecting rod, and the driven worm gear of each knee joint is connected with the corresponding crus connecting rod. The lower limb exoskeleton boosting device is capable of providing walking power for wearers with moving difficulty so as to save labor, and is high in reliability and stability.
Description
Technical field
The present invention relates to a kind of power assisting device, particularly a kind of lower limb exoskeleton power assisting device.
Background technology
Lower limb exoskeleton power assisting device, as service robot, is that people and biped walking machinery lower limb organically combine by one, utilizes the behavior of people to carry out control, provide the walking of powered assistance people, strengthen ability and the speed of people's walking, fatigue alleviating sense.
At present, particularly the U.S., Japan have carried out large quantifier elimination in this respect both at home and abroad.Wherein one of typical research is the robot dress mixing power-assisted lower limb that Japanese University of tsukuba developed in 2002, mechanical exoskeleton is strapped in the both sides of people's lower limb, utilize the EMG sensor be attached on leg skin to detect the electric current of muscle, control the motion of electrical motor driven mechanical exoskeleton with the action of auxiliary leg.In addition; robot of Univ California-Berkeley and Human Engineering Laboratory Aberdeen Proving Ground develop U.S. army's " Berkeley lower limb exoskeleton "; be made up of Backpack type outrigger, metal leg and corresponding Hydraulically Operated Equipment; mechanical system have employed the design similar to class gable structure; Backpack type outrigger can make operator carry certain load, and its useful effect power directly reaches ground via ectoskeleton without wearer.
But said apparatus also exists common shortcoming, because myoelectric sensor is the consciousness of behavior of inferring people according to the low current signal of skin surface transmission during musculation or the soft or hard degree of muscle, adopted most of sensor is caused directly to contact with human skin and to be pasted onto on skin, need special fixture, so directly cause the inconvenience on dressing; The perspiration of human secretory can affect stability and the accuracy of the information that sensor obtains, and owing to containing much information, processing complexity, sensor is easily disturbed, and causes control difficulty larger.
Summary of the invention
The problem that the present invention will solve is: utilize power assisting device and people's lower limb mutually to move easy to control, the stable torque signal produced, provide the lower limb exoskeleton power assisting device that powered assistance people walk, to reach saving human body self physical demands.
For solving the problems of the technologies described above, a kind of lower limb exoskeleton power assisting device, it comprises thick link, shank link, waist protective pad, coxa joint and knee joint, and wherein thick link is connected by knee joint with shank link, and waist protective pad is connected by coxa joint with thick link; Wherein, the articular portion of described coxa joint and knee joint comprises joint casing, servomotor, harmonic gear, worm driver gear and driven worm gear, servomotor is connected on the casing of joint, described worm driver gear is coaxially connected with servomotor with harmonic gear, and driven worm gear engages with worm driver gear; Described harmonic gear is provided with torque sensor, and servomotor afterbody is provided with the rotary encoder detecting the real-time corner in joint, and be connected with isochronous controller above described waist protective pad, torque sensor, rotary encoder and isochronous controller are electrically connected; The driven worm gear of coxa joint is connected with thick link, and the driven worm gear of knee joint is connected with shank link.
Waist protective pad, in wearing lower limb exoskeleton power assisting device, is fixed on human body waist by user, by shank link and shank laminating, by thick link and thigh laminating; In walk process, human body can drive the IA harmonic gear of lower limb exoskeleton power assisting device to rotate, detected the torque signal in described joint by the torque sensor be placed on harmonic gear, the torque signal detected is processed by isochronous controller; Isochronous controller exports the synchronous shift signal that is consistent in frequency with this torque signal to servomotor, now servomotor just can provide and allow the synchronous restoring force of coxa joint and knee joint, and the rotary encoder of the real-time corner in servomotor aft mounted detection joint can adjust the deviation of restoring force simultaneously.The present invention arranges torque sensor on harmonic gear, has abandoned the sensor that tradition is fitted on human body, has substantially increased accuracy of detection; And servomotor afterbody is provided with the rotary encoder detecting the real-time corner in joint, makes it have the function of dynamic auto correction, thus it is stable to reach whole control system.
Further, conveniently dress, described thick link and shank link are provided with binder; Waist protective pad is provided with belt, between waist protective pad and isochronous controller, be provided with braces.
Further, Digital Signal Processing harmonic gear device, A/D modular converter, D/A modular converter, signal amplifier and the motor servo driver through being electrically connected is provided with in described isochronous controller.
Further, the signal in order to make torque sensor gather is more accurate; The described torque sensor be arranged on harmonic gear is provided with two, and its angle is 45 degree.
Further, be provided with pivoted arm between described coxa joint and waist protective pad, one end of pivoted arm is connected by bearing with waist protective pad, and the joint box body-sliding of the other end and coxa joint coordinates, pivoted arm can adjust the distance between thigh and waist protective pad, uses with the wearer of satisfied different height.
Further, in order to prevent initiatively turbine generation skew from causing the situations such as friction, being provided with location bearing between described joint casing and driven worm gear, joint casing being provided with the mounting cover of protection objective bearing.
Further, in order to realize wearing comfort and whole device is lighter, described waist protective pad is two pieces of plastics arcwall faces of fitting with waist, they are connected by belt, the shape of described thick link is the plastics arcwall face of fitting with human thigh face, shank link shape is and the plastics arcwall face of fitting with human calf, and pivoted arm is plastics pivoted arm is also in order to weight reduction.
Finally, the pivoted arm that described joint box body-sliding coordinates is provided with the cover of resistance to rounding, and the inner side of joint casing and sliding mating part is provided with anti-wearing liner, its objective is the service life and motility of improving pivoted arm.
The control method of lower limb exoskeleton power assisting device, step one: torque sensor gathers people's lower limb and lower limb exoskeleton power assisting device and to interact the torque signal produced; Step 2: the torque signal detected after signal is large by A/D analog/digital conversion module transfer in digital signal processor, and exported the joint displacements Setting signal be consistent in frequency, phase place with this torque signal by digital signal processor; Step 3: joint displacements Setting signal controls servomotor by PD feedback control module, makes it export all to keep in motion frequency, amplitude and phase place with people's lower limb synchronous coxa joint, moment of torsion needed for knee joint; Step 4: repeat above-mentioned steps one to step 3, reach the seriality of walking.
Accompanying drawing explanation
Fig. 1 is the structure chart of the present embodiment lower limb exoskeleton power assisting device;
Fig. 2 is the profile of the present embodiment lower limb exoskeleton power assisting device coxa joint;
Fig. 3 is the control system electrical diagram of the present embodiment lower limb exoskeleton power assisting device.
Detailed description of the invention
Below in conjunction with accompanying drawing and example, technical solution of the present invention is further illustrated,
As shown in Figure 1, a kind of lower limb exoskeleton power assisting device, includes isochronous controller 1, braces 2, waist protective pad 3, belt 4, coxa joint 5, thigh bandage 6, thick link 7, knee joint 8, shank binder 9 and shank link 10.
As shown in Figure 2, for the profile of the coxa joint 5 of lower limb exoskeleton power assisting device in Fig. 1, comprise pivoted arm 12, bearing 11, resistance to rounding cover 14, joint casing 17, anti-wearing liner 13, harmonic gear 16, servomotor 15, worm driver gear 18, location bearing 19, mounting cover 20 and driven worm gear 21.
Lower limb exoskeleton power assisting device of the present invention, wherein thick link 7 is connected by knee joint 8 with shank link 10, and waist protective pad 3 is connected by coxa joint 5 with thick link 7; Servomotor 15 is connected on joint casing 17, worm driver gear 18 is coaxially connected with servomotor 15 with harmonic gear 16, driven worm gear 21, worm driver gear 18 engage, and the driven worm gear of coxa joint 5 is fixedly connected with thick link 7, and the driven worm gear of knee joint 8 is connected with shank link 10; Harmonic gear 16 is provided with torque sensor 22; Servomotor 15 afterbody is provided with the rotary encoder 23 detecting joint real-time corner, is connected with isochronous controller 1 above described waist protective pad 3, torque sensor 22, is electrically connected between rotary encoder 23 and isochronous controller 1.
Waist protective pad 3, when dressing lower limb exoskeleton power assisting device of the present invention, is fixed on human body waist by user, by shank link 10 and shank laminating, by thick link 7 and thigh laminating; In the process of walking, human body can drive the IA harmonic gear 16 of lower limb exoskeleton power assisting device to rotate, detected the torque signal of coxa joint 5 and knee joint 8 by the torque sensor 22 be placed on harmonic gear 16, the torque signal detected is processed by isochronous controller 1; Isochronous controller 1 exports the synchronous shift signal that is consistent in frequency with this torque signal to servomotor 15 afterwards, now servomotor 15 just can provide and allow the synchronous restoring force of coxa joint 5 and knee joint 8, and the rotary encoder 23 of the real-time corner in servomotor 15 aft mounted detection joint can adjust the deviation of restoring force simultaneously.The present invention arranges torque sensor 22 on harmonic gear 16, has abandoned the sensor that tradition is fitted on human body, has substantially increased accuracy of detection; And servomotor afterbody is provided with the rotary encoder detecting the real-time corner in joint, makes it have the function of dynamic auto correction, thus it is stable to reach whole control system.
Conveniently dress, described thick link 7 and shank link 10 are provided with binder 6; Waist protective pad 3 is provided with belt 4, is provided with braces 2 between waist protective pad 3 and isochronous controller 1.
Described isochronous controller 1 inside is provided with digital signal processor 150, A/D modular converter 133, D/A modular converter 161, signal amplifier 132 and motor servo driver 121,122,123,124, torque sensor 22 collects the torque signal that harmonic gear 16 produces, torque signal is amplified by signal amplifier 132, be transferred to A/D modular converter 133 afterwards, signal is made to convert digital signal to, be sent to again in digital processing unit 150 and carry out analyzing and processing, analogue signal is converted to D/A modular converter 133 by the signal after digital processing unit 150 output processing, subsequently by analog signal transmission to motor servo driver 121, 122, 123, 124, thus control servomotor 15 and rotate, realize coxa joint 5, the motion of knee joint 8, to reach the effect of power-assisted.These elements are integrated on same circuit board, realize integraty and the portability of isochronous controller 1.
Harmonic gear 16 is provided with two torque sensors 22 that angle is 45 degree, the output torque measuring harmonic gear 16 produces the shear stress signal occurred when being out of shape, after signal amplifier 132 amplifies, obtain torque signal 121.Be 6000 by torque signal 121 amplification; The speed reducing ratio of described harmonic gear 16 is designed to 160:1 and 80:1 respectively.
Pivoted arm 12 is provided with between coxa joint 5 and waist protective pad 3, one end of pivoted arm 12 is connected by bearing 11 with waist protective pad 3, the joint box body-sliding of the other end and coxa joint 5 coordinates, and pivoted arm 12 can adjust the distance between thigh and waist protective pad 3, uses with the wearer of satisfied different height.
There is skew to prevent initiatively turbine 18 and cause the situations such as friction, be provided with location bearing 19 between joint casing 17 and driven worm gear 21, joint casing 17 be provided with the mounting cover 20 of protection objective bearing 19.
In order to realize wearing comfort and whole device is lighter, described waist protective pad 3 is two pieces of plastics arcwall faces of fitting with waist, they are connected by belt, described thick link 7 is arranged to the plastics arcwall face with the laminating of human thigh face, shank link 10 is arranged to the plastics arcwall face with human calf's laminating, and the manufactured materials of pivoted arm 12 is plastics is also in order to weight reduction.
Described pivoted arm 12 and box body-sliding cooperation place, joint are provided with resistance to rounding cover 13, and the inner side of joint casing 17 is provided with anti-wearing liner 13, its objective is the service life and motility of improving pivoted arm 12.
As shown in Figure 3, be the control system electrical diagram of the present embodiment lower limb exoskeleton power assisting device, the function of isochronous controller 1 is by digital signal processor 150 programming realization, and the digital signal processor 150 used in the present invention is single board computer; Exported by four road D/A modular converters 161 and expect that displacement signals 162 are transferred to motor servo driver 121,122,123,124, drives two coxa joints 5 and the respective servomotor rotation of two knee joint 8.
In the process of walking, the torque signal 131 detected by the torque sensor 22 be arranged on harmonic gear 16 is input to through signal amplifier 132 and four road A/D modular converters 133 the expectation displacement signal 162 that digital signal processor 150 realizes exporting next time; The actual rotational angle displacement signal 140 detected is input in digital signal processor 150 by the rotary encoder 23 be arranged on each joint, plays a Real-time Feedback, makes to expect that displacement signal 162 can obtain Correctly adjust at any time.
Digital signal processor 150 by designing vector space around any target trajectory, then with multinomial go approximate it, finally the approximation polynomial of the nonlinearity obtained like this and target trajectory are processed together with vector space the mode of input and output functional relationship as digital signal processor 150; Thus realize input, output signal synchronous.
For a person skilled in the art, under the prerequisite not departing from structure of the present invention, can also make some distortion and improvement, these also should be considered as protection scope of the present invention, and these all can not affect effect of the invention process and practical applicability.
Claims (9)
1. a lower limb exoskeleton power assisting device, it comprises thick link, shank link, waist protective pad, coxa joint and knee joint, and wherein thick link is connected by knee joint with shank link, and waist protective pad is connected by coxa joint with thick link; It is characterized in that:
The articular portion of described coxa joint and knee joint comprises joint casing, servomotor, harmonic gear, worm driver gear and driven worm gear, servomotor is connected on the casing of joint, described worm driver gear is coaxially connected with servomotor with harmonic gear, and driven worm gear engages with worm driver gear; Described harmonic gear is provided with torque sensor, and servomotor afterbody is provided with the rotary encoder detecting the real-time corner in joint, and be connected with isochronous controller above described waist protective pad, torque sensor, rotary encoder and isochronous controller are electrically connected; The driven worm gear of coxa joint is connected with thick link, and the driven worm gear of knee joint is connected with shank link.
2. lower limb exoskeleton power assisting device as claimed in claim 1, is characterized in that: described thick link and shank link are provided with binder; Waist protective pad is provided with belt, between waist protective pad and isochronous controller, be provided with braces.
3. lower limb exoskeleton power assisting device as claimed in claim 1, is characterized in that: be provided with the digital signal processor of electric connection, A/D modular converter, D/A modular converter, signal amplifier and motor servo driver in described isochronous controller.
4. lower limb exoskeleton power assisting device as claimed in claim 1, it is characterized in that: between described coxa joint and waist protective pad, be provided with pivoted arm, one end of pivoted arm and waist protective pad are by bearing hinge connection, and the joint box body-sliding of the other end and coxa joint coordinates, and described pivoted arm is plastics pivoted arm.
5. lower limb exoskeleton power assisting device as claimed in claim 2, it is characterized in that: the shape of described waist protective pad is two pieces of plastics arcwall faces of fitting with waist, and connected by belt, described thick link is the plastics arcwall face of fitting with human thigh face, and the shape of shank link is the plastics arcwall face of fitting with human calf.
6. lower limb exoskeleton power assisting device as claimed in claim 4, is characterized in that: the pivoted arm coordinated with the joint box body-sliding of coxa joint is provided with the cover of resistance to rounding, and the inner side of this joint casing is provided with anti-wearing liner.
7. lower limb exoskeleton power assisting device as claimed in claim 1, is characterized in that: be provided with location bearing between described joint casing and driven worm gear, joint casing is provided with the mounting cover of protection objective bearing.
8. lower limb exoskeleton power assisting device as claimed in claim 1, is characterized in that: described in the torque sensor be arranged on harmonic gear be provided with two, its angle is 45 degree.
9. the control method of lower limb exoskeleton power assisting device as claimed in claim 3, is characterized in that:
Step one: torque sensor gathers people's lower limb and lower limb exoskeleton power assisting device and to interact the torque signal produced;
Step 2: the torque signal detected is transferred in digital signal processor by A/D modular converter after signal amplifies, and the joint displacements Setting signal be consistent in frequency, phase place with this torque signal is exported by digital signal processor;
Step 3: joint displacements Setting signal controls servomotor by PD feedback control module, makes it export all to keep in motion frequency, amplitude and phase place with people's lower limb synchronous coxa joint, moment of torsion needed for knee joint;
Step 4: repeat above-mentioned steps one to step 3, reach the continuous of walking.
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| CN201310202205.3A CN103284822B (en) | 2013-05-28 | 2013-05-28 | Lower limb exoskeleton boosting device and control method |
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| CN201310202205.3A CN103284822B (en) | 2013-05-28 | 2013-05-28 | Lower limb exoskeleton boosting device and control method |
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| CN103284822B true CN103284822B (en) | 2015-04-08 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103610524B (en) * | 2013-12-16 | 2015-09-09 | 哈尔滨工业大学 | A kind of Portable energy storage ectoskeleton power-assisting robot |
| CN103892943B (en) * | 2014-03-19 | 2015-08-19 | 中国人民解放军理工大学 | Active/passive is in conjunction with the flexible lower limb exoskeleton of force booster type |
| CN104083236B (en) * | 2014-07-11 | 2016-02-03 | 电子科技大学 | A kind of compact lower limb exoskeleton driving device |
| CN104784016B (en) * | 2015-04-22 | 2017-11-28 | 余运波 | A kind of light motion power assisting device and its control method |
| DE102015116133B3 (en) | 2015-09-24 | 2017-01-19 | Otto Bock Healthcare Products Gmbh | prosthetic device |
| CN107970104B (en) * | 2016-10-21 | 2023-10-24 | 深圳光启合众科技有限公司 | Waist rotating mechanism |
| CN106859922A (en) * | 2017-03-13 | 2017-06-20 | 张萌 | A kind of lower limb assistance exoskeleton robot based on variable flexibility joint |
| CN109717990B (en) * | 2018-12-29 | 2020-08-28 | 攀枝花市午跃科技有限公司 | Titanium alloy geometric lock knee joint |
| CN114366574A (en) * | 2021-12-31 | 2022-04-19 | 航天科工智能机器人有限责任公司 | Exoskeleton robot and control method thereof |
| CN115674159B (en) * | 2022-10-31 | 2023-06-16 | 国网山西省电力公司太原供电公司 | Force feedback wearable flexible exoskeleton control method and device |
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| JP4093912B2 (en) * | 2003-05-21 | 2008-06-04 | 本田技研工業株式会社 | Walking assist device |
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| JP5494011B2 (en) * | 2010-03-01 | 2014-05-14 | トヨタ自動車株式会社 | Operation support system |
| JP2011212122A (en) * | 2010-03-31 | 2011-10-27 | Toyota Motor Corp | Mounting type assisting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202211834U (en) * | 2011-06-23 | 2012-05-09 | 天津科技大学 | Line angle driven lower limb walking aid |
| CN102871822A (en) * | 2012-09-28 | 2013-01-16 | 中国科学院深圳先进技术研究院 | Portable and wearable exoskeleton robot for lower limb recovery and walking aid |
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