CN104523404A - Control system of mobility aid - Google Patents

Control system of mobility aid Download PDF

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Publication number
CN104523404A
CN104523404A CN201410751978.1A CN201410751978A CN104523404A CN 104523404 A CN104523404 A CN 104523404A CN 201410751978 A CN201410751978 A CN 201410751978A CN 104523404 A CN104523404 A CN 104523404A
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China
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foot
driver
instruction
user
component
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Granted
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CN201410751978.1A
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Chinese (zh)
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CN104523404B (en
Inventor
F·阿拉米斯弗
A·J·格里梅尔
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Wuxi Meian Rex medical robot Co.,Ltd.
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REX BIONICS Ltd
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Priority to CN201410751978.1A priority Critical patent/CN104523404B/en
Priority claimed from CN200980161144.2A external-priority patent/CN102573746B/en
Publication of CN104523404A publication Critical patent/CN104523404A/en
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Publication of CN104523404B publication Critical patent/CN104523404B/en
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Abstract

Provided is a control system for controlling exoskeleton. The exoskeleton is worn by users and is provided with one or more drivers interlinked to all individual members of the exoskeleton corresponding to body parts of the users. The control system comprises a user interface, a storage assembly and a driver controller. The user interface is used for receiving input data for indicating an expected motional sequence. The storage assembly is used for storing pre-programmed motion data for indicating implementation of the required one or more continuous orders, wherein each order is linked to motions of related drivers for conducting the order. The driver controller is used for moving one or more drivers according to motions of related drivers based on the orders. The control system further comprises a ground subsystem and a balance control subsystem. The ground subsystem is used for adjusting motions of the drivers when detecting that the ground inclination changes. The balance control subsystem is used for periodically adjusting balance of exoskeletons during relative motions of one or more drivers.

Description

The control system of mobility aid
The divisional application that the application is the applying date is on July 1st, 2009, application number is 200980161144.2, denomination of invention is the application for a patent for invention of " control system of mobility aid ".
Technical field
The present invention relates to a kind of for being suitable for the support mobility aid of physical handicap person or the control system of walking aid (WA).
Background technology
Mobility impaired, such as those endure the people of the hardship of paraplegia to the fullest extent, are usually limited on wheelchair, and the unique method that wheelchair is for they takes action.The sphere of action that wheelchair provides is limited.In addition, lock into wheelchair for a long time and also can cause health problem.
In order to prevent such health problem, developing multiple training system and having helped the lower limb that mobility impaired tempers them, kept to help muscle quality and improve circulation.Some such training systems comprise non-maneuverable mounting system, and it is worn to help them to perform athleticism by user.
Recently, it is movable that people propose to assist mobility impaired to complete daily functional exercise with system of bars that is motor-driven or that drive, walking aid and gait mobile device, such as, walk.Such system typically comprises ectoskeleton, and it is attached to user and comprises the leg section with corresponding thigh, tibia and the foot that connect with buttocks, knee and ankle joint.Driver is set as the thigh of mobile leg section, tibia and foot, and described driver can be operated by stick or other control system, to reach the effect of the gait of people.Such system has stability problem, especially when moving through uneven ground and when they run into other external interference, when the upper body comprising user is moved relative to described ectoskeleton.In order to improve stability, typically require that crutch and such drive-type walking aid together use by user.
In this description, carried out reference to the document of patent specification, other outside or other material resources, object is to provide the background for discussing function of the present invention substantially.Unless otherwise specifically noted, under any authority, the reference done outside document should not be considered as the common practise part of admitting that such document or such material resources are prior art or form in described technology.
The object of this invention is to provide a kind of stable walking aid, it can supporting user completely when user takes action, or is at least the public and provides a kind of useful selection.
Summary of the invention
First aspect, the present invention roughly can say and be made up of a kind of method, described method is for controlling ectoskeleton, it is worn by user and has the one or more and described ectoskeletal driver be associated corresponding to each health component of user's body part, and described method comprises the following steps: the input data of the motion sequence receiving indicative of desired; Obtain the exercise data of the pre-programmed indicating one or more continuous print instruction from memorizer, described instruction at least comprises the instruction of stopping over implemented required for described motion sequence, and each instruction is moved with the associated actuator device performing described instruction and is associated; One or more driver is moved according to described relevant actuator movement for each instruction; And instruction of stopping over described in the reception data adjustment of foundation instruction ground changes in pitch, the step of described adjustment comprises: mobile described ectoskeletal one or more driver be associated with component of stopping over rotates foot component towards maximum permission inclination angle; And stop when receiving the input that the described foot component of instruction is aimed at inclined-plane one or more drivers of being associated with described foot component.
Preferably described foot component comprises the touch sensor that at least one is positioned at each angular zone below described foot component, and angular zone and two angular zone to longitudinal substantial registration of wherein said angular zone formation two to horizontal substantial registration.
Preferably described touch sensor is tactile sensor.Or described touch sensor is pressure transducer.
Preferably, when once component of stopping over below when only receiving triggering signal from the described sensor of some angular zones, receive the data of described instruction ground changes in pitch with earth surface.
Preferably, described ground gradient is made up of longitudinal component and cross stream component, and indicates the data of ground changes in pitch to indicate the change of described longitudinal component of ground gradient or the change of the described longitudinal component of ground gradient or the two all to have it.
Preferably maximum permission inclination angle or inclined-plane and the maximum permission angle between extend longitudinally line and basic horizontal line, or inclined-plane and the maximum permission transverse pressure angle between extending transversely line and basic horizontal line.
Preferably, receiving triggering signal from least one touch sensor be only associated to one of angular zone laterally aimed at two indicate the longitudinal component of ground gradient to change, and receives triggering signal from least one touch sensor be associated to one of angular zone longitudinally aimed at two and indicate the cross stream component of ground gradient to change.
Preferably, described foot component comprises described foot component to enclose towards the step that maximum permission inclination angle rotates and pivots by the driver that mobile one or more and described ectoskeletal component of stopping over is associated, and described axle crosses the alignment angle region pair from its reception triggering signal.
Preferably, the step stopping the motion of one or more driver comprises termination motion, the triggering signal that its described foot component of instruction received according to the sensor be associated with a pair alignment angle region from least one is aimed at the inclined-plane on ground, and that described alignment angle region pair and rotation axis cross it is to relative.
Preferably, described maximum permission inclination angle is predetermined and is stored in memorizer.
Preferably, described method stores the step of the state of ground data of the current gradient on the described ground of instruction after being included in the step of the motion stopping one or more driver in addition.
Preferably, the step storing the state of ground data of the current gradient on instruction ground comprises: be averaged by the angle of described foot component with from the input data of the accelerometer be associated with described foot component; And described average angle is stored as the data of the current gradient on instruction ground.
Preferably, described method comprises in addition, before mobile one or more driver and after the exercise data of acquisition pre-programmed, according to the step of the actuator movement that the state of ground Data Update of the gradient on stored instruction ground is correlated with.
Preferably, each driver mobile comprises the length changing driver, and the length wherein changing driver changes the angle of the associated joint be formed between ectoskeletal body component.
Preferably, for above-described embodiment, mobile one or more driver be associated with component of stopping over is to comprise the following steps: to identify the rotating shaft required for being aimed at the gradient on ground by foot component and direction of rotation by foot component towards the step that maximum permission inclination angle rotates; The angle of associated joint is obtained by the length of each driver; The relative position of the ectoskeletal foot joint using the angle calculation of described foot joint and required rotating shaft relevant with direction of rotation; Determine the desired locations of the foot joint be associated with the component of stopping over rotated by described foot component extremely required by maximum permission inclination angle; Anti-phase motion is used to determine the desired locations in each joint of the position affecting foot joint; Determine the expectation joint angle formed with the desired locations in the joint of the position affecting foot joint; Determine desired to expect the length variations of each driver that joint angle is associated with each; And expect that the desired length that the length of each driver that joint angle is associated changes into driver changes by with each.
Preferably, described foot component comprises zone line touch sensor, for providing the information of the contact condition on region and ground before and after the central authorities about foot component, to provide the resolution of rising, thus by foot component and ground registration.
Second aspect, the present invention roughly can say and be made up of a kind of method, described method is for controlling ectoskeleton, it is worn by user and has the one or more and described ectoskeletal driver be associated corresponding to each health component of user's body part, and described method comprises the following steps: the input data of the motion sequence receiving indicative of desired; Obtain from memorizer the exercise data that the pre-programmed of the one or more continuous print instructions required for described motion sequence is implemented in instruction, each instruction is moved with the associated actuator device performing described instruction and is associated; The actuator movement relevant according to the adjustment Data Update of the instruction Current terrestrial state stored; For the associated actuator device motion mobile one or more driver of each instruction according to described renewal;
The third aspect, the present invention roughly can say and be made up of a kind of method, described method is for controlling ectoskeleton, it is worn by user and has one or more driver be at least associated with the described ectoskeletal foot component corresponding to user's foot, to regulate described foot component relative to ground changes in pitch, described method comprises the following steps: the data receiving between prescribed phase and indicate ground changes in pitch that land be associated with foot component; Mobile one or more driver be associated with foot component rotates foot component towards maximum permission inclination angle; And the motion of the one or more drivers be associated with described foot component is stopped when receiving the input that the described foot component of instruction is aimed at inclined-plane.
Fourth aspect, the present invention roughly can say and be made up of a kind of method, described method is for controlling ectoskeleton, it is worn by user and has the one or more and described ectoskeletal driver be associated corresponding to each health component of user's body part, and described method comprises the following steps: the input data of the motion sequence receiving indicative of desired, obtain from memorizer the exercise data that the pre-programmed of the one or more continuous print instructions required for described motion sequence is implemented in instruction, each instruction is moved with the associated actuator device performing described instruction and is associated, one or more driver is moved according to described relevant actuator movement for each instruction, and periodically, ectoskeleton between the moving period balancing one or more driver according to present instruction through the following steps: based on the input pressure data of the pressure in one or more regions of instruction foot, determine the actual pressure center below described at least one ground connection foot component ectoskeletal, obtain with one or more driver the centre-of-pressure position of basis and expectation that the present instruction of movement is associated, and one or more drivers that the directional correlation with described ground connection foot component joins are moved a position, so that the described actual pressure center below foot is converted to for the Center of Pressure desired by present instruction.
Preferably, described periodically balance ectoskeletal step during present instruction with the scheduled time step-length occur.
Preferably, describedly periodically balance described ectoskeletal step and also comprise: as real time steps to determine the Center of Pressure error between actual pressure center and the centre-of-pressure position of expectation; Actuator position desired by the driver determination follow-up time step-length that the directional correlation of each and ground connection foot component joins; Based on the error of each driver, it is the actuator position desired by the adjustment of follow-up time step-length; And during follow-up time step-length, each driver is moved towards the actuator position through overregulating.
Preferably, the centre-of-pressure position desired by current time step is determined like this in time step before: interpolation between the centre-of-pressure position desired by the actual pressure center of time step before and described instruction; And the centre-of-pressure position desired by described interpolation determination follow-up time step-length.
Preferably, describedly determine that the step of the actuator position desired by follow-up time step-length comprises: interpolation between the actuator position desired by producing in actual transmission device position with by the actuator movement completed for present instruction; And the actuator position desired by described interpolation determination follow-up time step-length.
Preferably, the step of the actuator position desired by described adjustment described follow-up time step-length comprises: the change using described Center of Pressure error determination actuator position; And the change of actuator position is added with the actuator position desired by follow-up time step-length with the actuator position regulated desired by follow-up time step-length.
Preferably, the step of the change of described use Center of Pressure error determination actuator position is achieved in that sends described error into feedback controller, and it is arranged the instruction exporting actuator position change.Preferably, described feedback controller is PID (PID) controller.
Preferably, move one or more driver and comprise the length changing one or more driver.
Preferably, each ground connection foot component comprises at least one pressure transducer, is positioned on four angles below described ground connection foot.
5th aspect, the present invention roughly can say and be made up of a kind of method, described method is used for the ectoskeleton worn by user during the relative motion of described ectoskeletal one or more driver, keep balance, to perform predetermined instruction, the described method for balancing comprises the following steps: the input pressure data of the pressure in the one or more regions based on instruction foot, calculate the actual pressure center below described at least one ground connection foot component ectoskeletal, determine the Center of Pressure error between actual pressure center and the centre-of-pressure position desired by described predetermined instruction, and by one or more driver being moved in the Center of Pressure be converted to desired by described predetermined instruction, described actual pressure center below foot thus eliminating Center of Pressure error.
6th aspect, the present invention roughly can say and be made up of a kind of control system, described control system is for controlling ectoskeleton, it is worn by user and the one or more and described ectoskeletal driver be associated corresponding to each health component of user's body part, described control system comprises: for receiving the user interface of the input data of the motion sequence of indicative of desired, memory assembly, the exercise data of the pre-programmed of the one or more continual commands required by described motion sequence is implemented for storing instruction, each instruction is associated for the relevant actuator movement performing described instruction, for moving the actuator controller of one or more driver according to the motion of associated actuator device for each instruction, for regulating the ground subsystem of actuator movement according to the detection of ground changes in pitch, with for periodically regulating the control balancing subsystem of the balance of ectoskeleton during one or more driver relative motion.
Preferably described control system receives input with the change detecting ground gradient from the touch sensor of at least four angular zones be arranged on below ectoskeletal foot component.
Preferably, described ground subsystem is set to: the motion determining one or more drivers required for being rotated towards maximum permission inclination angle by foot component, that be associated with described ectoskeletal foot component, and stops the motion of the one or more drivers be associated with described foot component when receiving the input that the described foot component of instruction is aimed at inclined-plane.
Preferably, the pressure transducer that described control balancing subsystem is arranged from least four angular zones below described ectoskeletal foot component receives input.
Preferably, the input of described pressure transducer starts control balancing subsystem to determine the centre-of-pressure position below foot, thus determine by for specific instruction centre-of-pressure position is converted to expectation centre-of-pressure position actuator movement required for adjustment.
Preferably, according to any one control system of claim 34-38, wherein said control system receives input from the zone line touch sensor of foot component, for providing the information of the contact condition on region and ground before and after the central authorities about foot component, to provide the resolution of rising, thus by foot component and ground registration.
7th aspect, the present invention roughly can say and be made up of a kind of control system, described control system is for controlling ectoskeleton, it is worn by user and has the one or more and described ectoskeletal driver be associated corresponding to each health component of user's body part, and described control system comprises: for receiving the user interface of the input data of the motion sequence of indicative of desired; Memory assembly, implements the exercise data of the pre-programmed of one or more continuous print instructions of described motion sequence for storing instruction, each instruction is moved with the associated actuator device performing described instruction and is associated; For moving the actuator controller of one or more driver according to the motion of associated actuator device for each instruction; With the ground subsystem for regulating actuator movement according to the detection of state of ground change.
Eighth aspect, the present invention roughly can say and be made up of a kind of control system, described control system is for controlling ectoskeleton, it is worn by user and has the one or more and described ectoskeletal driver be associated corresponding to each health component of user's body part, and described control system comprises: for receiving the user interface of the input data of the motion sequence of indicative of desired; Memory assembly, implements the exercise data of the pre-programmed of one or more continuous print instructions of described motion sequence for storing instruction, each instruction is moved with the associated actuator device performing described instruction and is associated; For moving the actuator controller of one or more driver according to the motion of associated actuator device for each instruction; With the control balancing subsystem for periodically regulating the balance of ectoskeleton during one or more driver relative motion.
Preferably, described ectoskeleton comprises: the rigidity pelvis supporting member comprising user securitysettingup, and described security set is used for user at least to add to be fixed in described pelvic support component operationally to support described user; First lower limb structure and the second lower limb structure, first lower limb structure and each in the second lower limb structure are connected with described pelvic support component and stretch out from it for the operating position that the corresponding lower limb with user is adjacent, each in first lower limb structure and the second lower limb structure comprises: for the thigh structural elements engaged with the thigh of user, and described thigh structural elements is engaged by hip joint and described pelvic support component rotating shaft at its first end; For the shank structural elements engaged with the shank of described user, described shank structural elements is engaged by the second end rotating shaft of knee joint and described thigh structural elements at its first end; For the foot component engaged with the foot of user, described foot component is engaged by the second end rotating shaft of foot joint and described shank structural elements; Main buttocks driver, arranges and rotates around described hip joint relative to described pelvic support component for starting described thigh structural elements, in use to rotate described thigh structural elements in front/rear portion plane; Knee driver, is arranged for the described shank structural elements of starting and rotates around described knee joint relative to described thigh structural elements; With main foot driver, be arranged for the described foot component of starting and rotate around the rotating shaft substantially parallel with the axis of described kneed rotation around described foot joint relative to described shank structural elements; And power supply, be set at least one or more power supply selected in described main buttocks driver, knee driver and main foot driver.
The term " front portion " used in description and claim is about the front end or direction corresponding above with human user, and term " above " therefore builds.
The term " rear portion " used in description and claim is about the behind or direction corresponding below with human user, and term " later " therefore builds.
The phrase " front/rear portion plane " used in description and claim relates to from user forward and/or the plane extended back.
The term " centre " used in description and claim is the direction extended towards the health of user to center about the inner arm from user, and term " middle " therefore builds.
The term " side direction " used in description and claim is the direction extended laterally about the health from user, and term " laterally " therefore builds.
The phrase " centre/side plane " used in description and claim relates to from user to plane that is middle and/or that extend to side.
The term that used " and/or " mean " and " or " or " or the two all have it.
As added after noun, " s " means plural number and/or the singulative of noun.
" comprising " of using in description and claim means " comprising at least partly ".When interpreting both the specification and the claims each narrative tense comprising term and " comprise ", except described term contribute a foreword that or those except feature also can exist.The relational language such as " comprised " should make an explanation in the same way.
Accompanying drawing explanation
Also will be described, in accompanying drawing optimal case of the present invention with reference to accompanying drawing by means of only citing:
Fig. 1 shows the side view of the ectoskeleton forming section being with orthotic WA, is shown in the first embodiment, does not have secondary buttocks driver;
Fig. 2 is the front cross sectional view of the ectoskeleton shown in Fig. 1 and orthotic part;
Fig. 3 is the ectoskeleton shown in Fig. 1 and orthotic front view;
Fig. 4 is the front view of the WA of Fig. 1 of supporting user;
Fig. 5 is the sectional view of the foot member region of the ectoskeleton part of Fig. 1;
Fig. 6 is the rearview of Fig. 5;
Fig. 7 is the front cross sectional view of the ectoskeleton part of the second embodiment, comprises the secondary buttocks driver near hip joint;
Fig. 8 is the side view of Fig. 7;
Fig. 8 a shows the schematic diagram of described ectoskeletal lateral movement driver viewed from front end;
Fig. 9 shows the left side perspective view of foot component;
Figure 10 shows the bottom view of the foot component of Fig. 9;
Figure 11 shows the right side perspective view of foot component;
Figure 12 display briefly shows the knee joint side view of kneed skew;
Figure 13 is the side view of the people supported by another embodiment of WA, comprises secondary buttocks driver;
The side view of the people that Figure 14 display is supported by the WA being attached with covering;
Figure 15 shows the rear projection sectional view of described ectoskeletal foot component and shank structural elements;
Figure 16 shows the side view in described ectoskeletal higher region, comprises and controls to extend relative to the upper body of basin support motion for supporting upper body;
Figure 17 shows the side view of the WA of forward stride posture;
Figure 18 display comprises the rearview of the WA of secondary buttocks driver;
Figure 19 display is set as and ensures the described support of user security and the details front view of support by described ectoskeleton;
Figure 20 shows the right sectional view of described ectoskeletal knee area, and knee rotation offset is shown;
Figure 21 shows the rear sectional view of preferred knee rotation offset;
Figure 22 shows the right front sectional view of knee rotation offset;
Figure 23 shows the side view of the WA of band covering,
Figure 24 shows the rearview of the WA of band covering,
Figure 25 display comprises the front view of the WA of covering and the described user of support,
Figure 26 shows the front perspective view of the 3rd embodiment of the WA of stepping posture;
Figure 27 shows the front perspective view of the 3rd embodiment of the WA of supporting user stance;
Figure 28 shows the side view of the 3rd embodiment of the WA of supporting user stance;
Figure 29 shows the front view of the 3rd embodiment of WA;
Figure 30 shows the rearview of the hip joint near zone of Figure 26;
Figure 31 shows the side view of the hip joint near zone of Figure 26;
Figure 32 shows the rearview of the knee joint near zone of Figure 26;
Figure 33 shows the kneed front perspective view of Figure 26;
Figure 34 shows the front perspective view of the hip joint near zone of Figure 26;
Figure 35 shows the side view of the knee joint near zone of Figure 26;
Figure 36 display does not have covering to be in the side view of the 3rd embodiment of the WA of stance;
Figure 37 display does not have covering to be in the side view of the 3rd embodiment of the WA of stepping posture;
Figure 38 shows the side view that band covering is in the 3rd embodiment of the WA of stepping posture;
Figure 39 display does not have covering to be in the front perspective view of the 3rd embodiment of the WA of sitting posture;
Figure 40 display does not have covering to be in the front view of the 3rd embodiment of the WA of sitting posture;
Figure 41 shows the front perspective view of the foot joint near zone of WA;
Figure 42 shows the front view of the foot joint near zone of WA;
The schematic diagram of the movement of center of gravity during walking movement between paces of Figure 43 explicit declaration WA and user;
Figure 44 shows wedge shape foamed materials packaging facilities;
Figure 45 a-45j shows the ectoskeletal model experiencing static step motion sequence according to the preferred form of the control system of WA;
Figure 46 a-46e shows the ectoskeletal model dynamically walking motion sequence according to the preferred form experience left side of the control system of WA;
Figure 47 a-47e shows the ectoskeletal model dynamically walking motion sequence according to the preferred form experience right side of the control system of WA;
Figure 48 a and 48b shows the ectoskeletal model of motion sequence of taking one's seat according to the preferred form of the control system of WA experience;
Figure 49 a and 49b shows the ectoskeletal model of motion sequence of standing according to the preferred form of the control system of WA experience;
Figure 50 display is by the flow chart of ground subsystem according to the preferred form executable operations sequence of the control system of WA;
The flow chart of the sequence of operation that Figure 51 display is performed by the mathematical model used by the ground subsystem of Figure 50;
The reference joint angles of the ectoskeletal model that Figure 52 a and 52b explicitly uses in face system;
Figure 53 a and 53b shows the body points reference position of the ectoskeleton model calculated by ground subsystem;
Figure 54-58 shows the process instance be associated of ectoskeletal foot and longitudinal ground changes in pitch being harmonized with reference ectoskeleton model;
Figure 59-63 shows the process instance be associated of ectoskeletal foot and horizontal ground changes in pitch being harmonized with reference ectoskeleton model;
The flow chart of the process of state of ground renewal is carried out in Figure 64 display according to the preferred form of the control system of WA by ground subsystem;
Figure 65 display evaluates the position in (interest) district according to each of the ectoskeletal foot model of the preferred form of the control system of WA and balancing subsystem;
Figure 66 display is according to the flow chart of the preferred form of the control system of WA by balancing subsystem executable operations sequence;
Figure 67 a and 67b display is respectively used to the chart of the linear interpolation be associated with actuator position and centre-of-pressure position of balancing subsystem;
The flow chart of the sequence of operation that Figure 68 display is performed by balancing subsystem when calculating the Center of Pressure be associated with the foot of WA;
Figure 69-72 shows the example of the process be associated with the Center of Pressure determining to calculate foot by balancing subsystem according to the preferred form of the control system of WA;
Figure 73 display is according to the thumbnail of the control system of the preferred form of WA.
Detailed description of the invention
Reference is above to be illustrated, and wherein similar feature is indicated by similar numeral usually, can be that a kind of equipment of walking aid (WA) of form is indicated by numeral 100 usually, and the ectoskeleton be applicable in controllable walking aid is indicated by numeral 500 usually.In this description, phrase walking aid and walking aid are used alternatingly.The equipment of another kind of form can take armarium as, the side effect that the lower limb that it can help to reduce motion disabled is motionless, and no matter whether described equipment also can walks or step-by-step system mobile subscriber.
Frame for movement below with reference to the preferred implementation of Fig. 1-44 couples of WA is described in detail.After this, the preferred form of the control system of WA is provided with reference to figure 45a-73.
The frame for movement of WA
Be suitable for supporting when the disabled that moves carries out a set of motion relevant to walking movement with reference to figure 1-44, WA100.WA 100 comprises the power supply of the power cable (not shown) that ectoskeleton 500, set of cells form or other similar airborne power supply group (not shown) are associated together with it, and control system (not shown).
Ectoskeleton 500 comprises rigidity pelvis supporting member or hip framework 15, and it comprises basin braces 96 and pair of leg structure 50 (the first lower limb structure and the second lower limb structure).Hip framework 15 needs to have relatively low weight, has the low amount of bow in high degree of rigidity and operation simultaneously.For this reason, hip framework 15 is fashioned into the separate unit with interior void (not shown) by carbon fiber.It is contemplated that hip framework 15 can also be moulded by glass fibre.Hip framework 15 comprises the horizontal shear web through its interior void in addition.
Each lower limb structure 50 comprises thigh structural elements 10, shank structural elements 11, foot component 18, main buttocks driver 16, knee driver 13 and main foot driver 19.Thigh structural elements 10 is for ensureing the thigh 610 of user 600, and thigh structural elements 10 is engaged by hip joint 14 rotating shaft with hip framework 15 at its first end 10a.Shank structural elements 11 is for ensureing the shank 620 of user 600, and shank structural elements 11 is engaged by knee joint 12 rotating shaft with the second end 10h of thigh structural elements 10 at its first end 11a.
In one embodiment, it is contemplated that knee joint 12 is carried out only allowing relative to moving of rotating along single plane between thigh structural elements 10 and shank structural elements 11.It will preferably use roller bearing device (not shown) to realize.But knee joint 12 may bear large torsion or cross force, cause the axial force on roller bearing device.For this reason, it is contemplated that knee joint also will comprise axial rolling bearing (not shown), the axial force for resisting in knee joint 12 is set.
Each in described thigh structural elements 10 and shank structural elements 11 comprises with the bracing means of scalable fastener 46 form, for each lower limb structure 50 is added the associated leg being fixed in user 600 in use.Can imagine that fastener 46 can be made up of the net bar of softness or belt, and can comprise scalable bracing means 47, it can be the tape form with suspension hook and ring hardened system, such as through button or described scalable bracing means can comprise standard button, Tensioning buckle or snap close form.
Foot component 18 is for ensureing the foot 630 of user 600, and foot component 18 is engaged in the second end 11b of shank structural elements 11 by foot joint 17 rotating shaft.Each foot component 18 includes the foot element structure parts 126 that the foot 630 for operating upper guiding user moves.
In one embodiment, each described foot component 18 includes footwear 31, and it can engage movably with foot element structure parts 126, and user 600 can put into described footwear their foot.Described footwear 31 are by secured fashion, and such as safety pin mode, snap, bayonet fashion or any mode that other is applicable to, can engage with foot element structure parts 126 easily movably.Footwear 31 are adjustable relative to the position of foot element structure parts 126, aim at the rotating shaft 17A of foot joint 17 to allow the ankle of user.
In another embodiment, each foot component 18 includes foot joint construction 34, engages with the foot 630 of user for (namely user wears footwear) indirectly.Foot joint construction 34 is engaged in foot element structure parts 126 with adjustable way, again to allow the location of 600 ankles of user.
Main buttocks driver 16 is arranged for and starts described thigh structural elements 10 relative to the rotation of hip framework 15 around described hip joint 14, thus (in use) rotates described thigh structural elements 10 in the front/rear portion plane of user 600.
Ectoskeleton 500 comprises secondary buttocks driver 38 in addition for each lower limb structure 50.Secondary buttocks driver 38 is arranged for and in use starts thigh structural elements 10 in centre/side around hip framework 15 and the rotation relative to user 600.
In a preferred approach, secondary buttocks driver 38 is arranged for and starts thigh structural elements 10 in centre/side with the scope of about 29 degree, and more preferably inwardly about 11 degree with the scope rotation of outside 18 degree.In an alternate embodiment, described scope can be limited to and be less than 29 degree and/or being suitably divided into upcountry and outwards component according to special application defined.
Knee driver 13 is arranged for the described shank structural elements 11 of starting and rotates around described knee joint 12 relative to described thigh structural elements 10.
Main foot driver 19 is arranged for and starts foot component 18 relative to shank structural elements 11 around described foot joint 17, and the turning cylinder 17A being arranged essentially parallel to the turning cylinder 12A of knee joint 12 rotates.
In addition, ectoskeleton 500 comprises secondary foot driver 39, for each lower limb structure 50.Secondary foot driver 39 is arranged for and starts foot component 18 and rotate around foot joint 17 in centre/side substantially.Each secondary foot driver 39 is arranged for and starts its thigh structural elements 10 the be associated scope of about 10 degree in centre/side, and more preferably for the scopes rotations of about six degree in vertical line both sides.
Described power supply is arranged for powers to driver 16,13,19,38 and 39.
As described later, described control system is arranged for the motion controlling main buttocks driver, secondary buttocks driver, knee driver, main foot driver and secondary foot driver.This is by the motion on the ground that causes ectoskeleton 500 to be positioned relative to described walking aid.When control system is according to correct series of operations driver, walking movement can be obtained by ectoskeleton.When motion Disabled user 600 is installed on WA, will user 600 be made to move their joint and muscle by walking movement, thus help prevent the deterioration of the physiological function of user 600.
Importantly, motion Disabled user needs to be supported to themselves degree that can not stand.So, motion Disabled user can be said and to be supported by " completely ".But the important feature of current WA is that its supporting movement Disabled user is in and makes themselves lower limb loading cause their skeleton to bear the posture of pressure.Typically, the lower limb of motion Disabled user and hipbone in time can losses.This is because mineral can be shifted or draws from their skeleton when their skeleton does not bear the stress of rule.Except weakening their skeleton, motion Disabled user may suffer mineral to shift the complication caused, because these mineral can accumulate in the other parts of health, and such as renal calculus etc.
Pressure is born in the place allowing the skeleton of motion Disabled user can not bear pressure in addition at them, the skeleton of user can be helped prevent to worsen and from the skeleton of user, shift mineral and accumulate in the consecutive complications in other place of custom system.In addition, make the motion of the lower limb of user help to promote that blood flows through their system, this can bring the benefit of relevant physiological function.
With reference to accompanying drawing, Fig. 1 and 3 shows walking aid (WA) 100 substantially.WA100 comprises the moveable mechanical framework or ectoskeleton 500 that user 600 are effectively supported.It can support and carry user 600.
WA100 comprises ectoskeleton 500, and it is the framing structure being through outside by user 600.It can be driven by portable power supplies group (not shown), and described power pack preferably can by the power source charges of such as automobile or any household outlet.
Described user is with and restraints in ectoskeleton 500 and supported by it.Visible WA100 is self supporting structure, and it can mobile subscriber 600.WA100 comprises the subscriber secure device of basin braces 96 form, comprise with the support buttocks of user 600 being cosily fixed on hip framework 15, tether, connecting band, braces or guipure, and guarantee that the lower limb of user and/or foot are fixed on the orthosis of lower limb structure 50 or adjustable fastener.In one embodiment, described support comprises orthosis 4, and it is located, arranges and design to guarantee that user's limbs and joint are correctly aimed at, and can comprise connecting band or guipure.
In its preferred form, WA is controlled via the stick 2 and keyboard 3 being usually positioned waist height by user.Keyboard 3 and stick 2 can be supported by arm 5.It also can rotate to move between at least one duty (such as in use flatly or vertically down extending) and resting state (such as vertically extending).
As described later, the described control system of WA can be programmed to receive instruction and take action with mobile WA by those instructions.WA can move to implement to go ahead and walk backward and walk and turn to simultaneously, turns into place and take a step to side.It also allows to take one's seat and stand.It also allows raise and reduce domatic by one or more plane.During the Static and dynamic operation of WA, WA is controlled to guarantee that described user remains in poised state.As described later, WA can be other, also comprises and guarantees that it such as can be adjusted to the feature of ground gradient automatically.
See Fig. 1-3, ectoskeleton 500 comprises thigh structural elements 10 and shank structural elements 11.These are connected by knee joint 12, and described knee joint definition rotating shaft 12A rotates relative to one another to allow thigh structural elements 10 and shank structural elements 11.But rotating shaft 12A guarantees that described thigh structural elements and shank structural elements can rotate relative to one another only around a rotating shaft.
The motion around knee axle 12A of thigh structural elements and shank structural elements can be started by knee driver 13.The part of knee driver 13 between thigh structural elements and shank structural elements extends, and object starts the relative rotary motion between thigh structural elements 10 and shank structural elements 11.
Knee joint 12 is preferably located in the first end 10b of thigh structural elements 10.The first end 10a place of thigh structural elements 10 is hip joints 14, and thigh structural elements 10 and hip framework 15 rotating shaft engage by it.Hip joint 14 defines hip axle 14A, in use the described hip axle natural axle that is positioned at relative to user or rotates in the front/rear portion direction of motion close to buttocks.In a preferred approach, each hip joint 14 is set up relative to hip framework 15, and its rotating shaft 14A with the angle side direction between zero-sum 10 degree to downward-extension, be more preferably about 4 degree.The apish thigh in inclination angle of rotating shaft 14A is located and is shown as the angle in Figure 30.The foot component that described inclination angle means WA 100 is closed together, this allows when WA 100 is controlled to be moved by walking movement, and center of gravity (being usually approximately positioned at the centre of pelvis) is transferred on the point within the supporting zone provided by foot component 18 more naturally.This will illustrate further in Figure 43, compared to the inclination angle (dotted line shown in) of rotating shaft without such hip joint, it illustrates how the combined gravity (being represented by a C) of WA100 and the movement of user reduce between each paces of walking movement and moves left and right.
Hip joint 14 allows relatively rotating between thigh structural elements 10 and hip framework 15.Such rotation is the main axle around being parallel to knee axle l2A preferably.But hip joint 14 also allows thigh structural elements 10 relative to the rotation of hip framework 15 in centre/side surface direction, this movement (such as lower limb outwards opens) will the lower limb of user 600 being caused along centre/side in operation.This multiaxis verticity becomes more convenient by utilizing rising joint (rose joint) to define hip joint 14.Imagination hip joint 14 (form with joint of rising) laterally can be aimed at by a pair plastics, be preferably rigid plastics (such as politef or high density polyethylene (HDPE)), be arranged on the sleeve pipe (not shown) of the both sides in rising joint and be limited to its movement.The rotating shaft motion that the vertically aligned flange (not shown) being connected to thigh structural elements 10 will be blocked on horizontal plane, prevents thigh structural elements 10 in rotary moving around its longitudinal axis so at least in part.
At hip joint 14, the rotation of hip framework or here also phalanges basin braces 15 relative to thigh structural elements 10 around the rotation parallel with knee axle 12A, can obtain by utilizing main buttocks driver 16.
What be arranged at the second end 11b (away from that end kneed) of shank structural elements 11 is foot component 18.Foot component 18 can rely on foot joint 17 to rotate relative to shank structural elements 11.Foot joint 17 preferably defines rotating shaft 17a, and it is parallel to knee axle l2A and extends.Foot component 18 moves around foot joint 17 can be realized by foot driver 19 relative to the rotating shaft of shank supporting construction component 11 in front/rear portion plane.Hip joint as depicted, foot joint 17 can be that rising joint is to promote its multiaxis verticity.Foot joint 17 can allow foot component 18 to have multi-angle rotary motion relative to shank structural elements 11.In a preferred approach, foot joint 17 can be conceived be arranged for and provide shank structural elements 11 to move around the rotating shaft of described foot component 18 in centre/side and front/rear portion plane, prevent shank structural elements 11 in rotary moving around its longitudinal axis relative to foot component 18 at least in part simultaneously.Like this, the restriction for rotation or twisting movement realizes in the mode being similar to hip joint 14, namely inserts by the both sides in rising joint the sleeve pipe manufactured by hard plastic material.In a preferred approach, it is contemplated that each foot joint 17 is set up relative to rotating shaft 17A, and rotating shaft 17A with the angle side direction between zero-sum 6 degree to downward-extension, be more preferably about 4 degree.
Secondary foot driver 39 can be set and be engaged to foot component 18, being substantially rotated along centre/side plane to control described foot component with vertical direction, the direction that substantially can control to rotate with wherein main foot driver 19.Secondary foot driver 39 can engage with the axle of foot component 18 or lever arm 40, to promote this rotary motion.
With reference to figure 5-6, the close-up view of the foot component 18 of described equipment shown in Fig. 5, foot joint 17 and shank structural elements 11, wherein can find out the operation due to secondary transmission device 39, foot component 18 can rotate around set countershaft 17b.
With reference to figure 7-8, can find out that the rotation of main shaft is around being axle 14a, and countershaft is limited by axle l4b, the motion around axle l4b can be controlled by secondary buttocks driver 38.
Consider and make WA100 be suitable for user to allow user according to secured fashion operating said equipment, importantly guarantee that hip joint 14, interval between knee joint 12 and foot joint 17 are suitable.Suitable location should be relative with the user as far as possible born joint alignment in these joints.
Ectoskeleton 500 when being worn by user and the relative position of user 600 defined by composite factor.Described user is fixed in described ectoskeleton preferably by using the orthosis (can have a detailed description subsequently) engaged with described ectoskeleton to add.The adjustment of the position of described hip joint, knee joint and foot joint relies on the adjustment of the effective length of thigh structural elements 10 and shank structural elements 11 and obtains.Such adjustment can be realized by the adjusting device 20 of screw-button form, and described device can be positioned at the second end of shank structural elements 11 and screw-button 21 is positioned at the first end of thigh structural elements 10.Screw-button 21 can allow the distance between hip joint 14 and knee joint 12 to change, and screw-button 20 can allow the distance between knee joint and foot joint 17 to change.In an alternate embodiment, described length adjustment can realize by inserting elongation insert, and described insert can be threaded into thigh and calf structural elements 10,11.Can expect that adjustment feature can be arranged at that other is local, and also can in other forms, such as buckle is arranged, bayonet type is arranged, the method for spacing that is flexible or other setting joint.This adjustment can allow an equipment for the user may with different building shape and size.
With reference to Figure 12, the side view of knee joint 12 is shown.As seen, in a preferred embodiment, thigh structural elements 10 departs from the rotating shaft 12a of knee joint 12 at its extending direction.Shank structural elements 11 is stretched out by axle 12a.So correctly knee rotary joint aimed at the knee joint of user and prevent from causing damage to the knee of user 600.Axle 12a is positioned at after thigh structural elements 10 extended position (user advances forward).The kneed skew of WA copies and mates the form of human skeletal, therefore avoids any to the kneed pressure of user or destruction.
In Fig. 2, a display section ectoskeleton, with reference to figure 3, shows ectoskeleton completely, which show both legs structure 50a and 50b.Lower limb structure 50 is united by hip framework 15.Hip framework 15 supports part hip joint 14, thus arranges hip joint 14 fixed interval each other.Hip framework 15 is preferably rigid member, and it can be established around the part waist of user.Preferably hip framework 15 extending below substantially around the seat area of user 600.Hip framework 15 also can extend around the part waist of user.
Described user is supported by hip framework by basin braces 96, and described braces can comprise scalable connecting band or guipure, and its lower limb around user extends and according to circumstances by user's fastening with untie.Such guipure can have adjustable length.It can comprise similar suspension hook and loop fastening system, such as put on easily for facilitating user and take off WA.Guipure 23 can be comprised with reference to the visible described braces of figure 4.User 600 can restraint in hip framework 15 around their waist by guipure 23, to guarantee that user is tightly fixed on hip framework 15.In addition, the packing device 101 be made up of such as wedge-like foamed materials or foam plastics can be used for guaranteeing the close fit in user's hip framework 15.It is also contemplated that packing device 101 can be the thin-wall pressure pipe (not shown) expanded.
Thered is provided by orthosis the further support of user, it can substitute above-mentioned scalable fastener 46 or combine with it.Described orthosis is the connection bracket of orthopedic design, and it assists in ensuring that user 600 is not only supported but also correctly aims within ectoskeleton, thus does not damage limbs or the joint of user 600.They can comprise guipure or connecting band user to be fixed on the relative position of orthosis institute forming section.Guipure 23 can also facilitate user easily wear off WA and regulate.
Described orthopedic frame preferably engages with described ectoskeleton and/or can untiedly engage.With reference to figure 3, described orthosis can comprise above-knee orthosis 26 and shank orthosis 27.These can be directly connected to each other by described ectoskeleton or indirectly be connected to each other.Such as with reference to figure 3, described above-knee orthosis 26 and shank orthosis 27 can engage at joint 28 place.Described orthosis can engage with ectoskeleton 500 via adapter 29.
Described orthosis is fixed to described ectoskeleton by described adapter 29 tightly.Adapter 29 can help the joint untied of orthosis and ectoskeleton 500.These can be of value to normal and wear orthotic user 600.This makes such people can associating with ectoskeleton 500 more promptly by oneself.It also allows such people can associate with ectoskeleton 500 in more comfortable mode, because orthosis 4 engages with people in place.Therefore, user 600 can use the scalable fastener 46 set by WA 100 or the support by utilizing the interface arranged to use themselves, and described interface can be arranged on the support of user by the orthopedic professional of user.Consider that many users 600 have special orthopedic demand and can not wear common support, user must join with WA100.
Orthopedic frame and WA 100 can be untied and wear described support routinely, use support to allow user to wear off described equipment soon, and without the need to changing described support.
Adapter 29 has shape and configuration to realize the thigh of people and the correct aligning of shank when being engaged to described ectoskeleton.Adapter 29 can be insert rear-mounted installation or Spring lock catch device or other to be engaged and removal with described ectoskeleton by orthosis quickly and easily.
The footwear that user 100 can wear themselves engage with described ectoskeleton, and described footwear can be positioned on the platform 30 of each foot component 18.Or described ectoskeleton comprises footwear boots, the footwear 31 that their foot 630 can be put into by such as user 600.Footwear boots 31 can keep for good and all engaging with ectoskeleton 500, and their foot can be put into described footwear boots by user.
Described footwear 31 preferably have rigid frame, the accurate keyway of its outer side edges marginal zone.Described keyway anti-phase on WA 100.When positioned correctly, these two parts slip into the other side each other, form automatic lock pin to engage.The aft section of described assembling comprises all electrical connections of the sensor be included within described footwear.The correct aligning of described footwear is guaranteed to connect completely.Described can artificially or disconnect electronically from untie-sell.
The linear actuator used is preferably low-voltage direct electric autuator, has position feedback by the sensor in described driver.The low pressure signature of described driver is very important, because use safety and can not hurt user when breaking down.Described feedback transducer is corresponding, because they at any time give described system about the location sensitive of limbs, and can be used for by using the predetermined fixed position control system of description be urged to by limbs subsequently in the sequence of pre-programmed.Typically, by driving the motor (not shown) of worm gear (not shown) thus making driver move, then cause driver to stretch out or shrink.
With reference to Figure 16, the supplementary features of WA of the present invention are shown, make described equipment be applicable to lack the user of upper body intensity and/or function.
Can arrange one or more trunk braces or upper body support 92, it invests hip framework 15.The user 600 that upper body support 92 can control for having restriction upper body is arranged.Upper body support 92 can comprise framework or loincloth, and it is by the upper body 640 that starts with mobile subscriber thus help their balance.(not shown) in one embodiment, trunk braces 92 can be connected with basin braces 96.The some or all of components of ectoskeleton 500 can completely or partially be covered (as shown in Figure 14,23,25 and 38) by covering 98.These coverings 98 are safety, waterproof and dustproof and aesthstic object and establish, and described covering 98 will have enough strength and stabilities to wear off WA to allow user 600 by using described covering to support.In one embodiment, handle can be set in covering 98 so that user 600 wears off ectoskeleton 500.
In one embodiment, described ectoskeleton 500 is built as sitting posture (as shown in figures 39 and 40).Such as, when ectoskeleton 500 is in sitting posture, substantial lateral extends by the surface 99 (such as shown in Figure 23, but being not sitting posture) of described covering.The WA100 be positioned on seat then will to described user's rigid surface to rely on when wearing off described equipment to some extent.Thus covering 98 is preferably with rigid manner and guarantee that their metastable modes engage with described ectoskeleton.Covering 98 also (or replace) can comprise functional configurations feature, and it can provide handrail to user in order to similar object.
By means of the use of orthosis supports, user is limited or is prevented and described ectoskeleton structure generation relative movement very much.People can not rotate their lower limb relative to described ectoskeleton structure and prevent it relative to ectoskeleton structure longitudinally or laterally their lower limb mobile.
With reference to Figure 10, in one embodiment, each foot component 18 is equipped with one or more touch sensor bottom it, such as tactile sensor or pressure transducer (or the two).These sensors can be configured to for providing information to facilitate the motion controlling ectoskeleton 500 to control system.Typically they are performed such, by sensing special characteristic and producing the signal indicating this feature, and by described Signal transmissions to described control system, to facilitate the motion controlling ectoskeleton 500.Such as, contact information is sent to the ground subsystem of control system by described sense of touch or pressure transducer, and pressure transducer or/also information is sent to the balancing subsystem of control system, will be described in detail subsequently.
In a preferred form, the bottom of each foot component is equipped with four tactile sensors 66,67,68,69, to be eachly positioned at or towards each angular zone of bottom.Such as each foot component comprises the left tactile sensor in front end 66, the right tactile sensor 67 in front end; The left tactile sensor 68 in rear end, and the right tactile sensor 69 in rear end.Each tactile sensor at least comprises a sense of touch or contact switch, and it is set to trigger the time marquis on each angular contact ground of described bottom.In shown preferred form, each tactile sensor is formed jointly by the tact switch of three parallel accesses be separated.It is conceivable that each tactile sensor can only with a tactile switch operation, but redundancy when using the switch of multiple parallel access to provide switch fault or maloperation.Similarly, each foot component is also equipped with four pressure transducers, and each angular zone of the bottom of foot has one.In a preferred form, each pressure transducer is arranged on after each tactile sensor.Each angular zone that these pressure transducers are set to measure foot component 18 is just being applied to the degree of pressure on surface, or or even is applied to the pressure change on ground of the bottom through foot component 18.In a preferred approach, the described sense of touch on foot component 18 and pressure transducer are encapsulated by waterproof cover (not shown).
In substitute mode, only provide pressure transducer (namely not having tactile sensor) its to control system with provide required activation signal (triggering when kiss the earth) and pressure signal (degree of pressure of regional) (will describe in further detail) respectively to the ground of control system and balancing subsystem in particular.
In the preferred form shown in Figure 10, the bottom of foot component 18 also comprises one or more zone line touch sensor 71,72, and it is set to trigger when touching ground or ground below.Described zone line touch sensor 71,72 at least comprises a sense of touch or pressure transducer, and is preferably formed by three senses of touch of parallel access or pressure transducer row or column.Described two zone line touch sensors 71,72 are preferably essentially located along the center longitudinal axis of foot component.Preferred form, a touch sensor 71 is arranged on the latter half of the bottom relative to central, transverse axis AA, and another touch sensor 72 is arranged on the first half of bottom.In operation, the sensor of zone line touch sensor exports the resolution that subsystem earthward provides additional, so that by the distribution of the bottom of foot component with to aim at and ground below connects.This supplementary contact information can be utilized by described ground subsystem, to help to regulate ectoskeleton motion sequence to meet ground below, particularly when the transformation from sloping floor to level land and between level land to sloping floor.Especially, the described supplementary contact information provided by zone line touch sensor applies to help to determine the amplitude that foot component changes through ground by described ground subsystem, namely, the ground whether underfooting also has the level land in changing than inclination-level land more oblique, such as or underfooting whether have more flat ground, so that it is essentially by described transformation.Identical information can be obtained for flat-sloping floor changes.Can expect that described zone line touch sensor 71,72 is concerning optional described control system, but really change on ground and may additional foot contact information and resolution be provided for application in place frequently.
WA can also comprise seat sensor (not shown), is applied to the power of WA for measuring user.It is contemplated that these can be the form of deformeter (not shown) etc.Two in these can be positioned at after WA100, have one in each " thigh " region.
It is contemplated that WA control system (not shown) is configured to receive user's input via human interface devices 1601, be connected with control system by described equipment people, and can sensory signal be passed through, such as sound, light or vibration input information and the information of reception.Some examples of such human interface devices have console panel (not shown), keyboard 3, stick 2, touch screen/LCD screen etc.
Described control system comprises human interface devices 1601.As mentioned above, each sensor, comprises the sensor in driver, is configured to provide feedback signal, and control system can use described feedback signal to facilitate the control to driver.
In a preferred approach, console panel 4 will be used for people-machine interface.Described console panel can rotate in swing arm 5.It is contemplated that in one embodiment, console panel 7 comprises thin keyboard (3), light emitting diode (LED) lamp (not shown), stick 2 and battery table (not shown).Other suitable man-machine interface can be used to control.Such as, touch screen (not shown) can replace described console panel.
The keyboard 3 of preferred embodiment can also comprise audition buzzer, with the input of indicating reminders and selection control system and/or function.It is contemplated that LED may be used for multiple use, comprise indicating fault, to indicate power source charges, or instruction is using emergency power supply (not shown).LED can also be used as battery table, to provide the instruction of available horsepower in master battery pack, lights mean the charging of described battery completely from all LED, and entirely going out to LED means described battery and need charging.
In an alternate embodiment, lcd screen is set to replace LED indicator and to show suitable status information of equipment, such as battery table and other above-mentioned instruction:
Stick 2 will as user input apparatus with to control system input control order.
WA is powered by portable cell group (not shown).In a preferred approach, described set of cells is positioned at after hip framework.Or, before the position that they can be arranged in hip framework " kidney " and lower limb covering 98 " tibia ".Described battery system is low-voltage direct-current system and described set of cells can from domestic power supply or vehicle power supply supply charging.At least described driver needs to start to allow them from the electric power of set of cells.Described set of cells is dismountable so that Rapid replacement is similar power or another set of cells more powerful.Described set of cells can be charged portablely or external charged in the charger of particular design.
Typically only some set of cells will be used, to audible alarm be had to sound just in case these exhaust, and the vision battery charge indicator on control panel will the low battery supply situation of the described user of warning, then WA can automatically by electrical source exchange to reserve battery part.Or in another preferred embodiment, described control panel will be the low power condition of warning user, and not provide battery backup with weight reduction.It is contemplated that WA100 will contribute to recovering the basic activity of disabled user.
WA self is with portable power supplies and control system and can be recharged by vehicle charger or domestic power supply.
The control system of WA
Now, the preferred form of the control system of WA is provided with reference to figure 45a-73.For example, the ectoskeletal preferred embodiment described by composition graphs 1-44 is explained described control system.But, the configuration of described control system, Method and Technology, particularly described ground and balancing subsystem can be expected, other walking aid with similar controlling functions and durability requirements and exoskeleton system can be applied to through change.
Can expect that described control system can be implemented in any suitable hardware system, platform or structure.It is airborne that described hardware system is set to WA, and preferably at least comprise for operation control system APU processor, for the memorizer of storage control system algorithm and data, with for communicating and the interface circuit operated on it with other WA component, such as sensor-lodging and operation ectoskeleton driver.Can expect that described processor can be any type of programmable hardware device, be CPU, digital signal processor, territory-programmable gate array, microcontroller, special IC etc.
Sensor based on the balance changed via user's input of people-equipment interface and the such as ground of mensuration WA and environmental factors inputs, and described control system controls state and the motion of ectoskeletal driver.When energized, WA control system remains on resting state, keep current posture and wait for user via the input of console panel.Described user's input is converted into Management Information Base value, and it is via actuator controller, such as one group of motor controller, triggers the action sequence of the pre-programmed of driver.The control system of preferred form stores the sequence of a series of pre-programmed, and each sequence is set to implement different motion, such as but be not only walking, take one's seat and stand.The sequence of each pre-programmed can be interrupted and be regulated by the environmental variable sensing subsystem from independent balance and landform, and described system is set to change the sequence of described pre-programmed to be adjusted to its current environment.
The sequence of described pre-programmed is driven to event or sequence of events/instruction, and it is confirmed as the physical location by driver and/or the proper signal from environmental sensor completes.By there is time of pre-programmed and position sequence and adjusting for environment, computation time and power supply are saved.
With reference to Figure 73, the control system of preferred form comprises man-machine interface 1601, ground sensing subsystem 1640, balancing subsystem 1630 and motor control subsystem 1620.Described motor control subsystem (i.e. described actuator controller) is connected with driver 1612.Each sensor 1610,1611, is included in the sensor in driver 1612, provides feedback, such as the position of described driver.
User is converted into the order of pre-programmed by control system 1690 via the input of control panel 1601.The order of described pre-programmed guides motor controller 1620 to move driver 1612.Driver sensor 1616 provides feedback to control system, to guarantee the proper exercise of driver.Depend on that sensor inputs, the order of described pre-programmed can be changed by balancing subsystem 1630 and/or ground subsystem 1640.Subsystems and other subsystem separate operation, but communicate via such as network or bus between subsystem.
The example of the order of subsystems and pre-programmed will be described in detail in detail below.
Man-machine interface
In a preferred approach, console panel can be used for man-machine interaction, it comprises 12 thin keyboard buttons, three LED, stick and battery table.Other suitable human-computer interactive control can be used.Such as, touch screen can replace described console panel.In another kind is selected, LCD screen can replace LED and battery table, and display and described other suitable status information device-dependent.
The keyboard of preferred embodiment comprises " ON/OFF " button, and it will be used for opening and closing WA, " taking one's seat " button, it will be provided for WA and sit down, " standing " button, and it will be provided for WA and stand, with " emergency cell supply ", permission is exhausted emergency cell once main power source and powers to WA by it.To cancel button be had to cancel selected function." lifting foot " will be had and put down the function of foot for sitting posture.To audition buzzer be had to indicate warning and the selection of some function.
Described keyboard comprises three LED: when breaking down in WA, one of LED will glimmer with constant speed, and when equipment charges, one of LED will light, and when using emergency power supply, a LED will light.
Battery table can be LED sequence, will provide the instruction of available horsepower in master battery pack, lights mean described battery charging complete from all LED, to LED entirely go out mean described battery need charging.
As above to the description of alternative embodiment, LED can be replaced by LCD screen, the information that its display is provided by LED and similar or other method.
Stick will be used for the walking movement of control WA.Stick forward or backward direction selection and fast release will make WA static stepping forward or backward respectively, and the long period will make WA difference Dynamic step forward or backward forward or backward to keep stick.Stick is pressed to the left or to the right and will WA be walked respectively to the left or to the right.Diagonal ground is pressed stick to the left or to the right forward or backward simultaneously and WA will be made to turn to correspondence direction.
Order/the sequence of pre-programmed
WA is controlled by man-machine interface by user.As previously mentioned, the man-machine interface of preferred version is keyboard.Keyboard performs the sequence of events of Job Trigger pre-programmed.These sequences are timing, angular Sports Series, user is maintained in poised state by consistently, if this poised state is by external environment condition power and even upset by user movement, equipment subsystem interrupts and utilizes input variable to upgrade the sequence of pre-programmed to adjust for environmental factors.
Therefore the sequence hypothesis level land of described pre-programmed, does not namely all have gradient relative to vertical or horizontal the direction of motion.The motion sequence of each pre-programmed is associated with the multiple continuous print instruction required by the motion wanting carry out desired.The movement step that human joint needs is imitated in described continuous print instruction to a certain extent discretely, to perform special motion sequence.The associated actuator device motion set that each instruction performs desired instruction with certain is associated.Therefore, control system must store the actuator movement that the sequence of each pre-programmed, the instruction be associated with this sequence and each instruction need.
Figure 45 a-49b provides the motion sequence of pre-programmed, the instruction be associated with these sequences and will perform the example that the associated actuator device required by those specific instructions moves.In the following example, the model 700 of the ectoskeleton 500 of Fig. 1-44 is for the sake of clarity briefly showed.Shown arrow is corresponding to the motion (or first instruction situation in from movement that stand controlled posture carry out) of driver for above-mentioned instruction.
As described in Fig. 1-44 pairs of ectoskeletons 500, ectoskeletal joint angle is changed by the length changing the driver be associated with specific joint.Whether therefore driver 701-710 is represented by arrow, elongate or shorten (described instruction changes the joint that is associated with the motion of carry out desired thereupon) to show driver between specific order period.Shown in following list 1, each driver 701-710 corresponds to one (being associated with joint 7,12 and 14) in the driver 19,39,13,16 and 38 of ectoskeleton 500.
Model 700 driver Corresponding ectoskeleton 500 driver
Driver 701 Main left foot driver 19
Driver 702 Main right crus of diaphragm driver 19
Driver 703 Secondary left foot driver 39
Driver 704 Secondary right crus of diaphragm driver 39
Driver 705 Left knee joint driver 13
Driver 706 Right knee joint driver 13
Driver 707 Main left buttocks driver 16
Driver 708 Main RG driver 16
Driver 709 The left buttocks driver 38 of secondary
Driver 710 Secondary RG driver 38
Table 1
The motion sequence example of such as below Figure 45-49, with reference to driver 701-710 and particularly their length variations, as the associated arrows in figure represents.
Walking-static stepping
Static step motion sequence shown in Figure 45 (a)-(j).Static stepping needs each lower limb to make a move, thus ectoskeleton 700 is stood (can not tilt to the left or to the right) with controlled posture, and two lower limbs are each other in straight line (adjacent) simultaneously.Before walking, WA can detect it and whether be in stance.First the combined gravity of WA and user moves to side, directly on a foot.Described system will guarantee that described center of gravity is directly on foot.Another lower limb will lift and move forward, then on the ground, and position is before the first leg.The combined gravity of following WA and user moves to opposite side, and directly on the foot moved forward, then another foot lifts and to moving forward to and first straight position of foot, and lands in this position.
Particular instance shown in Figure 45 shows right lower limb and guides described static stepping.Can expect similar agenda for guiding left lower limb to move also can by change simply some instructions order and by system storage.In addition, shown example is stepping forward, and can expect that stepping backward also can by correspondingly changing instruction and pre-programmed, this it will be apparent to those skilled in the art that.
Therefore the instruction below is for the static state step programmed sequence (right lower limb guides forward) of Figure 45 stores:
I) be tilted to the left ectoskeleton 700 (Figure 45 (a)),
Ii) be tilted to the left pelvis (Figure 45 (b)),
Iii) lift right lower limb and move forward (Figure 45 (c)),
Iv) right lower limb is put on the ground (Figure 45 (d)) so that right lower limb is more forward than left lower limb,
V) weight of ectoskeleton 700 (user is wherein) is shifted to the right, ectoskeleton 700 is positioned controlled posture (Figure 45 (e)),
Vi) continue weight to shift to the right, so that ectoskeleton 700 is positioned right positions (Figure 45 (f)),
Vii) be tilted to the right the pelvis (Figure 45 (g)) of ectoskeleton 700,
Viii) lift left lower limb and move forward (Figure 45 (h)),
Ix) left lower limb is put on the ground (Figure 45 (i)) so that left lower limb is adjacent with right lower limb, and
X) weight of ectoskeleton 700 (user wherein) is shifted left, ectoskeleton 700 is positioned controlled posture (Figure 45 (j)).
Therefore system machine carried memory can store relevant actuator movement for above-mentioned each instruction relative to each motion sequence.The driver that those change length is merely illustrated in Figure 45 (a)-(j).Two-sided arrow represents the increase/expansion of the length of associated actuator device; Shortening/the contraction of the length of associated actuator device is represented with two arrows respect to one another.Such as, implement left side instruction (i) of static step motion sequence, driver 701-710 needs to move relative to their controlled posture/standing state (state reached after the instruction namely such as shown in Figure 45 (j)), passes through:
Extend driver 701,702,704,706 and 709,
Shorten driver 703,705,707,708 and 710.
Similarly, all the other instructions (ii)-(x) of static stepped sequence needs the actuator movement (the driver length for producing from above-mentioned instruction) as shown in Figure 45 (b)-(j).
Only for example, table 2 is below presented at the relative length chang of ten driver 701-710 of static step motion sequence period of Figure 45.The variable index of these length variations will carry out storing and being sent to engine control system for each instruction, and each subsequent instructions requirement when static step motion sequence is started via such as user interface by user.
Negative value indication driver in table 2 shortens to some extent relative to its length during last order fulfillment, and extends (being also relative to its length during last order fulfillment) on the occasion of indication driver.
Walking-Dynamic step
Left Dynamic step motion sequence shown in Figure 46 (a)-(e), and right Dynamic step motion sequence shown in Figure 47 (a)-(e).Described Dynamic step sequence (user can carry out these sequences of order by such as the stick of user interface being remained forward facing position) will be used when user wants walking continuously instead of move and move a step time.Described control system performs Dynamic step sequence by carrying out replacing between the Dynamic step of left and right.
Before walking, WA can detect it and whether be in stance, and first the combined gravity of WA and user moves to side, directly on a foot.Another lower limb will lift and move forward, then on the ground, and position is before the first leg.The combined gravity of following WA and user moves to opposite side, and directly on the foot moved forward, then another foot lifts and to the position moved forward to before first foot, and lands in this position.When stick is remained on appropriate command position by user, these sequences will repeat, and when stick is released, stop over is in line with foot above (adjacent) next time, thus makes user be positioned at the stance of stopping, double-legged being aligned.
Left Dynamic step shown in Figure 46 (a)-(e) comprises following continuous print instruction set:
I the weight (user is wherein) of ectoskeleton 700 shifts left by (), so that ectoskeleton 700 is positioned left-leaning posture (Figure 46 (a)),
(ii) pelvis of ectoskeleton 700 is tilted to the left (Figure 46 (b))
(iii) lift right lower limb and move forward (Figure 46 (c)),
(iv) right lower limb is put on the ground (Figure 46 (d)) so that right lower limb is more forward than left lower limb,
V the weight of ectoskeleton 700 (user is wherein) shifts to the right by (), ectoskeleton 700 is positioned controlled posture (Figure 46 (e)),
Figure 46 (a)-(e) is shown as the relevant actuator movement implemented above-mentioned left dynamic instruction (i)-(v) and need respectively.
Right Dynamic step shown in Figure 47 (a)-(e) comprises following continuous print instruction set:
I weight shifts to the right by (), so that ectoskeleton 700 is positioned right positions (Figure 47 (a)),
(ii) be tilted to the right the pelvis (Figure 47 (b)) of ectoskeleton 700,
(iii) lift left lower limb and move forward (Figure 47 (c)),
(iv) left lower limb is put on the ground (Figure 47 (d)) so that left lower limb is adjacent with right lower limb, and
V the weight of ectoskeleton 700 (user wherein) shifts left by (), ectoskeleton 700 is positioned controlled posture (Figure 47 (d)).
Figure 47 (a)-(e) is shown as the relevant actuator movement implemented above-mentioned right dynamic instruction (i)-(v) and need respectively.
Lower page table 3 shows the example about driver length variations in a Dynamic step sequence (right Dynamic step connects left Dynamic step).
Take one's seat
Before sequence of taking one's seat starts, WA can detect it and whether be in stance.When sequence is taken one's seat in user's startup, seating sensor can be activated.Driver falls WA at leisure, keeps the combined gravity of WA and user directly to drop on foot simultaneously, and to guarantee stability, then WA falls at leisure until the surface at rear covers/seating sensor contact seat.
Figure 48 (a) and 48 (b) show the instruction relevant to order of taking one's seat.These are:
I () lowers the center of gravity forward (Figure 48 (a)), and
(ii) center of gravity is transferred to (result is the sitting posture of Figure 48 (b)) on seat.
Table 4 below shows the relevant actuator movement (from stance) performing the sequence needs of taking one's seat defined by above-mentioned instruction (i) and (ii).
Stand
Before sequence of standing starts, WA can detect it and whether be in sitting posture.When sequence is stood in user's startup, seating sensor can be activated.Driver will lift the thigh of user until rear covers sensor no longer contacts with seat surface.Then driver is by the foot for the combined gravity of WA and user being transferred directly to user.Then WA will stretch and become stance, keep the combined gravity of WA and user directly to drop on the foot of user simultaneously always, to guarantee that WA stablizes.
Figure 49 (a) and 49 (b) show the instruction relevant to order of standing.These are:
(iii) center of gravity is removed seat (Figure 49 (a)), and
(iv) center of gravity is lifted forward (result is the stance of Figure 49 (b)).
Table 5 below shows the relevant actuator movement (from sitting posture gesture) performing the sequence needs of taking one's seat defined by above-mentioned instruction (i) and (ii).
Table 2-5 above shows the relevant driver Example lengths of the specific instruction needs performing above-mentioned motion sequence.The data of the value/variable of these length are such as indicated to store, each relevant instruction for each motion sequence with the control system of pre-programmed WA.When requiring specific motion sequence, the value/variable relevant to the first instruction of described sequence will be sent to engine control system, and then it passes through the instruction required for length execution correspondingly changing driver 701-710.When completing the first instruction, the variable/value relevant to the driver length of the second instruction is sent to engine control system, so it correspondingly performs required instruction again.These processes are that repetition is carried out in all instructions in described sequence.Except value/variable that and instruction is relevant, WA stores the time data that the time of each instruction was distributed in instruction before next step.
Obviously, the driver length that the exterior and the interior above provides is example, and can change with application according to the specific dimensions of WA.In addition, can expect that the concept of the sequence of pre-programmed may be used for other motion sequences many, such as drag one's feet and rise progressively/fall progressively (for ladder), and other such sequence should not be excluded outside scope of the present invention.Moving for the instruction and associated actuator device imitating human body natural's stepping discretely of these other sequences can be determined by off line and programme to input WA to increase ectoskeletal versatility.
Ground and balancing subsystem
The control system of preferred form comprises two subsystems, i.e. ground subsystem and balancing subsystem.Stablized when the sequence of described ground face amendment pre-programmed is to move at WA and such as to walk on ground that is uneven or that tilt.Balancing subsystem real time modifying actuator position, to guarantee that the Center of Pressure of WA is within support polygon during walk sequence.To describe the structure of the preferred form on ground and balancing subsystem respectively now, but can expect that they can coordinated manipulation in the control system of preferred form.
Ground subsystem
As described in reference diagram 10, the ectoskeleton of preferred form uses four touch sensors in the bottom of each foot component of WA, such as tactile sensor (being energized instantaneously), to detect the ground under WA.When the meeting point kiss the earth on described equipment surperficial, described tactile sensor triggers.In a preferred form, four tactile sensors are had to be associated with each foot; One is positioned at left front portion, and one is positioned at left back portion, one be positioned at right front portion and one be positioned at right back portion, i.e. have a tactile sensor in each angular zone of the bottom of foot.Relative to the direction of foot, these four sensors provide foot with the instruction of the gradient of lower surface.Described angular zone laterally forms the angular zone of two pairs of substantial registration and longitudinally forms the angular zone of two pairs of substantial registration.Preferably, when once component of stopping over below and earth surface, and when only receiving triggering signal from the sensor of some angular zones, receive the data of instruction ground changes in pitch.Such as, if according to whole four sensor-triggered in foot position from the teeth outwards, the then direction of foot identical with the gradient on described surface (i.e. the direction of foot and the horizontal and vertical component of ground gradient consistent), and WA does not need for ground adjusts.If but only have two front end sensors to trigger when lower limb drops on the surface, then the gradient on described surface is at the azimuth being longitudinally greater than foot, and foot needs for ground adjusts.Can expect in an alternate embodiment, if application-specific requirement, multiple sensor can be used in each part of foot.
As above described in reference diagram 10, the foot component 18 of preferred form can also comprise two zone line touch sensors.These sensors provide about the information of region before and after the centre of each foot component or center with the contact condition on ground below.The supplementary contact information provided by zone line touch sensor earthward subsystem provides additional resolution, so that by foot component and ground registration below.Described in such information enable, ground subsystem calculates the amplitude that foot component changes through ground, such as from tiltedly-level land or from level land-tiltedly.Such as, depend on which zone line touch sensor is triggered, described ground subsystem can determine that foot component is in beginning, the centre of ground transformation or ends up.These information can be used to adjust motion sequence by ground subsystem and come more effectively to process ground and change, and can some mode of control system use.
In an alternate embodiment, described touch sensor can be pressure transducer, and it is arranged according to configuration similar to the description of tactile sensor above.Described pressure transducer can provide the output of the contact between the bottom (below) of instruction foot and ground surface.Hereinafter, ground subsystem will relate to tactile sensor or be energized instantaneously.But can expect, the pressure transducer form of replacement can be used by replacement, and without the need to changing the operational approach of control subsystem.
Figure 50 illustrates the program flow 800 be associated with the ground subsystem of the control system of preferred form.In the course of normal operation of WA, have the option selecting specific motion sequence via user interface user as above.Once user selects desired motion in step 805, a series of systems axiol-ogy can be performed by WA system (or can occur to be converted to fault detect subsystem or the similar situation that will perform these detections) temporarily.The systems axiol-ogy of step 810 can include, but not limited to following in any one or more:
-check system malfunction.
-detect battery levels whether enough to complete described order.
-detect the current location of WA particularly driver.
The correctness of-detection present physical state.
-detect current expectation motion sequence need sensor export correctness.
Depend on the complexity of the system of use or depend on the specific motion sequence that user selects, other systems axiol-ogy can be performed.
If do not have fault and system be sure of that the special exercise sequence selected can be handled properly and not have larger risk of failure, then the data comprising the motion maps of correspondence or the pre-programmed of job sequence (take one's seat as described above, stand, walking and drag one's feet) are loaded into motor control subsystem from memorizer.Before instruction sequence is sent to motor controller (if or do not use engine control system, be directly sent to driver), based on Current terrestrial state, they are adjusted (step 820).The motion sequence data of described pre-programmed are assumed to be level land.Ground subsystem upgrades and stores Current terrestrial state, to upgrade motion sequence data and to adjust to meet Current terrestrial to it.
Relative to level land, Current terrestrial state is stored as offset data according to angle.Current terrestrial can by longitudinally the drift angle of (along the ectoskeletal direction of motion) and the drift angle of horizontal (approximately at a right angle with the ectoskeletal direction of motion) represent relative to the direction on level land.Before initial or next instruction are issued to engine control system, the compensation ground data of current storage converts corresponding driver length to by the number of degrees.The relation of driver length to the number of degrees stored in ground subsystem is used to carry out described conversion.In the ectoskeleton of preferred form, driver 703,704,709 and 710 (by Figure 45-49) is by laterally surface state (lateral slip angle) amendment, and driver 701 and 702 is by longitudinally surface state (longitudinal drift angle) amendment.Driver 705,706,707 and 708 will remain unchanged.If Current terrestrial is level land, then offset data will be set to zero, or arrange labelling with instruction do not need upgrade.Once command value is adjusted (or if so not needing the labelling upgraded to be returned), they are sent to described motor controller or directly issue the driver performing and upgrade instruction 825.Send to the director data of driver usually comprise ten drivers precalculated position (or change of driver length) and for performing the time cycle desired by described instruction.
The sequence data of pre-programmed comprises the instruction sequence for whole motion sequence.Except the actuator position of time and expectation, each instruction also comprises fixing foot and the downward labelling of lower limb (or land foot cue mark).Fixing foot labelling instruction be left foot or right crus of diaphragm or both be fixed on ground, and it calculates for WA model, can describe in detail subsequently.If instruction is lower limb want downward that, then the downward labelling of lower limb (or land foot instruction) signal.When the downward labelling of lower limb is true (step 830), ground subsystem starts.
When one or more tactile sensors of loose foot (being determined by fixing foot labelling) trigger, ground subsystem suspends all drivers on WA.If loose foot is flat, namely all four tactile sensors at each angle trigger simultaneously, so that foot is all aimed in machine and transverse direction with ground below, then do not need to upgrade the state of ground, and WA will exit ground subsystem and continue mobile driver and complete described instruction.But, if foot is not 835 flat (triggerings when namely all four tactile sensors are different, instruction foot does not have ground registration completely and below), suspend in actuator movement, the current location of all drivers is stored and is sent to WA mathematical model.
Described ground gradient is made up of longitudinal component and cross stream component, and from the data of the instruction ground changes in pitch that tactile sensor receives, the change of the change of longitudinal component or the cross stream component of ground gradient that indicate ground gradient or the two is all had it.Receiving triggering signal from least one touch sensor be only associated to one of angular zone laterally aimed at two indicates the longitudinal component of ground gradient to change.The touch sensor be only associated to one of angular zone longitudinally aimed at two from least one similarly receives triggering signal and indicates the cross stream component of ground gradient to change.Described foot rotates around the maximum permission angle of the axis of crossing the accurate angular zone of that biconjugate receiving triggering signal, to be aimed at the obliquity component changed by foot.Depend on and change obliquity component, maximum permission inclination angle or inclined-plane and extend longitudinally line maximum permission angle between the line of basic horizontal, or inclined-plane and extending transversely line maximum permission transverse pressure angle between the line of basic horizontal.When receiving triggering signal from least one that with rotating shaft process to the sensor that the relative accurate angular zone of that biconjugate is associated, the rotating shaft motion of foot terminates.This instruction foot component is aimed at the gradient on ground.
Described WA mathematical model (840) will be used for controlling described driver with will not fix foot towards the adjustment of maximum permission ground gradient (transverse direction or longitudinally or both have), until whole four tactile sensors trigger (namely until foot is flat 845).New transmission device length (when foot is flat relative to ground time) is then converted into angle, and the angle of foot represents the angle of current gradient.Therefore, Current terrestrial state can upgrade 850 with new amount of taper.
In a preferred approach, except the amount of taper calculated by foot angle, also can read accelerometer inclination reading in the longitudinal and transverse direction from foot, itself and vertical and horizontal gradient be calculated on average, to upgrade the state of ground more exactly.
Once the state of ground is updated, WA waits for that driver has carried out the execution to present instruction 855, then processes next instruction 860 (if any).For next instruction, new renewal state of ground data are used to the driver data of the pre-programmed of adjustment 820 instruction.
The preferred form of WA mathematical model is described in detail referring now to the flow chart of Figure 51 and the instance graph of Figure 52-63.
The mathematical model of WA
Figure 51 display is for the flow chart 900 of the method for optimizing by foot and ground registration.After driver suspends (as above step 835), which in ground subsystem identification four sensors is triggered (step 911).This provide the instruction in one or more directions that will rotate required by foot, so that foot is consistent with ground gradient.Such as, if only have two front sensors to trigger, then foot needs to rotate around the front end of foot along clockwise direction.Similarly, if only have two left sensor to trigger, then foot needs to rotate on the left of it along clockwise direction.The amplitude that foot rotates is passed through when deciding from fully stopping operating during all four sensor Received signal strength, and namely foot rotates until all four sensor-triggered, and this indicates flat foot consistent with ground gradient.Can expect the change depending on ground gradient, foot can need to rotate up longitudinal, horizontal or both sides.
In order to rotate foot rightly, WA mathematical model needs the angle (step 915) first obtaining ten joints in ectoskeleton.Figure 52 a and 52b shows the ectoskeleton 500 of Fig. 1-40 and the model of calculative ten joint angle 901-910.Figure 52 a shows the longitudinal angle formed of ectoskeleton and joint of side.Figure 52 b shows the horizontal angle formed of ectoskeleton and joint below.Table 6 below shows the joint angle 901-910 of Figure 52 a and 52b and the corresponding joint (Fig. 1-40) of ectoskeleton 500 and they around the relation between the axle rotating institute angulation.
Joint angle Corresponding joint and rotating shaft
901 17 rotate (left foot-see Fig. 5) around axle 17A
902 17 rotate (right crus of diaphragm-see Fig. 5) around axle 17A
903 17 rotate (left foot-see Fig. 6) around axle 17B
904 17 rotate (right crus of diaphragm-see Fig. 6) around axle 17B
905 12 rotate (left lower limb-see Fig. 2) around axle 12A
906 12 rotate (right lower limb-see Fig. 2) around axle 12A
907 14 rotate (left buttocks-see Fig. 7) around axle 14A
908 14 rotate (right buttocks-see Fig. 7) around axle 14A
909 14 rotate (left buttocks-see Fig. 8) around axle 14B
910 14 rotate (right buttocks-see Fig. 8) around axle 14B
Table 6
Joint angle 901-910 can use easy linear relationship by the length computation of driver 701-710.Table 7 provides such relationship example below, but can expect that used value depends on exoskeleton system ingredient (i.e. the type of joint and driver and size).
Joint Angle variable rate (extension (mm) of often spending driver of joint angle)
901 and 902 1.1664 (drivers 701 and 702)
903 and 904 0.902 (driver 703 and 704)
905 and 906 1.146 (drivers 705 and 706)
907 and 908 1.0581 (drivers 707 and 708)
909 and 910 0.8623 (driver 709 and 710)
Table 7
After WA mathematical model is by driver length computation joint angle, calculate overall X, Y and Z coordinate in an iterative manner to obtain some body points (step 930) ectoskeletal.Figure 53 a with 53b shows the model identical with in Figure 52 a and the 52b indicating body points 971-981.In this particular instance, the xyz coordinate of body points 977-981 is hoped to represent the current location not fixing foot in driver suspends.The XYZ position of body points 972-981 calculates relative to fixing foot body points 971.Computational methods are iteration, and it calculates body points 972-981 fixes the body points 971 on (in ground) XYZ coordinate relative to foot in succession.
Quaternions are used to obtain the computational methods of " overall situation " X, Y and Z coordinate.Described calculating starts from XYZ (1), and it is positioned at the ankle joint of lower limb and its " fixing foot labelling " is opened; This is the first body points 971 in Figure 53 a.XYZ (1) is initialized to benchmark zero coordinate of overall X, Y, Z coordinate system, i.e. X=0, Y=0 and Z=0.In vector expression, this is:
Body points 972 experiences twice rotation to reach its current location, rotational angle 901 (being produced by driver 701) and rotational angle 903 (being produced by driver 703).Angle 901 and 903 is visible in Figure 52 a and 52b.
At anglec of rotation θ ithe position (wherein body points 971 is first body points, and body points 972 is second etc.) of the n-th body points is provided by following formula afterwards:
(equation 1.1)
Wherein: n=represents the n-th body points
I=joint angle numeral
W＝cos(θ i/2)
X＝i*sin(θ i/2)
Y＝j*sin(θ i/2)
Z＝k*sin(θ i/2)
I=X direction of principal axis unit vector,
J=Y direction of principal axis unit vector,
K=Z direction of principal axis unit vector
Equation 1.1 uses twice for the second body points 972, once uses i=901, once uses i=903, respectively for joint angle 901 and 903.N increases after the new XYZ position calculating body points 972.This process terminates reaching last body points (body points 980) time.Then body points 981 can be calculated relative to body points 979 by use angle 904 and 902.
Once the position of all body points (971-981) calculates in X, Y and Z coordinate frame, then the XYZ coordinate of the foot (body points 976,977,978,979,980 and 981 in Figure 53) of kiss the earth gradient is converted to obtain maximum permission ground gradient.Maximum permission ground is preset according to ectoskeleton parameter and performance, and ectoskeleton can move according to this maximum permission ground.In preferred form, maximum permission ground is made up of two parameters, and one illustrates longitudinally maximum permission angle, and one illustrates laterally maximum permission angle.Maximum permission ground how will be obtained below only by illustrating.But can expect that this technology can be applicable to the situation of closing on rightly by control system, the value discussed and variable provide by way of example.
Obtain maximum longitudinal angle:
When rear portion switch or anterior switch are activated, but when not the two all starts, detect that longitudinal gradient changes.In theory, the thing order that will obtain required by maximum longitudinal angle under two kinds of situations is identical.
Figure 54 shows example, and wherein due to the difference of the angle between landing leg and longitudinal gradient on ground, Head switches (one or two) starts, but not rear portion switch.As mentioned above, when tact switch starts, driver suspends.The XYZ coordinate of body points 976,977 and 978 is used to define two vectors, V1 and V2 by ground subsystem, as shown in Figure 54 (step 935 of Figure 51).V1 and V2 is initiated at the point of the foot on surface contiguously.When Figure 54, it is body points 978.Described vector V 1 ends at ankle part (in example body points 976) at longitudinal extension, and V2 ends at the other end (in example body points 976) of foot.
Therefore for the body points coordinate above mathematical model uses vector symbol to need to be defined as:
Once described two vectors are determined, then mathematical model will be attempted to make these Vector Rotations to maximum permission angle.One group of unit vector, i, j and k are used by described model and think that vector V 1 and V2 define rotating shaft (in Figure 54, the direction of vector j is towards paper inwards).Depend on which or which angular contact ground of foot is to set described vector.When described unit vector is set to such as i=0, j=0 and k=0, body points 978 is that fulcrum is served as in the rotation of V1 and V2.Described direction of rotation also based on foot which part contact ground and determined, if namely front end sensors triggers, longitudinally rotate in a clockwise direction, if rear sensor triggers, counterclockwise rotates.
Rotating vector V1 and V2 is so that they are longitudinally being in the angle θ required by maximum permission angle rotateby the θ that will prestore max_tongthe angle θ of (it is longitudinally defining maximum permission inclination angle relative to transverse direction/level land as shown in Figure 54) and V2 v2(it uses known mathematical method and determines) carries out difference and determines.Therefore, θ rotate=θ max_tong-θ v2.
Figure 55 shows vector V 1 and the theoretical position of V2 after such rotation (result of the step 940 of Figure 51).As illustrated, V1 and V2 and even more important ectoskeletal body points 976-978 is expressed as now and is sitting at the longitudinal gradient of maximum permission.The position desired by body points 976-978 is defined now through V1 and V2 of over-rotation.In order to obtain the position that this is expected, described knee joint (or the body points 975 in example) needs to move to the reposition being labeled as 975 (newly) shown in Figure 57 from the position shown in Figure 56.Calculate this new desired locations 975 (newly) of body points 975, mathematical model uses anti-phase motion (step 945 of Figure 51).
In a preferred form, as shown by the circuit diagram of figure 56, the method intersecting circle is used for the Lower Half of shank and body points 976 being connected and obtaining body points 975 (newly).The XYZ coordinate of 975 (newly) is as the cross point between two circumference (they being centrally located at body points 974 and 975 and radius is defined by length 974-975 and 975-976 respectively), and it has higher value in X-coordinate.Within this just guarantees that knee joint maintains human biomechanics's restriction.This is a known anti-phase motion method, and it can be used for obtaining 975 (newly), but can expect that known other method of those skilled in the art can alternatively for described model.
Determined new theory or the desired locations (in XYZ coordinate) of body points 975-978 at this stage mathematical model, it will realize foot in the orientation longitudinally meeting maximum permission gradient.Theoretical position in these XYZ coordinates is converted into joint angle (using the step 950 of previous equations 1.1-Figure 51), and joint angle is converted into driver length subsequently, the step 955 (use aforementioned linear relations) of Figure 51.Then driver length (it is directed that it will obtain maximum permission foot) is sent to motor controller (or being directly sent to driver).Described driver will be activated to regulate (step 960 of Figure 51) towards these desired length until rear sensor contact earth's surface, is longitudinally becoming and ground registration to make foot.At this moment, their motion of driver stopping, because the angle on the angle automatching inclined-plane of foot longitudinal direction, as shown in Figure 58 (step 965 of Figure 51).The angle of foot longitudinal direction by contemporary transmissions device length computation out, to upgrade the longitudinal component of Current terrestrial state.
Obtain maximum transversal angle
Ectoskeleton regulates the method for lateral slope change longitudinal similar to above-mentioned.But for the sake of clarity, will example be provided.
When left-side switch or right-side switch start, but when not the two all starts, detect that lateral slope changes.In theory, the event order that will obtain required by maximum transversal angle under two kinds of situations is identical.
Figure 59 shows example, and wherein due to the difference of the angle between landing leg and longitudinal gradient on ground, right-side switch (one or two) starts, but not left-side switch.As mentioned above, when tact switch starts, driver suspends.The XYZ coordinate of body points 979,980 and 981 is used to define two vectors, V1 and V2 by ground subsystem, as shown in Figure 59 (step 935 of Figure 51).V1 and V2 is initiated at the point of the foot on surface contiguously.When Figure 59, it is body points 980.Described vector V 1 ends at ankle part (in example body points 979) in horizontal expansion, and V2 ends at the other end (in example body points 981) of foot.
Therefore for the body points coordinate above mathematical model uses vector symbol to need to be defined as:
Once described two vectors are determined, then mathematical model will be attempted to make these Vector Rotations to maximum permission angle.One group of unit vector, i, j and k are used by described model and think that vector V 1 and V2 define rotating shaft (in Figure 59, the direction of vector i is towards paper inwards).Depend on which or which angular contact ground of foot is to set described vector.When described unit vector is set to such as i=0, j=0 and k=0, body points 978 is that fulcrum is served as in the rotation of V1 and V2.Described direction of rotation also based on foot which part contact ground and determined, if namely right sensor trigger; with counter clockwise direction transverse rotation, if left sensor trigger; rotate clockwise.
Rotating vector V1 and V2 is so that they are laterally being in the angle θ required by maximum permission angle rotate, by the θ that will prestore max_transthe angle θ of (it is laterally defining maximum permission inclination angle relative to longitudinal direction/level land as shown in Figure 59) and V2 v2(it uses known mathematical method and determines) carries out difference and determines.Therefore, θ rotate=θ max_trans-θ v2.
Figure 60 shows vector V 1 and the theoretical position of V2 after such rotation (result of the step 940 of Figure 51).As illustrated, V1 and V2 and even more important ectoskeletal body points 979-981 is expressed as now and is sitting at maximum permission lateral slope.The position desired by body points 979-981 is defined now through V1 and V2 of over-rotation.In order to obtain the position that this is expected, described hip joint (or the body points 974 in example) needs to move to the reposition being labeled as 974 (newly) shown in Figure 62 from the position shown in Figure 61.Calculate this new desired locations 974 (newly) of body points 974, mathematical model uses anti-phase motion (step 945 of Figure 51).
Just as shown in Figure 61, the method intersecting circle is used for the Lower Half of shank and body points 979 being connected and obtaining body points 974 (newly).The XYZ coordinate of 974 (newly) is as the cross point between two circumference (they being centrally located at body points 973 and 974 and radius is defined by length 973-974 and 974-979 respectively), and it has higher value in Y-coordinate.Within this just guarantees that hip joint maintains human biomechanics's restriction.This is one and can be used for obtaining the known anti-phase motion method of 974 (newly), but can expect that known other method of those skilled in the art can alternatively for described model.
At this moment described mathematical model has determined the new theory position (at xyz coordinate) of body points 974 and 979-981, and it will realize foot in the orientation laterally meeting maximum permission gradient.Theoretical position in these XYZ coordinates is converted into joint angle (using the step 950 of previous equations 1.1-Figure 51), and joint angle is converted into driver length subsequently, the step 955 (also using aforementioned linear relations) of Figure 51.Then driver length (it is directed that it will obtain maximum permission foot) is sent to motor controller (or being directly sent to driver).Described driver will be activated to regulate (step 960 of Figure 51) until left sensor contacts earth's surface towards these desired length.At this moment driver stops their motion, because the angle on the theta alignment inclined-plane of foot transverse direction, as shown in Figure 63 (step 965 of Figure 51).The angle of foot transverse direction by contemporary transmissions device length computation out, to upgrade the cross stream component of Current terrestrial state.
The state of ground upgrades
The basic flow sheet summary of Figure 64 illustratively surface state renewal sequence, it occurs in after foot has been adjusted to and meets new ground.When the foot of WA has contacted inclined-plane (all tact switch triggerings) completely as shown in Figure 58 or 63, WA has been furnished with new transmission device length.Use the linear relationship of table 7, these length are converted into angle.Then then foot is calculated (step 990) by joint angle in the angle (it is also ground difference angle in machine and transverse direction) of vertical and horizontal.
Also read acceleration inclination reading (step 991) at vertical and horizontal from foot.The foot angle that WA calculates and accelerometer result are by average (step 992) and import respective horizontal and vertical ground data state (step 993), for next instruction.
Balancing subsystem
Balancing subsystem real time modifying actuator position, within guaranteeing being expert at and being in support polygon during motion sequence in Center of Pressure (CoP).For static sequence, be usually enough to make the CoP of each foot within support polygon, to remain stable and balance.For experience motion sequence dynamical system, there is a need to make specific CoP position within support polygon for each instruction in sequence.Described motion sequence is prevented to be out of shape (namely it is not enough to keep static equilibrium in dynamical system) like this.If described ectoskeleton keeps the CoP expected between each order period at each foot, then system can perform required motion sequence rightly and not be out of shape or disequilibrium.
In order to meet the demand, the instruction that the computed offline of CoP position is each pre-programmed provides the location sets of the target xy on each foot.The dead zone 1320 formed within the CoP 1300 of each instruction still needs to be positioned at support polygon 1310 and around each foot, as shown in fig. 55 for by balanced system.Described dead zone is by drawing at different angle balance external skeletons, to determine unbalance point (trial-and-error method).
Generally speaking, at one or more driver according between present instruction moving period, balancing subsystem incites somebody to action periodically balance external skeleton, by first based on the pressure transducer of input pressure data source of pressure in one or more regions carrying out self-indication foot, determine the base pressure actual pressure center of ectoskeleton ground connection foot component.Then obtain the desired centre-of-pressure position be associated with present instruction and the driver that the directional correlation with each ground connection foot component joins is moved to such position, the described actual pressure center namely below foot is converted to the Center of Pressure desired by present instruction.
PID (PID) controller is used for each foot driver 701,702,703 and 704 (model 700 in Figure 45-49), with any change of correction instruction period CoP (allowance of k shown in Figure 65).Error between actual CoP in the CoP of pre-programmed and the certain hour example of specific instruction is substituted into PID, and formula is:
u n ( t ) = K p e n ( t ) + K i ∫ 0 t e n ( t ) dT + K d de n dt ( t )
Wherein:
N=driver 701-704
The t=time
e n＝DC 0P n-AC 0P n
DC 0p nthe Center of Pressure of=expectation
AC 0p nthe Center of Pressure of=reality
K p=proportional gain constant (trial-and-error method),
K i=storage gain constant (trial-and-error method),
K d=differential gain constant (trial-and-error method)
U in formula noutput form be and be the input of control balancing making mechanism.
The program circuit 1000 that Figure 66 display is relevant to control balancing subsystem.In step 1005, ectoskeletal user selects the special exercise sequence expected.Then the first instruction is loaded and described driver starts mobile to perform described instruction (step 1010).The time performed required for specific instruction is divided into a series of time step.Described time step is the value that obtained by trial-and-error method and it illustrates that As time goes on how long called balancing subsystem is once.Can expect that balancing subsystem periodically can be run with any preset frequency during motion sequence.
After the described sequence of startup, continue each time step of movement at driver, the CoP of each ground connection foot is calculated (step 1015).After each time step, error between the CoP position (by being described in detail) of the CoP of current calculating and the expectation for this specific time step is calculated (step 1020) and is fed into PID controller, to obtain the change (step 1025) of the driver length will corrected required by this error.
Then balancing subsystem interpolation linear expression (step 1030) between the actual transmission device position of current time step and the desired actuator position of described instruction ending, as shown in Figure 67 a.This interpolation allows actuator position to become predetermined (step 1035) when future time step-length.The output (change of driver length) of PID is predicted with this actuator position and is added, to provide the actuator position (1040) desired by future time step-length.The actuator position that such driver continues finally to expect towards described instruction moves, and have modified the CoP error that current time step calculates.
Described mechanism is interpolation linear expression (1045) between the CoP position desired by actual CoP and described instruction ending also, as shown in Figure 67 b.This makes the CoP position desired by future time step-length to be determined (step 1050).Then the CoP position desired by future time step-length and the actuator position desired by future time step-length are sent to driver (step 1055).In future time step-length, the actuator position received towards this is regulated (step 1060) by driver, and the CoP position received will be used for the error of calculation in step 1020.Once described instruction completes (all time steps complete), next instruction is called (words as also having in infructescence), and process carries out repetition for the expectation driver length of new instruction and CoP position.The method safeguards the CoP of WA, and under therefore maintenance system is in poised state.
Calculating pressure center
Flow chart 1100 referring now to Figure 68 describes the method for optimizing for calculating foot CoP.In order to calculate X and the Y position that CoP (is considered to support polygon bottom foot) bottom foot, four pressure transducer P1-P4 are used on four angles of each foot, as shown in the foot model 1200 of Figure 69.Leg-of-mutton geometric properties is used to calculate CoP, wherein based on by the weighter factor in the fixed pressure representative of four angular measurements, within triangle is formed in larger triangle.
Rectangle 1205, represents the foot of WA, is divided into two large trianglees 1210 and 1215, as shown in Figure 69 (step 1110 of Figure 68).In X-direction, the center of gravity l2l0a of triangle 1210 is calculated by equation 2.1, and on y-axis direction, the center of gravity l2l0a of triangle 1210 is calculated by equation 2.2.Similarly, in X-direction, the center of gravity l2l5a of triangle 1215 is calculated by equation 2.3, and on y-axis direction, the center of gravity l2l5a of triangle 1215 is calculated (step 1115 of Figure 68) by equation 2.4.
CT 1 x = FCx - ( ( 2 * P 1 PT 1 ) * ( FCx - lP 1 x ) + ( P 2 PT 1 ) * ( FCx - lP 2 x ) + ( P 4 PT 1 ) * ( FCx - lP 4 x ) ) . . . ( 2.1 )
CT 1 y = FCy - ( ( 2 * P 1 PT 1 ) * ( FCy - lP 1 y ) + ( P 2 PT 1 ) * ( FCy - lP 2 y ) + ( P 4 PT 1 ) * ( FCy - lP 4 y ) ) . . . ( 2.2 )
CT 2 x = FCx - ( ( P 2 PT 2 ) * ( FCx - lP 2 x ) + ( 2 * P 3 PT 2 ) * ( FCx - lP 3 x ) + ( P 4 PT 2 ) * ( FCx - lP 4 x ) ) . . . ( 2.3 )
CT 2 y = FCy - ( ( P 2 PT 2 ) * ( FCy - lP 2 y ) + ( 2 * P 3 PT 2 ) * ( FCy - lP 3 y ) + ( P 4 PT 2 ) * ( FCy - lP 4 y ) ) . . . ( 2.4 )
Wherein:
CT nxthe center of gravity of large triangle n on=x-axis direction; N=1,2
CT nythe center of gravity of large triangle n on=y-axis direction; N=1,2
FC xthe center of gravity of foot on=x-axis direction
FC ythe center of gravity of foot on=y-axis direction
P n=carry out sensor P npressure reading; N=1,2,3,4
PT1＝P1+P2+P4
PT2＝P2+P3+P4
LP nx=pressure transducer P nx coordinate, n=1,2,3,4
LP ny=pressure transducer P ny coordinate, n=1,2,3,4
Then the center of gravity around larger triangle 1210,1215 forms less triangle 1211,1216, as shown in figure 70 (step 1120 of Figure 68).Use each pressure transducer to be weighted the distance between foot gross pressure and each angle of larger barycenter oftriangle and foot, draw the coordinate of less triangle 1211 and 1216.The X-coordinate of summit T11, T12, T13, T21, T22, T23 of composition inside triangle calculates via equation 2.5-2.10 respectively; The Y-coordinate of summit T11, T12, T13, T21, T22, T23 of composition inside triangle calculates via equation 2.11-2.16 respectively.
T 11 x = CT 1 x - ( ( P 1 PT 1 ) * ( CT 1 x - lP 1 x ) ) * 2 . . . ( 2.5 )
T 12 x = CT 1 x - ( ( P 2 PT 1 ) * ( CT 1 x - lP 2 x ) ) . . . ( 2 . 6 )
T 13 x = CT 1 x - ( ( P 4 PT 1 ) * ( CT 1 x - lP 3 x ) ) . . . ( 2.7 )
T 21 x = CT 2 x - ( ( P 2 PT 1 ) * ( CT 2 x - lP 2 x ) ) . . . ( 2 . 8 )
T 22 x = CT 2 x - ( ( P 3 PT 1 ) * ( CT 2 x - lP 3 x ) ) * 2 . . . ( 2.9 )
T 23 x = CT 2 x - ( ( P 4 PT 1 ) * ( CT 2 x - lP 4 x ) ) . . . ( 2 . 10 )
T 11 y = CT 1 y - ( ( P 1 PT 1 ) * ( CT 1 y - lP 1 y ) ) * 2 . . . ( 2.11 )
T 12 y = CT 1 y - ( ( P 2 PT 1 ) * ( CT 1 y - lP 2 y ) ) . . . ( 2.12 )
T 13 y = CT 1 y - ( ( P 4 PT 1 ) * ( CT 1 y - lP 3 y ) ) . . . ( 2.13 )
T 21 y = CT 2 y - ( ( P 2 PT 1 ) * ( CT 2 y - lP 2 y ) ) . . . ( 2.14 )
T 22 y = CT 2 y - ( ( P 3 PT 1 ) * ( CT 2 y - lP 3 y ) ) * 2 . . . ( 2.15 )
T 23 y = CT 2 y - ( ( P 4 PT 1 ) * ( CT 2 y - lP 4 y ) ) . . . ( 2.16 )
Then the distance between the factor of pressure weighting occurred based on described leg-of-mutton angle place and the center of gravity 1211a of two leg-of-mutton centers (foot center) and inside triangle and 1216a, calculates the center of gravity 1211a of inside triangle 1211 and 1216 and 1216a (step 1125 of Figure 68).Illustrated by having in this Figure 71.Equation 2.17 and 2.18 is used to calculate inside triangle 1211 and the center of gravity 1211a of inside triangle 1216 and the X-coordinate of 1216a respectively.Equation 2.19 and 2.20 is used to calculate inside triangle 1211 and the center of gravity 1211a of inside triangle 1216 and the Y-coordinate of 1216a respectively.
CiT 1 x = CT 1 x - ( ( 2.25 * P 1 PT 1 ) * ( CT 1 x - T 11 x ) + ( P 2 PT 1 ) * ( CT 1 x - T 12 x ) + ( P 4 PT 1 ) * ( CT 1 x - T 13 x ) ) - - - ( 2.17 )
CiT 1 y = CT 1 y - ( ( 2.25 * P 1 PT 1 ) * ( CT 1 y - T 11 y ) + ( P 2 PT 1 ) * ( CT 1 y - T 12 y ) + ( P 4 PT 1 ) * ( CT 1 y - T 13 y ) ) - - - ( 2.18 )
CiT 2 x = CT 2 x - ( ( P 2 PT 2 ) * ( CT 2 x - T 21 x ) + ( 2.25 * P 3 PT 2 ) * ( CT 2 x - T 22 x ) + ( P 4 PT 2 ) * ( CT 2 x - T 23 x ) ) - - - ( 2.19 )
CiT 2 y = CT 2 y - ( ( P 2 PT 2 ) * ( CT 2 y - T 21 y ) + ( 2.25 * P 3 PT 2 ) * ( CT 2 y - T 22 y ) + ( P 4 PT 2 ) * ( CT 2 y - T 23 y ) ) - - - ( 2.20 )
Last Figure 72 illustrates the CoP 1300 of foot.(step 1130 of Figure 68) is applicable to equation 2.21 and 2.22 respectively, uses the center of gravity 1211a of inside triangle and the X and Y coordinates of 1216a to calculate the X and Y coordinates (CoP_X and CoP_Y) of CoP 1300.
CoP _ X = FCx - ( ( PT 1 PT 1 + PT 2 ) * ( FCx - CiT 1 x ) + ( PT 2 PT 1 + PT 2 ) * ( FCx - CiT 2 x ) ) . . . ( 2.21 )
CoP _ Y = FCY - ( ( PT 1 PT 1 + PT 2 ) * ( FCy - CiT 1 y ) + ( PT 2 PT 1 + PT 2 ) * ( FCy - CiT 2 y ) ) . . . ( 2.22 )
Other input-pressure disc
Seat sensor-WA has two sensors below, and each " thigh " region has one.When user starts SIT or STAND function, these sensors are activated.When function is taken one's seat in startup, these sensors will determine when that the weight of user transfers to seat, and the function that makes to take one's seat terminates.When start standing performance time, these sensors by determining when that the weight of user is no longer supported by seat, to continue standing performance.
The description of this invention comprises its preferred form above.The scope of the invention that claims limit is not exceeded to its amendment carried out.

Claims (36)

1., for controlling an ectoskeletal method, described ectoskeleton is worn by user and is had one or more and described ectoskeletal all corresponding to the driver that each body members of user's body part is associated, and described method comprises the following steps:
Receive the input data of the motion sequence of indicative of desired;
Obtain from memorizer the exercise data that the pre-programmed of the one or more continuous print instructions required for described motion sequence is implemented in instruction, each instruction is moved with the associated actuator device for performing described instruction and is associated;
The actuator movement relevant according to the adjustment Data Update of stored instruction Current terrestrial state; And
According to the relevant actuator movement upgraded, one or more driver is moved for each instruction.
2. method according to claim 1, wherein, before the step upgrading relevant actuator movement, described method also comprises step: determine and store the state of ground data of the gradient indicating Current terrestrial.
3. method according to claim 2, wherein the step of surface state data comprises definitely:
Receive the data of the change of instruction ground line gradient during the motion sequence of ectoskeletal expectation,
The mobile one or more drivers associated with ectoskeletal component of stopping between order period of stopping over associated with mobile sequence, to rotate foot component towards maximum permission inclination angle,
Once receive the input indicating foot component to aim at slope, then stop the motion of the one or more drivers be associated with foot component,
Angle based on foot component determines the state of ground data of the current state indicating ground.
4. method according to claim 3, wherein,
Determine to indicate the step of the state of ground data of the gradient of Current terrestrial also to comprise: be averaged by the angle of foot component with from the input data of the accelerometer be associated with foot component; And
The step storing state of ground data comprises: store the data of average angle as the current hill grade on instruction ground.
5. the method according to claim 3 or 4, wherein, wherein, the each angular zone place of foot component below foot component comprises at least one touch sensor, and wherein, described angular zone transversely forms two to the basic angular zone aimed at, and longitudinally forms two to the basic angular zone aimed at.
6. method according to claim 5, wherein, each touch sensor is touch sensor, or each touch sensor is pressure transducer.
7. method according to claim 5, wherein, when once component of stopping over below with earth surface and only receive triggering signal from the sensor of some angular zones time, receive the data of instruction ground changes in pitch.
8. method according to claim 7, wherein:
Ground gradient is made up of longitudinal component and cross stream component, and indicates the data of ground changes in pitch to indicate the change of longitudinal component of ground gradient or the change of the cross stream component of ground gradient or the two all to have it, and
The triggering signal received from least one touch sensor be only associated to one of angular zone laterally aimed at two indicate the longitudinal component of ground gradient to change, and indicates the cross stream component of ground gradient to change from the triggering signal that at least one touch sensor be associated to one of angular zone longitudinally aimed at two receives.
9. method according to claim 8, wherein, maximum permission inclination angle or inclined-plane and extend longitudinally and maximum permission angle between the line of basic horizontal, or inclined-plane and extending transversely and the horizontal angle of maximum permission between the line of basic horizontal.
10. method according to claim 5, wherein,
The mobile one or more drivers associated with ectoskeletal component of stopping over comprise with the step rotating foot component towards maximum permission inclination angle: rotate foot component around passing across the axle receiving the alignment angle region of triggering signal right from it, and
The step stopping the movement of one or more driver comprises: once receive following triggering signal, stops mobile, described triggering signal is from right to the alignment angle region of crossing to rotation axis with relative alignment angle region, and the aiming at of the gradient on described triggering signal instruction foot component and ground.
11. methods according to claim 3 or 4, wherein maximum permission inclination angle is scheduled and preserve in memory.
12. methods according to claim 3 or 4, wherein,
Mobile each driver comprises the length changing driver, and the length wherein changing driver changes the angle of the associated joint be formed between ectoskeletal body component, and,
The mobile one or more drivers associated with component of stopping over comprise step with the step rotating foot component towards maximum permission inclination angle:
Mark foot component aimed at the gradient on ground required for rotating shaft and direction of rotation;
The angle of associated joint is obtained by the length of each driver;
The relative position of the ectoskeletal foot joint using the angle calculation of described foot joint and required rotating shaft relevant with direction of rotation;
Determine the desired locations of the foot joint be associated with the component of stopping over rotated by described foot component extremely required by maximum permission inclination angle;
Anti-phase motion is used to determine the desired locations in each joint of the position affecting foot joint;
Determine to expect joint angle from the desired locations in each joint of the position affecting foot joint;
Determine the length variations of the expectation expecting each driver that joint angle is associated with each; And
Change expecting that the length of each driver that joint angle is associated changes towards the desired length of driver with each.
13. methods according to claim 5, wherein, described foot component also comprises zone line touch sensor, for providing the information of the contact condition on region and ground before and after the central authorities about foot component, to provide the resolution of rising, thus by foot component and ground registration.
14. methods according to any one of claim 1-4, wherein ectoskeleton comprises:
I) comprise the rigidity pelvis supporting member of user securitysettingup, described security set is used for user at least to add to be fixed in described pelvic support component operationally to support described user;
Ii) the first lower limb structure and the second lower limb structure, each in first lower limb structure and the second lower limb structure engages with described pelvic support component and stretches out from described pelvic support component for the operating position that the corresponding lower limb with user is adjacent, and each in the first lower limb structure and the second lower limb structure comprises:
For the thigh structural elements engaged with the thigh of user, described thigh structural elements is engaged by hip joint and described pelvic support component rotating shaft at its first end;
For the shank structural elements engaged with the shank of described user, described shank structural elements is engaged by the second end rotating shaft of knee joint and described thigh structural elements at its first end;
For the foot component engaged with the foot of user, described foot component is engaged by the second end rotating shaft of foot joint and described little leg member;
Main buttocks driver, arranges and rotates around described hip joint relative to described pelvic support component for starting described thigh structural elements, in use to rotate described thigh structural elements in front/rear portion plane;
Knee driver, is arranged for the described shank structural elements of starting and rotates around described knee joint relative to described thigh structural elements; With
Main foot driver, is arranged for and starts described foot component relative to described shank structural elements around described foot joint around the turning cylinder rotation being arranged essentially parallel to kneed turning cylinder; And
Iii) power supply, configurable at least one or more power supply for selecting in described main buttocks driver, knee driver and main foot driver.
15. 1 kinds for controlling ectoskeletal control system, described ectoskeleton is worn by user and is had one or more and described ectoskeletal all corresponding to the driver that each body members of user's body part is associated, and described control system comprises:
For receiving the user interface of the input data of the motion sequence of indicative of desired;
Implement the memory member of the exercise data of the pre-programmed of one or more continuous print instructions of described motion sequence for storing instruction, each instruction is moved with the associated actuator device for performing described instruction and is associated;
For moving the actuator controller of one or more driver according to relevant actuator movement for each instruction; With
Ground subsystem, described ground subsystem is configured to:
Based on the state of ground Data Update driver action of the instruction Current terrestrial state stored in memory, and
Indication driver controller moves one or more driver for each instruction according to the relevant actuator movement upgraded.
16. 1 kinds for controlling ectoskeletal method, described ectoskeleton is worn by user and is had one or more and described ectoskeletal all corresponding to the driver that each body members of user's body part is associated, and described method comprises the following steps:
Receive the input data of the motion sequence of indicative of desired;
Obtain from memorizer the exercise data that the pre-programmed of the one or more continuous print instructions required for described motion sequence is implemented in instruction, each instruction is moved with the associated actuator device for performing described instruction and is associated;
According to relevant actuator movement, one or more driver is moved for each instruction; And
According to present instruction periodically balance external skeleton between the moving period of one or more driver through the following steps:
Based on the input pressure data of the pressure in one or more regions of instruction foot, determine the actual pressure center below described at least one ground connection foot component ectoskeletal,
Obtain and one or more driver move institute according to the centre-of-pressure position of expectation that is associated of present instruction, and,
One or more drivers that directional correlation with described ground connection foot component joins are moved a position, to be converted to the described actual pressure center below foot for the Center of Pressure desired by present instruction.
17. methods according to claim 16, wherein, periodically balance ectoskeletal step and occur with scheduled time step-length during present instruction.
18. methods according to claim 17, wherein, periodically balance described ectoskeletal step and also comprise:
The Center of Pressure error between actual pressure center and the centre-of-pressure position of expectation is determined as real time steps;
Actuator position desired by the driver determination follow-up time step-length that the directional correlation of each and ground connection foot component joins;
Based on the error of each driver, it is the actuator position desired by the adjustment of follow-up time step-length; And,
During follow-up time step-length, each driver is moved towards the actuator position through overregulating.
19. methods according to claim 18, wherein, the centre-of-pressure position desired by current time step is determined like this in time step before:
Interpolation between the centre-of-pressure position desired by the actual pressure center of time step before and described instruction; And,
According to the centre-of-pressure position desired by described interpolation determination follow-up time step-length.
20. methods according to claim 18 or 19, wherein, determine that the step of the actuator position desired by follow-up time step-length comprises:
Interpolation between actuator position desired by producing in actual transmission device position with by the actuator movement completed for present instruction; And,
According to the actuator position desired by described interpolation determination follow-up time step-length.
21. methods according to claim 18 or 19, wherein, regulate the step of the actuator position desired by described follow-up time step-length to comprise:
Use the change of described Center of Pressure error determination actuator position; And,
The change of actuator position is added with the actuator position desired by follow-up time step-length with the actuator position regulated desired by follow-up time step-length.
22. methods according to claim 21, wherein, use the step of the change of Center of Pressure error determination actuator position to be achieved in that and described error is sent into feedback controller, it is arranged the instruction exporting actuator position change.
23. methods according to claim 21, wherein, described feedback controller is PID (PID) controller.
24. methods according to any one of claim 16-19, wherein, mobile one or more driver comprises the length changing one or more driver.
25. methods according to any one of claim 16-19, wherein, each ground connection foot component comprises at least one pressure transducer, is positioned on four angles below described ground connection foot.
26. methods always for balancing, the ectoskeleton for being worn by user keeps balance during the relative motion of described ectoskeletal one or more driver, and to perform predetermined instruction, the described method for balancing comprises the following steps:
Based on the input pressure data of the pressure in one or more regions of instruction foot, calculate the actual pressure center below described at least one ground connection foot ectoskeletal,
Determine the Center of Pressure error between actual pressure center and the Center of Pressure desired by described predetermined instruction; And,
By one or more driver being moved in the Center of Pressure be converted to desired by described predetermined instruction, described actual pressure center below foot thus eliminating Center of Pressure error.
27. methods according to any one of claim 16-19 or 26, wherein ectoskeleton comprises:
I) comprise the rigidity pelvis supporting member of user securitysettingup, described security set is used for user at least to add to be fixed in described pelvic support component operationally to support described user;
Ii) the first lower limb structure and the second lower limb structure, each in first lower limb structure and the second lower limb structure engages with described pelvic support component and stretches out from described pelvic support component for the operating position that the corresponding lower limb with user is adjacent, and each in the first lower limb structure and the second lower limb structure comprises:
For the thigh structural elements engaged with the thigh of user, described thigh structural elements is engaged by hip joint and described pelvic support component rotating shaft at its first end;
For the shank structural elements engaged with the shank of described user, described shank structural elements is engaged by the second end rotating shaft of knee joint and described thigh structural elements at its first end;
For the foot component engaged with the foot of user, described foot component is engaged by the second end rotating shaft of foot joint and described little leg member;
Main buttocks driver, arranges and rotates around described hip joint relative to described pelvic support component for starting described thigh structural elements, in use to rotate described thigh structural elements in front/rear portion plane;
Knee driver, is arranged for the described shank structural elements of starting and rotates around described knee joint relative to described thigh structural elements; With
Main foot driver, is arranged for and starts described foot component relative to described shank structural elements around described foot joint around the turning cylinder rotation being arranged essentially parallel to kneed turning cylinder; And
Iii) power supply, configurable at least one or more power supply for selecting in described main buttocks driver, knee driver and main foot driver.
28. 1 kinds for controlling ectoskeletal control system, described ectoskeleton is worn by user and is had one or more and described ectoskeletal all corresponding to the driver that each body members of user's body part is associated, and described control system comprises:
For receiving the user interface of the input data of the motion sequence of indicative of desired;
Implement the memory member of the exercise data of the pre-programmed of one or more continuous print instructions of described motion sequence for storing instruction, each instruction is moved with the associated actuator device for performing described instruction and is associated;
For moving the actuator controller of one or more driver according to relevant actuator movement for each instruction;
Ground subsystem, for the adjustment actuator movement when the change state of ground being detected, and control balancing subsystem, adjust ectoskeletal balance for the relative motion period at one or more driver.
29. control system according to claim 28, wherein, control system receives input with the change detecting ground gradient from the touch sensor of at least four angular zones be arranged on below ectoskeletal foot component.
30. control system according to claim 28 or 29, wherein, ground subsystem is set to:
Determine the motion of one or more drivers required for being rotated towards maximum permission inclination angle by foot component, that be associated with described ectoskeletal foot component, and,
The motion of the one or more drivers be associated with described foot component is stopped when receiving the input that the described foot component of instruction is aimed at inclined-plane.
31. control system according to claim 28 or 29, wherein, the pressure transducer that control balancing subsystem is arranged from least four angular zones below described ectoskeletal foot component receives input.
32. control system according to claim 31, wherein, pressure transducer input starts control balancing subsystem to determine the centre-of-pressure position below foot, thus determine by for specific instruction centre-of-pressure position is converted to expectation centre-of-pressure position actuator movement required for adjustment.
33. control system according to claim 32, wherein, control system also receives input from the zone line touch sensor of foot component, for providing the information of the contact condition on region and ground before and after the central authorities about foot component, to provide the resolution of rising, thus by foot component and ground registration.
34. 1 kinds for controlling ectoskeletal control system, described ectoskeleton is worn by user and is had one or more and described ectoskeletal all corresponding to the driver that each body members of user's body part is associated, and described control system comprises:
For receiving the user interface of the input data of the motion sequence of indicative of desired;
Implement the memory member of the exercise data of the pre-programmed of one or more continuous print instructions of described motion sequence for storing instruction, each instruction is moved with the associated actuator device for performing described instruction and is associated;
For moving the actuator controller of one or more driver according to relevant actuator movement for each instruction; With
Ground subsystem, for the adjustment actuator movement when the change state of ground being detected.
35. 1 kinds for controlling ectoskeletal control system, described ectoskeleton is worn by user and is had one or more and described ectoskeletal all corresponding to the driver that each body members of user's body part is associated, and described control system comprises:
For receiving the user interface of the input data of the motion sequence of indicative of desired;
Implement the memory member of the exercise data of the pre-programmed of one or more continuous print instructions of described motion sequence for storing instruction, each instruction is moved with the associated actuator device for performing described instruction and is associated;
For moving the actuator controller of one or more driver according to relevant actuator movement for each instruction; With
Control balancing subsystem, regulates ectoskeletal balance for the relative motion period at one or more driver.
36. according to any one of claim 28,29,34 or 35 for controlling ectoskeletal control system, ectoskeleton comprises:
I) comprise the rigidity pelvis supporting member of user securitysettingup, described security set is used for user at least to add to be fixed in described pelvic support component operationally to support described user;
Ii) the first lower limb structure and the second lower limb structure, each in first lower limb structure and the second lower limb structure engages with described pelvic support component and stretches out from described pelvic support component for the operating position that the corresponding lower limb with user is adjacent, and each in the first lower limb structure and the second lower limb structure comprises:
For the thigh structural elements engaged with the thigh of user, described thigh structural elements is engaged by hip joint and described pelvic support component rotating shaft at its first end;
For the shank structural elements engaged with the shank of described user, described shank structural elements is engaged by the second end rotating shaft of knee joint and described thigh structural elements at its first end;
For the foot component engaged with the foot of user, described foot component is engaged by the second end rotating shaft of foot joint and described little leg member;
Main buttocks driver, arranges and rotates around described hip joint relative to described pelvic support component for starting described thigh structural elements, in use to rotate described thigh structural elements in front/rear portion plane;
Knee driver, is arranged for the described shank structural elements of starting and rotates around described knee joint relative to described thigh structural elements; With
Main foot driver, is arranged for and starts described foot component relative to described shank structural elements around described foot joint around the turning cylinder rotation being arranged essentially parallel to kneed turning cylinder; And
Iii) power supply, configurable at least one or more power supply for selecting in described main buttocks driver, knee driver and main foot driver.
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CN110731881A (en) * 2019-09-09 2020-01-31 江苏美安医药股份有限公司 Medical walking aid walking safety protection system
TWI701533B (en) * 2019-11-14 2020-08-11 緯創資通股份有限公司 Control method and electrical walker
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