CN104825257A - Waist-wearable functional auxiliary mechanical arm - Google Patents
Waist-wearable functional auxiliary mechanical arm Download PDFInfo
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Abstract
The present invention provides a waist-wearable functional auxiliary mechanical arm, wherein double seven-degree-of-freedom rope-driven arms are fixed on a waist wearing mechanism; a passive lower limb external skeleton boosting mechanism is connected to the waist wearing mechanism; a control drive unit, a computer and a power module are fixed on a back panel of the waist wearing mechanism; the computer is in control connection with the double seven-degree-of-freedom rope-driven arms by the control drive unit; and an autonomous control module is in data connection with the computer. The waist-wearable functional auxiliary mechanical arm can be used in an operation environment where both hands of people need assistance when working, the labor intensity of a user is effectively reduced, and work efficiency is improved; the weak and the old can be helped, and bearing capacity, movement range and force of the weak and the old can be enhanced, so an original relatively-difficult bearing task is finished; and the waist-wearable functional auxiliary mechanical arm also can be used for assisting the disabled in finishing routine necessary hand tasks, so that the autonomous living ability of the disabled is improved and protection for the privacy of the disabled is enhanced to a certain extent.
Description
Technical field
The present invention relates to can the wearable mechanical arm technical field of collaboration type of load-bearing, specifically a kind of wearable function auxiliary mechanical arm of waist utilizing electromyographic signal, Intelligent bracelet, brain-computer interface three kinds of control models to control, be applicable to the multiple crowds such as healthy and disabled, effectively assist wearer daily life and work.
Background technology
Along with service trade in the last few years, the requirements at the higher level that the relevant industries such as manufacturing industry propose the technical ability of robot and efficiency, and the development that robotics is maked rapid progress, make people have stronger demand to go to explore more effective robotics to meet every demand of people.But the performance improvement of robot itself and the increase of function, under current technical conditions, be also not enough on the basis of the intention understanding people, go independently to complete each task, the requirement that contributor finishes the work.Therefore, it is possible to the technology such as location, power-assisted in the intelligence of seamless link people and robotics has practical significance.
The most of productive life activity of people of the Job execution of the arm of people, for Healthy People, the activity of arm can meet the demand of work and life as a rule, but in some cases, function only by both hands is inadequate, also need the work temporarily put down in hands or the assistance requiring other people, as both hands bear weight need simultaneously open the door or both hands need the position of setting tool and need fetching parts etc. simultaneously.If decide sequence or the choice of multitask according to task priority or requirement, then inevitably lower efficiency, therefore, increase and the function of both hands arm is supported in following work and life and will be played an important role.For normally functioning user, can many arms both arms of having coordinated some task that cannot complete, as for being infectious or the occasion of contaminative, the arm of people goes directly to contact article may bring certain harm to human body self, and the mechanical arm of Wearable can substitute this generic task well.In addition the effect of the operating pressure sharing human body self arm can also be played.And for having arm function obstacle, the people that motor function is impaired, wearable assistance mechanical arm can well assist its complete daily needed for, wearable mechanical arm is appreciated that their motion intention, completes the task of originally having had any problem for them.User for people with disability especially amputation, needs succedaneum especially and helps them and complete some daily required hand motions, as opened the door, getting thing, even brushing teeth, wearing the clothes, shopping etc.Make them not need just can complete the necessary motion of some daily life under having people to help, also can protect their privacy better, improve their stand-alone capability, improve their quality of the life.
Find by prior art documents:
China Patent Publication No. CN 102846450 A, denomination of invention is: the lumbar support parts of exoskeleton robot and exoskeleton robot.This technology mainly provides recovery set for lower limbs and waist active supporting piece, this device can play leg power-assisted and support the function of waist activity, but only provide lower limb power-assisted to be inadequate, lack necessary bodily fuctions and the auxiliary body such as to expand, be unfavorable for the movable function expanding people, diversified user's request cannot be met.
China Patent Publication No., CN 102793595 A, denomination of invention is: Wearable heavy material handling power-assisted bionic exoskeleton.This design adopts human limb power-assisted, adopts hydraulic pressure and motor combination drive, is applied to heavy material handling power-assisted, saves physical ability.But such ectoskeleton needs extremity to dress, the extremity that thus can take people are movable, and the especially activity of upper limb, can only provide power-assisted support for extremity, but assistant can not be provided to support, contributor completes more complicated man-machine coordination task.
Summary of the invention
The present invention is directed to above shortcomings in prior art, power-assisting robot and the technological incorporation of robot arm autonomic function are got up, propose the wearable function auxiliary mechanical arm of a kind of waist, the present invention expands human body limb function, multi-arm is needed to assist the task that just can complete in order to complete some, the motor function simultaneously solving the limited people of motor function is supplemented, and improves its quality of the life.
For achieving the above object, the present invention is achieved by the following technical solutions.
The wearable function auxiliary mechanical arm of a kind of waist, it is characterized in that, comprise seven freedom rope and drive both arms a1, waist worn mechanism a2, passive type lower limb exoskeleton servomechanism a3, control driver element a4, computer a5, power module a6 and Autonomous Control module; Wherein:
Described seven freedom rope drives both arms a1 and is fixed on waist worn mechanism a2;
Described passive type lower limb exoskeleton servomechanism a3 is connected to waist worn mechanism a2;
Described control driver element a4, computer a5 and power module a6 are individually fixed in the back panel of waist worn mechanism;
Described computer a5 drives both arms a1 control connection by control driver element a4 and seven freedom rope;
Described Autonomous Control module and computer a5 data cube computation;
Described Autonomous Control module comprise following any one or appoint multiple parts:
-Intelligent bracelet a7;
-myoelectricity gathers array a8;
-brain-computer interface module a9.
Preferably, described seven freedom rope drives both arms a1 and is provided with shoulder joint, elbow joint and carpal joint, described shoulder joint has three degree of freedom, described elbow joint and carpal joint have two degree of freedom respectively, wherein, the one degree of freedom of shoulder joint is arranged on waist worn mechanism a2, and two degree of freedom and carpal two degree of freedom of second degree of freedom of shoulder joint and three degree of freedom, elbow joint all adopt modularity two-freedom differential joint structure to realize; Described shoulder joint, elbow joint and carpal joint drive respectively by drive motors, and described drive motors is arranged on waist worn mechanism a2.
Preferably, described modularity two-freedom differential joint structure comprises the first drive mechanism b1, the second drive mechanism b2, the 3rd drive mechanism b3, the first pulley and the second pulley, and modularity two-freedom differential joint structure to be coupled with the 3rd drive mechanism b3 by the differential gearing of the first drive mechanism b1 and the second drive mechanism b2 and to realize pitching and turn round two-freedom moving; Modularity two-freedom differential joint structure is by the first pulley b4 of being connected with the first drive mechanism b1 and complete the transmission of power with the second pulley b5 that the second drive mechanism b2 is connected.
Preferably, described shoulder joint is fixed with passive type gravity compensation, and is arranged between the first degree of freedom c6 of shoulder joint and the second degree of freedom c3; Described passive type gravity compensation by connecting a support spring c1 between the pin joint c4 and the pin joint c5 of the second degree of freedom c3 of the first degree of freedom c6, by the flexible realization of support spring c1, seven freedom rope is driven to the supporting role of both arms, compensate action of gravity.
Preferably, described seven freedom rope drives both arms a1, has the type of drive that connects up as follows:
First joint j1, second joint j2, 3rd joint j3 and the 4th joint j4 forms shoulder joint, first joint j1 of the first drive motors m1 Direct driver shoulder joint, second joint j2, the modularity two-freedom differential joint structure that 3rd joint j3 and the 4th joint j4 forms realizes shoulder joint pitching and gyration, second joint j2 and the 3rd joint j3 drives respectively by the first pulley g2 and the second pulley g3, rope is driven to be connected with the first pulley block mechanism t1 and the second pulley block mechanism t2 respectively by the first excessive pulley g1, first pulley block mechanism t1 and the second pulley block mechanism t2 is connected to the second drive motors m2 and the 3rd drive motors m3 respectively,
5th joint j5, the 6th joint j6 and the 7th joint j7 form elbow joint, 6th joint j6 and the 7th joint j7 drives by being connected in the 3rd pulley g5 on the 6th joint j6 and the 7th joint j7 and the 4th pulley g6 respectively, the driving rope of the 3rd pulley g5 and the 4th pulley g6 by the second transition pulley g4 and through the transition of the first excessive pulley g1 and the first pulley g2 around to driving the 3rd pulley block mechanism t4 and the 4th pulley block mechanism t5, then through the 3rd pulley block mechanism t4 and the 4th pulley block mechanism t5 around to four-wheel drive motor m4 and and the 5th drive motors m5;
First rotating mechanism j8, second rotating mechanism j9 and the 3rd rotating mechanism j10 forms carpal joint, first rotating mechanism j8 and the second rotating mechanism j9 drives respectively by the 5th pulley g9 and the 6th pulley g10, the wiring of the 5th pulley g9 and the 6th pulley g10 is by the 3rd excessive pulley g8 and respectively through the 3rd pulley g5, second excessive pulley g4, second pulley g3 and first excessively pulley g1 transits to the 4th pulley block mechanism t5 and the 5th pulley block mechanism t6, again through the 5th pulley block mechanism t5 and the 6th pulley block mechanism t6 around to the 6th drive motors m6 and the 7th drive motors m7,
Described seven freedom rope drives both arms a1, and the torgue measurement method of its joint is:
Drive on rope and be connected with the first spring and the second spring, drive rope by pedestal and pulley drive link motion, and the elongation of the first spring and the second spring is measured by potentiometer or foil gauge, obtain the moment of joint according to Hooke theorem, joint position is obtained by motor code-disc.
Preferably, described waist worn mechanism a2 be provided with and dress interface, mechanical arm mounting interface with human body waist self adaptation, control driver element interface, computer interface, power interface and lower limb passive type ectoskeleton power-assisted mounting interface; Wherein:
Described seven freedom rope drives both arms a1 and is installed on mechanical arm mounting interface place;
Described control driver element, computer and power module are installed on respectively and control driver element interface, computer interface and power interface place;
Described passive type lower limb exoskeleton servomechanism is installed on lower limb passive type ectoskeleton power-assisted mounting interface place.
Preferably, described passive type lower limb exoskeleton servomechanism a3 comprises the first connection ball-joint, leg retaining collar, thigh joint link lever, calf joint connecting rod, foot dresses mechanism and second and connects ball-joint, wherein, described first connects ball-joint is connected with waist worn mechanism a2, described leg retaining collar, thigh joint link lever, calf joint connecting rod and foot dress mechanism and are connected successively from top to bottom, described calf joint connecting rod and foot dress between mechanism and are connected ball-joint connect by second, described calf joint connecting rod place is provided with leg and dresses mechanism,
Described waist worn mechanism attitude changes along with the change of human body stance, passive type lower limb exoskeleton servomechanism connects ball-joint Automatic adjusument lower limb according to first and connects attitude, and then the gravity of the power and waist worn mechanism a2 self generation of seven freedom rope being driven both arms a1 generation conducts to ground by passive type lower limb exoskeleton servomechanism, less human body bears a heavy burden.
Preferably, described leg is dressed mechanism and is comprised the calf joint connecting rod interface dressed body and be arranged on wearing body, and described electromyographic signal array is arranged at the inner side of dressing body; Wherein:
Described calf joint connecting rod is arranged on calf joint connecting rod seam;
Described electromyographic signal array, for detecting shank active state, realizes the control of seven freedom rope being driven to both arms by the active state of calf; Meanwhile, described foot dresses mechanism and shares the self gravitation that seven freedom rope drives environmental forces that both arms receive and the wearable function auxiliary mechanical arm of waist, plays Stabilization to physical activity attitude;
Described electromyographic signal array is worn on user shank gastrocnemius skin surface, by identifying the calf electromyographic signal of user and then identifying that the foot action of user is to be reached through foot motion to drive both arms end direction controlling to seven freedom rope.
Preferably, described Intelligent bracelet is worn on the wrist of user, by controlling the Intelligent bracelet control model in driver element, be applied to and there is arm motion dysfunction but the crowd that can complete small motion, the inner side of described Intelligent bracelet is provided with three axis accelerometer and three-axis gyroscope for detecting the motion intention of user, and then realizes the control of seven freedom rope being driven to both arms motion;
Described brain-computer interface module is worn on the head of user, by controlling the brain-computer interface control model in driver element, be applied to the disability colony of arm motion afunction, electrode position inside described brain-computer interface module is provided with the electroencephalograpcap cap that international 10-20 point-score is arranged, described EEG signals is gathered by electroencephalograpcap cap;
Described international 10-20 point-score is specially: clinical neurophysiology international federation develops perfect internationally recognized scalp electrode position distribution method in phase late 1950s.
Preferably, described control driver element, comprises mechanical arm movement controller c1, brain-computer interface controller c2, myoelectricity controller c3 and Intelligent bracelet control c4; Wherein, the drive motors of described mechanical arm movement controller c1 for driving seven freedom rope to drive both arms joint, described brain-computer interface controller c2 is for performing EEG Processing and direction controlling, and described myoelectricity controller c3 and Intelligent bracelet controller are respectively used to electromyographic signal process and action recognition.
The wearable function auxiliary mechanical arm of waist provided by the invention, comprises seven freedom rope and drives both arms and waist worn mechanism, controls driver element etc.Wherein seven freedom rope drives mechanical arm and is provided with Three Degree Of Freedom shoulder joint, and 2DOF elbow joint composition and 2DOF carpal joint, 2DOF elbow joint and carpal joint all adopt modularity two-freedom differential joint structure.Control driver element and be placed in waist, weight is carried by passive type lower limb exoskeleton boosting mechanism.Mechanical arm is equipped with 3 kinds of control models and can selects for different user, (i) electromyographic signal control model respectively, can be used for the foot motion that wearer that motor function perfects utilizes the electromyographic signal of calf to identify, and then in both hands operation process, control Aided Machine with foot simultaneously assist operation; (ii) Intelligent bracelet pattern, be applicable to the wearer of arm motion function weakness, as old people, patient, the acceleration of arm small movements in three directions that three dimensions produces and the operation of corresponding angular velocity signal operation auxiliary mechanical arm is utilized to realize motion intention; (iii) brain-computer interface control model, be applicable to motor function impaired individuals with disabilities utilize brain signal to help it to complete appointed task to control auxiliary mechanical arm.
Compared with prior art, the present invention has following beneficial effect:
1, in the present invention, mechanical arm adopts rope to drive, and significantly reduces the weight of basic machine, adds the flexibility of mechanical arm and the safety of man-machine coordination.Shoulder joint adopts the design of passive type gravity compensation, has saved the safety of energy and mechanical arm power-off protection.
2, in the present invention, rope drives mechanical arm and to produce and the external force that is subject to has lower limb passive type main force transfer mechanism to ground, alleviates human body heavy burden.Because mechanical arm and human body do not have physical coupling, working alone and work compound of people and mechanical arm thus can be realized.
3, in the present invention, the control model of mechanical arm is various, mainly contains electromyographic signal control model, Intelligent bracelet control model and brain-computer interface control model.And wherein electromyographic signal control model accurately and easily gather, hand wears Intelligent bracelet, makes control mode meet the feature of human motion, is convenient to user controller mechanical arm intuitively, brain-computer interface control model has easily training and characteristic reliably.
4, the control model based on electromyographic signal identification foot action partner can need extra assistance operation when both hands work simultaneously, Intelligent bracelet control model can amplify the small motion of user, and the operation intensity of wearer is alleviated.Brain-computer interface control model can be used for assisting people with disability to complete its activities of daily living that cannot independently realize normal, user's both arms motor skill significantly can be made to be expanded or make people with disability can complete normal life activity and assisted.
5, the present invention can be used for people's bimanual work need simultaneously assist time working environment, effectively can reduce the labor intensity of user, increase work efficiency; Weak old people etc. can be helped; strengthen their heavy burden ability; increase movement range and power; complete originally more difficult heavy burden task; also can be used for assisting people with disability to complete daily necessary hand task; improve their autonomous viability, increase their protection to privacy to a certain extent.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is that human body dresses overall structure figure, and wherein, (a) is top view, and (b) is rearview, and (c) is side view;
Fig. 2 is joint of mechanical arm distribution structure figure;
Fig. 3 is two-degree freedom rope driving module joint schematic diagram;
Fig. 4 is shoulder joint passive type gravity compensation schematic diagram;
Fig. 5 is that rope drives mechanical arm winding structure figure;
Fig. 6 is waist worn mechanism, and wherein, (a) is top view, and (b) is upward view, and (c) is front view, and (d) is axonometric chart;
Fig. 7 is overall wearing boosting mechanism figure, and wherein, (a) is front view, and (b) is top view, and (c) is side view, and (d) is axonometric chart;
Fig. 8 is joint drive and joint moment measuring principle figure;
Fig. 9 is the adaptive flange of mechanical arm tail end;
Figure 10 is wearable booster type mechanical arm control model figure;
Figure 11 is electromyographic signal handling principle figure;
Figure 12 is that bracelet wears schematic diagram;
Figure 13 is bracelet image data schematic diagram;
Figure 14 is brain electric control schematic diagram;
Figure 15 is controller general function figure.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Embodiment
Present embodiments provide the wearable function auxiliary mechanical arm of a kind of waist, it comprises seven freedom rope and drives both arms a1, waist worn mechanism a2, passive type lower limb exoskeleton servomechanism a3, controls driver element a4, computer a5, power module a6 and Autonomous Control module, and described Autonomous Control module comprises Intelligent bracelet a7, myoelectricity gathers array a8 and/or brain-computer interface module a9.Wherein, seven freedom rope drives both arms a1 and is fixed on waist worn mechanism a2, passive type lower limb exoskeleton servomechanism a3 connects waist worn mechanism, and mechanical arm controls driver element a4, and computer a5 and power module a6 is fixed in the back panel of waist worn mechanism.
Described seven freedom rope drives both arms a1 and comprises two mechanical mechanisms and design identical rope and drive arm, and wherein, degree of freedom that each rope drives arm distributes all as shown in Figure 2, and namely shoulder joint has 3 degree of freedom, and elbow joint has 2 degree of freedom, and carpal joint has 2 degree of freedom.Except being fixed on the joint of wearing mechanism, all the other 6 joints all adopt modularity two-freedom differential joint structure, and drive the motor of each degree of freedom to be all placed in dress in mechanism, decrease motor weight, add the flexibility of manipulator motion and fast-response and safety.
Further, described modularity two-freedom differential joint structure, as shown in Figure 3, realizes pitching and the motion of pivotal 2DOF by the differential gearing of drive mechanism b1 and b2 and drive mechanism b3 coupling.The pulley b4 that the passing through of its power is connected with drive mechanism b1 respectively and completing with the pulley b5 that drive mechanism b2 is connected.
Shoulder joint according to claim 2, it is fixed with passive type gravity compensation, as shown in Figure 4.Between shoulder joint c6 and c3, be connected support spring c1 by the pin joint c5 of pin joint c4 with c3 of c6, by the flexible realization of support spring c1 to the supporting role of mechanical arm c2, compensated part action of gravity, saves energy and safety.
Described seven freedom rope drives both arms a1, its wiring type of drive as shown in Figure 5, driver m1 Direct driver shoulder joint j1, joint j2, j3, j4 comprising modules joint realizes shoulder joint pitching and gyration, j2, j3 is driven by pulley g2 and g3 respectively, drives rope to be connected with pulley block mechanism t1 and t2 by excessive pulley g1, then has t1 and t2 to be connected to drive motor units m2 and m3.At elbow joint place, j5, j6, j7 forms elbow joint mechanism, j6 and j7 is driven by pulley g5 and g6 be connected on it, the driving rope of g5 and g6 by transition tension pulley block mechanism g4 and through the transition of g1 and g2 around to drive pulley group t4 and t5, through t4 and t5 around to drive motor units m4 and m5.At carpal joint place, rotating mechanism j8, j9 and j10 form carpal joint mechanism, rotating mechanism j8 and j9 is driven by g9 and g10, and wiring is by transition tension pulley block mechanism g8 and through g5, g4, g3, g1 transit to drive pulley group t5 and t6, then through t5 and t6 around to electric-motor drive unit m6 and m7.
Further, described seven freedom rope drives both arms, its joint moment measuring principle as shown in Figure 8, drive on rope v3 and be connected with spring V2 and v6, V3 is by the motion of pedestal v1 and pulley v4 drive link v5, by the elongation of potentiometer or foil gauge measuring spring, can obtain the moment at cradle head place according to Hooke theorem, joint position is obtained by motor code-disc.
Described waist worn mechanism a2, be provided with and dress interface e29 with human body waist self adaptation, drive pulley group unit interface e3-e14, electric-motor drive unit interface e17-e28 and motor support base e15 and e16, seven freedom rope drives both arms mounting interface e1 and e2, computer interface f1, power interface f2, control driver element interface f3, lower limb passive type ectoskeleton power-assisted mounting interface L1 and L2.
Described passive type lower limb exoskeleton servomechanism a3, it consists of ball-joint h1 and h2 be connected with waist worn mechanism, leg retaining collar h3 and h4, thigh joint link lever h5 and h6, calf joint connecting rod h7 and h8, mechanism h9 and h10 dresses in foot, and shank link mechanism and foot dress mechanism and be connected ball-joint h11.Waist worn mechanism attitude changes along with the change of the stance of people, lower limb servomechanism can be connected attitude according to connection ball-joint h1 with h2 Automatic adjusument lower limb, thus the gravity that the power of mechanical arm generation and wearing mechanism self produce is conducted to ground by servomechanism, less human body bears a heavy burden.Calf joint connecting rod h7 and h8 place are provided with leg and dress mechanism.
Described leg dresses mechanism, is provided with calf joint connecting rod interface k1, electromyographic signal array interface k2, k3, k4 and dresses body to form, and wherein, electromyographic signal array interface k2, k3, k4 are positioned at the inner side of dressing body.Electromyographic signal array is arranged at electromyographic signal array interface k2, k3, k4 place, for detecting shank active state, realizing the control of dressing mechanical arm, reduce human intervention by each state of calf.Simultaneously the self gravitation that mechanism shares environmental forces that mechanical arm receives and whole wearing mechanism is dressed by foot, plays Stabilization to each attitude of human body simultaneously.
Described electromyographic signal array, has reached the control on mechanical arm direction by the attitude of the shank identifying user; Intelligent bracelet in described control model, is applied to Intelligent bracelet control model, mainly towards the crowd of hand absent muscle function, by the three axis accelerometer be placed in bracelet and three-axis gyroscope, completes the control to manipulator motion; Described brain-computer interface, is applied to brain-computer interface control model, mainly waits the disadvantaged group of hand absent muscle function towards the elderly and the disabled, completes motion by the mode controller mechanical arm of brain electric control.
Figure 10 is system block diagram, and this mechanical arm implementing three-dimensional work has 3 kinds of control models can select for user, is that electromyographic signal controls control model, Intelligent bracelet control model and brain-computer interface control model respectively:
--electromyographic signal control model, has been reached the control on mechanical arm direction by the attitude of the shank of electromyographic signal array identification user.By the amplitude measured according to electromyographic signal, the tension force of more each articular muscle, judges each joint motions intention direction, and the direction of motion is sent to speed control, according to direct kinematics, and the tip speed that user is predeterminable, mechanical arm is moved in the direction in which.Figure 11 can be understood as the flow chart of the estimation to power.Force signal can be estimated by the electromyographic signal dispelling tired impact after high-pass filtering.Whole estimate flow process as shown in the figure, electromyographic signal will remove most of low frequency component by high pass filter, and non-linear relation formula is:
Wherein EMG
lfor the amplitude that electromyographic signal is measured, EMG
nfor the nonlinear normalization of electromyographic signal; ξ is the constant of definition exponential curvature.
--Intelligent bracelet control model, mainly towards the crowd of hand absent muscle function, by the three axis accelerometer be placed in bracelet and three-axis gyroscope, completes the control to manipulator motion.
User will wear Intelligent bracelet in wrist, wherein built-in MEM tri-axle S accelerometer and three-axis gyroscope.Gyrostatic sensitive axes as shown in figure 14, wherein, a
xa
ya
zfor the linear acceleration of respective shaft, ω
xω
yω
zfor the angular velocity of respective shaft, Intelligent bracelet gathers 3-axis acceleration and angular velocity signal, is resolved the attitude and the direction of motion that draw hand by following formula:
Wherein b represents carrier coordinate system (Intelligent bracelet local coordinate system), and n represents mechanical arm base coordinate system,
for direction cosine matrix between the two, γ is inclination angle,
for course angle, θ is the angle of pitch.
The ratio force component that the accelerometer of strapdown system records is:
Wherein, f
nfor the ratio force component of base coordinate system, f
bfor the ratio force component of carrier coordinate system,
for the ratio force component along each coordinate axes of carrier.
Effectively be intended to direction of motion identification thus, then the direction of motion is sent to speed control, dress control mechanical arm tail end and move in the direction indicated with the movement velocity that user is predeterminable.
--brain-computer interface pattern, mainly waits the disadvantaged group of hand absent muscle function, completes motion by the mode controller mechanical arm of brain electric control towards the elderly and the disabled.Described brain wave acquisition mode, the main method adopted comprises EEG feature extraction based on P300 Evoked ptential, Steady State Visual Evoked Potential (SSVEP), Mental imagery and classification.The control on manipulator motion direction is carried out by P300 or SSVEP brain electrical feature.All around will to move up and down the cursor (frequency: 15Hz in direction representing mechanical arm on a user interface, 12Hz, 10Hz, 8.57Hz, 7.5Hz, 6.67Hz) and on ON, OFF icon (frequency: 60Hz, 30Hz) representing mechanical tong switch glimmer with different frequency.Such as when user concentrates one's energy to watch the square representing forward direction attentively, system will identify manipulator motion direction be front to, and mechanical arm is upwards moved with the speed of user preset in front.Afterwards, left and right, upper and lower to the switch with mechanical tong in like manner.EEG signals installs the electroencephalograpcap cap collection of international 10-20 point-score layout by electrode position, and it is convenient to dress, and simple to operate, detection efficiency is high.
Below in conjunction with accompanying drawing, three of the present embodiment kinds of different control models are more specifically described in detail.
Electromyographic signal control model:
A kind of myoelectric signal collection apparatus, Figure 10 is described wearable myoelectric sensor array system block diagram, by the amplitude measured according to electromyographic signal, the tension force of more each articular muscle, how this moves to judge each joint, and the direction of motion is sent to speed control, according to direct kinematics, and the tip speed that user is predeterminable, mechanical arm is moved in the direction in which.Figure 11 is the flow chart of the estimation to power.Force signal can be estimated by electromyographic signal after filtering.Whole estimate flow process as shown in the figure, electromyographic signal will remove most of low frequency component by high pass filter, and non-linear relation formula is:
Wherein EMG
lfor the amplitude that electromyographic signal is measured, EMG
nfor the nonlinear normalization of electromyographic signal.
Intelligent bracelet control model:
Figure 12 is the schematic diagram wearing Intelligent bracelet, and 13-1 is a kind of Intelligent bracelet control device, and user will wear Intelligent bracelet in wrist, wherein built-in 3 axis MEMS accelerometer and three axis MEMS gyro, and gyrostatic sensitive axes as shown in figure 14.A
xa
ya
zfor the linear acceleration of respective shaft, ω
xω
yω
zfor the angular velocity of respective shaft, Intelligent bracelet gathers 3-axis acceleration and angular velocity signal, utilizes ripe inertial navigation technology, by resolving the attitude and the direction of motion that draw hand.Inertial navigation correlation technique is as follows:
Wherein b represents carrier coordinate system (Intelligent bracelet local coordinate system), and n represents earth coordinates,
for direction cosine matrix between the two.The ratio force component that the accelerometer of strapdown system records is
Carry out effective positioning and orientation calculating thus, then the direction of motion is sent to speed control, controller, by the motion intention of user, with the tip speed that user is predeterminable, makes mechanical arm move in the direction in which.
Brain-computer interface control model:
As shown in figure 15, a kind of user interface of brain-computer interface control device.Described brain wave acquisition mode, the main method adopted comprises EEG feature extraction based on P300 Evoked ptential, Steady State Visual Evoked Potential (SSVEP), Mental imagery and classification.The control on manipulator motion direction is carried out by P300 or SSVEP brain electrical feature.All around will to move up and down the square (frequency: 15Hz in direction representing mechanical arm on a user interface, 12Hz, 10Hz, 8.57Hz, 7.5Hz, 6.67Hz) and on ON, OFF icon (frequency: 60Hz, 30Hz) representing mechanical tong switch glimmer with different frequency.Such as when user stares at representative square forward, system be front by the identifier mechanical arm direction of motion to, and mechanical arm is upwards moved with the speed of user preset in front.Afterwards, left and right, upper and lower to the switch with mechanical tong in like manner.
Just the present invention can be realized preferably as mentioned above.
Above-described embodiment is better embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; the change done under other any does not deviate from spirit of the present invention and principle should be the substitute mode of equivalence, is included in protection scope of the present invention.
Claims (10)
1. the wearable function auxiliary mechanical arm of waist, it is characterized in that, comprise seven freedom rope and drive both arms a1, waist worn mechanism a2, passive type lower limb exoskeleton servomechanism a3, control driver element a4, computer a5, power module a6 and Autonomous Control module; Wherein:
Described seven freedom rope drives both arms a1 and is fixed on waist worn mechanism a2;
Described passive type lower limb exoskeleton servomechanism a3 is connected to waist worn mechanism a2;
Described control driver element a4, computer a5 and power module a6 are individually fixed in the back panel of waist worn mechanism;
Described computer a5 drives both arms a1 control connection by control driver element a4 and seven freedom rope;
Described Autonomous Control module and computer a5 data cube computation;
Described Autonomous Control module comprise following any one or appoint multiple parts:
-Intelligent bracelet a7;
-myoelectricity gathers array a8;
-brain-computer interface module a9.
2. the wearable function auxiliary mechanical arm of waist according to claim 1, it is characterized in that, described seven freedom rope drives both arms a1 and is provided with shoulder joint, elbow joint and carpal joint, described shoulder joint has three degree of freedom, described elbow joint and carpal joint have two degree of freedom respectively, wherein, the one degree of freedom of shoulder joint is arranged on waist worn mechanism a2, and two degree of freedom and carpal two degree of freedom of second degree of freedom of shoulder joint and three degree of freedom, elbow joint all adopt modularity two-freedom differential joint structure to realize; Described shoulder joint, elbow joint and carpal joint drive respectively by drive motors, and described drive motors is arranged on waist worn mechanism a2.
3. the wearable function auxiliary mechanical arm of waist according to claim 2, it is characterized in that, described modularity two-freedom differential joint structure comprises the first drive mechanism b1, the second drive mechanism b2, the 3rd drive mechanism b3, the first pulley and the second pulley, and modularity two-freedom differential joint structure to be coupled with the 3rd drive mechanism b3 by the differential gearing of the first drive mechanism b1 and the second drive mechanism b2 and to realize pitching and turn round two-freedom moving; Modularity two-freedom differential joint structure is by the first pulley b4 of being connected with the first drive mechanism b1 and complete the transmission of power with the second pulley b5 that the second drive mechanism b2 is connected.
4. the wearable function auxiliary mechanical arm of waist according to claim 2, is characterized in that, described shoulder joint is fixed with passive type gravity compensation, and is arranged between the first degree of freedom c6 of shoulder joint and the second degree of freedom c3; Described passive type gravity compensation by connecting a support spring c1 between the pin joint c4 and the pin joint c5 of the second degree of freedom c3 of the first degree of freedom c6, by the flexible realization of support spring c1, seven freedom rope is driven to the supporting role of both arms, compensate action of gravity.
5. the wearable function auxiliary mechanical arm of waist according to claim 2, is characterized in that, described seven freedom rope drives both arms a1, has the type of drive that connects up as follows:
First joint j1, second joint j2, 3rd joint j3 and the 4th joint j4 forms shoulder joint, first joint j1 of the first drive motors m1 Direct driver shoulder joint, second joint j2, the modularity two-freedom differential joint structure that 3rd joint j3 and the 4th joint j4 forms realizes shoulder joint pitching and gyration, second joint j2 and the 3rd joint j3 drives respectively by the first pulley g2 and the second pulley g3, rope is driven to be connected with the first pulley block mechanism t1 and the second pulley block mechanism t2 respectively by the first excessive pulley g1, first pulley block mechanism t1 and the second pulley block mechanism t2 is connected to the second drive motors m2 and the 3rd drive motors m3 respectively,
5th joint j5, the 6th joint j6 and the 7th joint j7 form elbow joint, 6th joint j6 and the 7th joint j7 drives by being connected in the 3rd pulley g5 on the 6th joint j6 and the 7th joint j7 and the 4th pulley g6 respectively, the driving rope of the 3rd pulley g5 and the 4th pulley g6 by the second transition pulley g4 and through the transition of the first excessive pulley g1 and the first pulley g2 around to driving the 3rd pulley block mechanism t4 and the 4th pulley block mechanism t5, then through the 3rd pulley block mechanism t4 and the 4th pulley block mechanism t5 around to four-wheel drive motor m4 and and the 5th drive motors m5;
First rotating mechanism j8, second rotating mechanism j9 and the 3rd rotating mechanism j10 forms carpal joint, first rotating mechanism j8 and the second rotating mechanism j9 drives respectively by the 5th pulley g9 and the 6th pulley g10, the wiring of the 5th pulley g9 and the 6th pulley g10 is by the 3rd excessive pulley g8 and respectively through the 3rd pulley g5, second excessive pulley g4, second pulley g3 and first excessively pulley g1 transits to the 4th pulley block mechanism t5 and the 5th pulley block mechanism t6, again through the 5th pulley block mechanism t5 and the 6th pulley block mechanism t6 around to the 6th drive motors m6 and the 7th drive motors m7,
Described seven freedom rope drives both arms a1, and the torgue measurement method of its joint is:
Drive on rope and be connected with the first spring and the second spring, drive rope by pedestal and pulley drive link motion, and the elongation of the first spring and the second spring is measured by potentiometer or foil gauge, obtain the moment of joint according to Hooke theorem, joint position is obtained by motor code-disc.
6. the wearable function auxiliary mechanical arm of waist according to claim 1, it is characterized in that, described waist worn mechanism a2 is provided with and dresses interface, mechanical arm mounting interface with human body waist self adaptation, control driver element interface, computer interface, power interface and lower limb passive type ectoskeleton power-assisted mounting interface; Wherein:
Described seven freedom rope drives both arms a1 and is installed on mechanical arm mounting interface place;
Described control driver element, computer and power module are installed on respectively and control driver element interface, computer interface and power interface place;
Described passive type lower limb exoskeleton servomechanism is installed on lower limb passive type ectoskeleton power-assisted mounting interface place.
7. the wearable function auxiliary mechanical arm of waist according to claim 1, it is characterized in that, described passive type lower limb exoskeleton servomechanism a3 comprises the first connection ball-joint, leg retaining collar, thigh joint link lever, calf joint connecting rod, foot dresses mechanism and second and connects ball-joint, wherein, described first connects ball-joint is connected with waist worn mechanism a2, described leg retaining collar, thigh joint link lever, calf joint connecting rod and foot dress mechanism and are connected successively from top to bottom, described calf joint connecting rod and foot dress between mechanism and are connected ball-joint connect by second, described calf joint connecting rod place is provided with leg and dresses mechanism,
Described waist worn mechanism attitude changes along with the change of human body stance, passive type lower limb exoskeleton servomechanism connects ball-joint Automatic adjusument lower limb according to first and connects attitude, and then the gravity of the power and waist worn mechanism a2 self generation of seven freedom rope being driven both arms a1 generation conducts to ground by passive type lower limb exoskeleton servomechanism, less human body bears a heavy burden.
8. the wearable function auxiliary mechanical arm of waist according to claim 7, it is characterized in that, described leg is dressed mechanism and is comprised the calf joint connecting rod interface dressed body and be arranged on wearing body, and described electromyographic signal array is arranged at the inner side of dressing body; Wherein:
Described calf joint connecting rod is arranged on calf joint connecting rod seam;
Described electromyographic signal array, for detecting shank active state, realizes the control of seven freedom rope being driven to both arms by the active state of calf; Meanwhile, described foot dresses mechanism and shares the self gravitation that seven freedom rope drives environmental forces that both arms receive and the wearable function auxiliary mechanical arm of waist, plays Stabilization to physical activity attitude;
Described electromyographic signal array is worn on user shank gastrocnemius skin surface, by identifying the calf electromyographic signal of user and then identifying that the foot action of user is to be reached through foot motion to drive both arms end direction controlling to seven freedom rope.
9. the wearable function auxiliary mechanical arm of waist according to claim 1, it is characterized in that, described Intelligent bracelet is worn on the wrist of user, by controlling the Intelligent bracelet control model in driver element, be applied to and there is arm motion dysfunction but the crowd that can complete small motion, the inner side of described Intelligent bracelet is provided with three axis accelerometer and three-axis gyroscope for detecting the motion intention of user, and then realizes the control of seven freedom rope being driven to both arms motion;
Described brain-computer interface module is worn on the head of user, by controlling the brain-computer interface control model in driver element, be applied to the disability colony of arm motion afunction, electrode position inside described brain-computer interface module is provided with the electroencephalograpcap cap that international 10-20 point-score is arranged, described EEG signals is gathered by electroencephalograpcap cap.
10. the wearable function auxiliary mechanical arm of waist according to claim 1, is characterized in that, described control driver element, comprises mechanical arm movement controller c1, brain-computer interface controller c2, myoelectricity controller c3 and Intelligent bracelet control c4; Wherein, the drive motors of described mechanical arm movement controller c1 for driving seven freedom rope to drive both arms joint, described brain-computer interface controller c2 is for performing EEG Processing and direction controlling, and described myoelectricity controller c3 and Intelligent bracelet controller are respectively used to electromyographic signal process and action recognition.
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| CN105919779A (en) * | 2016-06-21 | 2016-09-07 | 张翔宇 | Semi-automatic cooperative skeleton machine |
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| CN109592084A (en) * | 2018-12-29 | 2019-04-09 | 电子科技大学 | The device of personnel's load test is dressed under a kind of simulation low-gravity environment |
| CN109590991A (en) * | 2018-12-29 | 2019-04-09 | 中国科学院深圳先进技术研究院 | Exoskeleton robot |
| CN109760021A (en) * | 2019-02-26 | 2019-05-17 | 广州海同工业技术有限公司 | A kind of wearable upper limb assistance exoskeleton |
| CN110385698A (en) * | 2019-07-30 | 2019-10-29 | 北京机械设备研究所 | A kind of motor-driven four-degree-of-freedom upper limb exoskeleton device |
| CN111805574A (en) * | 2020-05-25 | 2020-10-23 | 南京航空航天大学 | Wearable rope-driven mechanical arm system |
| CN111660284A (en) * | 2020-06-16 | 2020-09-15 | 南京航空航天大学 | Wearable cooperation robot with auxiliary stay function |
| CN113276091A (en) * | 2021-04-26 | 2021-08-20 | 南京航空航天大学 | Foldable outer limb robot |
| CN113084784A (en) * | 2021-04-26 | 2021-07-09 | 南京航空航天大学 | Wearable external limb robot assisting in operation on top of head |
| CN113634702A (en) * | 2021-10-12 | 2021-11-12 | 徐州达一重锻科技有限公司 | Clamping device with good centering effect |
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