CN104825257B - The wearable function auxiliary mechanical arm of waist - Google Patents
The wearable function auxiliary mechanical arm of waist Download PDFInfo
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- CN104825257B CN104825257B CN201510130861.6A CN201510130861A CN104825257B CN 104825257 B CN104825257 B CN 104825257B CN 201510130861 A CN201510130861 A CN 201510130861A CN 104825257 B CN104825257 B CN 104825257B
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Abstract
The invention provides a kind of wearable function auxiliary mechanical arm of waist, wherein：The seven freedom rope drives both arms and is fixed in waist worn mechanism；The passive type lower limb exoskeleton servomechanism is connected to waist worn mechanism；The control driver element, computer and power module are individually fixed in the back panel of waist worn mechanism；The computer controls to be connected by controlling driver element and seven freedom rope to drive both arms；The autonomous control module is connected with computer data.The present invention can be used for people's bimanual work and meanwhile need assist when operating environment, effectively reduce user labour intensity, improve operating efficiency；Weak the elderly etc. can be helped, strengthens their heavy burden ability, increase movement range and power; complete originally relatively difficult heavy burden task; can also be used for assisting disabled person to complete daily necessary hand task, improve their autonomous viability, their protections to privacy are increased to a certain extent.
Description
Technical field
The present invention relates to can load-bearing collaborative wearable mechanical arm technical field, it is specifically a kind of using myoelectricity letter
Number, Intelligent bracelet, the wearable function auxiliary mechanical arms of waist of three kinds of control models of brain-computer interface control, it is adaptable to it is healthy and residual
Various crowds such as disease, effectively assist wearer's daily life and work.
Background technology
With service trade in the last few years, the relevant industries such as manufacturing industry will to the higher of technical ability and efficiency proposition of robot
Ask, and robot technology development with rapid changepl. never-ending changes and improvements so that people have stronger demand to go to explore more effective robot technology
To meet every demand of people.But the increase of robot performance improvement in itself and function, under the conditions of current technology,
Also it is not enough on the basis of the intention for understanding people, goes independently to complete each task, contributor completes the requirement of work.Therefore energy
The technologies such as positioning, the power-assisted being enough seamlessly connected in the intelligence and robot technology of people have practical significance.
The most of production and living activity of people of the Job execution of the arm of people, for Healthy People, the activity of arm exists
The demand of work and life can in most cases be met, but in some cases, only the function by both hands is inadequate, is gone back
Needs temporarily put down the work in hand or require the assistance of other people, and such as both hands are born weight needs enabling simultaneously or both hands and needed
Want the position of setting tool and need fetching parts etc. simultaneously.If determining multitask according to task priority or requirement
Sequence is accepted or rejected, then inevitably reduce efficiency, therefore, increase and the function of both hands arm is supported in following work and life
Will be played an important role in work.For normally functioning user, can many arms coordinate to complete some both arms cannot be complete
Into task, such as be infectious or contaminative occasion, the arm of people goes the directly contact article may to human body itself
Certain harm is brought, and the mechanical arm of Wearable can well substitute this generic task.In addition can also play and share human body certainly
The effect of the operating pressure of skill arm.And for arm function obstacle, it is wearable to help for the impaired people of motor function
It is daily required that power mechanical arm can well assist it to complete, and wearable mechanical arm is appreciated that their motion intention, completes
Originally for they have any problem complete task.For the disabled person especially user of amputation, more it is the need for
Substitute come help they complete some it is daily needed for hand motions, such as open the door, take thing, or even brush teeth, wear the clothes, shopping etc..
So that they need not can just complete the necessary motion of some daily lifes in the case where someone helps, also can preferably protect theirs
Privacy, improves their stand-alone capability, improves their quality of the life.
Find by prior art documents：
China Patent Publication No. CN 102846450A, it is entitled：The lumbar support part of exoskeleton robot and outer
Bone robot.The technology mainly provides recovery set for lower limbs and waist active supporting piece, and the device can play leg and help
Power and the function of support waist activity, but it is inadequate only to provide lower limb power-assisted, lacks necessary bodily fuctions' expansion etc. auxiliary
Mechanism is helped, is unfavorable for expanding the movable function of people, it is impossible to meet diversified user's request.
China Patent Publication No., CN 102793595A are entitled：Wearable heavy material handling power-assisted is bionical
Ectoskeleton.The design uses human limb power-assisted, using hydraulic pressure and motor combination drive, is applied to heavy material handling power-assisted,
Save physical efficiency.But such ectoskeleton needs four limbs to dress, thus can take people four limbs activity, the especially activity of upper limbs,
It is only four limbs and power-assisted support is provided, but assistant can not be provided support, contributor completes increasingly complex man-machine coordination task.
The content of the invention
The present invention is directed to above shortcomings in the prior art, by power-assisting robot and robot arm autonomic function
Technological incorporation is got up, it is proposed that a kind of wearable function auxiliary mechanical arm of waist, and the present invention expands human body limb function, to complete
Need multi-arm to assist could completing for task into some, while solving the motor function supplement of the limited people of motor function, change
It is apt to its quality of the life.
To achieve the above object, the present invention is achieved by the following technical solutions.
A kind of wearable function auxiliary mechanical arm of waist, it is characterised in that drive both arms a1, waist including seven freedom rope and wear
Wear mechanism a2, passive type lower limb exoskeleton servomechanism a3, control driver element a4, computer a5, power module a6 and from
Main control module；Wherein：
The seven freedom rope drives both arms a1 and is fixed on waist worn mechanism a2；
The passive type lower limb exoskeleton servomechanism a3 is connected to waist worn mechanism a2；
The control driver element a4, computer a5 and power module a6 are individually fixed in the back of waist worn mechanism
On panel；
The computer a5 controls to be connected by controlling driver element a4 to drive both arms a1 with seven freedom rope；
The autonomous control module and computer a5 data cube computations；
The autonomous control module include it is following any one or appoint multiple parts：
- Intelligent bracelet a9；
- electromyographic signal array a8；
- brain-computer interface module a7.
Preferably, the seven freedom rope drives both arms a1 and is provided with shoulder joint, elbow joint and wrist joint, and the shoulder joint has
Three degree of freedom, the elbow joint and wrist joint have two frees degree respectively, wherein, the one degree of freedom of shoulder joint is set
In on waist worn mechanism a2, second free degree and three degree of freedom of shoulder joint, two frees degree of elbow joint and
Carpal two frees degree are realized using modularization two-freedom differential joint structure；The shoulder joint, elbow joint and wrist
Joint is driven by motor respectively, and the motor is arranged on waist worn mechanism a2.
Preferably, the modularization two-freedom differential joint structure includes the first transmission mechanism b1, the second transmission mechanism
B2, the 3rd transmission mechanism b3, first pulley and second pulley, modularization two-freedom differential joint structure pass through the first driver
The differential gearing of structure b1 and the second transmission mechanism b2 is coupled with the 3rd transmission mechanism b3 realizes pitching and revolution two-freedom motion；
Modularization two-freedom differential joint structure by with the first transmission mechanism b1 be connected first pulley b4 and with the second driver
Structure b2 connected second pulley b5 completes the transmission of power.
Preferably, passive type gravity compensation is fixed with the shoulder joint, and is arranged at the first freedom of shoulder joint
Between degree c6 and the second free degree c3；The passive type gravity compensation is by the pin joint c4 in the first free degree c6 and
A support spring c1 is connected between the pin joint c5 of two degrees of freedom c3, by the flexible realization of support spring c1 to seven freedom rope
The supporting role of both arms is driven, Action of Gravity Field is compensated.
Preferably, the seven freedom rope drives both arms a1, with following wiring type of drive：
First joint j1, second joint j2, the 3rd joint j3 and the 4th joint j4 form shoulder joint, the first motor m1
The first joint j1 of shoulder joint is directly driven, the modularization two that second joint j2, the 3rd joint j3 and the 4th joint j4 are constituted is certainly
Shoulder joint pitching and gyration are realized by degree differential joint structure, second joint j2 and the 3rd joint j3 is slided by first respectively
Wheel g2 and second pulley g3 drive, drive rope by the first excessive pulley g1 respectively with first pulley group mechanism t1 and second pulley
Group mechanism t2 connections, first pulley group mechanism t1 and second pulley group mechanism t2 are respectively connecting to the second motor m2 and the 3rd
Motor m3；
5th joint j5, the 6th joint j6 and the 7th joint j7 form elbow joint, and the 6th joint j6 and the 7th joint j7 leads to
The 3rd pulley g5 that is connected in respectively on the 6th joint j6 and the 7th joint j7 and the 4th pulley g6 is crossed to drive, the 3rd pulley g5 and
4th pulley g6 driving rope by the second transition pulley g4 and by the first excessive pulley g1 and first pulley g2 transition around
To driving the 3rd pulley block mechanism t4 and the 4th pulley block mechanism t5, then by the 3rd pulley block mechanism t4 and the 4th assembly pulley machine
Structure t5 around to the 4th motor m4 and with the 5th motor m5；
First rotating mechanism j8, the second rotating mechanism j9 and the 3rd rotating mechanism j10 form wrist joint, the first rotating mechanism
J8 and the second rotating mechanism j9 are driven by the 5th pulley g9 and the 6th pulley g10 respectively, the 5th pulley g9 and the 6th pulley g10
Wiring by the 3rd excessive pulley g8 and respectively through the 3rd pulley g5, the second excessive pulley g4, second pulley g3 and first
Excessive pulley g1 transits to the 4th pulley block mechanism t5 and the 5th pulley block mechanism t6, then by the 5th pulley block mechanism t5 and the
Six pulley block mechanism t6 are around to the 6th motor m6 and the 7th motor m7；
The seven freedom rope drives both arms a1, and the torgue measurement method of its joint is：
Drive and the first spring and second spring are connected with rope, drive rope by pedestal and pulley drive link motion, and lead to
Overpotential meter or foil gauge measure the elongation of the first spring and second spring, and the torque of joint is obtained according to Hooke theorem,
Joint position is obtained by motor code-disc.
Preferably, the waist worn mechanism a2 be provided with human body waist self adaptation wearing interface, mechanical arm mounting interface,
Control driver element interface, computer interface, power interface and lower limb passive type ectoskeleton power-assisted mounting interface；Wherein：
The seven freedom rope drives both arms a1 and is installed at mechanical arm mounting interface；
The control driver element, computer and power module are respectively arranged in control driver element interface, computer
At interface and power interface；
The passive type lower limb exoskeleton servomechanism is installed at lower limb passive type ectoskeleton power-assisted mounting interface.
Preferably, the passive type lower limb exoskeleton servomechanism a3 include first connection ball-joint, leg retaining collar,
Thigh joint link lever, calf joint connecting rod, wearing mechanism of foot and the second connection ball-joint, wherein, first connected ball
Joint is connected with waist worn mechanism a2, the leg retaining collar, thigh joint link lever, calf joint connecting rod and foot wearing
Mechanism is sequentially connected from top to bottom, is connected by the second connection ball-joint between the calf joint connecting rod and wearing mechanism of foot
Connect, leg wearing mechanism is provided with the calf joint connecting rod；
Waist worn mechanism attitude changes, passive type lower limb exoskeleton servomechanism with the change of human body stance
According to the first connection ball-joint Automatic adjusument lower limb connection attitude, and then seven freedom rope is driven into power and the waist that both arms a1 is produced
The gravity that portion wearing mechanism a2 itself is produced is conducted to ground by passive type lower limb exoskeleton servomechanism, and less human body is born
Weight.
Preferably, the calf joint connecting rod that the leg wearing mechanism includes wearing body and is arranged on wearing body
Interface, the electromyographic signal array is arranged at the inner side of wearing body；Wherein：
The calf joint connecting rod is arranged on calf joint connecting rod interface；
The electromyographic signal array is used to detect shank active state, is realized to seven freely by the active state of calf
Degree rope drives the control of both arms；Meanwhile, foot's wearing mechanism shares seven freedom rope and drives environmental forces and waist that both arms are received
The self gravitation of wearable function auxiliary mechanical arm, stabilization is played to physical activity attitude；
The electromyographic signal array is worn on user's shank gastrocnemius skin surface, by the calf for recognizing user
The foot action of electromyographic signal and then identification user drives the side of both arms end to reach by foot motion to seven freedom rope
To control.
Preferably, the Intelligent bracelet is worn on the wrist of user, by controlling the Intelligent bracelet control in driver element
Molding formula, is applied to arm motion dysfunction but can complete the crowd of small motion, the inner side of the Intelligent bracelet
Being provided with three axis accelerometer and three-axis gyroscope is used to detect the motion intention of user, and then realizes driving double to seven freedom rope
The control of arm motion；
The brain-computer interface module is worn on the head of user, and mould is controlled by controlling the brain-computer interface in driver element
Formula, is applied to the disability colony of arm motion function forfeiture, and the electrode position on the inside of the brain-computer interface module is provided with the world
The electroencephalograpcap cap of 10-20 point-scores arrangement, the EEG signals are gathered by electroencephalograpcap cap；
The international 10-20 point-scores are specially：Clinical neurophysiology international federation is sent out in phase late 1950s
The perfect internationally recognized scalp electrode position distribution method of exhibition.
Preferably, the control driver element, including mechanical arm movement controller, brain-computer interface controller, myoelectricity control
Device and Intelligent bracelet are controlled；Wherein, the mechanical arm movement controller is used for the driving for driving seven freedom rope to drive both arms joint
Motor, the brain-computer interface controller is used to perform EEG Processing and direction controlling, the myoelectricity controller and intelligent hand
Ring controller is respectively used to electromyographic signal treatment and action recognition.
The wearable function auxiliary mechanical arm of waist that the present invention is provided, including seven freedom rope drives both arms and waist worn
Mechanism, control driver element etc..Wherein seven freedom rope drives mechanical arm and is provided with Three Degree Of Freedom shoulder joint, 2DOF elbow joint group
Modularization two-freedom differential joint structure is all used into 2DOF wrist joint, 2DOF elbow joint and wrist joint.Control
Driver element is placed in waist, and weight is carried by passive type lower limb exoskeleton boosting mechanism.Mechanical arm is equipped with 3 kinds of control models and is available for
Different user is selected, and is respectively (i) electromyographic signal control model, can be used for the sound wearer of motor function using calf
Electromyographic signal controls Aided Machine to assist operation with foot simultaneously come the foot motion that recognizes in both hands operation process；
(ii) Intelligent bracelet pattern, it is adaptable to the weak wearer of arm motion function, such as the elderly, patient, is slightly transported using arm
Fortune is realized in acceleration and corresponding angular velocity signal the operation auxiliary mechanical arm operation for moving three directions produced in three dimensions
It is dynamic to be intended to；(iii) brain-computer interface control model, it is adaptable to which the impaired individuals with disabilities of motor function is controlled auxiliary using brain signal
Mechanical arm is helped to help it to complete appointed task.
Compared with prior art, the present invention has the advantages that：
1st, mechanical arm is driven using rope in the present invention, significantly reduces the weight of basic machine, increased the soft of mechanical arm
Property and the security of man-machine coordination.Shoulder joint is designed using passive type gravity compensation, has saved energy and mechanical arm power-off
The security of protection.
2nd, the external force driven mechanical arm generation and be subject to of being restricted in the present invention has lower limb passive type main force transfer mechanism to ground,
Alleviate human body heavy burden.Because mechanical arm and human body do not have physical coupling, thus the autonomous working of people and mechanical arm can be realized
And work compound.
3rd, the control model of mechanical arm is various in the present invention, mainly there is electromyographic signal control model, Intelligent bracelet control mould
Formula and brain-computer interface control model.And wherein electromyographic signal control model is accurate and easily gathers, hand wears Intelligent bracelet so that
Control mode meets the feature of human motion, is easy to user's intuitively control machinery arm, and brain-computer interface control model has easy
Training and reliable characteristic.
4th, the control model based on electromyographic signal identification foot action can need volume with partner when both hands work simultaneously
Outer assistance operation, Intelligent bracelet control model can amplify the small motion of user, be mitigated the operation intensity of wearer.
Brain-computer interface control model can be used to assist disabled person to complete the normal ADL that it cannot independently be realized, can significantly make
User's both arms technical performance is obtained to be expanded or enable that disabled person completes normal life activity and assisted.
5th, the present invention can be used for people's bimanual work and meanwhile need assistance when operating environment, be effectively reduced the work of user
Intensity, improves operating efficiency；Weak the elderly etc. can be helped, strengthens their heavy burden ability, increase movement range and power, it is complete
Into originally relatively difficult heavy burden task, it can also be used to assist disabled person to complete daily necessary hand task, improve theirs
Autonomous viability, increases their protections to privacy to a certain extent.
Brief description of the drawings
The detailed description made to non-limiting example with reference to the following drawings by reading, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is that human body dresses overall structure figure, 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 drives mechanical arm winding structure figure for rope；
Fig. 6 is waist worn mechanism, wherein, (a) is top view, and (b) is upward view, and (c) is front view, and (d) is solid
Figure；
Fig. 7 is overall wearing boosting mechanism figure, wherein, (a) is front view, and (b) is top view, and (c) is side view, (d)
It is stereogram；
Fig. 8 is joint drive and joint moment measuring principle figure；
Fig. 9 is that mechanical arm tail end is adapted to flange；
Figure 10 is wearable booster type mechanical arm control model figure；
Figure 11 is electromyographic signal handling principle figure；
Figure 12 wears schematic diagram for bracelet；
Figure 13 is bracelet gathered data schematic diagram；
Figure 14 is brain electric control schematic diagram；
Figure 15 is controller general function figure.
Specific embodiment
Embodiments of the invention are elaborated below：The present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed implementation method and specific operating process.It should be pointed out that to one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Shield scope.
Embodiment
A kind of wearable function auxiliary mechanical arm of waist is present embodiments provided, it includes that seven freedom rope drives 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, the autonomous control module include Intelligent bracelet a7, electromyographic signal array a8 and/or brain-computer interface
Module a7.Wherein, seven freedom rope drives both arms a1 and is fixed on waist worn mechanism a2, passive type lower limb exoskeleton servomechanism
A3 connection waist worns mechanism, mechanical arm control driver element a4, computer a5 and power module a6 are fixed on waist worn machine
In the back panel of structure.
Described seven freedom rope drives both arms a1 includes that two mechanical mechanism design identical ropes drive arm, wherein, each
Rope drives the free degree distribution of arm as shown in Fig. 2 i.e. shoulder joint has 3 frees degree, and elbow joint has 2 frees degree, and wrist joint has 2
The individual free degree.In addition to the joint of wearing mechanism is fixed on, remaining 6 joint uses modularization two-freedom differential joint structure,
And drive the motor of each free degree to be placed in wearing mechanism, reduce motor weight, increased the flexible of manipulator motion and
Fast-response and security.
Further, described modularization two-freedom differential joint structure, as shown in figure 3, by transmission mechanism b1 and
The 2DOF motion of pitching and revolution is realized in the differential gearing of b2 and transmission mechanism b3 couplings.Its power passes through difference
The pulley b4 being connected with transmission mechanism b1 and the pulley b5 being connected with transmission mechanism b2 are completed.
Shoulder joint according to claim 2, is fixed with passive type gravity compensation, as shown in Figure 4 thereon.In shoulder
Between joint c6 and c3, support spring c1 is connected by the pin joint c5 of the pin joint c4 and c3 of c6, by support spring c1's
The flexible supporting role realized to mechanical arm c2, compensates part Action of Gravity Field, saves energy and security.
Described seven freedom rope drives both arms a1, and its wiring type of drive is as shown in figure 5, driver m1 direct drive shoulder joints
Shoulder joint pitching and gyration are realized in section j1, joint j2, j3, j4 comprising modules joint, and j2, j3 are respectively by pulley g2 and g3
Drive, drive rope to be connected with pulley block mechanism t1 and t2 by excessive pulley g1, then there is t1 and t2 to be connected to drive motor units
M2 and m3.In elbow joint, j5, j6, j7 constitutes elbow joint mechanism, and j6 and j7 is driven by the pulley g5 and g6 being connected thereon,
The driving rope of g5 and g6 by transition tension pulley block mechanism g4 and by g1 and g2 transition around to driving pulley group t4 and t5,
By t4 and t5 around to drive motor units m4 and m5.In wrist joint, rotating mechanism j8, j9 and j10 constitute wrist joint mechanism,
Rotating mechanism j8 and j9 are driven by g9 and g10, and wiring is by transition tension pulley block mechanism g8 and by g5, the mistake of g4, g3, g1
Cross to driving pulley group t5 and t6, then by t5 and t6 around to electric-motor drive unit m6 and m7.
Further, described seven freedom rope drives both arms, and its joint moment measuring principle as shown in Figure 10, drives rope v3
On be connected with the motion of spring V2 and v6, V3 by pedestal v1 and pulley v4 drive links v5, measured by potentiometer or foil gauge
The elongation of spring, the torque at cradle head can be obtained according to Hooke theorem, and joint position is obtained by motor code-disc.
Described waist worn mechanism a2, is provided with and dresses interface e29 with human body waist self adaptation, and driving pulley group unit connects
Mouth e3-e14, electric-motor drive unit interface e17-e28 and motor support base e15 and e16, seven freedom rope drive 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, consisting of the ball-joint h1 being connected with waist worn mechanism
And h2, leg retaining collar h3 and h4, thigh joint link lever h5 and h6, calf joint connecting rod h7 and h8, foot wearing mechanism h9
And h10, shank link mechanism and wearing mechanism of foot connect ball-joint h11.Waist worn mechanism attitude is with the stance of people
Change and change, lower limb servomechanism can be according to connection ball-joint h1 and h2 Automatic adjusument lower limb connection attitude, so that machine
The gravity that the power and wearing mechanism itself that tool arm is produced are produced is conducted to ground by servomechanism, and less human body bears a heavy burden.Shank
Leg wearing mechanism is provided with joint link lever h7 and h8.
Described leg wearing mechanism, be provided with calf joint connecting rod interface k1, electromyographic signal array interface k2, k3, k4 and
Wearing body is constituted, wherein, electromyographic signal array interface k2, k3, k4 are located at the inner side of wearing body.Electromyographic signal array is set
In electromyographic signal array interface k2, k3, at k4, for detecting shank active state, realize wearing by each state of calf
The control of mechanical arm is worn, human intervention is reduced.Foot's wearing mechanism shares the environmental forces and whole wearing that mechanical arm is received simultaneously
The self gravitation of mechanism, while each attitude plays stabilization to human body.
Described electromyographic signal array, by recognizing that the attitude of shank of user has been reached to the control on mechanical arm direction
System；Intelligent bracelet in described control model, is applied to Intelligent bracelet control model, is mainly directed towards hand muscle afunction
Crowd, by the three axis accelerometer and three-axis gyroscope that are placed in bracelet, complete the control to manipulator motion；Described brain
Machine interface, is applied to brain-computer interface control model, is mainly directed towards the weak tendency of the hand muscle afunction such as elderly and the disabled
Colony, control machinery arm completes motion by way of brain electric control.
Figure 10 is system block diagram, and the mechanical arm of this implementation solid work has 3 kinds of control models to be available for user to select, and is respectively flesh
Electric signal controls control model, Intelligent bracelet control model and brain-computer interface control model：
-- electromyographic signal control model, recognize that the attitude of the shank of user has been reached to machinery by electromyographic signal array
Control on arm direction.The amplitude that will be measured according to electromyographic signal, compares the tension force of each articular muscle to judge that each is closed
Section motion intention direction, and the direction of motion is sent to speed control, according to direct kinematics, and the predeterminable end of user
End speed so that mechanical arm is moved in this direction.Flow charts of the Figure 12 to the estimation of power.Force signal can be by by high pass
The electromyographic signal of fatigue influence is dispelled after filtering to estimate.It is whole estimate flow as illustrated, electromyographic signal will be by high pass
Wave filter removes most of low frequency component, and non-linear relation formula is：
Wherein EMGLIt is the amplitude that electromyographic signal is measured, EMGNIt is the nonlinear normalization of electromyographic signal；ξ refers to for definition
The constant of number curvature.
-- Intelligent bracelet control model, the crowd of hand muscle afunction is mainly directed towards, by three axles being placed in bracelet
Accelerometer and three-axis gyroscope, complete the control to manipulator motion.
User will wear Intelligent bracelet in wrist, wherein the axle S accelerometers of built-in MEM tri- and three-axis gyroscope.Gyroscope
Sensitive axes as shown in figure 14, wherein, axayazIt is the linear acceleration of respective shaft, ωxωyωzIt is the angular speed of respective shaft, intelligence
Bracelet gathers 3-axis acceleration and angular velocity signal, and the attitude and the direction of motion for drawing hand are resolved by equation below：
Wherein b represents carrier coordinate system (Intelligent bracelet local coordinate system), and n represents mechanical arm base coordinate system,It is two
Direction cosine matrix between person, γ is inclination angle,It is course angle, θ is the angle of pitch.
The ratio force component that the accelerometer of strapdown system is measured is：
Wherein, fnIt is the ratio force component of base coordinate system, fbIt is the ratio force component of carrier coordinate system,It is along load
The ratio force component of each reference axis of body.
Thus effectively it is intended to direction of motion identification, then the direction of motion is sent to speed control, wearing control
Mechanical arm tail end is moved in the direction indicated with the predeterminable movement velocity of user.
-- brain-computer interface pattern, the disadvantaged group of the hand muscle afunction such as elderly and the disabled are mainly directed towards, lead to
The mode control machinery arm for crossing brain electric control completes motion.Described brain wave acquisition mode, the main method for using includes being based on
P300 Evoked ptentials, Steady State Visual Evoked Potential (SSVEP), the EEG feature extraction of Mental imagery and classification.Pass through
P300 or SSVEP brains electrical feature carries out the control on manipulator motion direction.Mechanical arm will represented on a user interface
All around cursor (the frequency in up and down motion direction：15Hz, 12Hz, 10Hz, 8.57Hz, 7.5Hz, 6.67Hz) and represent machinery
ON, OFF icon (frequency of clamp switch：60Hz, 30Hz) on line flicker is entered with different frequency.For example when user concentrates
When energy watches the square for representing forward direction attentively, system will identify that manipulator motion direction for front direction, and mechanical arm is existed
Moved with the speed of user preset in front direction.Afterwards, left and right, upper and lower to the switch with mechanical tong similarly.EEG signals lead to
The electroencephalograpcap cap collection that electrode position installs world 10-20 point-score arrangements is crossed, easy to wear, simple to operate, detection efficiency is high.
Three kinds of different control models to the present embodiment are more specifically described in detail below in conjunction with the accompanying drawings.
Electromyographic signal control model：
A kind of myoelectric signal collection apparatus, Figure 11 is described wearable myoelectric sensor array system block diagram, by root
The amplitude measured according to electromyographic signal, how this moves to judge each joint to compare the tension force of each articular muscle, and will fortune
Dynamic direction is sent to speed control, according to direct kinematics, and the predeterminable tip speed of user so that mechanical arm is in the party
Motion upwards.Flow charts of the Figure 12 to the estimation of power.Force signal can be estimated by electromyographic signal after filtering.Entirely estimate
Count flow as illustrated, electromyographic signal will remove most of low frequency component by high-pass filter, non-linear relation formula is：
Wherein EMGLIt is the amplitude that electromyographic signal is measured, EMGNIt is the nonlinear normalization of electromyographic signal.
Intelligent bracelet control model：
Figure 13 is the schematic diagram for wearing Intelligent bracelet, and 13-1 is a kind of Intelligent bracelet control device, and user will be in wrist
Intelligent bracelet is worn, wherein built-in 3 axis MEMS accelerometer and three axis MEMS gyro, the sensitive axes of gyroscope are as shown in figure 14.
axayazIt is the linear acceleration of respective shaft, ωxωyωzIt is the angular speed of respective shaft, Intelligent bracelet collection 3-axis acceleration and angle speed
Degree signal, using ripe inertial navigation technology, the attitude and the direction of motion of hand is drawn by resolving.Inertial navigation correlation skill
Art is as follows：
Wherein b represents carrier coordinate system (Intelligent bracelet local coordinate system), and n represents earth coordinates,For between the two
Direction cosine matrix.The ratio force component that the accelerometer of strapdown system is measured is
Thus carry out effective positioning and orientation calculating, then the direction of motion is sent to speed control, controller is by user
Motion intention, with the predeterminable tip speed of user so that mechanical arm is moved in this direction.
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, it is main to use
Method include be based on P300 Evoked ptentials, Steady State Visual Evoked Potential (SSVEP), the EEG feature extraction of Mental imagery
With classification.Control on manipulator motion direction is carried out by P300 or SSVEP brains electrical feature.On a user interface will be
Represent the square (frequency in mechanical arm all around up and down motion direction：15Hz,12Hz,10Hz,8.57Hz,7.5Hz,6.67Hz)
With ON, OFF icon (frequency for representing mechanical clamp switch：60Hz, 30Hz) on line flicker is entered with different frequency.For example when
User is stared at when representing square forward, and it is front direction that system will recognize the mechanical arm direction of motion, and makes mechanical arm in front
Moved with the speed of user preset upwards.Afterwards, left and right, upper and lower to the switch with mechanical tong similarly.
The present invention can be better realized as described above.
Above-described embodiment is better embodiment of the invention, but embodiments of the present invention are not by above-described embodiment
Limitation, others are any to should be equivalent substitute mode without departing from the change made under Spirit Essence of the invention and principle, all
Comprising within the scope of the present invention.
Claims (10)
1. the wearable function auxiliary mechanical arm of a kind of waist, it is characterised in that drive both arms (a1), waist including seven freedom rope and wear
Wear mechanism (a2), passive type lower limb exoskeleton servomechanism (a3), control driver element (a4), computer (a5), power module
And autonomous control module (a6)；Wherein：
The seven freedom rope drives both arms (a1) and is fixed in waist worn mechanism (a2)；
The passive type lower limb exoskeleton servomechanism (a3) is connected to waist worn mechanism (a2)；
Control driver element (a4), computer (a5) and power module (a6) are individually fixed in the back of the body of waist worn mechanism
On portion's panel；
The computer (a5) controls to be connected by controlling driver element (a4) and seven freedom rope to drive both arms (a1)；
The autonomous control module and computer (a5) data cube computation；
The autonomous control module include it is following any one or appoint multiple parts：
- Intelligent bracelet (a9)；
- electromyographic signal array (a8)；
- brain-computer interface module (a7).
2. the wearable function auxiliary mechanical arm of waist according to claim 1, it is characterised in that the seven freedom rope drives
Both arms (a1) are provided with shoulder joint, elbow joint and wrist joint, and the shoulder joint has three degree of freedom, the elbow joint and wrist joint
There are two frees degree respectively, wherein, the one degree of freedom of shoulder joint is arranged in waist worn mechanism (a2), shoulder joint
Second free degree and three degree of freedom, two frees degree of elbow joint and carpal two frees degree use module
Change two-freedom differential joint structure to realize；The shoulder joint, elbow joint and wrist joint are driven by motor respectively, described
Motor is arranged in waist worn mechanism (a2).
3. the wearable function auxiliary mechanical arm of waist according to claim 2, it is characterised in that the modularization two is freely
Degree differential joint structure includes the first transmission mechanism (b1), the second transmission mechanism (b2), the 3rd transmission mechanism (b3), first pulley
And second pulley, modularization two-freedom differential joint structure is by the first transmission mechanism (b1) and the second transmission mechanism (b2)
Differential gearing is coupled with the 3rd transmission mechanism (b3) realizes pitching and revolution two-freedom motion；The differential pass of modularization two-freedom
Nodule structure is by the first pulley (b4) connected with the first transmission mechanism (b1) and connected with the second transmission mechanism (b2) second
Pulley (b5) completes the transmission of power.
4. the wearable function auxiliary mechanical arm of waist according to claim 2, it is characterised in that be connected in the shoulder joint
There is passive type gravity compensation, and be arranged between first free degree (c6) of shoulder joint and second free degree (c3)；It is described
Passive type gravity compensation is by the pin joint (c4) and the pin joint of second free degree (c3) in first free degree (c6)
(c5) support spring (c1) is connected between, the support of both arms is driven to seven freedom rope by the flexible realization of support spring (c1)
Effect, compensates Action of Gravity Field.
5. the wearable function auxiliary mechanical arm of waist according to claim 2, it is characterised in that the seven freedom rope drives
Both arms (a1), with following wiring type of drive：
First joint (j1), second joint (j2), the 3rd joint (j3) and the 4th joint (j4) form shoulder joint, and first drives electricity
Machine (m1) directly drives first joint (j1) of shoulder joint, second joint (j2), the 3rd joint (j3) and the 4th joint (j4) group
Into modularization two-freedom differential joint structure realize shoulder joint pitching and gyration, second joint (j2) and the 3rd joint
(j3) driven by first pulley (g2) and second pulley (g3) respectively, drive rope to pass through the first excessive pulley (g1) respectively with the
One pulley block mechanism (t1) and second pulley group mechanism (t2) connection, first pulley group mechanism (t1) and second pulley group mechanism
(t2) the second motor (m2) and the 3rd motor (m3) are respectively connecting to；
5th joint (j5), the 6th joint (j6) and the 7th joint (j7) form elbow joint, the 6th joint (j6) and the 7th joint
(j7) driven by the 3rd pulley (g5) being respectively fixedly connected with the 6th joint (j6) and the 7th joint (j7) and the 4th pulley (g6)
Dynamic, the driving rope of the 3rd pulley (g5) and the 4th pulley (g6) is by the second transition pulley (g4) and by the first excessive pulley
(g1) and first pulley (g2) transition around to the 3rd pulley block mechanism (t4) and the 4th pulley block mechanism (t5) is driven, then pass through
3rd pulley block mechanism (t4) and the 4th pulley block mechanism (t5) around to the 4th motor (m4) and with the 5th motor
(m5)；
First rotating mechanism (j8), the second rotating mechanism (j9) and the 3rd rotating mechanism (j10) form wrist joint, the first rotating machine
Structure (j8) and the second rotating mechanism (j9) are driven by the 5th pulley (g9) and the 6th pulley (g10) respectively, the 5th pulley (g9)
Pass through the 3rd excessive pulley (g8) and respectively through the 3rd pulley (g5), the second excessive pulley with the wiring of the 6th pulley (g10)
(g4), second pulley (g3) and the first excessive pulley (g1) transit to the 4th pulley block mechanism (t5) and the 5th pulley block mechanism
(t6), then by the 5th pulley block mechanism (t5) and the 6th pulley block mechanism (t6) driven around to the 6th motor (m6) and the 7th
Dynamic motor (m7)；
The seven freedom rope drives both arms (a1), and the torgue measurement method of its joint is：
Drive and the first spring and second spring are connected with rope, drive rope by pedestal and pulley drive link motion, and by electricity
Position meter or foil gauge measure the elongation of the first spring and second spring, and the torque of joint, joint are obtained according to Hooke theorem
Position is obtained by motor code-disc.
6. the wearable function auxiliary mechanical arm of waist according to claim 1, it is characterised in that the waist worn mechanism
(a2) be provided with human body waist self adaptation wearing interface, mechanical arm mounting interface, control driver element interface, computer interface,
Power interface and lower limb passive type ectoskeleton power-assisted mounting interface；Wherein：
The seven freedom rope drives both arms (a1) and is installed at mechanical arm mounting interface；
The control driver element, computer and power module are respectively arranged in control driver element interface, computer interface
At power interface；
The passive type lower limb exoskeleton servomechanism is installed at lower limb passive type ectoskeleton power-assisted mounting interface.
7. the wearable function auxiliary mechanical arm of waist according to claim 1, it is characterised in that outside the passive type lower limb
Bone servomechanism (a3) includes the first connection ball-joint, leg retaining collar, thigh joint link lever, calf joint connecting rod, pin
Mechanism and the second connection ball-joint are dressed by portion, wherein, the first connection ball-joint is connected with waist worn mechanism (a2), institute
Wearing mechanism of leg retaining collar, thigh joint link lever, calf joint connecting rod and foot is stated to be sequentially connected from top to bottom, it is described small
Connected by the second connection ball-joint between leg joint connecting rod and wearing mechanism of foot, leg is provided with the calf joint connecting rod
Dress mechanism in portion；
Waist worn mechanism attitude changes with the change of human body stance, passive type lower limb exoskeleton servomechanism according to
First connection ball-joint Automatic adjusument lower limb connection attitude, and then seven freedom rope is driven into power and the waist that both arms (a1) are produced
The gravity that wearing mechanism (a2) is produced itself is conducted to ground by passive type lower limb exoskeleton servomechanism, and less human body is born
Weight.
8. the wearable function auxiliary mechanical arm of waist according to claim 7, it is characterised in that dress mechanism in the leg
Including wearing body and the calf joint connecting rod interface being arranged on wearing body, the electromyographic signal array is arranged at wearing
The inner side of body；Wherein：
The calf joint connecting rod is arranged on calf joint connecting rod interface；
Electromyographic signal array is used to detect shank active state, is realized driving double to seven freedom rope by the active state of calf
The control of arm；Meanwhile, foot's wearing mechanism shares seven freedom rope and drives environmental forces and the wearable work(of waist that both arms are received
The self gravitation of energy auxiliary mechanical arm, stabilization is played to physical activity attitude；
The electromyographic signal array is worn on user's shank gastrocnemius skin surface, by the calf myoelectricity for recognizing user
The foot action of signal and then identification user is controlled with reaching the direction that both arms end is driven to seven freedom rope by foot motion
System.
9. the wearable function auxiliary mechanical arm of waist according to claim 1, it is characterised in that the Intelligent bracelet wearing
In the wrist of user, by controlling the Intelligent bracelet control model in driver element, it is applied to hinder with arm motion function
Hinder but the crowd of small motion can be completed, three axis accelerometer and three-axis gyroscope are provided with the inside of the Intelligent bracelet to be used for
The motion intention of user is detected, and then realizes driving seven freedom rope the control of both arms motion；
The brain-computer interface module is worn on the head of user, by controlling the brain-computer interface control model in driver element,
The disability colony of arm motion function forfeiture is applied to, the electrode position on the inside of the brain-computer interface module is provided with international 10-
The electroencephalograpcap cap of 20 point-scores arrangement, EEG signals are gathered by electroencephalograpcap cap.
10. the wearable function auxiliary mechanical arm of waist according to claim 1, it is characterised in that the control drives single
Unit, including the control of mechanical arm movement controller, brain-computer interface controller, myoelectricity controller and Intelligent bracelet；Wherein, the machinery
Arm movement controller is used for the motor for driving seven freedom rope to drive both arms joint, and the brain-computer interface controller is used to perform
EEG Processing and direction controlling, the myoelectricity controller and Intelligent bracelet controller are respectively used to electromyographic signal treatment and move
Recognize.
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| CN201510130861.6A CN104825257B (en) | 2015-03-24 | 2015-03-24 | The wearable function auxiliary mechanical arm of waist |
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| CN201510130861.6A CN104825257B (en) | 2015-03-24 | 2015-03-24 | The wearable function auxiliary mechanical arm of waist |
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