CN104825258A - Shoulder-wearable functional auxiliary arm - Google Patents
Shoulder-wearable functional auxiliary arm Download PDFInfo
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- CN104825258A CN104825258A CN201510130862.0A CN201510130862A CN104825258A CN 104825258 A CN104825258 A CN 104825258A CN 201510130862 A CN201510130862 A CN 201510130862A CN 104825258 A CN104825258 A CN 104825258A
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Abstract
The present invention provides a shoulder-wearable functional auxiliary mechanical arm, comprising double seven-degree-of-freedom rope-driven arms, a shoulder wearing mechanism, a rope-driven motor unit module, a control drive unit, a power module, a vision sensor, a computer and an autonomous control unit. The rope-driven motor unit module is in transmission connection with the double seven-degree-of-freedom rope-driven arms by rope-driven mechanical arm shoulder joint passive bearing mechanisms; and the vision sensor and the autonomous control unit are respectively in data connection with the computer. According to the present invention, the problem that both hands of people need extra assistance during work is solved, labor intensity of people can be reduced, and work efficiency is improved. Patients with powerless arm muscles can be helped to add the basic living self-help ability of the patients The shoulder-wearable functional auxiliary mechanical arm can also be used for assisting the disabled, so that functions of residual parts of a body are sufficiently played, the possible maximal living self-help, labor and work abilities are achieved, and the foundation is laid for the disabled to return to the society.
Description
Technical field
The present invention relates to the wearable mechanical arm technical field of collaboration type, be specifically related to a kind of wearable function auxiliary mechanical arm of shoulder utilizing these three kinds of control models of data footmuff, smart handle, brain-computer interface to control, for auxiliary people's routine work or life.
Background technology
The development of robotics in the last few years makes to be no longer a dream for human body increases extra limbs realization " super ability ".By increasing wearable apery mechanical arm limbs, effectively can expand the tasks carrying function of people, strengthen production efficiency and the level of skill of people, make it independently tackle complex environment change or production task when not relying on many people and assisting, thus solve the situation of " two fist is defeated by four handss ".Thus wearable apery mechanical arm limbs will make machine person to person cooperation tightr, the intention can not understanding people in robot is very well also efficient in the face of complex environment, when variation user needs, the development of wearable robot will have actual application prospect.
Under normal circumstances, a people cannot complete independently a certain movable time, need to assist by other people or increase relevant power tool or task refinement is decomposed, realize item by item.Although these methods can complete predetermined activity indicators smoothly, recruitment cost is inevitably caused to increase, time, efforts etc.On the other hand, because people's demand is more and more diversified, faced by task and environment also can trend towards complexity, Personal Skills and conventional equipment can run into dissimilar challenge unavoidably, and robotics is flexible and the intelligent decision of people, the fusion that intelligence performs can make robot share part challenge, thus alleviates the answering pressure of people.Be different from traditional ectoskeleton power-assisting robot, wearable assistance mechanical arm not only power-assisted but also can complete independently operation, also can people and worked in coordination with more complicated task, to the technical ability and working performance that improve people, there is important practical to be worth, simultaneously then more meaningful in health care field, for the people of arm motion function, as apoplexy, amyotrophic patient etc., need succedaneum to help them and complete some daily required hand motions, them are made not need just can complete the necessary motion of some daily life under having people to help, as pouring, open the door, even shave, brush teeth, culinary art, shopping etc.Better protective effect can not only be played to their privacy like this, also can increase their self care ability.And some are had a bodily deformity, the mainly crowd of arm segment, needs succedaneum especially to make up the physical handicap of this part, and their quality of the life and stand-alone capability can be improved.The existing method by installing artifucial limb additional, because need to carry out customized for different people, adds cost, also can not large-scale production on technology realizes.Therefore, extra wearable mechanical arm can be used as substitute.
Find by prior art documents:
China Patent Publication No. CN 101357097 B, denomination of invention is: five-freedom degree dermaskeleton type upper limb rehabilitation robot.This technology mainly provides a kind of wearable upper limb healing device, and this device can play simple joint motion and three dimensions multi-joint compound motion, and provides simple, basic activities of daily life training.But this device portability is poor, is unfavorable for carrying, there is no integrated human body physical signalling in addition for man-machine coordination, control single.
China Patent Publication No. CN 102309393 A, denomination of invention is: dermaskeleton type upper limb rehabilitation robot, for training, recovers upper limb joint movable.This device just connects human body wrist and completes rehabilitation by virtual environment, but actual power-assisted or function can not be provided to strengthen function, thus limits its range of application.
Summary of the invention
The present invention is directed to above shortcomings in prior art, the intelligent decision of robot arm operation technique and people and intelligent n-back test are merged, provides the wearable function auxiliary mechanical arm of a kind of shoulder.The limbs physics that the object of the invention is to increase people is expanded and moves and n-back test, and then improves quality of the life and work efficiency, solves ectoskeleton restriction function of human body simultaneously and plays, can not carry out the problem that man-machine coordination completes complex task function very well.
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 shoulder, be worn on the shoulder of user, comprise seven freedom rope and drive both arms 1, shoulder wearing mechanism 2, restrict and drive group of motors module 3, control driver element 4, power module 5, vision sensor 7, computer 8 and main control unit; Wherein:
Described rope drives group of motors module 3 and drives mechanical arm shoulder joint passive type support mechanism 12 by rope and drive both arms 1 with seven freedom rope and be in transmission connection;
Described vision sensor 7 and main control unit respectively with computer 8 data cube computation;
Described computer 8 drives both arms 1 control connection by controlling driver element 4 with seven freedom rope;
Described power module drives group of motors module 3 respectively and controls driver element 4 circuit and is connected with rope;
Described seven freedom rope drives both arms 1, controls driver element 4, power module 5, vision sensor 7, computer 8 are separately fixed at shoulder and dress in mechanism 2;
Described main control unit comprise following any one or appoint multiple parts:
The wearable data footmuff 14 of-foot, is worn on the foot portion of user;
-smart handle module 15, is fixed on shoulder and dresses in mechanism 2;
-brain-computer interface module 16, is worn on the head of user.
Preferably, described seven freedom rope drives both arms and is provided with shoulder joint, elbow joint and carpal joint, and wherein, described shoulder joint comprises pitching, rotation, side-sway three degree of freedom, has been respectively used to pitching, rotation, side-sway motion; Described elbow joint comprises and bends and stretches, rotates two degree of freedom, has been respectively used to bend and stretch, rotary motion; Described carpal joint comprise bend and stretch, side-sway two degree of freedom, be respectively used to bend and stretch, side-sway motion; The pitching of described shoulder joint and side-sway degree of freedom, bending and stretching of elbow joint realize with rotary freedom and the carpal two-freedom modularity bevel type differential gear drive mechanism all driving group of motors module by rope with side-sway degree of freedom that bends and stretches.
Preferably, described shoulder dress mechanism comprise back panel 13 and be installed in back panel for the shoulder load-bearing band 10 dressed and lap belt 11; Described back panel 13 is provided with motor combination adaptable interface b1, mechanical arm installation fixed interface b2, vision sensor fixed support interface b3, computer mechanical connection bearing b4, control unit erection support b5, power supply erection support b6, rope drives winding interface b7, shoulder wearing regulates nylon tape interface b8, lap belt interface b9 and handle mounting interface b12; Wherein:
Described rope drives group of motors module 3 and is installed on motor combination adaptable interface b1 by motor combination support b10 and rope drives winding interface b7 place;
Described seven freedom rope drives both arms 1 and is installed on mechanical arm installation fixed interface b2 place;
Described vision sensor 7 is installed on vision sensor fixed support interface b3 place by vision sensor supporting seat 6;
Described brain-computer interface module 16 is installed on computer mechanical connection bearing b4 place;
Described control driver element 4 is installed on control unit erection support b5 place;
Described power module 5 is installed on power supply erection support b6 place;
Described shoulder load-bearing band 10 is fixed on shoulder dresses adjustment nylon tape interface b8 place;
Described lap belt 11 is fixed on lap belt interface b9 place;
Described smart handle module 15 is installed on handle mounting interface b12 place.
Preferably, the wearable data footmuff of described foot comprises the first toe sensor k1, the second toe sensor k2 and the 3rd toe sensor k3 that dress body and arrange and dress on body; Wherein, described wearing body is provided with the foot bottom pressure sensor unit for detecting foot force distribution, described first toe sensor k1, the second toe sensor k2 and the 3rd toe sensor k3 are respectively used to gather toe active state, form by the distributed intelligence of foot force and the case of bending information of toe the control that direction control signal realizes driving seven freedom rope both arms.
Preferably, the wearable data footmuff of described foot, by identifying user foot attitude, according to sole zones of different pressure differential, coordinates toe flexion attitude, identifies the order of user; The user foot attitude data of foot's wearable data footmuff is finally transferred to by wireless or bluetooth communication module and controls driver element and drive the side of both arms representated by the wearable data footmuff of foot move upward for controlling seven freedom rope.
Preferably, described smart handle module 15 is positioned at the sidepiece of user health, by controlling the smart handle control model in driver element, is applied to arm muscles dysfunction crowd, by the mode of remote manipulation, control the direction of motion that seven freedom rope drives both arms.
Preferably, described brain-computer interface module, by controlling the brain-computer interface control model in driver element, is applied to the crowd losing arm function, and by the mode of brain electric control, control seven freedom rope drives both arms and completes motion;
The electroencephalograpcap cap collection that described EEG signals is arranged by installing international 10-20 point-score at the electrode position of brain-computer interface module;
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 seven freedom rope and drives both arms movement controller c1, brain-computer interface controller c2, data footmuff controller c3, Visual servoing control device c4 and smart handle controller c5; Wherein, described seven freedom rope drives both arms movement controller c1 and drives both arms joint for driving seven freedom rope; Described brain-computer interface controller c2 is for performing brain electric control signal and direction controlling; Described data footmuff controller c3 is for performing myoelectricity control signal and the action recognition corresponding with foot wearable data footmuff sensing; Described smart handle controller c5 is used for the operation of joystick; Described Visual servoing control device c4 is for performing the visual spatial attention signal of vision sensor.
Preferably, described vision sensor has been used for automatic obstacle avoiding, when seven freedom rope drive the destination path of both arms and limb motion have a conflict time, seven freedom rope drives the information that both arms are gathered by vision sensor, finally transfers to control driver element and controls independently to avoid human body to reach the object of protection human body; Simultaneously, seven freedom Sheng Qu both arms mechanism also reaches set goal position by vision sensor, namely, need to keep a certain attitude when seven freedom rope drives both arms and occur barrier in visual range simultaneously, seven freedom rope drives the information that both arms are gathered by vision sensor, finally transfer to control driver element control seven freedom rope and drive both arms when keeping terminal position constant, complete Obstacle avoidance.
The wearable function auxiliary mechanical arm of shoulder provided by the invention, is worn on the shoulder of patient, is controlled, smart handle controls, brain-computer interface controls and Visual servoing control, realizes the motion that seven freedom rope drives both arms by data footmuff.Wherein seven freedom rope drive mechanical arm comprise Three Degree Of Freedom shoulder joint, 2DOF elbow joint become and 2DOF carpal joint, 2DOF joint all adopts modularity differential joint to form.In mechanical arm shoulder joint, place is equipped with passive type gravity compensation.The all driver elements of mechanical arm and control unit are placed in back panel, and weight is carried by wearer shoulder.Mechanical arm is equipped with 3 kinds of control models and can selects for different user, respectively: (i) data footmuff control model, be applicable to the normal common wearer of motor function, the while that it being in both hands operation process, by the regulation and control to plantar foot area pressure distribution, auxiliary mechanical arm motion can be controlled and assists both arms operation; (ii) smart handle control model, is applicable to have dyskinesia, as unable in amyotrophy both arms, or due to the personage etc. of the reason limitation of movement such as apoplexy.It can utilize lever operated auxiliary mechanical arm operation to realize motion intention; (iii) brain-computer interface control model, is applicable to the individuals with disabilities of loss of motor function, and it can utilize EEG signals to help it to complete appointed task to control auxiliary mechanical arm.Be equipped with automatic obstacle avoiding pattern simultaneously, prevent from hurting operator in the process of mechanical arm action by mistake, also can better get out of the way barrier complete assigned tasks protection mechanical arm self be not damaged; (iv) Visual servoing control pattern, by the interaction scenario of wearer head photographic head Real-Time Monitoring hand gesture and human and environment, autonomous behaviour provides assistance, keeps away the tasks such as barrier.
Compared with prior art, the present invention has following beneficial effect:
1, the wearable mechanical arm of shoulder in the present invention, solve exoskeleton robot in the past to need to take human body limb joint motion, the separately independent enforcement with the task of complexity such as cooperating can not be realized, light-weighted rope drives mechanical arm and reduces human body and bear a heavy burden, modular joint designs is less hardware making time and cost.
2, in the present invention, Wearable mechanical arm adopts visual servo detection control, and real-time testing environment change, behaves and provide operation support and safety guarantee.
3, in the present invention, the control model of mechanical arm is various, mainly contains data footmuff control model, smart handle control model and brain-computer interface control model.And wherein data footmuff control model accurately and easily gather, hand controls the feature that the directly perceived and control mode of smart handle remote operating more meets human motion, brain-computer interface control model has easily training and characteristic reliably.
4, data footmuff control model can people's both hands work simultaneously need simultaneously assist time working environment, smart handle control model effectively can reduce the labor intensity of people, increases work efficiency.Brain-computer interface control model can be used for assisting people with disability to complete in daily life the task of needing both arms operation.The present invention obviously can expand the both arms technical ability of people, assists arm function, helps the crowd of arm motion afunction to complete normal life activity.
5, the present invention works at people's both hands simultaneously needs extra problem of assisting simultaneously, effectively can reduce the labor intensity of people, increase work efficiency.The unable patient of arm muscles can be helped to increase their basic living self-care ability.Also can be used for assisting people with disability, the function of health residual fraction is fully played most, reaches taking care of oneself of maximum possible, the ability of work and work, lays the first stone for they reintegrate into society.
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 the overall wear structure schematic diagram of the present invention, and wherein, (a) is axonometric drawing, and (b) is front view, and (c) is side view, and (d) is top view;
Fig. 2 is Wearable mechanical arm of the present invention and dresses whole mechanism schematic diagram, and wherein, (a) is axonometric drawing, (b) front view, and (c) is side view, and (d) is top view;
Fig. 3 is for dressing mechanism structure figure, and wherein, (a) is axonometric drawing, and (b) is upward view, and (c) is front view, and (d) is top view, and (e) is side view;
Fig. 4 is controller allomeric function figure;
Fig. 5 is the overall control strategy of Wearable mechanical arm;
Fig. 6 is that visual servo keeps away barrier schematic diagram;
Figure dressed by Fig. 7 toe activity detection sensor;
Fig. 8 step controls Wearable mechanical arm schematic diagram;
Fig. 9 brain electric control Wearable mechanical arm schematic diagram.
In figure:
1 drives both arms for seven freedom rope;
2 is shoulder wearing mechanism;
3 drive group of motors module for rope;
4 for controlling driver element;
5 is power module;
6 is vision sensor supporting seat;
7 is vision sensor;
8 is computer;
9 is group of motors shell;
10 is shoulder load-bearing band;
11 is lap belt;
12 drive mechanical arm shoulder joint passive type support mechanism for rope;
13 is back panel;
14 is foot's wearable data foot cover;
15 is smart handle module;
16 is brain-computer interface module.
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 shoulder, comprise seven freedom rope to drive both arms 1, shoulder wearing mechanism 2, restrict and drive group of motors module 3 and corresponding control driver element 4, power module 5, vision sensor supporting seat 6, vision sensor 7, computer 8, group of motors shell 9, shoulder load-bearing band 10, lap belt 11, rope drive mechanical arm shoulder joint passive type support mechanism 12, back panel 13, the wearable data footmuff 14 of foot, smart handle module 15, brain-computer interface module 16 etc.
Seven freedom rope drives both arms 1 and is fixed in back panel 13, controls driver element 4, and power module 5 and computer 8 are fixed on shoulder and dress in the back panel 13 of mechanism 2.
Described seven freedom rope drives both arms 1, and be provided with shoulder joint, elbow joint and carpal joint, wherein shoulder joint has three degree of freedom, completes pitching respectively, rotates, and side-sway moves; Elbow joint, by two degree of freedom, completes and bends and stretches and rotate two kinds of functions; Carpal joint has two degree of freedom, completes respectively and bends and stretches and side-sway two kinds motion; Except shoulder joint rotary freedom joint, the two-freedom modularity bevel type differential gear drive mechanism that group of motors module 3 is driven by rope in other joints realizes.
Described shoulder dresses mechanism 2, its back panel 13 (back installation panel b11) is provided with the motor combination adaptable interface b1 of controller mechanical arm, and mechanical arm installs fixed interface b2, vision sensor fixed support interface b3, computer mechanical connection bearing b4, control unit erection support b5, power supply erection support b6, rope drives winding interface b7, shoulder is dressed and is regulated nylon tape b8, lap belt b9, motor combination support b10, handle mounting interface b12.
Data footmuff is dressed by described foot, is included in sensor k1, k2, k3 of toe sensor interface setting and dresses body.Data footmuff is for detecting foot force distribution and toe active state, and case of bending that is different by the distribution of foot force and toe realizes the control of dressing mechanical arm.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 data footmuff, by identifying that foot's attitude of user has reached the control to manipulator motion direction.According to sole zones of different pressure differential, coordinate the bend sensor of toe portion, identify the direction of motion order of user.The data of data footmuff are transferred data in controller for controller mechanical arm by the equipment with wireless or bluetooth communication module.
Described smart handle module 15, is fixed on handle mounting interface b12, is positioned at the sidepiece of wearer's body, be mainly used in the smart handle control model in control model, main towards the handicapped crowd of arm muscles, by the mode of remote operating, the direction of motion of controller mechanical arm.
Described brain-computer interface module, is applied to the brain-computer interface control model in control model, mainly loses the crowd of arm function towards people with disability etc., completes motion by the mode controller mechanical arm of brain electric control, and the switch of mechanical tong.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.
Described vision sensor, mechanical arm, by the vision sensor be equipped with, completes automatic obstacle avoiding, when mechanical arm destination path and limb motion have conflict, mechanical arm independently can avoid the effect that human body arrives protection human body, and mechanical arm can also reach set goal position simultaneously; There is barrier in visual range while of when needs maintenance mechanical arm a certain attitude, when mechanical arm can keep terminal position constant, utilize its redundancy scheme to complete Obstacle avoidance.
Below in conjunction with accompanying drawing, the present invention will be further described:
The wearable function auxiliary mechanical arm of a kind of shoulder, it comprises, and seven freedom rope drives both arms 1, shoulder dresses mechanism 2, rope drives group of motors module 3 and corresponding control driver element 4, power module 5, vision sensor supporting seat 6, vision sensor 7, computer 8, group of motors shell 9, shoulder load-bearing band 10, lap belt 11, rope drive mechanical arm shoulder joint passive type support mechanism 12, back panel 13, the wearable data footmuff 14 of foot, smart handle module 15, brain-computer interface module 16 etc.It is characterized in that: seven freedom rope drives both arms 1 and is fixed in back panel 13, control driver element 4, power module 5 and computer 8 are fixed on shoulder and dress in mechanism's back panel 13.
Further, described seven freedom rope drives both arms, it is characterized in that, mechanical arm is by shoulder joint, and elbow joint and carpal joint are formed, and wherein shoulder joint has three degree of freedom, completes pitching respectively, rotate, and side-sway moves.Elbow joint, by two degree of freedom, completes and bends and stretches and rotate two kinds of functions, and carpal joint has two degree of freedom, completes respectively and bends and stretches and side-sway two kinds motion.Except shoulder joint rotary freedom joint, other joints are driven two-freedom modularity bevel type differential gear drive mechanism by rope and are realized.
Further, described shoulder dresses mechanism, is provided with the motor combination adaptable interface b1 of controller mechanical arm, mechanical arm installs fixed interface b2, vision sensor fixed support interface b3, computer mechanical connection bearing b4, control unit erection support b5, power supply erection support b6, rope drives winding interface b7, and shoulder is dressed and regulated nylon tape b8, lap belt b9, motor combination support b10, back installation panel b11, handle mounting interface b12.
Further, data footmuff is dressed by described foot, and by toe sensor k1, k2, k3 and wearing body are formed.Data footmuff is for detecting foot force distribution and toe active state, and case of bending that is different by the distribution of foot force and toe realizes the control of dressing mechanical arm, reduces human intervention.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 data footmuff, by identifying that foot's attitude of user is to reach the control on mechanical arm direction.According to sole zones of different pressure differential, coordinate the bend sensor of toe portion, identify the order of user, and the side representated by it moves upward.The data of data footmuff are transferred data in controller for controller mechanical arm by the equipment with wireless or bluetooth communication module.
Further, described smart handle module 15, be fixed on handle mounting interface b12, be positioned at the sidepiece of wearer's body, be mainly used in the smart handle control model in control model, main towards the handicapped crowd of arm muscles, by the mode of remote operating, the direction of motion of controller mechanical arm.
Further, described brain-computer interface module, is applied to the brain-computer interface control model in control model, mainly loses the crowd of arm function towards people with disability etc., completes motion by the mode controller mechanical arm of brain electric control, and the switch of mechanical tong.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.
Further, described vision sensor, the vision sensor of mechanical arm by being equipped with, complete automatic obstacle avoiding, when mechanical arm destination path and limb motion have conflict, mechanical arm independently can avoid the effect that human body arrives protection human body, and mechanical arm can also reach set goal position simultaneously; There is barrier in visual range while of when needs maintenance mechanical arm a certain attitude, when mechanical arm can keep terminal position constant, complete Obstacle avoidance.Further, described control driver element, the seven freedom rope mainly containing the action of driving machine mechanical arm drives both arms movement controller c1, brain electric controller c2, and myoelectricity controller c3, vision controller c4, handle controller c5 form.Seven freedom rope drives both arms movement controller c1 driving device shoulder joint motor, brain electric controller performs EEG Processing and direction controlling, electromyographic signal process is responsible for by myoelectricity controller, and corresponding action recognition, the operation of handle controller joystick, vision controller completes the visual signal process of vision sensor.
Fig. 6 is system block diagram, and wherein vision sensor will provide mechanical arm automatic obstacle avoiding function.The 3D point cloud chart picture that vision sensor will be gathered by vision sensor, determines the relative position of barrier and mechanical arm.The point of impingement between disturbance in judgement thing and mechanical arm, uses the redundancy of mechanical arm that the point of impingement is moved to the direction away from barrier, keeps away barrier.The direction of motion that mechanical arm tail end issues controller along user by the control model that it is selected simultaneously is moved.
Fig. 7 is that mechanical arm keeps away barrier schematic diagram:
Wherein,
it is given joint of mechanical arm rotating speed
J
eit is the Jacobian matrix of mechanical arm tail end
J
oit is the Jacobian matrix at point of impingement place on mechanical arm
it is the given speed of mechanical arm tail end
be on mechanical arm point of impingement place to the speed of moving away from barrier direction
I is unit matrix
Subscript T is transposition
Symbol
for pseudoinverse.
Below in conjunction with instantiation, three of the present embodiment kinds of different control models are more specifically described in detail.
Data footmuff control model:
As shown in Figure 8, user will dress data footmuff 8-1, comprising the bend sensor 8-2 in toe end, controller mechanical arm up be moved in direction when user toe is bent, controller mechanical arm be moved down when bending under user toe.Fig. 9 is the piezoelectric patches of data footmuff sole portion, will detect double-legged different parts pressure distribution, realizes controlling the movement of corresponding mechanical arm before and after up and down on 6 directions.Described pressure span judges that computational methods are as follows.Definition:
F
AB＝F
A-F
B
F
AC＝F
A-F
C
F
AD＝F
A-F
D
Wherein F
aby the stressed sum of pressure transducers all in a-quadrant, F
b, F
c, F
din like manner; F
aBfor the pressure differential between A, B region, F
aC, F
aDin like manner.
Pressure difference value between a-quadrant and all the other regions much larger than 0 time and F
aB> > 0, F
aC> > 0, F
aD> > 0, order of then thinking when simultaneously setting up that user inputs " front ", Negotiation speed controller, the left and right mechanical arm that correspondence is distinguished by foot institute in left and right upwards moves in front with the speed of user preset.In like manner B Region control rear to, its pressure by and A, C, D region by controlling a left side more respectively, right direction mutually.E region then controls mechanical clamp switch.
Smart handle control model:
Be equipped with two joysticks in left and right at waist, can move in direction, 4, left and right forwards, backwards, and the pressure of vertical direction can be experienced.By the direction of motion control signal collected, 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.The initial position simultaneously selecting direction to regret automatically restoring to handle, improves security reliability.
Brain-computer interface control model:
The adoptable method of motion intention identification comprises based on EEG feature extraction and classification such as Steady State Visual Evoked Potentials (SSVEP).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 arrow (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 arrow 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 (9)
1. the wearable function auxiliary mechanical arm of shoulder, it is characterized in that, comprise seven freedom rope and drive both arms (1), shoulder wearing mechanism (2), restrict and drive group of motors module (3), control driver element (4), power module (5), vision sensor (7), computer (8) and main control unit; Wherein:
Described rope drives group of motors module (3) and drives mechanical arm shoulder joint passive type support mechanism (12) and seven freedom rope by rope and drive both arms (1) and be in transmission connection;
Described vision sensor (7) and main control unit respectively with computer (8) data cube computation;
Described computer (8) drives both arms (1) control connection by controlling driver element (4) with seven freedom rope;
Described power module drives group of motors module (3) respectively and controls driver element (4) circuit and is connected with rope;
Described seven freedom rope drives both arms (1), controls driver element (4), power module (5), vision sensor (7), computer (8) are separately fixed at shoulder and dress in mechanism (2);
Described main control unit comprise following any one or appoint multiple parts:
The wearable data footmuff (14) of-foot, is worn on the foot portion of user;
-smart handle module (15), is fixed on shoulder and dresses in mechanism (2);
-brain-computer interface module (16), is worn on the head of user.
2. the wearable function auxiliary mechanical arm of shoulder according to claim 1, it is characterized in that, described seven freedom rope drives both arms and is provided with shoulder joint, elbow joint and carpal joint, wherein, described shoulder joint comprises pitching, rotation, side-sway three degree of freedom, has been respectively used to pitching, rotation, side-sway motion; Described elbow joint comprises and bends and stretches, rotates two degree of freedom, has been respectively used to bend and stretch, rotary motion; Described carpal joint comprise bend and stretch, side-sway two degree of freedom, be respectively used to bend and stretch, side-sway motion; The pitching of described shoulder joint and side-sway degree of freedom, bending and stretching of elbow joint realize with rotary freedom and the carpal two-freedom modularity bevel type differential gear drive mechanism all driving group of motors module by rope with side-sway degree of freedom that bends and stretches.
3. the wearable function auxiliary mechanical arm of shoulder according to claim 1, it is characterized in that, described shoulder dress mechanism comprise back panel (13) and be installed in back panel for the shoulder load-bearing band (10) dressed and lap belt (11); Described back panel (13) is provided with motor combination adaptable interface b1, mechanical arm installation fixed interface b2, vision sensor fixed support interface b3, computer mechanical connection bearing b4, control unit erection support b5, power supply erection support b6, rope drives winding interface b7, shoulder wearing regulates nylon tape interface b8, lap belt interface b9 and handle mounting interface b12; Wherein:
Described rope drives group of motors module (3) and is installed on motor combination adaptable interface b1 by motor combination support b10 and rope drives winding interface b7 place;
Described seven freedom rope drives both arms (1) and is installed on mechanical arm installation fixed interface b2 place;
Described vision sensor (7) is installed on vision sensor fixed support interface b3 place by vision sensor supporting seat (6);
Described brain-computer interface module (16) is installed on computer mechanical connection bearing b4 place;
Described control driver element (4) is installed on control unit erection support b5 place;
Described power module (5) is installed on power supply erection support b6 place;
Described shoulder load-bearing band (10) is fixed on shoulder wearing and is regulated nylon tape interface b8 place;
Described lap belt (11) is fixed on lap belt interface b9 place;
Described smart handle module (15) is installed on handle mounting interface b12 place.
4. the wearable function auxiliary mechanical arm of shoulder according to claim 1, it is characterized in that, the wearable data footmuff of described foot comprises the first toe sensor k1, the second toe sensor k2 and the 3rd toe sensor k3 that dress body and arrange and dress on body; Wherein, described wearing body is provided with the foot bottom pressure sensor unit for detecting foot force distribution, described first toe sensor k1, the second toe sensor k2 and the 3rd toe sensor k3 are respectively used to gather toe active state, form by the distributed intelligence of foot force and the case of bending information of toe the control that direction control signal realizes driving seven freedom rope both arms.
5. the wearable function auxiliary mechanical arm of shoulder according to claim 4, it is characterized in that, the wearable data footmuff of described foot passes through to identify user foot attitude, according to sole zones of different pressure differential, coordinate toe flexion attitude, identify the order of user; The user foot attitude data of foot's wearable data footmuff is finally transferred to by wireless or bluetooth communication module and controls driver element and drive the side of both arms representated by the wearable data footmuff of foot move upward for controlling seven freedom rope.
6. the wearable function auxiliary mechanical arm of shoulder according to claim 1, it is characterized in that, described smart handle module is positioned at the sidepiece of user health, by controlling the smart handle control model in driver element, be applied to arm muscles dysfunction crowd, by the mode of remote manipulation, control the direction of motion that seven freedom rope drives both arms.
7. the wearable function auxiliary mechanical arm of shoulder according to claim 1, it is characterized in that, described brain-computer interface module is by controlling the brain-computer interface control model in driver element, be applied to the crowd losing arm function, by the mode of brain electric control, control seven freedom rope drives both arms and completes motion;
The electroencephalograpcap cap collection that described EEG signals is arranged by installing international 10-20 point-score at the electrode position of brain-computer interface module.
8. the wearable function auxiliary mechanical arm of shoulder according to claim 1, it is characterized in that, described control driver element comprises seven freedom rope and drives both arms movement controller c1, brain-computer interface controller c2, data footmuff controller c3, Visual servoing control device c4 and smart handle controller c5; Wherein, described seven freedom rope drives both arms movement controller c1 and drives both arms joint for driving seven freedom rope; Described brain-computer interface controller c2 is for performing brain electric control signal and direction controlling; Described data footmuff controller c3 is for performing myoelectricity control signal and the action recognition corresponding with foot wearable data footmuff sensing; Described smart handle controller c5 is used for the operation of joystick; Described Visual servoing control device c4 is for performing the visual spatial attention signal of vision sensor.
9. the wearable function auxiliary mechanical arm of shoulder according to claim 1, it is characterized in that, described vision sensor has been used for automatic obstacle avoiding, when seven freedom rope drive the destination path of both arms and limb motion have a conflict time, seven freedom rope drives the information that both arms are gathered by vision sensor, finally transfers to control driver element and controls independently to avoid human body to reach the object of protection human body; Simultaneously, seven freedom Sheng Qu both arms mechanism also reaches set goal position by vision sensor, namely, need to keep a certain attitude when seven freedom rope drives both arms and occur barrier in visual range simultaneously, seven freedom rope drives the information that both arms are gathered by vision sensor, finally transfer to control driver element control seven freedom rope and drive both arms when keeping terminal position constant, complete Obstacle avoidance.
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| CN114043452A (en) * | 2021-10-25 | 2022-02-15 | 南京理工大学 | Outer limb robot with shoulder swinging along with large arm of human body |
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