CN105150211A - Loading type control system of lower limb exoskeleton robot - Google Patents
Loading type control system of lower limb exoskeleton robot Download PDFInfo
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- CN105150211A CN105150211A CN201510562532.9A CN201510562532A CN105150211A CN 105150211 A CN105150211 A CN 105150211A CN 201510562532 A CN201510562532 A CN 201510562532A CN 105150211 A CN105150211 A CN 105150211A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The invention discloses a loading type control system of a lower limb exoskeleton robot. The control system is composed of two identical subsystems. Each subsystem is composed of a signal acquisition device, a microcontroller, a motion actuator and a control algorithm. The lower limb exoskeleton robot is used for providing assistance for the lower limbs of wearers. Each signal acquisition device is composed of a film pressure sensor, a magnetic angle sensor, a multichannel amplifier and a multichannel low-pass filter and can acquire plantar pressure signals of the wearers and ankle angle signals of the lower limb exoskeleton robot. Each motion actuator is composed of a servo driver set and a servo electric cylinder set. The tail end following control algorithm is adopted as the control algorithm. The control system has the advantages of being simple in structure, easy to wear and low in cost.
Description
Technical field
The present invention relates to exoskeleton robot field, specifically a kind of control system of loading-type lower limb exoskeleton robot.
Background technology
Exoskeleton robot is a kind of typical ectoskeleton power assisting device; can be wearer and the functions such as power-assisted, support, protection are provided; merge human motion intention to obtain; the Robotics such as Multi-axis motion control, mechanical Bionic Design; be a kind of typical human-machine system, can be used for the aspects such as military affairs, transport, medical rehabilitation.Loading-type lower limb exoskeleton robot is the one of exoskeleton robot, and being mainly used in provides power-assisted to the lower limb of wearer, is mainly used in mountain region freight handling, the occasions such as rescue and relief work.
Loading-type lower limb exoskeleton robot control system has multiple implementation, according to the difference of collection signal, can be divided into the control of surface electromyography signal, EEG signals control and contact force signal controls three kinds.It is short that surface electromyography signal control (HAL as Japan) has time delay, real-time advantage, but it is loaded down with trivial details also to there is wearing, the caducous shortcoming of electrode; EEG signals control, and can realize idea and control, but anti-interference is poor; Contact force controls (BLEEX as the U.S.) and has wearing conveniently, the simple advantage of structure, but it is slow to there is response, the shortcoming of poor real.In motion control arithmetic, the lower limb exoskeleton robot for loading-type generally adopts ACTIVE CONTROL and model-following control two kinds of control algolithms.ACTIVE CONTROL be machine " with " people's walking, walking step state is standard gait planned in advance, and in walking process, the energy that people consumes is minimum, but due to the finiteness of standard gait, robot is difficult to adaptation to the ground complex environment; Model-following control be people " with " machine walks, in the process of walking, people's guided robot is walked, robot behaves simultaneously and provides power-assisted, although people will consume certain energy in walking process, but flexibility is more eager to excel in whatever one does than ACTIVE CONTROL a lot, can the strength perfect adaptation of the flexibility of human motion and robot be got up well.Any combination of signal collecting and controlling algorithm can form various control algorithm, but becomes the study hotspot of exoskeleton robot control field gradually based on the model-following control algorithm of contact force; At present, abroad, early, technology is more ripe in loading-type lower limb exoskeleton robot control system research starting, but because major part is for military use, technology is externally maintained secrecy; At home, loading-type lower limb exoskeleton robot control system research starting is late, and technology is also immature, therefore, in the urgent need to studying the demand that a kind of reliable control system designs to meet people loading-type lower limb exoskeleton robot.
Summary of the invention
The object of the present invention is to provide a kind of structure control system that is simple, the easily loading-type lower limb exoskeleton robot of wearing, low cost, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the invention provides following technical scheme:
A control system for loading-type lower limb exoskeleton robot, is made up of two function same subsystem; Each subsystem is made up of signal pickup assembly, microcontroller, movement executing mechanism and control algolithm; Described lower limb exoskeleton robot is used for providing power-assisted for wearer lower limb; Described signal pickup assembly is made up of diaphragm pressure sensor, magnetic degree sensor, multi-channel amplifier, Multi-channel low pass filter, completes the collection of the ankle joint angle signal of wearer plantar pressure signal and lower limb exoskeleton robot; Described movement executing mechanism is made up of servo-driver group and servo electricity cylinder group; Described control algolithm adopts end model-following control algorithm; Signal pickup assembly adopts diaphragm pressure sensor to gather the plantar pressure signal of wearer, Magnetic Sensor is adopted to gather the relative rotation angle signal of robot anklebone, microcontroller changes wearer plantar pressure signal dress into digital quantity, and just acquisition wearer plantar pressure signal and robot anklebone angle signal calculate subsequent time robot hip joint and kneed angle value by end model-following control algorithm, thus calculate the motion control amount of corresponding servo electricity cylinder group; Microcontroller sends gained motion control amount to corresponding servo-driver group by EtherCAT interface, and servo-driver group drives the motion of corresponding servo electricity cylinder group.
As the further scheme of the present invention: described subsystem concentrates realization at hardware aspect by a set of microcontroller, or realized by two cover microcontrollers distributions, but be separate on control flow.
As the further scheme of the present invention: signal pickup assembly internal pressure signal sampling channel and angle signal acquisition channel separate, pressure signal will by amplify and filtering read, angle signal is directly read by bus.
As the further scheme of the present invention: described pressure signal is 4 tunnels, each 2 tunnels, left and right, angle signal is 2 tunnels, each 1 tunnel, left and right, and namely each subsystem needs 2 road pressure signals and 1 road angle signal.
As the further scheme of the present invention: described microcontroller adopts ARM single-chip microcomputer, ARM single-chip microcomputer is inner with ADC module and SPI interface, pressure signal from signal pickup assembly is converted into digital quantity by ADC module, and spi bus is for connecting magnetic degree sensor.
As the further scheme of the present invention: described servo-driver group is the same with servo electricity cylinder group quantity, a driver joins a servo electricity cylinder, and each subsystem is made up of two servo-drivers and two servo electricity cylinders.
As the further scheme of the present invention: servo electricity cylinder adopts MAXON servo electricity cylinder.
As the further scheme of the present invention: the input signal of described end model-following control algorithm is the ankle joint angle signal of wearer plantar pressure signal and lower limb exoskeleton robot.
Compared with prior art, the invention has the beneficial effects as follows:
The invention provides a kind of control system of loading-type lower limb exoskeleton robot.In order to improve the real-time of system, control system adopts two cover same apparatus, and separate between device; The diaphragm pressure sensor adopting the response time short gathers the pressure signal of the main stress point in side before and after Human Sole; Adopt the little Magnetic Sensor of volume as angular transducer, gather robot ankle joint angle signal, and be conveniently embedded in robotic mechanism; Adopt high performance ARM single-chip microcomputer as master controller, can the task such as fast settling signal collection and control algolithm realization; The MAXON servo electricity cylinder that motion actuators adopts, this electric cylinder has the advantages that volume is little, power is high, is applicable to very much the power demand of loading-type exoskeleton robot; Control algolithm adopts end model-following control algorithm, improves robot to the adaptability of wearer height.The present invention has simple, easily wearing, low cost the advantage of structure.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention China and foreign countries skeleton as a whole frame for movement schematic diagram one.
Fig. 2 is embodiment of the present invention China and foreign countries skeleton as a whole frame for movement schematic diagram two.
Fig. 3 is one-sided plantar pressure sensor installation site schematic diagram in the embodiment of the present invention.
Fig. 4 is single side control overall system architecture schematic diagram in the embodiment of the present invention.
Fig. 5 is end model-following control algorithm principle schematic diagram in the embodiment of the present invention.
Fig. 6 is single side control schematic flow sheet in the embodiment of the present invention.
In figure: stress point after stress point, 10-robot boots before 1-robot hip joint, 2-servo electricity cylinder, 3-robot knee joint, 4-robot anklebone, 5-robot boots, 6-robot hip joint electricity cylinder, 7-robot anklebone electricity cylinder, 8-robot boots power contact surface, 9-robot boots.
Detailed description of the invention
Below in conjunction with the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment 1
In the embodiment of the present invention, refer to shown in Fig. 1-5, the present invention is the control system disclosing a kind of loading-type lower limb exoskeleton robot, and this system has two function same subsystem to form.Each subsystem primarily of signal pickup assembly, microcontroller, movement executing mechanism and control algolithm four part composition.
Signal pickup assembly adopts diaphragm pressure sensor to gather the plantar pressure of wearer, the installation site of diaphragm pressure sensor on robot boots 5 basal surface refers to Fig. 3, robot boots power contact surface 8 there are two stress points, are respectively stress point 10 after stress point 9 before robot boots, robot boots.Diaphragm pressure sensor is placed in the groove of two stress points, and the circular hard rubber pad of top pad one, makes it a little more than boots basal surface, fully puts on sensor to make wearer plantar pressure; Adopt the Magnetic Sensor of compact to gather the relative rotation angle signal at robot anklebone 4 place, being just counterclockwise, is zero point when robot " shank " is vertical with robot " vola "; The ADC module of microcontroller changes the simulated pressure signal dress from collection signal device into digital quantity, is directly read the angle value of magnetic degree sensor by SPI interface simultaneously; Microcontroller will obtain wearer plantar pressure signal and robot anklebone angle signal according to specific the form of the rules end effect power, end following algorithm formulae discovery will be brought respectively into for input quantity and go out subsequent time robot hip joint 1 and kneed angle value, then go out the motion control amount of corresponding servo electricity cylinder 2 according to the Size calculation of frame for movement.Microcontroller sends gained motion control amount to each servo-driver by high speed EtherCAT interface, and the corresponding electric cylinder motion of servo driver drives, electric cylinder driven machine people mechanical part completes follows action.The servo electricity installation site of cylinder 2 in robot refers to Fig. 1 and Fig. 2, servo electricity cylinder 2 is between robot hip joint 1, robot knee joint 3, robot hip joint electricity cylinder 6 is between robot hip joint 1, robot knee joint 3, and robot anklebone electricity cylinder 7 is between robot knee joint 3, robot anklebone 4.
Shown in the 5th figure, in the present invention based on end model-following control algorithm principle schematic diagram.Wherein: be robot hip joint angle; For robot knee joint angle; For robot anklebone angle.First, during wearer motion, the pin of wearer apply an external force can to robot boots 5, active force the ankle joint angle of robot can be made to change, the plane perpendicular of the direction finally made and robot boots 5.Then, according to the size that the output valve of plantar pressure sensor can calculate, the collection according to robot anklebone angular transducer is worth available size, and then the direction drawn, supposes end P point displacement point of arrival on direction.According to formula (1), then can obtain coordinate a little.
（1）
Wherein, be response sensitivity coefficient, larger reaction is sensitiveer, otherwise, then more blunt.
According to two-degree-of-freedorobot robot Inverse Kinematics solution formula can draw subsequent time and;
（2）
Wherein, and be robot " thigh " and " shank " length, relevant with the dimensions of mechanical structures of robot.
Foundation and robotic's physical dimension draw servo electricity cylinder 2 motion control amount, and finally, servo electricity cylinder 2 driven machine people machinery component movement, realizes end and follow the tracks of action.
Referring to shown in the 6th figure, is a kind of single side control system flow chart for loading-type lower limb exoskeleton robot of the present invention.After powering on, system first carries out initialization operation, configures the parameter of modules as requested, then carries out System self-test, is guaranteeing that in the normal situation of each module work, system enters major cycle.If discovery fault, then enter false alarm state.Wearer is when walking states, and the ankle joint angle of plantar pressure and robot can change, signal pickup assembly Real-time Collection pressure and angle signal, and delivers to microcontroller and processed.Microcontroller calculates subsequent time left and right hip joint and kneed angle value according to end model-following control algorithm, and then, the line number of foundation dimensions of mechanical structures and encoder calculates the controlled quentity controlled variable of servo electricity cylinder 2.Servo electricity cylinder 2 driven machine people machinery component movement, and then realize accompany movement.Left and right sides control flow is identical.
In sum, technical characteristic system of the present invention employing end model-following control algorithm improves the adaptability that robot changes wearer height, and can realize convenient wearing; Whole system adopts embedded design to greatly reduce system cost and volume.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (8)
1. a control system for loading-type lower limb exoskeleton robot, is characterized in that, is made up of two function same subsystem; Each subsystem is made up of signal pickup assembly, microcontroller, movement executing mechanism and control algolithm; Described lower limb exoskeleton robot is used for providing power-assisted for wearer lower limb; Described signal pickup assembly is made up of diaphragm pressure sensor, magnetic degree sensor, multi-channel amplifier, Multi-channel low pass filter, completes the collection of the ankle joint angle signal of wearer plantar pressure signal and lower limb exoskeleton robot; Described movement executing mechanism is made up of servo-driver group and servo electricity cylinder group; Described control algolithm adopts end model-following control algorithm; Signal pickup assembly adopts diaphragm pressure sensor to gather the plantar pressure signal of wearer, Magnetic Sensor is adopted to gather the relative rotation angle signal of robot anklebone, microcontroller changes wearer plantar pressure signal dress into digital quantity, and just acquisition wearer plantar pressure signal and robot anklebone angle signal calculate subsequent time robot hip joint and kneed angle value by end model-following control algorithm, thus calculate the motion control amount of corresponding servo electricity cylinder group; Microcontroller sends gained motion control amount to corresponding servo-driver group by EtherCAT interface, and servo-driver group drives the motion of corresponding servo electricity cylinder group.
2. the control system of loading-type lower limb exoskeleton robot according to claim 1, it is characterized in that, described subsystem concentrates realization at hardware aspect by a set of microcontroller, or is realized by two cover microcontrollers distributions, but is separate on control flow.
3. the control system of loading-type lower limb exoskeleton robot according to claim 1, it is characterized in that, described signal pickup assembly internal pressure signal sampling channel and angle signal acquisition channel separate, pressure signal will be read by amplification and filtering, and angle signal is directly read by bus.
4. the control system of loading-type lower limb exoskeleton robot according to claim 1, is characterized in that, described pressure signal is 4 tunnels, each 2 tunnels, left and right, and angle signal is 2 tunnels, each 1 tunnel, left and right, and namely each subsystem needs 2 road pressure signals and 1 road angle signal.
5. the control system of loading-type lower limb exoskeleton robot according to claim 1, it is characterized in that, described microcontroller adopts ARM single-chip microcomputer, ARM single-chip microcomputer is inner with ADC module and SPI interface, pressure signal from signal pickup assembly is converted into digital quantity by ADC module, and spi bus is for connecting magnetic degree sensor.
6. the control system of loading-type lower limb exoskeleton robot according to claim 1, it is characterized in that, described servo-driver group is the same with servo electricity cylinder group quantity, and a driver joins a servo electricity cylinder, and each subsystem is made up of two servo-drivers and two servo electricity cylinders.
7. the control system of loading-type lower limb exoskeleton robot according to claim 6, is characterized in that, described servo electricity cylinder adopts MAXON servo electricity cylinder.
8. the control system of loading-type lower limb exoskeleton robot according to claim 1, is characterized in that, the input signal of described end model-following control algorithm is the ankle joint angle signal of wearer plantar pressure signal and lower limb exoskeleton robot.
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Cited By (10)
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| CN105615886A (en) * | 2015-12-29 | 2016-06-01 | 北京贞正物联网技术有限公司 | Both-foot gait simulation and plantar pressure simulation system and using method |
| CN105690390A (en) * | 2016-04-10 | 2016-06-22 | 刘至键 | Sole bearing plate device of humanoid biped robot |
| CN106325273A (en) * | 2016-08-22 | 2017-01-11 | 中国科学院合肥物质科学研究院 | Multi-phase gait switching control system and control method for power-assisted exoskeleton robot |
| CN106548033A (en) * | 2016-11-11 | 2017-03-29 | 电子科技大学 | A kind of lower limb exoskeleton under the conditions of random road surface is against method of motion analysis |
| CN107718038A (en) * | 2017-09-29 | 2018-02-23 | 深圳市行者机器人技术有限公司 | A kind of improved driving structure of biped robot's hip joint |
| CN110385697A (en) * | 2019-07-16 | 2019-10-29 | 北京机械设备研究所 | The control method and device of ectoskeleton |
| CN110944807A (en) * | 2017-07-31 | 2020-03-31 | 赛峰电子与防务公司 | Method for assisting at least one movement of a user and corresponding device |
| CN112720483A (en) * | 2020-12-23 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Method and device for acquiring combined mass center state, humanoid robot and readable storage medium |
| CN113084814A (en) * | 2021-04-13 | 2021-07-09 | 中国科学院自动化研究所 | Method for realizing motion control of musculoskeletal robot based on distributed position optimization |
| CN113084813A (en) * | 2021-04-13 | 2021-07-09 | 中国科学院自动化研究所 | Robot motion control method for optimally constructing constraint force field based on muscle parameters |
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| CN112720483A (en) * | 2020-12-23 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Method and device for acquiring combined mass center state, humanoid robot and readable storage medium |
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| CN113084814A (en) * | 2021-04-13 | 2021-07-09 | 中国科学院自动化研究所 | Method for realizing motion control of musculoskeletal robot based on distributed position optimization |
| CN113084813A (en) * | 2021-04-13 | 2021-07-09 | 中国科学院自动化研究所 | Robot motion control method for optimally constructing constraint force field based on muscle parameters |
| CN113084814B (en) * | 2021-04-13 | 2022-05-10 | 中国科学院自动化研究所 | Method for realizing motion control of musculoskeletal robot based on distribution position optimization |
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Inventor after: Zhao Hanbin Inventor after: Wang Yucheng Inventor after: Ye Xiaodong Inventor after: Zhao Jianghai Inventor after: Zhu Cuanyi Inventor after: Sun Nan Inventor before: Wang Yucheng Inventor before: Ye Xiaodong Inventor before: Zhao Jianghai Inventor before: Zhu Cuanyi Inventor before: Sun Nan Inventor before: Zhao Hanbin |
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