CN105596183A - Posture judgment system for external mechanical skeleton assisting robot - Google Patents
Posture judgment system for external mechanical skeleton assisting robot Download PDFInfo
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- CN105596183A CN105596183A CN201610007299.2A CN201610007299A CN105596183A CN 105596183 A CN105596183 A CN 105596183A CN 201610007299 A CN201610007299 A CN 201610007299A CN 105596183 A CN105596183 A CN 105596183A
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- gyro sensor
- mechanical bone
- assisting robot
- arm
- power
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Abstract
The invention discloses a posture judgment system for an external mechanical skeleton assisting robot and belongs to the field of posture judgment. The posture judgment system comprises an external mechanical skeleton assisting robot body, arm gyroscope sensors, leg gyroscope sensors, a back gyroscope sensor and a waist gyroscope sensor, wherein the arm gyroscope sensors are arranged in the middle portions of the arms of the external mechanical skeleton assisting robot body, the leg gyroscope sensors are arranged in the middle portions of the thighs of the external mechanical skeleton assisting robot body, and the back gyroscope sensor is arranged at the back of the external mechanical skeleton assisting robot body. According to the posture judgment device, in the walking process, exertion information, motion information and posture information of the external mechanical skeleton assisting robot and an operator are acquired through the gyroscope sensors, sole pressure sensors and other sensing equipment, and then a microprocessor is utilized for preprocessing, so that a very important effect is achieved on judgment and prevention of emergencies, and the wearing comfort will be greatly improved.
Description
Technical field
The present invention relates to attitude and judge field, specifically, the present invention relates to a kind of attitude for outer mechanical bone power-assisting robot and judge system.
Background technology
First active outer mechanical bone power-assisting robot is in late 1960s and the MihajloPupin research institute that is born in General Electric (GE) and Belgrade the beginning of the seventies. The Ha Diman of General Electric project be one adopt master slave control system, mechanical bone outside the large-scale whole-body type of 680 kilograms of weighing. Security and complexity problem cannot be walked it forever, even all can not stablize the leg that moves it.
Belgrade ectoskeleton is one and is intended to the man-size outer mechanical bone power-assisting robot that helps paralytic patient to recover. The same with Ha Diman project, it self power supply is all with motionless. Belgrade ectoskeleton can only be followed predefined walking movement, and this has greatly limited its purposes. But the point of zero moment control theory that this project proposes is still applied on humanoid robot.
After the trial of 1970, few people further investigate outer mechanical bone relatively. The project that University of California Berkeley did in 1993 is that electric power supplements. Be similar to Ha Diman project, this whole-body type bone adopts electric drive to strengthen people's ability. Although Berkeley project adopts power sensor to detect and strengthen people's power, only obtains limited achievement aspect walking.
Enter 21 century, the research of outer mechanical bone power-assisting robot starts recovery. In Japan, Kanagawn technical research institute develops a kind of whole body " wearable power clothes ", adopts unique pneumatic actuator to drive. Power in its three executing agencies (knee, waist, elbow) is controlled by the hardness of measuring corresponding human muscle. Limited driving and shortage compact power have limited the application of this outer mechanical bone (power-assisting robot).
The control of existing outer mechanical bone power-assisting robot and signals collecting scheme have following shortcoming:
1, external force is had to extremely highly sensitive outer mechanical bone power-assisting robot response external force and no matter whether it is from operator. For example, have the outer mechanical bone of higher sensitivity once if there is people to push away one, it will move up just looks like the operator of this power from it. Make outer mechanical bone power-assisting robot there is stability and prevent that it from providing the ability of a settling position by rapid movement (as retreat or lean to one side) for own and ectoskeleton because the response external force key of falling depends on operator. For this reason, outer mechanical bone power-assisting robot needs a very wide control bandwidth, to can respond operator from involuntary action of advocating peace (i.e. reflection) simultaneously.
2, a kind of employing of existing scheme is power sensor, to a certain extent, be first to need human body to have individual active force feedback to power sensor, this inevitably causes human body and outer mechanical bone to produce slight reaction force on the one hand, causes uncomfortable sensation to wearer.
It is 3, another kind of that what adopt is flesh tension pick-up, under existing technical conditions, and the flesh tension pick-up human body of need to fitting, and corresponding speed is slow, may cause measurement data inaccurate, occur the phenomenon that outer mechanical bone power-assisting robot lags behind, cause the uncomfortable of wearing.
Summary of the invention
Technical problem to be solved by this invention is to provide and is a kind ofly swift in response and dresses comfortable outer mechanical bone power-assisting robot.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of attitude for outer mechanical bone power-assisting robot judges system, comprise outer mechanical bone power-assisting robot body, also comprise arm gyro sensor, shank gyro sensor, back gyro sensor and waist gyro sensor, described arm gyro sensor is arranged on the arm position of mechanical bone body, shank gyro sensor is arranged on the thigh position of outer mechanical bone power-assisting robot body, back gyro sensor is arranged on the back of outer mechanical bone power-assisting robot body, waist gyro sensor is arranged on the front waist of outer mechanical bone power-assisting robot body, described arm gyro sensor, shank gyro sensor, back gyro sensor and waist gyro sensor be arranged on mechanical bone corresponding position and with master control CPU real-time communication.
Preferably, described arm gyro sensor comprises right arm gyro sensor and left arm gyro sensor, and described right arm gyro sensor and left arm gyro sensor are placed on respectively on the left and right arms bandage of mechanical bone body.
Preferably, described shank gyro sensor comprises right leg gyro sensor and left leg gyro sensor, and described right leg gyro sensor and left leg gyro sensor are placed on respectively on the leg of the left and right of mechanical bone body.
Preferably, described mechanical bone body is provided with auxiliary crutch as accessory system.
Preferably, described auxiliary Arm of walking stick place arranges auxiliary crutch gyro sensor.
Preferably, the foot bottom of described mechanical bone body is provided with plantar pressure sensor.
Adopt technical scheme of the present invention, can obtain following beneficial effect:
Attitude judgment means of the present invention, in walking process, by gyro sensor (inertial navigation), with the sensing equipments such as plantar pressure sensor obtain mechanical bone body and operator force information, movable information and posture information, utilize afterwards microprocessor to carry out pretreatment, carry out data analysis by blending algorithm, the motion state of identification wearer and motion intention, the action of wearer is made to anticipation accurately, then be transferred to master control CPU, master control CPU can send self adaptation to motor-fluid power system and coordinate control instruction, realize the object of Real-Time Monitoring and control, very important effect is played in judgement to emergency case and prevention, snugness of fit also can improve greatly.
Brief description of the drawings
Mark in the each accompanying drawing of this description expressed content and figure is made to brief description below:
Fig. 1 is the schematic diagram that human body of the present invention is dressed outer mechanical bone power-assisting robot;
Fig. 2 is the schematic diagram of the outer mechanical bone power-assisting robot device of the present invention;
Mark in above-mentioned figure is: 1, right arm gyro sensor; 2, left arm gyro sensor; 3, right leg gyro sensor; 4, left leg gyro sensor; 5, back gyro sensor; 6, waist gyro sensor; 7, right redundant crutch gyro sensor; 8, left redundant crutch gyro sensor; 9, pressure sensor.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is described in further detail as effect and the operation principle etc. of the mutual alignment between the shape of related each member, structure, each several part and annexation, each several part.
As shown in Figure 1, 2, attitude for outer mechanical bone power-assisting robot of the present invention judges system, and whole device is made up of the gyro sensor (inertial navigation) that is arranged on the gyro sensor (inertial navigation) on outer mechanical bone power-assisting robot body and be distributed on auxiliary crutch respectively.
Right arm gyro sensor 1(inertial navigation), left arm gyro sensor 2(inertial navigation) be distributed on the left and right arms of outer mechanical bone body, right leg gyro sensor 3(inertial navigation), left leg gyro sensor 4(inertial navigation) be distributed in the thigh position of outer mechanical bone body, back gyro sensor 5(inertial navigation) and waist gyro sensor 6(inertial navigation) be distributed in outer mechanical bone body back and loin, right redundant crutch gyro sensor 7(inertial navigation) and left redundant crutch gyro sensor 8(inertial navigation) be distributed on two auxiliary crutch, foot bottom is provided with pressure sensor 9, plantar pressure sensor 9 sensing equipments such as grade obtain outer mechanical bone power-assisting robot body and operator force information, movable information and posture information.
Arm gyro sensor (inertial navigation) gathers the attitude data of human arm, shank gyro sensor (inertial navigation) gathers the attitude data of human body lower limbs, back gyro sensor 5(inertial navigation) the outer mechanical bone body back posture data of collection, waist gyro sensor 6(inertial navigation) gather the attitude data of outer mechanical bone power-assisting robot body waist, auxiliary crutch gyro sensor (inertial navigation) gathers the attitude of auxiliary walking stick.
As shown in Figure 1, 2, the invention provides one and judge that for the attitude of outer mechanical bone (power-assisting robot) device of system is achieved in that
Left arm gyro sensor 2(inertial navigation) and right arm gyro sensor 1(inertial navigation) sensor is integrated on the shoulder belt of left and right, is fixed on the right and left shoulders arm of human body by shoulder belt, along with the swing of human arm, measures the athletic posture of arm; Right leg gyro sensor 3 and left leg gyro sensor 4 are placed on the huckle bandage of mechanical bone body, along with human body walking leg exercise, for gathering the athletic posture of shank, back gyro sensor 5(inertial navigation) be placed in the knapsack of back, for detection of the athletic posture of human body upper body; Waist gyro sensor 6(inertial navigation) be placed on waistband, for gathering the athletic posture of human body waist; Left redundant crutch gyro sensor 8 and right redundant crutch gyro sensor 7 are integrated in respectively on the auxiliary crutch in left and right, for gathering the athletic posture of auxiliary walking stick.
Auxiliary crutch is as the accessory of outer mechanical bone body, and being mainly used in shank can not be from the crowd of main control, and list is as tool for helping, the crowd that can normally walk, auxiliary walking stick can not be equipped with, in other words, can be according to the concrete condition of dressing, select to be equipped with and still give up.
Settle multi-faceted perception and the feedback of gyro sensor (inertial navigation) by different parts on external mechanical bone body, master control CPU will pass through CAN bus transfer to microprocessor after finish message, microprocessor is given full play to pretreatment ability by the data mining processing of receiving, machine the rear data formation and be further sent to master control CPU, recycling blending algorithm carries out data analysis and process, thereby the motion state of identification wearer and motion intention, and can make anticipation accurately to the action of wearer, and possess the warning function of falling down; Be transferred to afterwards master controller, master controller can send self adaptation to motor-fluid power system and coordinate control instruction, realizes the object of Real-Time Monitoring and control, and then reaches the object that real-time precision adaptive coordination is controlled.
By reference to the accompanying drawings the present invention is exemplarily described above; obviously specific implementation of the present invention is not subject to the restrictions described above; as long as adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; or without improving, design of the present invention and technical scheme are directly applied to other occasion; or only by change location and number of sensors, all within protection scope of the present invention.
Claims (6)
1. the attitude for outer mechanical bone power-assisting robot judges system, comprise outer mechanical bone power-assisting robot body, it is characterized in that: also comprise arm gyro sensor, shank gyro sensor, back gyro sensor and waist gyro sensor, described arm gyro sensor is arranged on the arm position of mechanical bone body, shank gyro sensor is arranged on the thigh position of outer mechanical bone power-assisting robot body, back gyro sensor is arranged on the back of outer mechanical bone power-assisting robot body, waist gyro sensor is arranged on the front waist of outer mechanical bone power-assisting robot body, described arm gyro sensor, shank gyro sensor, back gyro sensor and waist gyro sensor be arranged on mechanical bone corresponding position and with master control CPU real-time communication.
2. the attitude for outer mechanical bone power-assisting robot according to claim 1 judges system, it is characterized in that: described arm gyro sensor comprises right arm gyro sensor and left arm gyro sensor, described right arm gyro sensor and left arm gyro sensor are placed on respectively on the left and right arms bandage of mechanical bone body.
3. the attitude for outer mechanical bone power-assisting robot according to claim 1 judges system, it is characterized in that: described shank gyro sensor comprises right leg gyro sensor and left leg gyro sensor, described right leg gyro sensor and left leg gyro sensor are placed on respectively on the leg of the left and right of mechanical bone body.
4. the attitude for outer mechanical bone power-assisting robot according to claim 1 judges system, it is characterized in that: described mechanical bone body is provided with auxiliary crutch as accessory system.
5. the attitude for outer mechanical bone power-assisting robot according to claim 4 judges system, it is characterized in that: described auxiliary Arm of walking stick place arranges auxiliary crutch gyro sensor.
6. the attitude for outer mechanical bone power-assisting robot according to claim 1 judges system, it is characterized in that: the foot bottom of described mechanical bone body is provided with plantar pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007299.2A CN105596183A (en) | 2016-01-07 | 2016-01-07 | Posture judgment system for external mechanical skeleton assisting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007299.2A CN105596183A (en) | 2016-01-07 | 2016-01-07 | Posture judgment system for external mechanical skeleton assisting robot |
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| CN105596183A true CN105596183A (en) | 2016-05-25 |
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| CN201610007299.2A Pending CN105596183A (en) | 2016-01-07 | 2016-01-07 | Posture judgment system for external mechanical skeleton assisting robot |
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Cited By (5)
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| CN107411939A (en) * | 2017-07-24 | 2017-12-01 | 燕山大学 | A kind of special power-assisted healing robot of single lower limb individuals with disabilities |
| CN109421081A (en) * | 2017-09-01 | 2019-03-05 | 淮安信息职业技术学院 | A kind of method of production for the intelligent power-assisting robot system carried based on heavy duty |
| CN112515922A (en) * | 2020-12-03 | 2021-03-19 | 浙江海洋大学 | Exoskeleton equipment for assisting old people in walking |
| CN113576845A (en) * | 2021-08-02 | 2021-11-02 | 哈尔滨工程大学 | Human body consciousness recognition control device and method applied to exoskeleton robot |
| CN116704553A (en) * | 2023-06-13 | 2023-09-05 | 长江大学 | Human body characteristic identification auxiliary system based on computer vision technology |
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| CN116704553B (en) * | 2023-06-13 | 2024-01-26 | 长江大学 | Human body characteristic identification auxiliary system based on computer vision technology |
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