CN106217352A - Exoskeleton robot gait control method based on pressure transducer - Google Patents
Exoskeleton robot gait control method based on pressure transducer Download PDFInfo
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- CN106217352A CN106217352A CN201610676478.5A CN201610676478A CN106217352A CN 106217352 A CN106217352 A CN 106217352A CN 201610676478 A CN201610676478 A CN 201610676478A CN 106217352 A CN106217352 A CN 106217352A
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- exoskeleton robot
- leg
- wearer
- pressure transducer
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Classifications
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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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The invention discloses a kind of exoskeleton robot gait control method based on pressure transducer, by leg pressure sensor data and foot bottom pressure sensor data co-controlling exoskeleton robot, leg pressure sensor data plays major control effect, its auxiliary detection effect of foot bottom pressure sensor data.The present invention is simple and reliable, it is to avoid erroneous judgement prevents from falling down, and follow wearer has different gait simultaneously, is adapted to multiple landform, controls more hommization.
Description
Technical field
The invention belongs to exoskeleton robot technical field, particularly relate to a kind of ectoskeleton machine based on pressure transducer
People's gait control method, judges to dress by leg multiaxis pressure sensor data and sole miniature loading pressure sensor data
The motion intention of person, controls the gait of exoskeleton robot, it is to avoid erroneous judgement prevents from falling down, and follow wearer has asynchronous simultaneously
State, is adapted to multiple landform, controls more hommization.
Background technology
Exoskeleton robot is a kind of assistance type robot that can dress, and primary structure is the apery type four for load-bearing
Limb, can make its user of wearing complete some only cannot completing by human body self of tasks by its special construction, remove
Fortune, the disaster relief, soldier fields such as march, medical treatment of bearing a heavy burden all are with a wide range of applications.
The sixties in 20th century, GE once developed the robotic arm of a kind of entitled " Hardiman ", can
So that the user tried it on lifts the weight of more than double centner easily.Development to exoskeleton robot afterwards achieves one
A little progress.To the nineties in last century, due to sensing technology, material technology and the development of control technology, to ectoskeleton technology
Research is extensive to be launched.In recent years, along with the development of correlation technique, exoskeleton robot is in the application of the aspect such as military, medical
More and more extensive.The most domestic research situation in this field gap compared with abroad is relatively big, and only minority scientific research institutions carry out
Cross correlational study work.
Exoskeleton robot control key issue be that ectoskeleton should be able to adapt to different landform, as mountain region, desert,
Meadow, hillside fields, stair etc..Exoskeleton robot will appreciate that and to walk out different gaits at any time according to the intention of people.At present
The control of exoskeleton robot has employing pre-programmed to control, and has and uses wearer to control.Existing both control methods
There are defect in various degree and limitation.Pre-programmed controls to allow wearer walk according to pre-set gait, but
Being that this method is big by the limitation of landform, motion mode is limited.The method using wearer to control, needs wearer to pass through upper
Limb goes to control the swing of leg.The shortcoming of this method is, the upper limb of wearer can only be used for issuing order, and can not carry out it
His activity, and operator must the most ceaselessly issue order, not only wastes muscle power, and the motion of wearer also becomes
Obtain the most unnatural.
Model-following control algorithm based on contact force has been increasingly becoming the study hotspot of exoskeleton robot control field, technology
The most immature, therefore, meet people to exoskeleton robot in the urgent need to studying a kind of simple, yet reliable control method
The demand of design.
Summary of the invention
It is an object of the invention to provide a kind of exoskeleton robot gait control method based on pressure transducer, simply
And reliable, it is to avoid erroneous judgement prevents from falling down, and follow wearer has different gait simultaneously, is adapted to multiple landform, controls more people
Property.
In order to solve above-mentioned technical problem, the present invention is addressed by following technical proposals:
A kind of exoskeleton robot gait control method based on pressure transducer, comprises the following steps:
1) the data post filtering gathering the multidimensional pressure sensor being arranged on exoskeleton robot two leg stores；
2) the data post filtering gathering the miniature loading pressure transducer being arranged on exoskeleton robot two sole stores；
3) to step 1) data that obtain judge direction and the size of leg stress, and by D-H robot motion's credit
Analysis draws the motion intention of wearer；
4) to step 2) data that acquire judge sole stress size variation, and analyze the action drawing wearer；
5) reach pre-set threshold value when leg stress, contrast step 3) and step 4) result, if the action of wearer accords with
The motion intention of suitable wearer, then control exoskeleton robot leg and make corresponding action, if the performance of a different dive of wearer
The motion intention of suitable wearer, then control exoskeleton robot leg and do not do action.
Further, step 1) in multidimensional pressure sensor be located at thigh and the shank of exoskeleton robot.
Further, step 2) in miniature loading pressure transducer be located at sole and the heel of exoskeleton robot.
The invention has the beneficial effects as follows:
1, by the data of the multidimensional pressure sensor of two legs, wearer is drawn by D-H Analysis of Kinematics for Robot
Motion intention, then drawn the action of wearer by the data analysis of the miniature loading pressure transducer of two soles, Qian Zhechu
Step judges, the latter assists detection, it is to avoid erroneous judgement prevents from falling down；
2, by the data of the multidimensional pressure sensor of two legs, wearer is drawn by D-H Analysis of Kinematics for Robot
Motion intention, control exoskeleton robot leg make corresponding action, making exoskeleton robot follow wearer has difference
Gait, is adapted to multiple landform, controls more hommization.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail:
Embodiment 1
Leg at exoskeleton robot installs multidimensional pressure sensor.Multidimensional pressure sensor can detect the direction of power
And size.The lower limb of people, when lifting or put down, can produce the power on a certain interval, and multidimensional pressure sensor detects people's lower limb and lifting
Lower limb or the direction of the power of thigh and calf and size when putting down.The data of multidimensional pressure sensor output need to be amplified, then
Data after amplifying are acquired.Governor circuit is by being analyzed judging to the data after gathering, according to the knot after judging
Fruit controls the work of exoskeleton robot limbs driving means, thus reaches to control the effect of gait.The multidimensional pressure of leg passes
The installation site of sensor can be adjusted according to actual ectoskeletal structure, and the quantity of installation can change as required
Become, but it has to be ensured that the power of every thigh and calf is all detected.MCU receives whole pressure sensor data, to data
It is filtered processing.Data after processing are judged by MCU, judge leg stress according to the data of multiaxis pressure transducer
Direction and size.When the size of leg active force reaches a certain threshold values, and the regulation of exoskeleton robot limbs driving means is corresponding
Limbs move along Impact direction, active force is offset, thus controls leg action.MCU, according to leg stressing conditions, adopts
Analyze the intention of people with D-H robot kinematics, such as: lift, put down.Method conventional when D-H method is robot modeling.
D-H model when robot links and joint are modeled without the concern for structural order and the complexity of robot, it
Go for the kinematics analysis of any robot.Use classical D-H method that robot is carried out kinematics analysis, set up
Exoskeleton robot single legged model, describes contacting between the position control of robot end and each joint variable.
On every footwear of exoskeleton robot, pressure transducer at two is installed, is separately mounted to sole and heel, because
During walking, the change of the power of the two position is maximum.Pressure sensor value when toes on floor, at tiptoe
Can significantly increase.Single foot lands when, the numerical value of the pressure transducer of a foot can reduce, the pressure transducer of a foot
Numerical value can increase.People is during walking, and the action of foot is regular carrying out, so governor circuit can pass through
Analyze the data of miniature loading pressure transducer to judge current footwork.The output data of miniature loading pressure transducer
It is millivolt level, is unfavorable for the collection of sensing data, so needing to be amplified signal processing.Foot bottom pressure sensor is pacified
The quantity of dress can be adjusted according to practical situation, to obtain the most available data, and such as can be with heel, sole peace one
Individual, carry out Data Detection, it is also possible to one, heel, two, sole, quantity is the most, measures the most accurate, but data processing amount meeting
Strengthen.It addition, the measurement of foot force can select other kinds of pressure transducer according to practical situation, as selected multidimensional pressure
Foot force measured by force transducer, can measure the direction of foot force so that measurement result is more accurate, but cost can increase
Add.MCU judges, according to the data of foot bottom pressure sensor, the action that people is current, such as: single foot lands, both feet land, put down,
Lift.The data of plantar pressure sensor are used for judging kinestate and the gravity center shift of people.
Assuming human body to advance when walking and first step left foot, right lower limb is in support phase, and left lower limb enters and swings phase, then human body is in the right side
Single leg support state 1, human body walks on to left heel and lands, and the most left lower limb enters and supports phase, and right lower limb is still in supporting phase, then people
Body is now in right both legs holding state 2, walks on liftoff to right crus of diaphragm point, and right lower limb enters and swings phase, and left lower limb is still in support
Phase, then human body enters left single leg support state 3, and human body walks on to right crus of diaphragm heelstrike, and the rightest lower limb enters and supports phase, and left lower limb is still
Be in support phase, then human body is in left both legs holding state 4, and moving on, it is liftoff to run to left foot point, and the most left lower limb enters and swings
Phase, right lower limb is in support phase, then human body enters again right single leg support state 1, and hereafter human body circulates between these 4 walking states: 1
→2→3→4→1.During this circulates, the plantar pressure of people also can occur corresponding regular change.When two feet
The numerical value of pressure transducer in normal range, then judge to learn that both feet land；When single foot supports, when a spike tiptoe pressure increases
Greatly, heel pressure reduces, then the reach of explanation center of gravity.
By leg pressure sensor data and foot bottom pressure sensor data co-controlling exoskeleton robot, leg pressure
Force sensor data plays major control effect, and foot bottom pressure sensor data play auxiliary detection effect.As: left foot force value reduces
And left lower limb detects the power lifted, then the left lower limb of exoskeleton robot lifts.Or, land when foot force determines single foot
Time, if MCU detects the power that supporting leg shank pressure transducer landed is received after having, then task misjudgment, do not hold
OK, exoskeleton robot disequilibrium can be caused to fall down because performing result.When leg action is lifted too high, it is impossible to time firmly,
Master control borad can control leg according to the state of center of gravity now and decline, and stablizes center of gravity.Leg pressure sensor data is used for controlling
The gait of people, reaches the effect followed, and the data of foot bottom pressure sensor have two effects: 1, motion is corrected, and prevents leg pressure
Force transducer erroneous judgement；2, being limited by action when leg pressure transducer, it is impossible to during work, master control borad can be according to foot force number
It is judged that center of gravity, send instruction to driver, balance center of gravity.
In a word, the foregoing is only presently preferred embodiments of the present invention, all equalizations made according to scope of the present invention patent
Change and modification, all should belong to the covering scope of patent of the present invention.
Claims (3)
1. an exoskeleton robot gait control method based on pressure transducer, it is characterised in that: comprise the following steps:
1) the data post filtering gathering the multidimensional pressure sensor being arranged on exoskeleton robot two leg stores；
2) the data post filtering gathering the miniature loading pressure transducer being arranged on exoskeleton robot two sole stores；
3) to step 1) data that obtain are judged direction and the size of leg stress, and are obtained by D-H Analysis of Kinematics for Robot
Go out the motion intention of wearer；
4) to step 2) data that acquire judge sole stress size variation, and analyze the action drawing wearer；
5) reach pre-set threshold value when leg stress, contrast step 3) and step 4) result, if the action of wearer meets wear
The motion intention of wearer, then control exoskeleton robot leg and make corresponding action, if the performance of a different dive of wearer is suitable
The motion intention of wearer, then control exoskeleton robot leg and do not do action.
Exoskeleton robot gait control method the most according to claim 1, it is characterised in that: described step 1) in multidimensional
Pressure transducer is located at thigh and the shank of exoskeleton robot.
The most according to claim 1, it is characterised in that exoskeleton robot gait control method: described step 2) in miniature
Loading pressure transducer is located at sole and the heel of exoskeleton robot.
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| CN201610676478.5A CN106217352A (en) | 2016-08-17 | 2016-08-17 | Exoskeleton robot gait control method based on pressure transducer |
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| CN201610676478.5A CN106217352A (en) | 2016-08-17 | 2016-08-17 | Exoskeleton robot gait control method based on pressure transducer |
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Cited By (7)
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| CN106863273A (en) * | 2017-03-13 | 2017-06-20 | 杭州国辰机器人科技有限公司 | A kind of wearable knee joint booster of intelligence |
| CN109771225A (en) * | 2017-11-15 | 2019-05-21 | 三星电子株式会社 | Device of walking aid and its control method |
| CN110217717A (en) * | 2019-05-29 | 2019-09-10 | 长沙理工大学 | One kind climbing building auxiliary device |
| CN110363959A (en) * | 2019-05-28 | 2019-10-22 | 哈尔滨理工大学 | It is a kind of that determination method is fallen down based on plantar pressure and 3-axis acceleration sensor |
| CN111481405A (en) * | 2020-04-22 | 2020-08-04 | 北京海益同展信息科技有限公司 | Motion instruction triggering method and device and exoskeleton equipment |
| CN113041102A (en) * | 2021-03-08 | 2021-06-29 | 上海傅利叶智能科技有限公司 | Method and device for controlling exoskeleton robot and rehabilitation robot |
| CN116690567A (en) * | 2023-06-21 | 2023-09-05 | 湖南大学 | Lower limb exoskeleton driving method based on anthropomorphic nerve model |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106863273A (en) * | 2017-03-13 | 2017-06-20 | 杭州国辰机器人科技有限公司 | A kind of wearable knee joint booster of intelligence |
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| CN110363959A (en) * | 2019-05-28 | 2019-10-22 | 哈尔滨理工大学 | It is a kind of that determination method is fallen down based on plantar pressure and 3-axis acceleration sensor |
| CN110217717A (en) * | 2019-05-29 | 2019-09-10 | 长沙理工大学 | One kind climbing building auxiliary device |
| CN111481405A (en) * | 2020-04-22 | 2020-08-04 | 北京海益同展信息科技有限公司 | Motion instruction triggering method and device and exoskeleton equipment |
| CN113041102A (en) * | 2021-03-08 | 2021-06-29 | 上海傅利叶智能科技有限公司 | Method and device for controlling exoskeleton robot and rehabilitation robot |
| CN113041102B (en) * | 2021-03-08 | 2023-10-31 | 上海傅利叶智能科技有限公司 | Method and device for controlling exoskeleton robot and rehabilitation robot |
| CN116690567A (en) * | 2023-06-21 | 2023-09-05 | 湖南大学 | Lower limb exoskeleton driving method based on anthropomorphic nerve model |
| CN116690567B (en) * | 2023-06-21 | 2024-03-12 | 湖南大学 | Lower limb exoskeleton driving method based on anthropomorphic nerve model |
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Application publication date: 20161214 |