CN107088128B - It is a kind of to move the behavior safety control method for multiplying nursing robot - Google Patents
It is a kind of to move the behavior safety control method for multiplying nursing robot Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
- A61G7/1017—Pivoting arms, e.g. crane type mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1063—Safety means
- A61G7/1065—Safety means with electronic monitoring
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Abstract
The present invention relates to the behavior safety control methods that a kind of shifting multiplies nursing robot, it is described shifting multiply nursing robot carried out using front hold-type by the way of shifting multiply, this method multiplies the process study of movement by moving to robot, analysis is within each action cycle to the attitude motion parameter of robot and human body, it obtains to move and multiplies the posture of nursing robot and the functional relation of human body attitude, that is the situation of change of gravity center of human body, and then obtain the resolving model of robot pose and human bady gravitational distribution, model is resolved as reference standard using this, during shifting multiplies nursing class robot actual act, in conjunction with human body electroencephalogram's wave signal and grip handle force signal, the pressure value of real-time monitoring support zone, when detecting unreasonable posture, by comparing the error of actual value and resolving model theory value, adjustment robot motion posture in time, reach the shield of safety and comfort Manage action effect.
Description
Technical field
The invention belongs to nursing robot's technical fields, and in particular to a kind of to move the behavior safety control for multiplying nursing robot
Method.
Background technique
With the continuous development of society, aging of population degree is accelerated.The daily life of eldercare becomes now
The problem of each family, society, especially for the elderly of limbs illness.The appearance that shifting multiplies nursing robot will greatly be alleviated
The operating pressure of age-care.Shifting multiplies nursing robot and assists handicapped the elderly's progress daily by robot
Activity.Leaned on by the foot pedal of robot itself, chest, the support of oxter handrail, help the elderly change to from the bed arrive wheelchair or
Other specified target positions of person.
Currently, the research in human body recovery nursing direction is mostly the rehabilitation training control method about upper limb and lower limb, it is main
If the suffering limb rehabilitation training strategy lead-passively combined.Multiply nursing direction, the RIBA machine of Japan Chemical research institute research in shifting
People (referring to Fig. 1) (Mukai T, Hirano S, Yoshida M, et al.Tactile-based motion adjustment
for the nursing-care assistant robot RIBA[C]//IEEE International Conference
On Robotics and Automation.IEEE Xplore, 2011:5435-5441.) by the engine on arm come complete
At the work of holding, the modified version developed later increases flexible skin sensor on arm, in time to the contact of human body
The size of power is perceived, and then adjusts posture position, safer completion holding process.The robot mainly passes through touching
The control strategy for feeling guidance needs the third auxiliary except robot and in addition to by caregiver to carry out tactile intervention to robot, false
If auxiliary applies the power of a reasonable direction with hand to Robot Dual-Arm when both arms are unreasonable apart from improper or angle,
Robot arm can follow applied force direction to act, and carry out the holding of both arms or loosen, and preparatory experimental analysis obtains robot and embraces
The main track (including parameter: the distance and joint angles of both arms) of people then passes through the face of robot and human body contact portion
Formula flexible touch sensation sensor, acquires contact force in real time, corrects trajectory error by contact position and force information, is controlled by feedback
Device processed controls the distance and joint angles of both arms.It is disadvantageous in that and needs in addition to robot another support staff to machine
People carries out auxiliary operation, cannot fully achieve the autonomy-oriented of robot.Shifting multiplies nursing robot and still belongs to emerging robot, related
Technical aspect is also immature, and it is very few to mention the safety control strategy research moved in terms of multiplying nursing robot.This kind of robot master
The problem of wanting is multiplied in nursing process in entire shifting, how to be guaranteed the safety of human body, will not be caused to be difficult to the life of the elderly
The danger of appraisal.
Chinese patent ZL201080005421.3 discloses a kind of move and multiplies ancillary equipment, which is suitable for front hold-type shifting and multiplies shield
Robot is managed, is acted by the pre-set track of control unit, uneasiness alleviates the heart that control unit acquires human body in real time
Uneasy degree signal is transmitted to driving circuit, and then change motor speed when human heart rate's value is higher than normality threshold by rate variation
The rotary joint angle for controlling machine, guarantees the safety and comfort of human body by entire closed-loop control.Be disadvantageous in that: merely according to
It is control standard by changes in heart rate, it becomes difficult to distinguish whether changes in heart rate goes back entirely due to caused by the incorrect operation of machine
It is caused by having other external interference factors.
Summary of the invention
Multiply nursing robot's existing deficiency in terms of security control for existing shifting, the technical issues of present invention intends to solve
It is to provide a kind of behavior safety control method moved and multiply nursing robot.This method improves nursing robot's behavior peace to reach
It is all purpose, nursing robot is made to guarantee to be reduced by the traffic safety and riding comfort of care-giver by care-giver's in entire action process
Sense of discomfort.The method of the present invention is studied by multiplying process to the shifting of human body (being temporarily thought of as multi-rigid model) and robot, is analyzed
To the kinematic parameter of robot pose and human body attitude within each action cycle, posture and the people for moving and multiplying nursing robot are obtained
The functional relation of body joint angle, the i.e. situation of change of gravity center of human body, and then obtain the solution of robot pose and human bady gravitational distribution
Model is calculated, model is resolved as reference standard, during shifting multiplies nursing class robot actual act, in conjunction with human body electroencephalogram's wave using this
Signal and grip handle force signal, the pressure value of real-time monitoring support zone, when detecting unreasonable posture, by comparing real
Actual value and the error for resolving model theory value adjust robot motion posture in time, reach the care actions effect of safety and comfort.
The present invention solve the technical problem the technical solution adopted is that: provide it is a kind of move multiply nursing robot behavior peace
Full control method, the shifting, which multiplies nursing robot and carries out shifting using front hold-type by the way of, to be multiplied, including lower fixing part and top
Support section, lower fixing part and upper support part are connected by cursor, cursor lower end and lower fixing part
First driving motor and the first photoelectric encoder are installed at link position；Upper support point includes that chest is leaned on, oxter handrail and held
Power handle, chest leans on and oxter handrail mainly plays load-bearing effect, and grip handle is mainly the effect for detecting the unreasonable posture of human body.Turn
The link position installation electric pushrod and the second photoelectric encoder that swing arm and chest lean on, the link position installation that oxter handrail and chest lean on
Second driving motor and third photoelectric encoder install holding power transducer, oxter handrail at the grip handle of nursing robot
Torque sensor is installed, chest leans on and arranges pressure sensor on foot pedal, and nursing robot's upper support part can surround down
Portion's fixed part and cursor junction rotate；Chest rotates at the hinge connected by can turn around swing arm and chest, oxter handrail energy
It is rotated at the tie point with oxter handrail around chest；Method includes the following steps:
S1. the resolving model of robot pose and human bady gravitational distribution is constructed:
Robot is obtained under any attitude by establishing the resolving model of robot pose and human bady gravitational distribution
The power of human body and robotic contact position；Detailed process is as follows:
S1-1 is using the link position of the cursor lower end of nursing robot and lower fixing part as coordinate origin O, nursing
The short transverse of robot is the direction y, and horizontal direction is the direction x, and is straight up positive direction of the y-axis, by care-giver place side
To for positive direction of the x-axis, xy rectangular coordinate system is established；The length of cursor is L2, the height of lower fixing part is L1, cursor
Angle with positive direction of the x-axis is joint angle θ, and the tie point that cursor and chest lean on is denoted as M；Upper body will be divided by the body of care-giver
Trunk, thigh and shank three parts, the mass center of upper body trunk, thigh and shank are denoted as A, B and C respectively, corresponding three parts
Length is denoted as H1, H2 and H3 respectively, and the angle of upper body trunk and negative direction of the x-axis is chest by angle [alpha], thigh and positive direction of the x-axis
Angle is β, β=§ (α)；W is denoted as by the whole center of gravity of care-giver, is h, gravity g by the height of care-giver；Oxter handrail with
The initial angle that chest leans on is 90 °, the opposite human body for dividing centroid position and the relation table of quality to obtain three parts according to partes corporis humani
The ratio of gross weight, mass center A, B, C that three parts are calculated in the geometrical relationship under rectangular coordinate system in conjunction with each section are straight in xy
Position coordinates in angular coordinate system, are denoted as (X respectivelyA, YA)、(XB, YB)、(XC, YC), the coordinate of the mass center of three parts is to include
Parameter L1、L2, θ, α, the relational expression of g, h obtains by the quality and location information of care-giver's each section；
S1-2 resolves the position coordinates of gravity center of human body W according to torque synthetic method according to formula (1) and (2), i.e., according to each moment
The sum of be equal to the sum of each power of the centre of moment torque, find out gravity center of human body W position coordinates be (XW, YW)；
G1XA+G2XB+G3XC=gXW (1)
G1YA+G2YB+G3YC=gYW (2)
In formula, G1 represents the gravity of upper body trunk, and G2 represents the gravity of leg portion, and G3 represents the gravity of lower leg portion；
S1-3 is not under conditions of considering inside of human body complexity connection relationship, by the obtained gravity center of human body W's of step S1-2
Position coordinates are as given value, and according to resultant force theorem of moments, the total force of human body is re-assigned to robot to each of human body
Support Position, above the waist by oxter and chest by support, upper part of the body Support Position is that the coordinate of hinge M, M that cursor and chest lean on are remembered
For (XM, YM), the lower part of the body is lower part of the body Support Position, the seat of N by care-giver and the contact point N of foot pedal by sole treadle supporting
Labeled as (XN, YN), the coordinate of two Support Positions under the same coordinate system is brought into formula (3) and (4), resolves two branch again
Support the size of position component；
gXW=FsXM+FXXN (3)
gYW=FsYM+FXYN (4)
In formula, FSFor upper part of the body support force, FXFor lower part of the body support force,
To obtain the resolving model of robot pose and human bady gravitational distribution are as follows:
FS=f1(L1,L2,θ,α,g,h)
FX=f2(L1,L2,θ,α,g,h)
In model, function f1And f2Respectively indicating independent variable is robot lower fixing part height L1, rotation arm lengths
L2, cursor joint angles θ, chest by angle [alpha], human bady gravitational g and height h about upper part of the body support force and lower part of the body support force
Relational expression；
The resolving model is divided into human body above the waist and the lower part of the body, the total weight of the upper part of the body are equal to upper part of the body support force FS,
The weight of the upper part of the body obtains formula (5), i.e. the total weight of the upper part of the body is equal to mainly by oxter handrail and chest by two parts support balance
Oxter power and chest lean on the vector sum of power,
S2. the desired trajectory of nursing robot's movement is constructed:
Bloom paillette is pasted at the major joint of two experimenter's bodies, and people's process is carried on the back by video recording equipment recorder,
According to suitable experiment sample is acquired by the subjective feeling of back person, multi collect experiment sample deletes the uncomfortable reality of human body
Sample is tested, using the experiment sample of human comfort as rational sample, then to the bloom paillette during the entire process of rational sample
The track of point carries out described point, and comprehensive many experiments result obtains an ideal track, moves using this track as nursing robot
The desired trajectory of work, and this desired trajectory is input to the master system of nursing robot；
S3. by by the master system of the height of care-giver, weight information input to nursing robot, by master system
The limbs the size of each part and quality information for dividing the relationship of centroid position and quality to obtain this by care-giver according to partes corporis humani；Together
When by the eeg signal sample and reasonable grip handle under the mechanical configuration parameter of nursing robot, human normal state
Grip value range is input to master system in advance；
S4. nursing robot acts according to preset desired trajectory:
By the first photoelectric encoder and the second photoelectric encoder, what real-time measurement nursing robot cursor and chest leaned on turns
Dynamic angle, the current track that robot is controlled according to measured angle track preset desired trajectory, take stabilization
Control strategy, while the grip value at acquisition grip handle and the eeg signal by caregiver in real time, when the hand-rotating of acquisition
Handle grip value and eeg signal exceed the zone of reasonableness for inputting the default sample of master system in advance simultaneously, jump to step at once
Rapid S5；
S5. when unreasonable state occurs in Stable Control Strategy, master system is by the first photoelectric encoder and the second light
The cursor joint angle θ and chest of the nursing robot of photoelectric coder acquisition is sent to by angle [alpha] to be resolved in model, and robot is passed through
Current time upper part of the body support force F is calculated in posture and the resolving model of human bady gravitational distributionS；Pass through third photoelectric coding again
Device acquisition oxter handrail and the relative angle that leans on of chest, obtain that chest leans on, the theory of two contact positions of oxter handrail connects using formula (5)
Touch；
S6. unreasonable posture is adjusted:
Current time oxter handrail, chest is calculated by the theoretical contact power of two contact positions and by oxter in step S5
The practical contact force that torque sensor and chest depended on pressure sensor measure compares matching, obtains error amount Δ F, then controls
Device sends the electric pushrod stroke and oxter handrail and chest of dependent instruction change cursor and chest at link position and leans on connection position
The revolving speed of the second driving motor of place is set, to adjust the relative angle that chest is leaned on by angle [alpha] and oxter handrail and chest, makes error amount Δ F
No more than ± 1N, step S4 is then jumped back to.
Compared with prior art, the beneficial effects of the present invention are: the present invention is according to support level each during robot motion
The stress condition set proposes more preferably robot behavior safety control strategy, combines robot pose and human body for one kind
The control strategy of the resolving model and man-machine contact force information and Human Physiology eeg signal of gravity distribution, realizes in machine
In the entire action process of device people, the quantitative description of the contact force of each moment each contact position has been obtained more accurate
Reference standard is controlled, resolving model with this is the control method adjustment adaptive according to progress.The present invention is relied on relative to simple
Human body physiological parameter (heartbeat, pulse etc.) more has reliability as the control strategy of foundation.It is no it is excessive interference and by
In the case that power is concentrated, according to Stable Control Strategy movement (refer to early period according to people carry on the back the exercise data parameter tested of people come
The holding motion profile for cooking up robot carries out Trajectory Tracking Control by position control unit using conventional control methods, real
Existing robot trajectory reaches expected planned trajectory)；When there is unreasonable attitude disturbance, using self-adapting regulation method, according to
Robot pose and the resolving model of human bady gravitational distribution obtain the stress condition of each Support Position, adjust turning for robot in real time
Swing arm joint angle and chest lean on angle, to reach reasonable movement posture control.
Detailed description of the invention
Fig. 1 is the nursing robot of Japan Chemical research institute；
Fig. 2 is nursing robot's structure diagram of the embodiment of the present invention；
Fig. 3 is that the present invention moves the resolving model schematic diagram for multiplying process robot pose and human bady gravitational distribution；
Fig. 4 is the resolving modular concept figure of robot pose of the present invention and human bady gravitational distribution；
Fig. 5 is that the present invention moves the flow chart for multiplying the behavior safety control method of nursing robot；
In figure, 1 grip handle, 2 oxter handrails, 3 chests are leaned on, 4 foot pedals, 5 cursors, 6 lower fixing parts, 7 top branch
Support part point.
Specific embodiment
For the purpose of the present invention, technical solution is more clearly understood, the present invention is done below with reference to examples and drawings
It is further to be described in detail, but not in this, as the restriction to the claim of this application protection scope.
The present invention moves the behavior safety control method (abbreviation method) for multiplying nursing robot, and the shifting multiplies nursing robot
(referring to fig. 2) it carries out moving by the way of front hold-type and multiply, including lower fixing part 6 and upper support part 7, centre is by turning
Swing arm 5 connects, and cursor lower end is connect with lower fixing part, and cursor upper end is connect with upper support part, under cursor
The first driving motor and the first photoelectric encoder need to be installed at end and the link position of lower fixing part；Upper support part by
Chest leans on, oxter handrail and grip handle form, and chest leans on and oxter handrail mainly plays load-bearing effect, and grip handle predominantly detects people
The link position that the effect of the unreasonable posture of body, cursor and chest lean on installs electric pushrod and the second photoelectric encoder to carry out angle
Degree measurement and fine tuning, the link position that oxter handrail and chest lean on installs the second driving motor and third photoelectric encoder carries out the later period
Angle measurement and fine tuning, install holding power transducer at the grip handle 1 of nursing robot, and oxter handrail 2 installs torque sensing
Device, chest arrange pressure sensor on 3 and foot pedal 4, and nursing robot's upper support part can surround lower fixing part
It is rotated with cursor junction；Chest rotates at the hinge connected by can turn around swing arm and chest, and oxter handrail can be leaned on around chest and armpit
It is rotated at the tie point of lower handrail；Method includes the following steps:
S1. the resolving model (referring to Fig. 3) of robot pose and human bady gravitational distribution is constructed:
During shifting multiplies nursing robot's holding, human body and the power of robotic contact position are constantly changing, main
If since the moment is changing gravity center of human body in the action process of robot, and changing rule is complex, so quasi- logical
It crosses and establishes the resolving model of robot pose and human bady gravitational distribution and obtain human body and machine of the robot under any attitude
The power of people's contact position；Detailed process is as follows:
S1-1 is using the link position of the cursor lower end of nursing robot and lower fixing part as coordinate origin O, nursing
The short transverse of robot is the direction y, and horizontal direction is the direction x, and is straight up positive direction of the y-axis, by care-giver place side
To for positive direction of the x-axis, xy rectangular coordinate system is established；The length of cursor is L2, the height of lower fixing part is L1, cursor
Angle with positive direction of the x-axis is joint angle θ, and the tie point that cursor and chest lean on is denoted as M；Upper body will be divided by the body of care-giver
Trunk, thigh and shank three parts, the mass center of upper body trunk, thigh and shank are denoted as A, B and C respectively, corresponding three parts
Length is denoted as H1, H2 and H3 respectively, and the angle of upper body trunk and negative direction of the x-axis is α, since upper body trunk depends on parallel, α with chest
Referred to as chest leans on angle, and the angle of thigh and positive direction of the x-axis is β, and there are corresponding passes in rectangular coordinate system with α by β=§ (α), β
System；W is denoted as by the whole center of gravity of care-giver, is h, gravity g by the height of care-giver；The initial angle that oxter handrail and chest lean on
It is 90 °, the ratio for the opposite human body gross weight for dividing centroid position and the relation table of quality to obtain three parts according to partes corporis humani (is shown in Table
1), mass center A, B, C of three parts is calculated in xy rectangular coordinate system in the geometrical relationship under rectangular coordinate system in conjunction with each section
In position coordinates, be denoted as (X respectivelyA, YA)、(XB, YB)、(XC, YC), the coordinate of the mass center of three parts is comprising parameter L1、
L2, θ, α, the relational expression of g, h obtains by the quality and location information of care-giver's each section；
1 analytic approach of table calculates gravity center of human body
Proximal end described in table 1 refers to the one end of some part close to heart.
S1-2 resolves the position coordinates of gravity center of human body W according to torque synthetic method according to formula (1) and (2), i.e., according to each moment
The sum of be equal to the sum of each power of the centre of moment torque, find out gravity center of human body W position coordinates be (XW, YW)；
G1XA+G2XB+G3XC=gXW (1)
G1YA+G2YB+G3YC=gYW (2)
In formula, G1 represents the gravity of upper body trunk, and G2 represents the gravity of leg portion, and G3 represents the gravity of lower leg portion, g
Represent human body total force；
S1-3 is not under conditions of considering inside of human body complexity connection relationship, by the obtained gravity center of human body W's of step S1-2
Position coordinates are as given value, and according to resultant force theorem of moments, the total force of human body is re-assigned to robot to each of human body
Support Position, above the waist by oxter and chest by support, upper part of the body Support Position is that the coordinate of hinge M, M that cursor and chest lean on are remembered
For (XM, YM), the lower part of the body is lower part of the body Support Position, the seat of N by care-giver and the contact point N of foot pedal by sole treadle supporting
Labeled as (XN, YN), the coordinate of two Support Positions under the same coordinate system is brought into formula (3) and (4), resolves two branch again
Support the size of position component；
gXW=FsXM+FXXN (3)
gYW=FsYM+FXYN (4)
In formula, FSFor upper part of the body support force, FXFor lower part of the body support force,
To obtain the resolving model of robot pose and human bady gravitational distribution are as follows:
FS=f1(L1,L2,θ,α,g,h)
FX=f2(L1,L2,θ,α,g,h)
In model, function f1And f2Respectively indicating independent variable is robot lower fixing part height L1, rotation arm lengths
L2, cursor joint angle θ, chest by angle [alpha], human bady gravitational g and height h about upper part of the body support force and lower part of the body support force
Relational expression；
The resolving model is divided into human body above the waist and the lower part of the body, the total weight of the upper part of the body are equal to upper part of the body support force FS,
Because the weight of the upper part of the body, by two parts support balance, is obtained upper part of the body total weight and leaned on equal to oxter power and chest by oxter handrail and chest
The vector sum (size and Orientation comprising power) of power, i.e. formula (5),
According to formula (5) and then oxter handrail and chest can be obtained by the theoretical value of two contact positions；
S2. the desired trajectory of nursing robot's movement is constructed:
Patch is high bright at the major joint (shoulder joint, hip joint, knee joint, ankle-joint) of two experimenter's bodies
Piece carries on the back people's process by video recording equipment recorder, according to suitable experiment sample is acquired by the subjective feeling of back person, repeatedly adopts
Collect experiment sample, deletes the uncomfortable experiment sample of human body, using the experiment sample of human comfort as rational sample, then pairing
The track for managing the bloom paillette point during the entire process of sample carries out described point, and comprehensive many experiments result obtains an ideal rail
Mark, the desired trajectory that this track is acted as nursing robot, and this desired trajectory is input to the upper of nursing robot
Machine system；
S3. by by the master system of the height of care-giver, weight information input to nursing robot, by master system
The relationship (table 1) of centroid position and quality is divided to obtain limbs the size of each part and the quality letter by care-giver according to partes corporis humani
Breath；It simultaneously need to be by mechanical configuration parameter (the lower fixing part height L of nursing robot1With rotation arm lengths L2), human normal
The grip range of eeg signal sample and reasonable grip handle under state is input to master system in advance；
S4. nursing robot acts according to preset desired trajectory:
By the first photoelectric encoder and the second photoelectric encoder, what real-time measurement nursing robot cursor and chest leaned on turns
Dynamic angle, the current track that robot is controlled according to measured angle value track preset desired trajectory, take steady
Determine control strategy, acquire the grip value at grip handle and eeg signal by caregiver in real time, when acquisition grip value or
Eeg signal exceeds the zone of reasonableness for inputting the default sample of master system in advance simultaneously, jumps to step S5 at once；
S5. when unreasonable state occurs in Stable Control Strategy, master system is by the first photoelectric encoder and the second light
The cursor joint angle θ and chest of the nursing robot of photoelectric coder acquisition is sent to by angle [alpha] to be resolved in model, and robot is passed through
Current time upper part of the body support force F is calculated in posture and the resolving model of human bady gravitational distributionS；Pass through third photoelectric coding again
Device acquisition oxter handrail and the relative angle that leans on of chest, obtain that chest leans on, the theory of two contact positions of oxter handrail connects using formula (5)
Touch；
S6. unreasonable posture is adjusted:
Current time oxter handrail, chest is calculated by the theoretical contact power of two contact positions and by oxter in step S5
The practical contact force that torque sensor and chest depended on pressure sensor measure compares matching, obtains error amount Δ F, then controls
Device sends dependent instruction and changes chest second drive at the electric pushrod stroke (playing main adjustment effect) and oxter armrest positions located
Dynamic motor speed (playing auxiliary fine tuning), the relative angle that adjustment chest is leaned on by angle [alpha] and oxter handrail and chest makes error amount Δ
F is not more than ± 1N, then jumps back to step S4.
In conjunction with Fig. 2, it is the mode for being different from both arms holding that the present embodiment shifting, which multiplies nursing robot, but a kind of front hold-type
Shifting multiplies mode.Be distributed in the main of robot platform and detect position there are four sensor: grip handle, oxter handrail, chest lean on, foot
Pedal.This four positions be respectively arranged grip handle holding power transducer, oxter handrail torque sensor, chest depended on pressure sensor,
Foot pedal pressure sensor.The nursing robot mainly completes by sitting posture to take target body to stance in one's arms.Pass through each support
The practical contact force force information of sensor measurement at position finally will to describe the gravity center shift situation of human body in motion process
Force signal is obtained to be applied in subsequent safety control strategy as evaluation criterion.
Fig. 3 is robot pose and the resolving modular concept figure that human bady gravitational distributes.The resolving model is control strategy
Core content.Human body is temporarily thought of as multi-rigid model, is described by the geometrical relationship to robot and human body, establishes right angle
Coordinate system, can be by nursing robot under the premise of the known height and weight by care-giver according to the computational theory of gravity center of human body
Posture obtains the position of centre of gravity of human body, then carries out the subdivided of human bady gravitational, and then obtain human body and contact with nursing robot
The theoretical contact power of position.
Fig. 4 is to resolve modular concept figure, it is known that the posture of nursing robot is to be described by joint angle θ and chest by angle [alpha]
, any posture of robot has a corresponding human body attitude, and the posture of human body determines the position of centre of gravity of human body, and center of gravity
Position will affect human bady gravitational distribution, i.e. the contact force size of the contact position of people and robot, to obtain robot pose
With the mapping principle of man-machine contact force.
Fig. 5 is the control general flow chart of the action process of Yi Cheng robot, and process is as follows: in order to preferably guarantee target person
Traffic safety and riding comfort of body during the entire process of being taken in one's arms proposes the behavior safety control method of nursing robot a kind of, that is, exists
(noiseless) progress self adaptive control adjustment under Stable Control Strategy (there are disturbing factors).Early period carries on the back people by people and tests acquisition
To exercise data, desired trajectory is obtained, the Trajectory Tracking Control of nursing robot is realized by regulatory PID control.Multiply shield in shifting
In an action cycle for managing robot, the holding power transducer detected value at grip handle is less than the reasonable benefit/risk being arranged in advance
When threshold value, or human body electroencephalogram's wave signal fluctuation range of acquisition is in the brain wave rational sample for inputting master system in advance
When in range, determine that the state of human body this moment without stress or uncomfortable feeling is concentrated, continues to execute current action, i.e. stability contorting
Strategy.Multiply in nursing robot's action cycle in shifting, it, should if the holding power transducer at grip handle detects larger grip value
When larger grip value has exceeded reasonable benefit/risk threshold value, in conjunction with by the brain wave detection signal of caregiver with the presence or absence of it is unexpected compared with
Great fluctuation process has exceeded preset brain wave rational sample threshold value if peak value fluctuation occurs in eeg signal testing result, determines
There may be the dynamic adjustment of self body of unreasonable posture or people during being taken in one's arms, controller at this time carries out rapidly human body
Adaptive adjustment, extracts the numerical value for working as shirtfront depended on pressure sensor and oxter handrail torque sensor, while by nursing at this time
Joint of robot angle θ and chest subtract current actual value by the resolving model of angle [alpha] input robot pose and human bady gravitational distribution
It goes to resolve the theoretical value that model obtains, obtains the error amount Δ F of each Support Position at this time.Finally error amount Δ F is sent to
Controller leans on the electric pushrod and armpit of link position by the cursor and chest that control robot by controller offset value calculation
The second driving motor at link position that lower handrail and chest lean on leans on realizing chest and the adjustment of the angle of oxter handrail.It is corresponding to adjust
Whole strategy is as follows: when obtained error amount Δ F is in zone of reasonableness, i.e. Δ F is less than 1N and is greater than -1N, continues to execute and works as
Preceding Stable Control Strategy；When obtained error amount Δ F is greater than 1N, i.e. human body stress is excessive, and the direction of adjustment should loosen support
The chucking power at position adjusts support zone angle, keeps stress surface as big as possible, eliminates concentration of local stress；When error amount Δ F is small
In -1N, i.e. human body stress is too small, and the direction of adjustment should make support force become larger, and fixing human prevents from sliding injury, to reach most
Excellent robot motion planning control.
Present invention is generally directed to be to move to multiply nursing class robot, the service goal of such robot is handicapped old
Year people, it is most important that robot in holding moves the safety problem that multiplies in action process.By the fortune for carrying on the back human action to people in life
Dynamic Analysis on Mechanism, the complexity for carrying on the back people not only have direct relation with the height and weight of people, and the position of centre of gravity by back people is equally
An important factor for influencing the complexity of entire back human action.By back person and the dominant touch portion for actively carrying on the back people person during back people
There are arm oxter, chest, thigh in position, and holding position by back person is kept by the power of these three point of applications, while also can be certainly
The size and Orientation of power of the dynamic adjustment hand to pop-up, to overcome the gravity center shift of people.The unreasonable movement appearance of Yi Cheng robot
There are mainly two types of situations for state: when the chucking power deficiency of robot, (people can be autonomous at this time for the movement trend that human body has nature to slide
Grasping member generate internal force come overcome slide), be easy to cause secondary injury；When the aid position power of robot is excessive, strength
Constriction can make one body and not feel good (people also can autonomous grasping member overcome psychological fear), be also easy that human body is caused to hurt
Evil.Under the premise of guaranteeing human-body safety, the present invention proposes more reasonable self-adaptation control method, and then the machine being optimal
Device human action gesture stability.
Nursing robot of the present invention is the mode for being different from both arms holding, but a kind of shifting of front hold-type multiplies mode
(it is in fact exactly a kind of mode for carrying on the back people, similar people carries on the back the motion process of people, and it carries on the back the back of people person and is contacted by the chest of back person,
And in robot motion, be robot chest and human body chest contact, and operating angle just with people carry on the back people be on the contrary,
Embracing in similar action is fallen, therefore referred to as front hold-type), four contact positions be respectively grip handle, oxter handrail, chest lean on,
Foot pedal.Within a sampling period, the driving motor for being mounted on the corresponding cradle head of robot is driven by controller
It is dynamic, make robot body that handicapped human body be driven to complete shifting and multiplies process, the force snesor (torque sensing of main support position
Device, chest by 3 and foot pedal 4 pressure sensor) measurement action process in force information, and acquire grip handle grip sensing
The eeg signal of device numerical value and human body.By to by the force information of caregiver and robotic contact position and by the brain of caregiver
The analysis of electric wave signal judges robot pose situation, formulates reasonable robot behavior safety control strategy, improves shifting and multiplies shield
The security and stability of reason process.
The present invention does not address place and is suitable for the prior art.
Claims (1)
1. a kind of move the behavior safety control method for multiplying nursing robot, the shifting multiplies nursing robot by the way of front hold-type
Move and multiply, including lower fixing part and upper support part, lower fixing part and upper support part pass through cursor
Connection, nursing robot's upper support part can be rotated around lower fixing part and cursor junction；Upper support part
It is leaned on including chest, oxter handrail, chest rotates at the hinge connected by can turn around swing arm and chest, and oxter handrail can be leaned on around chest and oxter
It is rotated at the tie point of handrail；It is characterized in that,
First driving motor and the first photoelectric encoder are installed at the link position of cursor lower end and lower fixing part；Top
Support section further includes grip handle, and chest leans on and oxter handrail mainly plays load-bearing effect, and grip handle predominantly detects human body not
The link position installation electric pushrod and the second photoelectric encoder that the effect of reasonable posture, cursor and chest lean on, oxter handrail and
The link position that chest leans on installs the second driving motor and third photoelectric encoder, installs and holds at the grip handle of nursing robot
Force snesor, oxter handrail install torque sensor, and chest leans on and arranges pressure sensor on foot pedal, and this method includes following
Step:
S1. the resolving model of robot pose and human bady gravitational distribution is constructed:
Human body of the robot under any attitude is obtained by establishing the resolving model of robot pose and human bady gravitational distribution
With the power of robotic contact position；Detailed process is as follows:
S1-1 nurses machine using the link position of the cursor lower end of nursing robot and lower fixing part as coordinate origin O
The short transverse of people is the direction y, and it is x by care-giver's direction that horizontal direction, which is the direction x, and is straight up positive direction of the y-axis
Axis positive direction establishes xy rectangular coordinate system；The length of cursor is L2, the height of lower fixing part is L1, cursor and x-axis
The angle of positive direction is joint angle θ, and the tie point that cursor and chest lean on is denoted as M；By by the body of care-giver be divided into upper body trunk,
Thigh and shank three parts, the mass center of upper body trunk, thigh and shank are denoted as A, B and C, the length point of corresponding three parts respectively
It is not denoted as H1, H2 and H3, the angle of upper body trunk and negative direction of the x-axis is chest by angle [alpha], and the angle of thigh and positive direction of the x-axis is
β；W is denoted as by the whole center of gravity of care-giver, is h, gravity g by the height of care-giver；The initial angle that oxter handrail and chest lean on
Be 90 °, according to partes corporis humani divide centroid position and the relation table of quality obtain three parts opposite human body gross weight ratio, straight
The position of mass center A, B, C of three parts in xy rectangular coordinate system is calculated in geometrical relationship under angular coordinate system in conjunction with each section
Coordinate is denoted as (X respectivelyA, YA)、(XB, YB)、(XC, YC), the coordinate of the mass center of three parts is comprising parameter L1、L2, θ, α, g, h
Relational expression, obtain by the quality and location information of care-giver's each section；
S1-2 resolves the position coordinates of gravity center of human body W according to torque synthetic method according to formula (1) and (2), i.e., according to the sum of each moment
The torque of the sum of each power equal to the same centre of moment, the position coordinates for finding out gravity center of human body W are (XW, YW)；
G1XA+G2XB+G3XC=gXW (1)
G1YA+G2YB+G3YC=gYW (2)
In formula, G1 represents the gravity of upper body trunk, and G2 represents the gravity of leg portion, and G3 represents the gravity of lower leg portion；
S1-3 is not under conditions of considering inside of human body complexity connection relationship, by the position of the obtained gravity center of human body W of step S1-2
Coordinate is as given value, and according to resultant force theorem of moments, the total force of human body is re-assigned to each support of the robot to human body
Position, above the waist by oxter and chest by support, upper part of the body Support Position is that the coordinate of hinge M, M that cursor and chest lean on are denoted as
(XM, YM), the lower part of the body is lower part of the body Support Position, the coordinate of N by care-giver and the contact point N of foot pedal by sole treadle supporting
It is denoted as (XN, YN), the coordinate of two Support Positions under the same coordinate system is brought into formula (3) and (4), resolves two supports again
The size of position component；
gXW=FsXM+FXXN (3)
gYW=FsYM+FXYN (4)
In formula, FSFor upper part of the body support force, FXFor lower part of the body support force,
To obtain the resolving model of robot pose and human bady gravitational distribution are as follows:
FS=f1(L1,L2,θ,α,g,h)
FX=f2(L1,L2,θ,α,g,h)
In model, function f1And f2Respectively indicating independent variable is robot lower fixing part height L1, rotation arm lengths L2, rotation
Shoulder joint angle, θ, chest lean on angle [alpha], the relationship about upper part of the body support force and lower part of the body support force of human bady gravitational g and height h
Formula；
The resolving model is divided into human body above the waist and the lower part of the body, the total weight of the upper part of the body are equal to upper part of the body support force FS, above the waist
Weight mainly by oxter handrail and chest by two parts support balance, then obtain formula (5), i.e., the total weight of the upper part of the body is equal to oxter
Power and chest lean on the vector sum of power,
S2. the desired trajectory of nursing robot's movement is constructed:
Bloom paillette is pasted at the major joint of two experimenter's bodies, and people's process is carried on the back by video recording equipment recorder, according to
Suitable experiment sample is acquired by the subjective feeling of back person, multi collect experiment sample deletes the uncomfortable experiment sample of human body
This, using the experiment sample of human comfort as rational sample, then to the bloom paillette point during the entire process of rational sample
Track carries out described point, and comprehensive many experiments result obtains an ideal track, this track is acted as nursing robot
Desired trajectory, and this desired trajectory is input to the master system of nursing robot；
S3. by by the master system of the height of care-giver, weight information input to nursing robot, by master system according to
The limbs the size of each part and quality information that partes corporis humani divides the relationship of centroid position and quality to obtain this by care-giver；Simultaneously will
The grip of the mechanical configuration parameter of nursing robot, the eeg signal sample under human normal state and reasonable grip handle
Value range is input to master system in advance；
S4. nursing robot acts according to preset desired trajectory:
By the first photoelectric encoder and the second photoelectric encoder, angle of rotation that real-time measurement nursing robot cursor and chest lean on
Degree, the current track that robot is controlled according to measured angle track preset desired trajectory, take stability contorting
Strategy, while the grip value at acquisition grip handle and the eeg signal by caregiver in real time, when the grip handle of acquisition is held
Force value and eeg signal exceed the zone of reasonableness for inputting the default sample of master system in advance simultaneously, jump to step at once
S5；
S5. when unreasonable state occurs in Stable Control Strategy, master system compiles the first photoelectric encoder and the second photoelectricity
The cursor joint angle θ and chest of the nursing robot of code device acquisition is sent to by angle [alpha] and resolves in model, passes through robot pose
Current time upper part of the body support force F is calculated with the resolving model of human bady gravitational distributionS；It is adopted again by third photoelectric encoder
Collection oxter handrail and the relative angle that leans on of chest, using formula (5) obtain chest lean on, the theoretical contact of two contact positions of oxter handrail
Power；
S6. unreasonable posture is adjusted:
Current time oxter handrail, chest is calculated by the theoretical contact power of two contact positions and by oxter torque in step S5
The practical contact force that sensor and chest depended on pressure sensor measure compares matching, obtains error amount Δ F, and then controller is sent out
Dependent instruction is sent to change the electric pushrod stroke and oxter handrail and chest of cursor and chest at link position at link position
The revolving speed of second driving motor keeps error amount Δ F little to adjust the relative angle that chest is leaned on by angle [alpha] and oxter handrail and chest
In ± 1N, step S4 is then jumped back to.
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| CN113177310B (en) * | 2021-04-25 | 2022-05-27 | 哈尔滨工业大学（深圳） | Mechanical arm holding method based on human body comfort |
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