CN107490470B - A kind of detection method for upper limb ectoskeleton power-assisted efficiency - Google Patents
A kind of detection method for upper limb ectoskeleton power-assisted efficiency Download PDFInfo
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- CN107490470B CN107490470B CN201710533859.2A CN201710533859A CN107490470B CN 107490470 B CN107490470 B CN 107490470B CN 201710533859 A CN201710533859 A CN 201710533859A CN 107490470 B CN107490470 B CN 107490470B
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- upper limb
- wearer
- power
- limb ectoskeleton
- heart rate
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention discloses a kind of detection methods for upper limb ectoskeleton power-assisted efficiency.By the way that pull pressure sensor is arranged on the hydraulic actuation cylinder of the shoulder joint of upper limb ectoskeleton and elbow joint, on the wearer electromyography signal sensor is sticked at limb shoulder joint and knee joint, this two groups of signals can be used for the anticipation of human motion trend and be used for the power control of man-machine coordination；Cylinder stress and wearer's power output of electromyography signal sensor measurement that pull pressure sensor measures are done into difference respectively, the weight weight carried with upper limb ectoskeleton does comparison algorithm；In conjunction with real-time heart beat of the wearer when dressing the work of upper limb ectoskeleton, carry out the power-assisted efficiency of Comprehensive Assessment upper limb ectoskeleton.The signal that the present invention acquires can be used for the anticipation of human motion trend and be used for the power control of man-machine coordination；Present invention incorporates the power-assisted efficiency that the physiological characteristic signal of the physical features signal of wearer's power output and heartbeat carrys out Comprehensive Assessment upper limb ectoskeleton.
Description
Technical field
The present invention relates to exoskeleton robots, more particularly, to a kind of detection side for upper limb ectoskeleton power-assisted efficiency
Method.
Background technology
Exoskeleton robot is the novel intelligent equipment for having merged the multi-door subject such as sensing, control, information and machinery, in U.S.
It has been widely used on army soldier.The purpose of design of exoskeleton robot is mainly used for restoring and enhancing the people of wearer
Body behavior, such as improve heavy burden locomotivity, carrying heavy goods work capacity.
Research now for exoskeleton robot focuses primarily upon apery design, human motion perception and coupled
This three broad aspect often ignores the evaluation for being applied to effect, such as power-assisted efficiency, wearer comfort.According to investigation, have
Power-assisted efficiency detection method mainly using wearer in the oxygen demand that works of wearing ectoskeleton as foundation, this evaluation side
Method cannot judge power-assisted efficiency, and oxygen demand is difficult to measure according to single comprehensively, required equipment complexity not Portable belt.
Invention content
For the deficiency of research and technology in background, the object of the present invention is to provide one kind to imitate for upper limb ectoskeleton power-assisted
The wearer of the detection method of rate, the cylinder stress measured by pull pressure sensor and electromyography signal sensor measurement exports
Power does difference respectively, and the weight weight carried with upper limb ectoskeleton does comparison algorithm；In conjunction with wearer in wearing upper limb dermoskeleton
Real-time heart beat when bone works, carrys out the power-assisted efficiency of Comprehensive Assessment upper limb ectoskeleton.
The technical solution adopted by the present invention is：
The present invention by setting respectively on the hydraulic actuation cylinder of upper limb ectoskeleton shoulder joint and the hydraulic actuation cylinder of elbow joint
Pull pressure sensor is set, sticks electromyography signal sensor respectively in wearer's shoulder joint and elbow joint；In wearer's chest position
Set installation heart rate measuring instrument.
The stress F of the hydraulic actuation cylinder for the shoulder joint that each pull pressure sensor measures1, elbow joint hydraulic actuation cylinder
Stress F2With wearer's shoulder joint of electromyography signal sensor measurement and the power output F of elbow joint1′、F2' difference is done respectively, and it is upper
The weight weight G that limb ectoskeleton is carried does comparison algorithm.
In conjunction with real-time heart rate A of the wearer when dressing the work of upper limb ectoskeleton, carry out helping for Comprehensive Assessment upper limb ectoskeleton
Force efficiency Z；
In formula, Z is power-assisted efficiency, unit：%；η is the influence coefficient of heart rate, is obtained according to multiple man-machine experiment；A is
The real-time heart rate of wearer, unit：Beat/min；B is the quiet heart rate of wearer, unit：Beat/min.
The pull pressure sensor is pillar pull pressure sensor M10D, and electromyography signal sensor is MYON320, and heart rate is surveyed
Measure the WQ004 that instrument is OEM brands.
The invention has the advantages that：
The signal of acquisition can be used for the anticipation of human motion trend and be used for the power control of man-machine coordination；Relative to
It is traditional using oxygen demand as the evaluation method of foundation, present invention incorporates the physical features signal of wearer's power output and heartbeats
Physiological characteristic signal carrys out the power-assisted efficiency of Comprehensive Assessment upper limb ectoskeleton.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments.
The present invention by setting respectively on the hydraulic actuation cylinder of upper limb ectoskeleton shoulder joint and the hydraulic actuation cylinder of elbow joint
Pull pressure sensor is set, sticks electromyography signal sensor respectively in wearer's shoulder joint and elbow joint；In wearer's chest position
Set installation heart rate measuring instrument.
Wearer is dressed by bandage and upper limb ectoskeleton, during carrying out carrying, before upper limb ectoskeleton
Arm is for carrying weight.The stress F of the hydraulic actuation cylinder for the shoulder joint that each pull pressure sensor measures1, elbow joint hydraulic pressure
The stress F of cylinder2With wearer's shoulder joint of electromyography signal sensor measurement and the power output F of elbow joint1′、F2' do respectively
Difference, the weight weight G carried with upper limb ectoskeleton do comparison algorithm.
In conjunction with real-time heart rate A of the wearer when dressing the work of upper limb ectoskeleton, carry out helping for Comprehensive Assessment upper limb ectoskeleton
Force efficiency Z；
In formula：Z is power-assisted efficiency, unit：%；η is the influence coefficient of heart rate, is obtained according to multiple man-machine experiment；A is
The real-time heart rate of wearer, unit：Beat/min；B is the quiet heart rate of wearer, unit：Beat/min.
The value range of power-assisted efficiency is：0~100%, numerical value is bigger, shows that the power-assisted effect of upper limb ectoskeleton is got over
Good, wearer is more laborsaving at work.
The pull pressure sensor is preferably pillar pull pressure sensor M10D, and electromyography signal sensor is preferably
MYON320, heart rate measuring instrument are preferably the WQ004 of OEM brands.
Above-mentioned specific implementation mode is used for illustrating the present invention, does not limit the invention, in the essence of the present invention
In god and scope of the claims, to any modifications and changes that the present invention makes, protection scope of the present invention is both fallen within.
Claims (2)
1. a kind of detection method for upper limb ectoskeleton power-assisted efficiency, it is characterised in that：By in upper limb ectoskeleton shoulder joint
Hydraulic actuation cylinder and elbow joint hydraulic actuation cylinder on pull pressure sensor is respectively set, in wearer's shoulder joint and elbow joint
It is upper to stick electromyography signal sensor respectively；Heart rate measuring instrument is installed in wearer's chest locations；
The stress F of the hydraulic actuation cylinder for the shoulder joint that each pull pressure sensor measures1With the stress of the hydraulic actuation cylinder of elbow joint
F2Summation, then with upper limb ectoskeleton carry weight weight G, electromyography signal sensor measurement wearer's shoulder joint power output
F1', the power output F of wearer's elbow joint of electromyography signal sensor measurement2The sum of ' three does division；
In conjunction with real-time heart rate A of the wearer when dressing the work of upper limb ectoskeleton, carry out the power-assisted effect of Comprehensive Assessment upper limb ectoskeleton
Rate Z；
In formula：Z is power-assisted efficiency, unit：%；η is the influence coefficient of heart rate, is obtained according to multiple man-machine experiment；A is wearing
The real-time heart rate of person, unit：Beat/min；B is the quiet heart rate of wearer, unit：Beat/min.
2. a kind of detection method for upper limb ectoskeleton power-assisted efficiency according to claim 1, it is characterised in that：It is described
Pull pressure sensor is pillar pull pressure sensor M10D, and electromyography signal sensor is MYON320, and heart rate measuring instrument is OEM product
The WQ004 of board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710533859.2A CN107490470B (en) | 2017-07-03 | 2017-07-03 | A kind of detection method for upper limb ectoskeleton power-assisted efficiency |
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| CN201710533859.2A CN107490470B (en) | 2017-07-03 | 2017-07-03 | A kind of detection method for upper limb ectoskeleton power-assisted efficiency |
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| CN107490470A CN107490470A (en) | 2017-12-19 |
| CN107490470B true CN107490470B (en) | 2018-09-18 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110522459B (en) * | 2019-08-22 | 2020-08-18 | 西安交通大学 | Exoskeleton assistance effect test method based on infrared spectrum detection muscle oxygen content evaluation |
| CN110811553B (en) * | 2019-11-01 | 2021-01-15 | 西安交通大学 | Detection method for assistance efficiency of load exoskeleton |
| CN111755096A (en) * | 2020-05-09 | 2020-10-09 | 深圳先进技术研究院 | Boosting efficiency testing method, adjusting method, computer device and storage medium |
| CN113063411A (en) * | 2020-06-29 | 2021-07-02 | 河北工业大学 | Exoskeleton evaluation system and method of use thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101786478B (en) * | 2010-02-23 | 2011-09-07 | 华东理工大学 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
| CN103239307B (en) * | 2013-04-24 | 2015-03-25 | 西南交通大学 | Method for detecting load bearing efficiency for power-assisted exoskeletons |
| CN103557199B (en) * | 2013-11-15 | 2015-09-30 | 中国人民解放军国防科学技术大学 | A kind of variable cross section oil hydraulic cylinder and hydraulic control system thereof and controlling method |
| CN106236503B (en) * | 2016-08-22 | 2019-07-23 | 长安大学 | The wearable exoskeleton system of the electrically driven (operated) upper limb of flesh and control method |
| CN106872196B (en) * | 2017-01-06 | 2019-05-07 | 芜湖瑞思机器人有限公司 | A kind of Delta parallel robot all-round property testing method |
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