CN107520834A - A kind of lower limb exoskeleton biped supporting zone real time discriminating device - Google Patents
A kind of lower limb exoskeleton biped supporting zone real time discriminating device Download PDFInfo
- Publication number
- CN107520834A CN107520834A CN201710568219.5A CN201710568219A CN107520834A CN 107520834 A CN107520834 A CN 107520834A CN 201710568219 A CN201710568219 A CN 201710568219A CN 107520834 A CN107520834 A CN 107520834A
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- lower limb
- limb exoskeleton
- supporting zone
- real time
- unit
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 33
- 230000005021 gait Effects 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000008569 process Effects 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 210000001699 lower leg Anatomy 0.000 claims abstract description 10
- 238000009530 blood pressure measurement Methods 0.000 claims abstract description 8
- 210000002683 foot Anatomy 0.000 claims description 22
- 239000002184 metal Substances 0.000 claims description 13
- 239000011229 interlayer Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 230000010365 information processing Effects 0.000 claims description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 3
- 210000000878 metatarsophalangeal joint Anatomy 0.000 claims description 3
- 125000003003 spiro group Chemical group 0.000 claims description 3
- 210000003813 thumb Anatomy 0.000 claims description 3
- 210000004744 fore-foot Anatomy 0.000 claims description 2
- 239000003292 glue Substances 0.000 claims 1
- 239000004020 conductor Substances 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 5
- 239000008358 core component Substances 0.000 abstract 1
- 238000001514 detection method Methods 0.000 abstract 1
- 230000004069 differentiation Effects 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000037147 athletic performance Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 210000001037 metacarpus Anatomy 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
-
- 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
- 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
- B25J19/02—Sensing devices
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to robotic technology field, relate more specifically to a kind of lower limb exoskeleton biped supporting zone real time discriminating device, the device specifically includes lower limb exoskeleton left foot gait information collection footwear and right crus of diaphragm gait information collection footwear, gait information collection footwear are made up of some, and its core component is one piece of customized insole.In the customized insole, equipped with pressure measurement cell and Inertial Measurement Unit, related sensor is connected to information process unit by flexible circuit conductor.The gait information that information process unit gathers pressure sensor and Inertial Measurement Unit, handled, calculate after transmit to lower limb exoskeleton control main frame.Main frame integrates the effective information of left and right foot device, makes real-time, the accurate differentiation of biped supporting zone, and detection means is provided to the stability control of lower limb exoskeleton robot walking to realize.
Description
Technical field
The invention belongs to robotic technology field, relates more specifically to a kind of available for the double of lower limb exoskeleton stabilized walking
Sufficient supporting zone real time discriminating device.
Background technology
The background of related of the present invention is illustrated below, but these explanations might not form the existing of the present invention
Technology.
With the continuous development of wearable carrying device technology and robotic sensor technology, ergonomics and robotics
Integrated application turn into the focus studied both at home and abroad.Wherein as projects such as lower limb exoskeleton robot, biped robots, it is exactly
Body gait is walked in the application of robot field.To realize the stability of apery walking, it is necessary to study a set of special anti-fall
Mechanism, i.e., ZMP (point of zero moment) and the supporting zone of biped position relationship are monitored in real time, to control ZMP to fall in biped
In supporting zone, whole system is set to keep stable, wherein the judgement of biped supporting zone and identification are an emphasis.Generally, I
Can utilize the anglec of rotation in each joint of human body lower limbs, with reference to forward kinematics solution, calculate the displacement of biped and mutual position
Put relation.But the method is related to the accurate measurement of multiple articulation angles, so as to need to install multiple angular sensors,
There is certain technical difficulty in the angular surveying for the so more rotary freedom joints of hip joint, and involved in whole process
Amount of calculation is larger, and requirement of real-time is higher.Therefore the present invention provides a kind of real time discriminating device of base biped supporting zone, it is with one
Flexible, the convenient and inexpensive mode of kind solves above mentioned problem well.
The content of the invention
To solve real-time detection of the prior art to lower limb exoskeleton biped supporting zone and differentiating, propose that one kind can be used for
The biped supporting zone real time discriminating device of lower limb exoskeleton stabilized walking.
In a preferred embodiment according to the present invention, a kind of lower limb exoskeleton biped supporting zone real time discriminating dress
Put, including main frame and lower limb exoskeleton gait collector, lower limb exoskeleton gait collector include left foot gait information collection footwear
Footwear are gathered with right crus of diaphragm gait information, left foot gait information collection footwear and right crus of diaphragm gait information the collection footwear include footwear body and peace
Signal gathering unit and information process unit in footwear body, information acquisition unit connect with information process unit communication, letter
Breath processing unit is connected with host communication, to transmission after the data prediction that gathers signal gathering unit to main frame.
Preferably, it is rubber soles that the footwear body, which includes sole, customized insole, fastening bandage and mechanical fastener, sole,
And interlayer is provided with, customized insole is positioned in interlayer；In signal gathering unit setting and customized insole, sole is set in heel
There is rectangular enclosure, the unit of information processing is positioned in rectangular enclosure, and spring heel portion is detachably provided with to protection information
The metal cover board of processing unit.
Preferably, described information collecting unit includes pressure measurement cell and Inertial Measurement Unit.
Preferably, the pressure measurement cell is multiple pressure sensors in customized insole, and the inertia is surveyed
Measure three axis accelerometer, three-axis gyroscope and three axle magnetometers that unit includes being arranged in customized insole.
Preferably, the pressure sensor is four, and four pressure sensors are diaphragm type piezo-resistance, four pressure
Installation site of the sensor in customized insole corresponds to thumb, Metatarsophalangeal joint, the 5th articulationes metatarsophalangeae and the foot in vola respectively
With position.
Preferably, installation site of the Inertial Measurement Unit in customized insole corresponds to vola arch of foot.
Preferably, the fastening bandage is buckled by bandage and bandage forms, and whole piece fastening bandage runs through the front foot metacarpus of sole
Point, and cementing fixation.
Preferably, the mechanical connecting element is made up of support member and bulb hinged seat, and both form lower limb exoskeleton
Mechanical ankle joint, mechanical connecting element are fixed on metal cover board by two long spiro nails, and metal cover board passes through four countersunk head spiral shells
Nail is connected with nut pre-buried in sole.
Specifically advantage is：
The present invention blends, related sensor is equal while foot adds Inertial Measurement Unit with plantar pressure information
Using customized insole as carrier, and information process unit is connected to by flexible circuit conductor, information process unit is by the data message of collection
Handled, calculate after transmit to main frame, main frame integrates the effective information of left and right foot device, makes the reality of biped supporting zone
When, the accurate stability control for differentiating, helping to realize to lower limb exoskeleton walking.
Brief description of the drawings
By that will become more and the specific embodiment part provided, the features and advantages of the present invention referring to the drawings
It is readily appreciated that, in the accompanying drawings：
Fig. 1 is unilateral (left foot) sketch of apparatus of the present invention；
Fig. 2 is unilateral (left foot) customized insole figure；
Fig. 3 is hardware frame schematic diagram；
In figure：Sole 1, bandage 2, pressure measurement cell 3, customized insole 4, bandage buckle 5, bulb hinged seat 6, support member 7,
Metal cover board 8, information process unit 9, Inertial Measurement Unit 10.
Embodiment
The illustrative embodiments of the present invention are described in detail with reference to the accompanying drawings.Illustrative embodiments are retouched
State merely for the sake of demonstration purpose, and be definitely not to the present invention and its application or the limitation of usage.
According to the shown embodiment of the present invention, referring to figs. 1 to shown in Fig. 3, a kind of lower limb exoskeleton biped Support
Domain real time discriminating device, including main frame and lower limb exoskeleton gait collector, lower limb exoskeleton gait collector walk including left foot
State information gathering footwear and right crus of diaphragm gait information collection footwear, the left foot gait information collection footwear and right crus of diaphragm gait information collection footwear are equal
Signal gathering unit and information process unit 9 including footwear body and in footwear body, information acquisition unit and information processing list
The communication connection of member 9, information process unit 9 is connected with host communication, to after the data prediction that gathers signal gathering unit
Send to main frame.
Main frame, the information that integrated treatment gathers footwear from left foot gait information and the collection of right crus of diaphragm gait information obtains, is calculated simultaneously
Identify the real-time supporting zone in biped walking process.
As shown in figure 1, mainly being described in detail so that single sided arrangement left foot gait information gathers footwear as an example, offside device is right
Step state information gathering footwear are as the same；
The footwear body includes sole 1, customized insole 4, fastening bandage 2 and mechanical fastener, sole 1 be rubber soles 1 simultaneously
Provided with interlayer, customized insole 4 is positioned in interlayer；In signal gathering unit setting and customized insole 4, sole 1 is in heel
Provided with rectangular enclosure, the unit of information processing is positioned in rectangular enclosure, and the rear heel of sole 1 is detachably provided with to protect letter
Cease the metal cover board 8 of processing unit 9.
Left foot gait information gathers footwear and right crus of diaphragm gait information collection footwear structure is identical, is mainly carrier with sole 1, sole
1 from the elastomeric material with buffering shock-absorbing, and is provided with interlayer, to lay customized insole 4；
Sole 1 is in pre-buried four nuts of heel, to install metal cover board 8；
Sole 1 leaves rectangular enclosure below metal cover board 8, and information process unit 9 fixes case square again by primary screw
In shape cavity, metal cover board 8 effectively can carry out physical protection to information process unit 9.
Described information collecting unit includes pressure measurement cell 3 and Inertial Measurement Unit 10, pressure measurement cell 3 and inertia
Measuring unit 10 is connected by flexible circuit conductor with information process unit 9.
The pressure measurement cell 3 is multiple pressure sensors in customized insole 4, the Inertial Measurement Unit
10 include three axis accelerometer, three-axis gyroscope and the three axle magnetometers in customized insole 4.
The pressure sensor is four, and four pressure sensors are the sub- quick resistance of diaphragm type, four pressure sensors
Installation site in customized insole 4 corresponds to thumb, Metatarsophalangeal joint, the 5th articulationes metatarsophalangeae and the heel portion in vola respectively
Position, to accurately reflect plantar grade position in walking process.
Four diaphragm type piezo-resistances are arranged in customized insole 4 using same way, specifically by the pressure-sensitive electricity of diaphragm type
It is anti-to extend through shoe-pad by the otch on shoe-pad in the front of customized insole 4, bar shaped afterbody for the circular dynamometry bonding partially of resistance
Face, and be connected with flexible circuit conductor, and conductor wiring is in shoe-pad reverse side.This mounting means reduces the sole foreign matter of wearer
Sense, improves the comfortableness of device in use.
Installation site of the Inertial Measurement Unit 10 in customized insole 4 corresponds to vola arch of foot.
Three axis accelerometer, three-axis gyroscope and three axle magnetometers are gathered in walking process respectively, the acceleration of foot, angle
Speed and sufficient drift angle.Inertial Measurement Unit 10 is placed in the lower section that vola arch of foot is corresponded in customized insole 4, and relative to sole 1
In horizontal positioned.This mounting means, the ingenious confined space that make use of below the arch of foot of vola, both meets wearing comfort,
Module fail in compression can be prevented again.It is horizontally mounted in order to which it is calibrated, while foot can be followed, keeps identical motion, protect
Demonstrate,prove the accuracy to inertia measurement.
The fastening bandage 2 is buckled 5 by bandage 2 and bandage and formed, and whole piece fastening bandage 2 runs through the forefoot part of sole 1,
And cementing fixation.Wearer dresses use device by fastening bandage 2, and detailed directions are that pin is strapped in into sole 1 using bandage 2
On.
The mechanical connecting element is made up of support member 7 and bulb hinged seat 6, and both form the mechanical ankle of lower limb exoskeleton
Joint, mechanical connecting element are fixed on metal cover board 8 by two long spiro nails, metal cover board 8 by four sunk screws with
Pre-buried nut connection in sole 1.
Unilateral package unit passes through the bulb hinged seat 6 of mechanical connecting element and the machinery of lower limb exoskeleton machinery shank
Ball pivot connects.This connected mode causes the mechanical ankle joint of lower limb exoskeleton to have the flexibility of height, meets wearer
Various athletic performance demands.
Although with reference to illustrative embodiments, invention has been described, but it is to be understood that the present invention does not limit to
The embodiment that Yu Wenzhong is described in detail and shown, in the case of without departing from claims limited range, this
Art personnel can make various improvement or modification to the illustrative embodiments.
Claims (8)
- A kind of 1. lower limb exoskeleton biped supporting zone real time discriminating device, it is characterised in that：Including main frame and lower limb exoskeleton Gait collector, lower limb exoskeleton gait collector include left foot gait information collection footwear and right crus of diaphragm gait information collection footwear, institute Stating left foot gait information collection footwear and right crus of diaphragm gait information collection footwear includes footwear body and the signal acquisition list in footwear body Member and information process unit (9), information acquisition unit connect with information process unit (9) communication, information process unit (9) and master Machine communication connection, to be sent after the data prediction that gathers signal gathering unit to main frame.
- 2. lower limb exoskeleton biped supporting zone real time discriminating device according to claim 1, it is characterised in that：The footwear Body includes sole (1), customized insole (4), fastening bandage (2) and mechanical fastener, and sole (1) is rubber soles (1) and is provided with Interlayer, customized insole (4) are positioned in interlayer；Signal gathering unit is set and customized insole (4) is interior, and sole (1) is in heel portion Position is provided with rectangular enclosure, and the unit of information processing is positioned in rectangular enclosure, and sole (1) rear heel is detachably provided with to protect Protect the metal cover board (8) of information process unit (9).
- 3. lower limb exoskeleton biped supporting zone real time discriminating device according to claim 2, it is characterised in that：The letter Breath collecting unit includes pressure measurement cell (3) and Inertial Measurement Unit (10).
- 4. lower limb exoskeleton biped supporting zone real time discriminating device according to claim 3, it is characterised in that：The pressure Power measuring unit (3) is multiple pressure sensors in customized insole (4), and the Inertial Measurement Unit (10) includes peace Three axis accelerometer, three-axis gyroscope and three axle magnetometers in customized insole (4).
- 5. lower limb exoskeleton biped supporting zone real time discriminating device according to claim 4, it is characterised in that：The pressure Force snesor is four, and four pressure sensors are diaphragm type piezo-resistance, and four pressure sensors are in customized insole (4) Installation site correspond to thumb, Metatarsophalangeal joint, the 5th articulationes metatarsophalangeae and the heel in vola respectively.
- 6. lower limb exoskeleton biped supporting zone real time discriminating device according to claim 4, it is characterised in that：It is described used Installation site of the property measuring unit (10) in customized insole (4) corresponds to vola arch of foot.
- 7. lower limb exoskeleton biped supporting zone real time discriminating device according to claim 2, it is characterised in that：It is described tight Gu bandage (2) is buckled (5) by bandage (2) and bandage and formed, whole piece fastening bandage (2) runs through the forefoot part of sole (1), and glue Knot is fixed.
- 8. lower limb exoskeleton biped supporting zone real time discriminating device according to claim 2, it is characterised in that：The machine Tool connection member is made up of support member (7) and bulb hinged seat (6), and both form the mechanical ankle joint of lower limb exoskeleton, machinery Connection member is fixed on metal cover board (8) by two long spiro nails, and metal cover board (8) passes through four sunk screws and sole (1) pre-buried nut connection in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710568219.5A CN107520834A (en) | 2017-07-13 | 2017-07-13 | A kind of lower limb exoskeleton biped supporting zone real time discriminating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710568219.5A CN107520834A (en) | 2017-07-13 | 2017-07-13 | A kind of lower limb exoskeleton biped supporting zone real time discriminating device |
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| CN107520834A true CN107520834A (en) | 2017-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710568219.5A Pending CN107520834A (en) | 2017-07-13 | 2017-07-13 | A kind of lower limb exoskeleton biped supporting zone real time discriminating device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108392302A (en) * | 2018-02-10 | 2018-08-14 | 四川大学华西第二医院 | A kind of ankle foot distortion rectification device and its control method |
| CN109222984A (en) * | 2018-10-23 | 2019-01-18 | 哈尔滨工业大学 | A kind of vola human-computer interaction measuring device based on Multi-source Information Fusion |
| CN109602422A (en) * | 2019-01-25 | 2019-04-12 | 深圳市丞辉威世智能科技有限公司 | Vola object wearing device and vola gait matching process |
| CN109875561A (en) * | 2019-03-28 | 2019-06-14 | 昆明桑达科技有限公司 | A kind of foot force information collection shoes |
| CN110464358A (en) * | 2019-08-27 | 2019-11-19 | 南京伟思医疗科技股份有限公司 | A kind of sole multipoint pressure measurement component |
| CN111251275A (en) * | 2020-01-20 | 2020-06-09 | 杭州风行医疗器械有限公司 | Intelligent sensing boots and contain its lower limbs ectoskeleton robot |
| CN111374673A (en) * | 2018-12-29 | 2020-07-07 | 西安思博探声生物科技有限公司 | Knee joint injury early warning equipment, server, system and intelligent running shoes |
| CN112826695A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Double-foot end actuating mechanism for lower limb rehabilitation training device |
| CN112917462A (en) * | 2021-04-01 | 2021-06-08 | 杭州昆泰机器人有限公司 | Lifting line type ankle joint power assisting device |
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| CN103876756A (en) * | 2014-04-18 | 2014-06-25 | 南京工程学院 | Lower limb power-assisted exoskeleton robot gait pattern identification method and system |
| CN204765651U (en) * | 2015-05-18 | 2015-11-18 | 中国兵器工业第二0二研究所 | A foot data acquisition shoes that is used for human low limbs helping hand ectoskeleton device |
| CN105795571A (en) * | 2016-04-13 | 2016-07-27 | 电子科技大学 | Data acquisition system and method for exoskeleton pressure shoe |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108392302A (en) * | 2018-02-10 | 2018-08-14 | 四川大学华西第二医院 | A kind of ankle foot distortion rectification device and its control method |
| CN109222984A (en) * | 2018-10-23 | 2019-01-18 | 哈尔滨工业大学 | A kind of vola human-computer interaction measuring device based on Multi-source Information Fusion |
| CN109222984B (en) * | 2018-10-23 | 2021-07-06 | 哈尔滨工业大学 | Sole human-computer interaction measuring device based on multi-source information fusion |
| CN111374673A (en) * | 2018-12-29 | 2020-07-07 | 西安思博探声生物科技有限公司 | Knee joint injury early warning equipment, server, system and intelligent running shoes |
| CN109602422A (en) * | 2019-01-25 | 2019-04-12 | 深圳市丞辉威世智能科技有限公司 | Vola object wearing device and vola gait matching process |
| CN109875561A (en) * | 2019-03-28 | 2019-06-14 | 昆明桑达科技有限公司 | A kind of foot force information collection shoes |
| CN110464358A (en) * | 2019-08-27 | 2019-11-19 | 南京伟思医疗科技股份有限公司 | A kind of sole multipoint pressure measurement component |
| CN111251275A (en) * | 2020-01-20 | 2020-06-09 | 杭州风行医疗器械有限公司 | Intelligent sensing boots and contain its lower limbs ectoskeleton robot |
| CN112826695A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Double-foot end actuating mechanism for lower limb rehabilitation training device |
| CN112917462A (en) * | 2021-04-01 | 2021-06-08 | 杭州昆泰机器人有限公司 | Lifting line type ankle joint power assisting device |
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