CN107693314A - A kind of cane formula, which is independently fallen, protects recovery walking aiding robot - Google Patents
A kind of cane formula, which is independently fallen, protects recovery walking aiding robot Download PDFInfo
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- CN107693314A CN107693314A CN201710655397.1A CN201710655397A CN107693314A CN 107693314 A CN107693314 A CN 107693314A CN 201710655397 A CN201710655397 A CN 201710655397A CN 107693314 A CN107693314 A CN 107693314A
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- 238000011084 recovery Methods 0.000 title claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 69
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- 230000004044 response Effects 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 claims description 12
- 230000007123 defense Effects 0.000 claims description 6
- 238000011161 development Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 230000002265 prevention Effects 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 210000001364 upper extremity Anatomy 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 8
- 230000006870 function Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 7
- 238000012549 training Methods 0.000 description 5
- 230000018109 developmental process Effects 0.000 description 4
- 230000006742 locomotor activity Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 230000003387 muscular Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005713 exacerbation Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000012010 growth Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000007928 solubilization Effects 0.000 description 1
- 238000005063 solubilization Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
- A61B5/1117—Fall detection
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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Abstract
Independently fallen the invention discloses a kind of cane formula and protect recovery walking aiding robot, comprising：Omnidirectional moving device, sensing and monitoring system, protection responding device of falling, omnidirectional moving device include omnidirectional chassis and motion controller, and sensing and monitoring system includes force snesor, laser range finder, and protection responding device of falling includes mobile jib and cross slid platform.Robot of the present invention can realize detection and judge the motion intention of user, the motion of user is compliantly aided in all directions, simultaneously being capable of environment-identification obstacle information, and carry out avoidance motion planning, in addition the stationarity of the motion state of user can also be judged, tumble trend is detected, and controls the response of cross slid platform, so as to ensure the guarantee of stability and security in finite time to user.
Description
Technical field
The invention belongs to rehabilitation walk-aid equipment field, protection rehabilitation walk help of independently being fallen more particularly, to a kind of cane formula
Robot.
Background technology
With the growth of age, the muscular strength of the elderly declines, and causes their usually handicapped or even loss of activity.
With the increase of the exacerbation of the problem of an aging population and some sick and wounded accidents etc., patient is aided in enter using the method artificially taken care of
Row rehabilitation training and the life of eldercare cause society and family to all suffer from white elephant.In addition, the elderly is gradual
Phenomena such as shakiness is rocked in standing and walking occurs, may fall in without using the extraneous autonomous helped such as accessory
.Falls in Old People incidence is high, consequence is serious, is one of its disability and dead major reason.Fall caused by inconvenient walking
It can greatly be threatened for their health care belt, have a strong impact on that the elderly is physically and mentally healthy, reduce its quality of life, therefore, society
Can on convenient use and can have defencive function in daily life to one kind, while the walking of and can auxiliary patient and the elderly
It is urgent with the demand of the mechanism of rehabilitation training.
Prior art discloses a kind of large-scale rehabilitation auxiliary robot of walker posture, and a variety of exoskeleton-type rehabilitations help
Row robot.It can be seen from the different shield grades that are situated between of equipment, exoskeleton-type recovery walking aiding robot is adapted to lower-limb muscular strength very empty
The elderly or patient weak and that do not possess locomotor activity use, the large-scale healing robot of walker posture be adapted to lower limbs strength weak and
The elderly or patient for only possessing part locomotor activity use.And cane formula intelligent rehabilitation assistant robot is applied to have substantially
Locomotor activity but the elderly or patient for still needing to support.Existing equipment is also without in user's fall detection and finite time
The function of tumble protection.
As can be seen here, prior art has that function is relatively simple, intelligence degree is not high, without user's fall detection
With the technical problem of the function for protection of being fallen in finite time.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, protection rehabilitation of independently being fallen the invention provides a kind of cane formula
Assistant robot, thus solve prior art exist function is relatively simple, intelligence degree is not high, without user fall examine
Survey the technical problem with the function for protection of being fallen in finite time.
To achieve the above object, independently fallen the invention provides a kind of cane formula and protect recovery walking aiding robot, including it is complete
Responding device is protected to telecontrol equipment, sensing and monitoring system and tumble,
Omnidirectional moving device includes omnidirectional chassis and motion controller, and motion controller includes industrial computer, battery and opened
Plate is sent out, industrial computer and battery are placed on above the multilayer bracket above omnidirectional chassis, and development board is positioned over multilayer bracket bottom；
Sensing and monitoring system includes handrail, force snesor, backward laser range finder, forward direction laser range finder, two laser
Rangefinder is positioned over above multilayer bracket.Force snesor one end is connected with robot mobile jib, and the force snesor other end connects with handrail
Connect, force snesor and two laser range finders are connected by hi-speed USB interface with industrial computer；
Protection responding device of falling includes mobile jib and cross slid platform, and multilayer bracket is separated into upper bracket with by cross slid platform
Support two parts, upper bracket are connected with mobile jib, and lower carriage is connected with omnidirectional chassis, and cross slid platform is used to carry out tumble prevention policies
Response, is moved to the opposite direction of tumble trend.
Further, omnidirectional's tray bottom is uniformly distributed three Mecanum wheels, and motor passes through motor fixing frame and chassis
Connection, motor are connected with three Mecanum wheels by the bearing in motor fixing frame a set of cups.
Further, force snesor is six-axis force sensor, for detecting the force data of user's upper limbs.
Further, two laser range finders are used to detect user's leg exercise data and Environment Obstacles thing information.
Further, industrial computer according to the force data and leg exercise data that detect obtain user motion intention and
Motion state, so as to realize that auxiliary user carries out walking movement and the motion state of user is monitored, there is anticipation of falling
Function, while control protection responding device of falling to realize the anti-tumble auxiliary to user.
Further, at work, sensing and monitoring system is swashed recovery walking aiding robot by six-axis force sensor and two
Optar monitors the force data of user, Environment Obstacles thing information and leg exercise information in real time, will by hi-speed USB interface
These information transfers are to industrial computer, if user's state is normal, environment does not have barrier, and industrial computer is obtained by force data
Omnidirectional chassis is transferred to the motion intention of user, and by motion intention so that motor drives three Mecanum wheel motions,
So that robot complies with user's motion, auxiliary is provided when walking for user, if user's abnormal state, environment
Surrounding detects barrier, and industrial computer carries out motion planning by avoidance motion control arithmetic, guides user's avoiding obstacles,
If detecting that user has tumble trend, industrial computer can perform tumble defense controls algorithm, and cross slid platform carries out finite time
Control response is moved, and the opposite direction towards tumble trend is moved, and so as to retardation motion trend, ensures the stabilization and safety of user.
Further, the specific implementation of tumble defense controls algorithm is：
If detecting that user has tumble trend, it is based on according to the desired locations of user and the stable state of robot
Finite-time control algorithm calculates current cross slid platform counter motion and prevents expectation of the tumble trend until reaching stable state
Speed, so as to form kicking motion until user and robot return to stable state.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
(1) cane formula provided by the invention independently fall protection recovery walking aiding robot be compact-sized, small in volume and
The cane formula assistant robot that outward appearance is similar to traditional walk help accessory can meet different environmental demands, and be easier to user's habit
It is used to use, it can not only be provided for user by single-point support according to advanced auxiliary walking medical science of recovery therapy theory and aided on demand,
Auxiliary user carries out the purpose that rehabilitation training is fully taken exercise to reach such as walk, additionally it is possible to which root detection current environment barrier enters
Row avoidance and in real time detection user motion state, according to the current state of user to user carry out collaboration auxiliary and
Effective protection of falling, feature-rich and intelligence degree of the invention are high.
(2) itself transporting for cross slid platform can be utilized as protection response means of falling present invention employs cross slid platform
Dynamic characteristic effectively prevents tumble trend, helps user stable.In addition, the assistant robot of same type and being not implemented man-machine
The finite time tumble protection under conditions of constraint solubilization is cooperateed with, and this robot of the invention can realize man-machine coordination
Finite time under conditions of stable, which is fallen, to be protected, and provides guarantee for the security of user, while can be provided for user
Good man-machine interaction experience.
(3) robot of the present invention can realize detection and judge the motion intention of user, compliantly aid in all directions
The motion of user, at the same can environment-identification obstacle information, and carry out avoidance motion planning, user can also be judged in addition
Motion state stationarity, detect tumble trend, and control the response of cross slid platform, so as to ensure in finite time to using
The guarantee of the stability and security of person.
Brief description of the drawings
Fig. 1 independently falls for a kind of cane formula provided in an embodiment of the present invention protects the structure chart of recovery walking aiding robot；
Fig. 2 independently falls for a kind of cane formula provided in an embodiment of the present invention protects the side view of recovery walking aiding robot；
Fig. 3 independently falls for a kind of cane formula provided in an embodiment of the present invention protects the top view of recovery walking aiding robot；
Fig. 4 is the schematic diagram that cross slid platform provided in an embodiment of the present invention moves in certain directional response；
Fig. 5 independently falls for a kind of cane formula provided in an embodiment of the present invention protects the process for using of recovery walking aiding robot
Figure；
Fig. 6 is detection of obstacles rectangle condition schematic diagram provided in an embodiment of the present invention；
In all of the figs, identical reference is used for representing identical element or structure, wherein：
1 is handrail, and 2 be force snesor, and 3 be mobile jib, and 4 be battery, and 5 be backward laser sensor, 6 to be preceding to laser
Sensor, 7 be industrial computer, and 8 be cross slid platform, and 9 be development board, and 10 be the first Mecanum wheel, and 11 be omnidirectional chassis, and 12 be motion
Control card, 13 be motor, and 14 be the second Mecanum wheel, and 15 be the 3rd Mecanum wheel, and 16 be multilayer bracket.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
The protection recovery walking aiding robot as shown in figure 1, a kind of cane formula is independently fallen, including omnidirectional moving device, sensing prison
Examining system and protection responding device of falling,
Omnidirectional moving device includes omnidirectional chassis 11 and motion controller, motion controller include a small-sized industrial computer 7,
Battery 4, motion control card 12 and embedded board 9, development board 9 are positioned over the bottom of multilayer bracket 16, are placed in above chassis,
Industrial computer 7 and battery 4 are placed on the multilayer bracket above chassis.Instruction, development board 9 and motion are sent by industrial computer 7
Control card 12, which responds, causes motor 13 to drive three Mecanum wheels to rotate, as shown in Figure 2.The twenty percent 120 of omnidirectional's tray bottom two
Degree angle is dispersed with three Mecanum wheels, the first Mecanum wheel 10, the second Mecanum wheel 14, the 3rd Mecanum wheel 15,
There are three motor fixing frames that motor 13 is fixed on into chassis along tray bottom radially installed, in a set of cups of base plate electric machine fixed mount
Bearing is installed, motor is connected with Mecanum wheel through bearing by a power transmission shaft, as shown in figure 3, complete so as to realize
To motion.
Sensing and monitoring system device includes handrail 1, a six-axis force sensor 2, two laser range finders.Two Laser Measurings
Distance meter is respectively placed in the front and back of multilayer bracket top layer, and forward direction laser range finder 6 is used to perceive ambient condition information, detection week
Enclose barrier, backward laser range finder 5 is used to perceiving user's leg exercise state, record leg exercise position, speed and
The information such as acceleration.The lower section of six-axis force sensor 2 is fastenedly connected with robot mobile jib with screw.Six-axis force sensor 2 is positioned over
Cane formula is fallen below protection robot handrail 1, is fastenedly connected with screw and handrail, for detecting power number of the user by handrail
According to.Six-axis force sensor 2 and laser range finder are connected by hi-speed USB interface with industrial computer, and industrial computer is according to the power detected
Data and leg exercise data extrapolate the motion intention and motion state of user, so as to realize that auxiliary user is walked
Motion and the motion state monitoring to user, with anticipation function of falling, while control tumble to protect responding device realization pair
The anti-tumble auxiliary of user.
Protection responding device of falling is made up of robot mobile jib 3 and cross slid platform 8.Multilayer bracket 16 is divided by cross slid platform 8
It is divided into two parts, cross slid platform up and down to be fastenedly connected by screw with multilayer bracket, multilayer bracket and cane above cross slid platform
The mobile jib 3 of formula robot is fastenedly connected by ring flange with screw, and the support below cross slid platform passes through spiral shell with omnidirectional chassis 11
Clench and be solidly connected.Once detecting user's motion state exception, industrial computer 7 sends instruction according to current state, controls cross
Slide unit 8 carries out tumble prevention policies response, is moved to the opposite direction of tumble trend, so as to form buffering, prevents tumble trend, side
User is helped to return to stable state, as shown in Figure 4.
A kind of cane formula, which is independently fallen, protects the process for using figure of recovery walking aiding robot, as shown in Figure 5：
Sensing and monitoring system monitors force data, the ring of user by six-axis force sensor 2 and laser range finder 5,6 in real time
Border obstacle information, user's leg exercise information, by hi-speed USB interface by these information transfers to industrial computer.If make
User's state is normal, and environment does not have barrier, and industrial computer calculates user's by the control method being intended to based on power
Motion intention speed (including size and Orientation), and speed command is transferred to omnidirectional chassis 11, omnidirectional moving chassis 11 passes through
Speed, which parses, causes motor 13 to drive Mecanum wheel 10,14,15 to move, so that robot complies with user's motion, is
User provides auxiliary when walking.If user's abnormal state, environment detects barrier, and industrial computer 7 can lead to
Cross avoidance motion control arithmetic and carry out motion planning, guide user's avoiding obstacles.If detect that user has tumble to become
Gesture, industrial computer 7 can perform tumble defense controls algorithm, and cross slid platform 8 is controlled responsive movement in finite time, towards tumble
The opposite direction motion of trend, so as to retardation motion trend, ensures the stabilization and safety of user.
Normal walking aided algorithm uses the control method based on open loop admittance.The intention collected by six-axis force sensor
Force information is F=[FxFyFz], FxFor parallel to the intention power in direction of advance, using forward direction as positive direction, Fy, it is perpendicular to advance
Direction is the intention power in horizontal direction, using left-hand as positive direction, FzFor the intention power on direction of rotation, in a counterclockwise direction for
Positive direction.According to open loop admittance control methodThe desired motion speed V for being intended to people's walking corresponding to power can be tried to achieve,
During normal walking, by V be transmitted to omnidirectional moving chassis so as to guidance machine people comply with the movement velocity of user and to
Give user to walk to aid in.
Avoidance motion control arithmetic uses the avoidance obstacle method based on Artificial Potential Field.First in forward direction laser range finder
One search coverage of setting is as shown in fig. 6, this search coverage whether there is using rectangle condition disturbance in judgement thing in investigative range.
Then judge rectangular area internal memory when meeting rectangle condition in the presence of any one scanning element in the preceding scanning element to laser range finder
In barrier.The P (x, y) that sets up an office is a preceding scanning element to laser range finder, and forward direction rangefinder is OP two at origin of coordinates O
Distance is set to S between point, if search coverage rectangle length is L, width W, works as satisfaction：
Judge barrier be present in search coverage.Now repulsion caused by barrier is：Fri=K (r-R0)-n, K, R0, n be
Constant, wherein n typically take positive integer；R is the distance of barrier and assistant robot, FriFor the size of repulsion.According to the reprimand
The F that makes a concerted effort of the force data of power and operatorI, and according to open loop admittance control algorithmsIt will be turned and be changed to speed V, from
And instruct and control the safe avoidance of assistant robot.
Tumble defense controls algorithm is described below：
First, the user's movement state information obtained by sensing and monitoring system is analyzed, if user
Movement state information does not meet limbs collaboration rule, such as is intended to power, leg exercise speed speed, leg exercise acceleration magnitude
Abnormal or mutual mismatch then is considered as in the presence of tumble trend.Secondly, once tumble trend is detected, according to user
Current cross slid platform counter motion resistance is calculated based on finite-time control algorithm with the desired locations of the stable state of robot
The trend of stopping dropping down is until the desired speed of stable state, so as to form kicking motion until user and robot return to stable shape
State, realize autonomous tumble safeguard function.
Independently fallen the invention provides a kind of cane formula and protect recovery walking aiding robot, the robot is except substantially indoor
It (such as inlet/outlet, can also go up a slope), be realized by the controlling organization and executing agency of active suitable in specific environment outside use environment
User's motion intention is answered so as to aid in the people of inconvenient walking to go on a journey and carry out the function of walking rehabilitation training, while utilizes biography
Sensor system detectio to environmental information and user's movement state information realize automatic obstacle avoidance, independent navigation, fall detection and
It is actively anti-the function such as to fall to help their to realize safely and effectively rehabilitation training, and aid in them to realize normal life.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (7)
- The protection recovery walking aiding robot 1. a kind of cane formula is independently fallen, it is characterised in that including omnidirectional moving device, sensor monitoring System and protection responding device of falling,The omnidirectional moving device includes omnidirectional chassis (11) and motion controller, and motion controller includes industrial computer (7), electric power storage Pond (4) and development board (9), industrial computer (7) and battery (4) are placed on above the multilayer bracket (16) above omnidirectional chassis, are opened Hair plate (9) is positioned over multilayer bracket (16) bottom；The sensing and monitoring system includes handrail (1), force snesor (2), backward laser range finder (5), forward direction laser range finder (6), two laser range finders are positioned over above multilayer bracket (16), and force snesor (2) one end is connected with robot mobile jib (3), Force snesor (2) other end is connected with handrail (1), and force snesor (2) and two laser range finders pass through hi-speed USB interface and work Control machine (7) is connected；The protection responding device of falling includes mobile jib (3) and cross slid platform (8), and multilayer bracket (16) is by cross slid platform (8) point Upper bracket and lower carriage two parts are divided into, upper bracket is connected with mobile jib (3), and lower carriage is connected with omnidirectional chassis (11), and cross is slided Platform (8) is used to carry out tumble prevention policies response, is moved to the opposite direction of tumble trend.
- The protection recovery walking aiding robot 2. a kind of cane formula as claimed in claim 1 is independently fallen, it is characterised in that the omnidirectional Chassis (11) bottom even is distributed three Mecanum wheels, and motor (13) is connected by motor fixing frame with chassis, motor (13) It is connected with three Mecanum wheels by the bearing in motor fixing frame a set of cups.
- The protection recovery walking aiding robot 3. a kind of cane formula as claimed in claim 1 or 2 is independently fallen, it is characterised in that described Force snesor (2) is six-axis force sensor, for detecting the force data of user's upper limbs so as to obtaining the motion intention of user.
- The protection recovery walking aiding robot 4. a kind of cane formula as claimed in claim 3 is independently fallen, it is characterised in that described two Laser range finder is used to detect user's leg exercise data and Environment Obstacles thing information.
- The protection recovery walking aiding robot 5. a kind of cane formula as claimed in claim 4 is independently fallen, it is characterised in that the industry control Machine (7) obtains the motion intention and motion state of user according to the force data and leg exercise data that detect, so as to realize Aid in user to carry out walking movement and the motion state monitoring to user, there is anticipation function of falling, while control tumble Responding device is protected to realize the anti-tumble auxiliary to user.
- The protection recovery walking aiding robot 6. a kind of cane formula as described in claim 2 or 4 or 5 is independently fallen, it is characterised in that institute State recovery walking aiding robot at work, sensing and monitoring system is monitored in real time by force snesor (2) and two laser range finders Force data, Environment Obstacles thing information and the leg exercise information of user, by hi-speed USB interface by these information transfers to work Control machine (7), if user's state is normal, environment does not have barrier, and industrial computer (7) obtains user's by force data Motion intention, and motion intention is transferred to omnidirectional chassis (11) so that motor (13) drives three Mecanum wheel motions, from And make it that robot complies with user's motion, and auxiliary is provided when walking for user, if user's abnormal state, environment week Enclose and detect barrier, industrial computer (7) carries out motion planning by avoidance motion control arithmetic, and guiding user avoids obstacle Thing, if detecting that user has tumble trend, industrial computer (7) can perform tumble defense controls algorithm, and cross slid platform (8) is carried out Finite-time control responsive movement, the opposite direction towards tumble trend is moved, and so as to retardation motion trend, ensures the stabilization of user And safety.
- The protection recovery walking aiding robot 7. a kind of cane formula as claimed in claim 6 is independently fallen, it is characterised in that the tumble The specific implementation of defense controls algorithm is：If detecting that user has tumble trend, it is based on according to the desired locations of user and the stable state of robot limited Time control algorithm calculates current cross slid platform counter motion and prevents desired speed of the tumble trend until reaching stable state, So as to form kicking motion until user and robot return to stable state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710655397.1A CN107693314B (en) | 2017-08-02 | 2017-08-02 | Walking stick type autonomous falling protection rehabilitation walking-aid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710655397.1A CN107693314B (en) | 2017-08-02 | 2017-08-02 | Walking stick type autonomous falling protection rehabilitation walking-aid robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107693314A true CN107693314A (en) | 2018-02-16 |
| CN107693314B CN107693314B (en) | 2020-07-14 |
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Family Applications (1)
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| CN201710655397.1A Active CN107693314B (en) | 2017-08-02 | 2017-08-02 | Walking stick type autonomous falling protection rehabilitation walking-aid robot |
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| CN108836765A (en) * | 2018-07-11 | 2018-11-20 | 国家康复辅具研究中心 | Intelligent walking aid device and for control its provide walk help method |
| CN109044749A (en) * | 2018-08-28 | 2018-12-21 | 上海健康医学院 | A kind of rehabilitation anti-tumble device easy to remove |
| CN109157381A (en) * | 2018-07-24 | 2019-01-08 | 华中科技大学 | A kind of handrail-type intelligence tumble protection walking aid rehabilitation robot |
| CN109662830A (en) * | 2019-01-18 | 2019-04-23 | 湖南师范大学 | A kind of language blind guiding stick, the deep neural network optimization method based on the walking stick |
| CN110244745A (en) * | 2019-07-10 | 2019-09-17 | 北京思方技术开发有限公司 | Wheeled robot Motor execution and peripheral hardware control system |
| CN110840717A (en) * | 2019-11-30 | 2020-02-28 | 中国科学院深圳先进技术研究院 | Electric walking stick, posture detection device and robot |
| CN111265229A (en) * | 2020-03-03 | 2020-06-12 | 南京安科医疗科技有限公司 | Omnidirectional movement type multi-degree-of-freedom double-source X-ray equipment and application thereof |
| CN111329196A (en) * | 2020-04-29 | 2020-06-26 | 合肥工业大学 | Automatic telescopic intelligent walking stick and intelligent obstacle avoidance method thereof |
| CN111376275A (en) * | 2018-12-29 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Robot of learning to walk |
| CN112847367A (en) * | 2021-01-08 | 2021-05-28 | 北京工业大学 | Mechanical admittance control driving method |
| CN112847398A (en) * | 2021-01-08 | 2021-05-28 | 北京工业大学 | Method for automatically protecting walking aid safety abnormity |
| CN113893141A (en) * | 2021-11-04 | 2022-01-07 | 常州邦通物联网技术有限公司 | Intelligent walker control system based on actuation strategy and intelligent motion control |
| CN113908019A (en) * | 2021-09-08 | 2022-01-11 | 中国科学院深圳先进技术研究院 | Walking aid following method and system based on walking aid and terminal equipment |
| CN113940667A (en) * | 2021-09-08 | 2022-01-18 | 中国科学院深圳先进技术研究院 | Anti-falling walking aid method and system based on walking aid and terminal equipment |
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| CN108836765A (en) * | 2018-07-11 | 2018-11-20 | 国家康复辅具研究中心 | Intelligent walking aid device and for control its provide walk help method |
| CN109157381A (en) * | 2018-07-24 | 2019-01-08 | 华中科技大学 | A kind of handrail-type intelligence tumble protection walking aid rehabilitation robot |
| CN109044749B (en) * | 2018-08-28 | 2024-02-13 | 上海健康医学院 | Recovered device of preventing tumbleing of being convenient for remove |
| CN109044749A (en) * | 2018-08-28 | 2018-12-21 | 上海健康医学院 | A kind of rehabilitation anti-tumble device easy to remove |
| CN111376275B (en) * | 2018-12-29 | 2022-04-15 | 沈阳新松机器人自动化股份有限公司 | Robot of learning to walk |
| CN111376275A (en) * | 2018-12-29 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Robot of learning to walk |
| CN109662830A (en) * | 2019-01-18 | 2019-04-23 | 湖南师范大学 | A kind of language blind guiding stick, the deep neural network optimization method based on the walking stick |
| CN109662830B (en) * | 2019-01-18 | 2019-11-29 | 湖南师范大学 | A kind of language blind guiding stick, the deep neural network optimization method based on the walking stick |
| CN110244745A (en) * | 2019-07-10 | 2019-09-17 | 北京思方技术开发有限公司 | Wheeled robot Motor execution and peripheral hardware control system |
| US11806288B2 (en) | 2019-10-28 | 2023-11-07 | Ambulatus Robotics LLC | Autonomous robotic mobile support system for the mobility-impaired |
| CN110840717A (en) * | 2019-11-30 | 2020-02-28 | 中国科学院深圳先进技术研究院 | Electric walking stick, posture detection device and robot |
| CN111265229A (en) * | 2020-03-03 | 2020-06-12 | 南京安科医疗科技有限公司 | Omnidirectional movement type multi-degree-of-freedom double-source X-ray equipment and application thereof |
| CN111329196A (en) * | 2020-04-29 | 2020-06-26 | 合肥工业大学 | Automatic telescopic intelligent walking stick and intelligent obstacle avoidance method thereof |
| CN111329196B (en) * | 2020-04-29 | 2021-07-27 | 合肥工业大学 | Automatic telescopic intelligent walking stick and intelligent obstacle avoidance method thereof |
| CN115427910B (en) * | 2020-12-23 | 2024-03-15 | 松下知识产权经营株式会社 | Robot control method, robot, and program |
| CN115427910A (en) * | 2020-12-23 | 2022-12-02 | 松下知识产权经营株式会社 | Robot control method, robot, and program |
| CN112847367A (en) * | 2021-01-08 | 2021-05-28 | 北京工业大学 | Mechanical admittance control driving method |
| CN112847398A (en) * | 2021-01-08 | 2021-05-28 | 北京工业大学 | Method for automatically protecting walking aid safety abnormity |
| CN113940667B (en) * | 2021-09-08 | 2022-08-09 | 中国科学院深圳先进技术研究院 | Anti-falling walking aid method and system based on walking aid and terminal equipment |
| CN113940667A (en) * | 2021-09-08 | 2022-01-18 | 中国科学院深圳先进技术研究院 | Anti-falling walking aid method and system based on walking aid and terminal equipment |
| CN113908019A (en) * | 2021-09-08 | 2022-01-11 | 中国科学院深圳先进技术研究院 | Walking aid following method and system based on walking aid and terminal equipment |
| CN113893141A (en) * | 2021-11-04 | 2022-01-07 | 常州邦通物联网技术有限公司 | Intelligent walker control system based on actuation strategy and intelligent motion control |
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