CN107998609A - A kind of auxiliary walking exoskeleton robot system based on Multi-sensor Fusion - Google Patents
A kind of auxiliary walking exoskeleton robot system based on Multi-sensor Fusion Download PDFInfo
- Publication number
- CN107998609A CN107998609A CN201810008043.2A CN201810008043A CN107998609A CN 107998609 A CN107998609 A CN 107998609A CN 201810008043 A CN201810008043 A CN 201810008043A CN 107998609 A CN107998609 A CN 107998609A
- Authority
- CN
- China
- Prior art keywords
- module
- wireless communication
- diaphragm
- sole
- waist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000004927 fusion Effects 0.000 title claims abstract description 17
- 210000002414 leg Anatomy 0.000 claims abstract description 68
- 210000001699 lower leg Anatomy 0.000 claims abstract description 67
- 210000002683 foot Anatomy 0.000 claims abstract description 63
- 210000001624 hip Anatomy 0.000 claims abstract description 34
- 210000004394 hip joint Anatomy 0.000 claims abstract description 33
- 210000000629 knee joint Anatomy 0.000 claims abstract description 30
- 210000000689 upper leg Anatomy 0.000 claims abstract description 25
- 230000001133 acceleration Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 49
- 238000001514 detection method Methods 0.000 claims description 23
- 210000004744 fore-foot Anatomy 0.000 claims description 15
- 210000001872 metatarsal bone Anatomy 0.000 claims description 12
- 210000000548 hind-foot Anatomy 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 230000001419 dependent effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 210000000459 calcaneus Anatomy 0.000 claims description 2
- 238000004458 analytical method Methods 0.000 abstract description 5
- 210000000474 heel Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003292 diminished effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 229920006254 polymer film Polymers 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B23/0464—Walk exercisers without moving parts
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- 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
-
- 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
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of auxiliary walking exoskeleton robot and its control system based on Multi-sensor Fusion, the robot includes backboard, waist fixed mechanism and legs and feet mechanism, backboard both ends are respectively fixedly connected with a waist fixed mechanism, the both ends of waist fixed mechanism are respectively rotatably connected a legs and feet mechanism, legs and feet mechanism includes sequentially connected hip joint mechanism, thigh, knee-joint mechanism, shank and shank fixed block mechanism, the control system includes waist module, left foot sole module and right crus of diaphragm sole module, each areal pressure value detected is sent to left foot module by right crus of diaphragm module, all foot force numerical value are sent to waist module by left foot module, last 3rd microcontroller integrates foot force value, angle value and acceleration magnitude analysis human body state in which, and then four steering engines of Collaborative Control rotate and reach the function that secondary row is walked.The False Rate of the system of the present invention is relatively low, judges precision height, protects the safety of user, and easy donning, easy to use.
Description
Technical field
The present invention relates to the fields such as intelligent measurement, exoskeleton robot, more particularly to one kind to be melted based on multisensor
The auxiliary walking exoskeleton robot system of conjunction.
Background technology
Present auxiliary running gear method generally has：User is by automatic controller come the wearable ectoskeleton that controls
Robot assisted running gear, is the equal of remote-controlled robot, reaches the function of auxiliary walking；Robot based on machine vision
Running gear is aided in, robot is gathered by camera and obtains the information of surrounding, and then control machine through processor image procossing
The posture of device people movement；The auxiliary running gear that athletic ground is fixed, rehabilitation training is carried out mainly for the patient that can not be walked.
Fallen by these methods to detect, there are following problem：1) automatic controller is hidden in the presence of safety come the robot controlled
Suffer from, and it is universal complicated, generalization is poor；2) scheme of image recognition is carried out there are many disturbing factors by camera,
It can cause misjudgment when surrounding environment is excessively complicated, human body may be damaged；3) auxiliary that athletic ground is fixed
Walking arrangement floor space is larger, and cost of manufacture is higher, and can not meet the psychological need and psychological needs of user, it is difficult to pushes away
Broad-spectrum and.
The reliability that multi-sensor information fusion technology can improve whole system can simultaneously strengthen the confidence levels of data, carry
High accuracy.And the advantage for the problems such as exactly multi-sensor fusion technology can solve detection, applied in auxiliary walking dermoskeleton
In the design of bone robot system, human body state in which can be more accurately detected and prejudged, so as to fulfill more it is accurate more
The more comfortable auxiliary walking of safety.
The content of the invention
For it is existing auxiliary running gear existing for function is single, take up a large area, safety coefficient is not high the problem of, this
Invention provides a kind of auxiliary walking exoskeleton robot system based on Multi-sensor Fusion, and the system is wearable, precision is high and low
Cost, and securely and reliably, concrete technical scheme is as follows：
A kind of auxiliary walking exoskeleton robot based on Multi-sensor Fusion, it is characterised in that the robot includes the back of the body
Plate 1, waist fixed mechanism 2 and legs and feet mechanism, 1 both ends of backboard are respectively fixedly connected with a waist fixed mechanism 2, the waist
The both ends of portion's fixed mechanism 2 are respectively rotatably connected a legs and feet mechanism, the legs and feet mechanism include hip joint mechanism 3, thigh 4,
Knee-joint mechanism 5, shank 6 and shank fixed block mechanism 7, the hip joint mechanism include one 3-1 of hip joint connector and hip
Two 3-2 of joint connector, the knee-joint mechanism 5 include two 5-2 of one 5-1 of knee joint connector and knee joint connector, institute
The waist fixed mechanism 2 and one 3-1 of hip joint connector stated are rotatably connected, one 3-1 of hip joint connector,
Two 3-2 of hip joint connector is connected by steering engine 7, two 3-2 of hip joint connector, thigh 4, one 5- of knee joint connector
1 is fixedly connected sequentially, and one 5-1 of knee joint connector, two 5-2 of knee joint connector are connected also by steering engine 7, described
Two 5-2 of knee joint connector, shank 6, shank fixed block mechanism 7 are fixedly connected sequentially.
Further, the backboard 1, thigh 4 and shank 6 are made of carbon fiber, and miscellaneous part uses ABS material system
Into.
A kind of control system of the auxiliary walking exoskeleton robot based on Multi-sensor Fusion as described above, its feature
It is, which includes waist and two modules of sole；
The sole module includes left foot sole module and right crus of diaphragm sole module, and the right crus of diaphragm sole module includes the
One microcontroller and the first power module being connected with first microcontroller, right crus of diaphragm force-sensing sensor, the first wireless communication
Module, first power module are powered for the first microcontroller, and the right crus of diaphragm force-sensing sensor is used for detecting the person of being worn
Right crus of diaphragm step on power, first wireless communication module gives right crus of diaphragm data sending to the second wireless communication module；
The left foot sole module includes second singlechip and the second source being connected with the second singlechip
Module, left foot force-sensing sensor, the second wireless communication module and the 3rd wireless communication module, the second source module are the
Two microcontrollers are powered, and the left foot that the left foot force-sensing sensor is used for detecting the person of being worn steps on power, second channel radio
Letter module is used to receive the right crus of diaphragm data for coming from first wireless communication module, and the 3rd wireless communication module is used for a left side
Right crus of diaphragm data sending gives the 4th wireless communication module；
The waist module includes the 3rd microcontroller and the 3rd power supply mould being connected with the 3rd described microcontroller
Block, left leg attitude detection module, right leg attitude detection module, the 4th wireless communication module and motion-control module, described
Three power modules are used to power for the 3rd microcontroller, and the left leg attitude detection module and right leg attitude detection module are used for obtaining
Human leg with it is upright when angle offset and 3-axis acceleration value, the 4th wireless communication module receive and come from the 3rd nothing
The left and right foot data of line communication module；The motion-control module includes the first steering engine, the left leg knee positioned at left leg hip joint
Second steering engine in joint, the 3rd steering engine of right leg hip joint and the kneed 4th steering engine composition of right leg.
Further, the left foot force-sensing sensor and right crus of diaphragm force-sensing sensor be arranged in forefoot area, the 2nd~
4 metatarsal areas and hindfoot areas, the information of human body sole is obtained by respective regions, so as to judge the motion state of human body.
Further, the sole module is installed in insole.
Further, the force-sensing sensor of the forefoot area for 3 respectively at the first remote section metatarsal, first
At nearly section metatarsal and at the 5th nearly section metatarsal, the force-sensing sensor of the 2nd~4 metatarsal area is 1, at femur,
The force-sensing sensor of the hindfoot areas is 1, at calcaneum.
Further, the force-sensing sensor is FSR402 force-sensing sensors.
Further, the left leg attitude detection module and right leg attitude detection module are six axis gyroscope acceleration
Meter.
Compared with prior art, beneficial effects of the present invention are as follows：
The False Rate of the system of the present invention is relatively low, can effectively judge the state of human body, and melt with reference to multisensor
The technology of conjunction analyzes the real-time status of human body.Pass through the rational deployment of force-sensing sensor so that the pressure value of collection can
The rational state that lands for reflecting human body sole.After human body sole situation has correctly been grasped, examined with reference to the posture of waist
Module is surveyed more accurately to judge whether human body wants walking, and then passes through motion-control module Collaborative Control hip joint and knee
Four steering engines auxiliary user's walking in joint, user need to only use the power of very little easily to walk.System is sentenced in raising
Disconnected precision, protects the safety of user, and possess easy donning, it is easy to use, improve the characteristics of users' satisfaction degree.
Brief description of the drawings
Fig. 1 is the structure diagram of the auxiliary walking exoskeleton robot based on Multi-sensor Fusion of the present invention
Fig. 2 is a kind of each module signal of the control system of the auxiliary walking exoskeleton robot based on Multi-sensor Fusion
Figure；
Fig. 3 is the sole module pressure sensor subregion schematic diagram of control system；
Fig. 4 is force-sensing sensor schematic diagram；
Fig. 5 is hip joint and kneed position limiting structure schematic diagram；
Fig. 6 is the flow chart of the control method of control system.
Embodiment
A kind of as shown in Figure 1, auxiliary walking exoskeleton robot based on Multi-sensor Fusion, it is characterised in that the machine
Device people includes backboard 1, waist fixed mechanism 2 and legs and feet mechanism, and 1 both ends of backboard are respectively fixedly connected with a waist fixed mechanism
2, the both ends of the waist fixed mechanism 2 are respectively rotatably connected a legs and feet mechanism, and the legs and feet mechanism includes hip joint machine
Structure 3, thigh 4, knee-joint mechanism 5, shank 6 and shank fixed block mechanism 7, the hip joint mechanism include hip joint connector
Two 3-2 of one 3-1 and hip joint connector, the knee-joint mechanism 5 include one 5-1 of knee joint connector and knee joint connector
Two 5-2, the waist fixed mechanism 2 and one 3-1 of hip joint connector are rotatably connected, hip joint connection
One 3-1 of part, two 3-2 of hip joint connector are connected by steering engine 7, and two 3-2 of hip joint connector, thigh 4, knee joint connect
One 5-1 of fitting is fixedly connected sequentially, and one 5-1 of knee joint connector, two 5-2 of knee joint connector connect also by steering engine 7
Connect, two 5-2 of knee joint connector, shank 6, shank fixed block mechanism 7 are fixedly connected sequentially.
In order to mitigate weight as much as possible, hardness and strength are improved, it is backboard 1 in bone robot of the invention, big
Leg 4 and shank 6 are made of carbon fiber, and miscellaneous part is made of ABS material.
In addition, in order to protect the safety of user, prevent steering engine from rotating excessive angle injury knee joint, connect in hip joint
It is all provided between two 3-2 of one 3-1 of fitting and hip joint connector, between two 5-2 of one 5-1 of knee joint connector and knee joint connector
Position-limit mechanism is put, as shown in Figure 5.Realized by the clamping of two 5-2 of one 5-1 of knee joint connector and knee joint connector spacing.
As shown in Fig. 2, a kind of control system of the auxiliary walking exoskeleton robot based on Multi-sensor Fusion, the system
Including waist and two modules of sole；
Sole module includes left foot sole module and right crus of diaphragm sole module, and right crus of diaphragm sole module is including the first microcontroller and
The first power module, right crus of diaphragm force-sensing sensor, the first wireless communication module being connected with first microcontroller, the first power supply
Module is powered for the first microcontroller, and the right crus of diaphragm that right crus of diaphragm force-sensing sensor is used for detecting the person of being worn steps on power, the first radio communication mold
Block gives right crus of diaphragm data sending to the second wireless communication module；
Second source module, the left foot power that left foot sole module includes second singlechip and is connected with second singlechip are quick
Sensor, the second wireless communication module and the 3rd wireless communication module, second source module are powered for second singlechip, left foot power
The left foot that dependent sensor is used for detecting the person of being worn steps on power, and the second wireless communication module comes from the first wireless communication for reception
The right crus of diaphragm data of module, the 3rd wireless communication module are used to give left and right foot data sending to the 4th wireless communication module；
Waist module includes the 3rd microcontroller and the 3rd power module being connected with equal 3rd microcontroller, the inspection of left leg posture
Module, right leg attitude detection module, the 4th wireless communication module and motion-control module are surveyed, the 3rd power module is used to be the 3rd
Microcontroller is powered, left leg attitude detection module and right leg attitude detection module be used for obtaining human leg with it is upright when angle it is inclined
Move and 3-axis acceleration value, the 4th wireless communication module receive the left and right foot data from the 3rd wireless communication module；Movement
Control module includes kneed second steering engine of the first steering engine, left leg, the 3rd rudder of right leg hip joint positioned at left leg hip joint
Machine and the kneed 4th steering engine composition of right leg.
3rd microcontroller handles the data of sole module, and the data for combining left and right leg attitude detecting sensor judge
The state of human body, and then control steering engine synergic rotation to reach the function that auxiliary is walked.
First microcontroller, second singlechip, the 3rd microcontroller select STM32F103RCT6, it is 12 double with 1 μ s
The I/O reversal rates of ADC, the UART of 4 megabit per seconds, the SPI of 18 megabit per seconds, 18MHz, and consume 36mA in 72MHz and (own
Peripheral hardware is in running order), drop to 2 μ A when standby, reduce power consumption, while there is reset circuit, low voltage test, pressure regulation
Device, accurate RC oscillators etc..It is converted into here with STM32 come the pressure sensor analog signal detected to sole module
Digital signal, and drive wireless communication module to carry out real-time data transmission, finally by the pressure Value Data from sole module and
Data from left and right leg attitude detecting sensor are merged, the state of comprehensive descision human body.
First, second, third power module uses 3.7V lithium batteries (chargeable).
Left leg attitude detecting sensor selects six axis gyroscope acceleration of MPU6050 with right leg attitude detecting sensor
Meter, it can adjust the range accuracy of accelerometer and gyroscope, can set high pass low-pass filtering respectively, can configure and enter low-power consumption
Pattern, necessary moment can also connect three axis geomagnetic field sensors completely.MPU6050 compacts, reliability is high and precision expires
The requirement of sufficient product.MPU6050 can effectively reduce the occupancy to mcu resource, and and mould by I2C and single chip communication
Intend signal to compare, digital signal strong antijamming capability.Here left and right leg and vertical direction angulation are obtained with MPU6050
And three weeks acceleration magnitudes.
First wireless communication module, the second wireless communication module, the 3rd wireless communication module and the 4th radio communication mold
Block selects less radio-frequency NRF24L01, both can carry out data interaction.It is a to be operated in 2.4GHz~2.5GHz worlds
The monolithic wireless transceiver chip of general purpose I SM frequency ranges.Wireless transceiver includes：Frequency generator, enhanced ShockBurstTMMould
Formula controller, power amplifier, crystal oscillator, modulator, demodulator.Output power, channel selection and the setting of agreement can
It is configured by SPI interface.It has an extremely low current drain feature, current drain (2000kbps) under emission mode
11.3mA.And minimum supply voltage is 1.9V.Meanwhile NRF24L01 has abundant Peripheral Interface.
Due to needing to obtain from the valid data with sole, it is necessary to by each several part signal acquisition of sole and analyze people
The center of gravity of body.The layout of force-sensing sensor is based primarily upon each areal pressure of sole point when human body is in a variety of walking states
The situation of cloth is different, can be divided into three regions according to the main stressing conditions of sole, specific subregion is as shown in figure 3, this fall detection
Device places five sensors respectively in left and right foot, and the stressing conditions of sole forefoot are complex, therefore uses three distributions
Pressure sensor detect the pressure condition of forefoot.Left foot places L1~L5, and right crus of diaphragm places R1~R5, amounts to 10 sensings
Device, is distributed in human body forefoot, the 2nd~4 metatarsal and hindfoot areas, and the center of gravity of human body is judged by these regions, and
As one of tumble judge index.
The type selecting of pressure sensor：Pressure sensor species is very much, such as condenser type, pressure resistance type, piezoelectric type, wherein big absolutely
Majority is not suitable for measuring plantar pressure there are volume is too big or the reason such as poor accuracy.So biography that the system uses
Sensor needs the features such as comfortable and easy to wear, small, precision is high.According to these features, the more of plantar pressure measurement are considered
A factor, have finally chosen FSR402 force-sensing sensors as measuring cell.The operation principle of FSR402 force-sensing sensors such as Fig. 4
It is shown.When the pressure for coming from the external world acts on the induction zone of force-sensing sensor, the resistance value of FSR402 can change.And with
The increase of external forces, the resistance value of FSR402 can be reduced.FSR402 provides two output pins, passes through point of external circuits
Pressure value is converted to magnitude of voltage and measured by pressure principle.
FSR402 force-sensing sensors are made of high molecular polymer film, length 53mm, sensitive part it is a diameter of
7.6mm, thickness 0.3mm, have the characteristics that slim, soft, compact, the detection of suitable plantar pressure.With surface pressing
Increase, the resistance value of FSR reduces, and has preferable sensitivity.Pressure signal measuring circuit is electric by FSR caused by plantar pressure
The change of resistance is converted to voltage signal, is output to central control module data acquisition.Since FSR is piezoresistive type sensors,
And electrical conductivity and pressure value are linear relationships.
Right crus of diaphragm module is first by force-sensing sensor in each subregion gathered data of sole, then carries out modulus through the first microcontroller and turn
Change, the second wireless communication module of left foot module is finally delivered a packet to by the first wireless communication module.Left foot module is first
By force-sensing sensor in each subregion gathered data of sole, then through second singlechip progress analog-to-digital conversion, pass through the second channel radio
Believe that module receives the data from right crus of diaphragm module, finally sent out left and right foot foot force Value Data bag by the 3rd wireless communication module
Give the 4th wireless communication module of waist module.
Wherein, the algorithm of sole comes from the data fusion between bipod.When left and right, bipod surveys data and is sent to waist
Microcontroller after, it will carry out algorithm judgement：As shown in Fig. 2, left and right bipod amount to ten sensors (L1~L5 and R1~
R5), respectively it is divided into three regions, left foot LA、LB、LC, right crus of diaphragm RA、RB、RC, pressure sensor is connected to after connecting amplifying circuit
On microcontroller, what is detected converts the electrical signal to digital signal for analog signal, microcontroller by the analog-digital converter carried,
A threshold value P being set, if the digital signal converted is more than P, then it represents that the position corresponding to the sensor lands, labeled as 1,
Otherwise it is labeled as 0.Now elaborate, if L1*L2+L3*L2>=1, then represent forefoot area and land；If L4=1, then represent side
Sole lands；If L5=1, then represent heel and land, do not land if 0 representative.
By substantial amounts of experiment test and statistical analysis, the most people road that makes a move can be analyzed to seven states, constantly week
And renew, the feature of each areal pressure value of each state sole can be drawn by being compared by analysis, can be by the sole pressure that detects
Power situation analysis human body state in which, and then drive the auxiliary walking of steering engine cooperative motion.This seven states and feature are respectively：
Right crus of diaphragm heel lands, left foot forward roll, and left foot prepares to step (state 1) forward：The forefoot of left foot at this time
Region detection detects obvious pressure to obvious pressure, the hindfoot areas of right crus of diaphragm：
FLA=1＆＆FRB=1
Right crus of diaphragm lands completely, and left foot is in swing state (state 2) by liftoff：Three regions of right crus of diaphragm are all detected at this time
To obvious pressure, the forefoot area of left foot detects obvious pressure：
FLA=1＆＆FR=1
Right crus of diaphragm lands completely, and left foot heel lands (state 3)：Three regions of right crus of diaphragm all detect obvious pressure at this time
Power, the hindfoot areas of left foot detect obvious pressure：
FLB=1＆＆FR=1
Left foot heel lands, right crus of diaphragm forward roll, and right crus of diaphragm prepares to step (state 4) forward：The metapedes area of left foot at this time
Domain detects obvious pressure, and the forefoot area of right crus of diaphragm detects obvious pressure：
FLB=1＆＆FRA=1
Left foot lands completely, and right crus of diaphragm is in swing state (state 5) by liftoff：Three region detections of left foot arrive at this time
Obvious pressure, the forefoot area of right crus of diaphragm detect obvious pressure：
FL=1＆＆FRA=1
Left foot lands completely, and right crus of diaphragm is completely liftoff to be in swing state (state 6)：Three region detections of left foot arrive at this time
Obvious pressure, three regions nothing of right crus of diaphragm detect obvious pressure：
FL=1
Left foot lands completely, and right crus of diaphragm heel lands (state 7)：Three region detections of left foot are pressed to obvious at this time
Power, the hindfoot areas of right crus of diaphragm detect obvious pressure：
FL=1＆＆FRB=1
In formula, FLFor the left foot pressure situation of human body, FRFor the right crus of diaphragm pressure situation of human body, FLAIt is left for human body
Foot forefoot area pressure situation, FLBFor human body left foot hindfoot areas pressure situation, FRAFor human body right crus of diaphragm forefoot
Region pressure situation, FRBFor human body right crus of diaphragm hindfoot areas pressure situation.
After obtaining each areal pressure value of two soles, it is also necessary to detected with reference to the attitude detecting sensor positioned at left and right leg
Left and right leg and vertical direction angulation and its 3-axis acceleration value, carry out comprehensive analysis and judgement, Collaborative Control, works as sole
During in each state：
State 1：Two leg angulations are angle maximum in a walking period at this time, and the reversion of the first steering engine makes right thigh
To be drawn close to vertical direction, the second steering engine, which rotates forward, bends right leg, and the 3rd steering engine, which rotates forward, makes left thigh be drawn close to vertical direction, the
The reversion of four steering engines bends left leg.
State 2：Left leg is in swing state at this time, and the reversion of the first steering engine makes first drawn close to vertical direction of right thigh deviate again
For vertical direction up to being negative angle in vertical direction with certain numerical value, the second steering engine, which rotates forward, makes right leg degree of crook diminish,
The rotating forward of 3rd steering engine makes left thigh be drawn close to vertical direction and deviates vertical direction again until in vertical direction with certain numerical value for just
Angle, the 4th steering engine rotate forward left leg degree of crook is diminished.
State 3：Angle between two legs constantly increases, the first steering engine reversion make right thigh continue deviate vertical direction, second
Steering engine reversion certain angle bends right leg, and the 3rd steering engine, which rotates forward, makes left thigh continue to deviate vertical direction, and the 4th steering engine is just
Turn to make left leg degree of crook diminish.
State 4：First steering engine, which rotates forward, makes right thigh be drawn close to vertical direction, and the second steering engine reversion certain angle makes right leg
Bending, the reversion of the 3rd steering engine make left thigh be drawn close to vertical direction, and the 4th steering engine, which rotates forward, makes left leg degree of crook diminish.
State 5：Right leg is in swing state, and the first steering engine, which rotates forward, makes right thigh deviate vertical direction, and the second steering engine rotates forward
Certain angle makes right leg degree of crook diminish, and the reversion of the 3rd steering engine makes left thigh be drawn close to vertical direction, and the 4th steering engine rotates forward
Left leg degree of crook is set to diminish.
State 6：First steering engine, which rotates forward, makes right thigh deviate vertical direction, and the second steering engine, which rotates forward certain angle, makes right leg curved
Qu Chengdu diminishes, and the reversion of the 3rd steering engine makes left thigh deviate vertical direction, and the 4th steering engine reversion certain angle makes left leg slightly
Bending.
State 7：The first steering engine, which rotates forward, at this time makes right thigh deviate vertical direction, and the second steering engine, which rotates forward certain angle, makes the right side small
Leg degree of crook diminishes, and the reversion of the 3rd steering engine makes left thigh deviate vertical direction, and the reversion of the 4th steering engine makes left leg degree of crook
Become larger, the angle between two legs constantly increases, and system can change steering engine motion state automatically if restriction angle is reached.
The algorithm of the pressure value processing of the sole sensor of the present invention comes from the data fusion between bipod.When left and right two
Foot is surveyed data and is sent to after the STM32 processors of waist, it will carries out algorithm judgement：Left and right bipod amounts to ten sensors
(L1~L5 and R1~R5)：Given threshold P, for judging the pressure value of human body sole detection, when pressure value is through analog-digital converter
When being converted into being more than P after digital signal, it is judged as that human body sole region then touches ground, when pressure value is through analog-digital converter
When being converted into being less than P after digital signal, then judge that human body sole region departs from ground.The STM32 processors of waist module drive
The dynamic six axis gyroscope accelerometers of MPU6050 positioned at left and right leg obtain the angle of left and right leg and vertical direction and thirdly axis adds
Velocity amplitude, control is cooperateed with by each areal pressure value of comprehensive sole, two legs with vertical direction angle and its 3-axis acceleration value
Four steering engines of system rotate, the real-time status of energy accurate judgement human body, play safer, more comfortable auxiliary walking function.
The control method of the control system of the present invention is described further in conjunction with Fig. 6：
First, user is put on into the footwear containing pressure sensor insole, first, second power module is each module at this time
Each several part be powered, first, second power module uses 3.7V lithium batteries, and program brings into operation at this time, and each module carries out
Initialization.The resistance value in force-sensing sensor FSR402 is converted into magnitude of voltage using the method for partial pressure at the same time.In this way, when opening
, can be so that sole each several part works normally during first, second power module.Then, user puts on exoskeleton robot system
System, the module of waist are controlled by the 3rd microcontroller, and the 3rd microcontroller STM32F103 will receive the acceleration of six axis gyroscopes of MPU6050
The data for spending meter simultaneously carry out acceleration, angle analysis, and combine and come from the data of sole to judge whether human body falls.This
Sample, after opening the 3rd power module, waist modules enter normal mode of operation.At this moment, after testee starts walking,
By the way that positioned at left and right bipod, totally ten force-sensing sensor FSR402 gather left and right bipod (i.e. forefoot, the 2nd~4 metatarsal and heel)
Each areal pressure value of right crus of diaphragm is sent to the second nothing of left foot by data, the first microcontroller of right crus of diaphragm by the first wireless communication module
Each areal pressure value packing of bipod sole is passed through the 3rd wireless communication module together by line communication module, the second singlechip of left foot
The 4th wireless communication module of waist is sent to, the 3rd microcontroller of waist will judge human body institute according to each areal pressure value of sole
The state at place, and four angle value, the acceleration magnitude Collaborative Control steering engines obtained with reference to six axis gyroscope accelerometers of MPU6050
Rotate.If the angle of two legs exceedes threshold value, the 3rd microcontroller STM32F103 controls steering engine collaboration reversion, keeps using at once
The gait that person normally walks.Once detecting that two feet of user all land completely, then it is judged as rest of standing, steering engine continues to turn
It is dynamic two legs is stopped operating after being in vertical state.
Claims (8)
1. a kind of auxiliary walking exoskeleton robot based on Multi-sensor Fusion, it is characterised in that the robot includes backboard
(1), waist fixed mechanism (2) and legs and feet mechanism, the backboard (1) both ends are respectively fixedly connected with a waist fixed mechanism (2), institute
The both ends for the waist fixed mechanism (2) stated respectively are rotatably connected a legs and feet mechanism, and the legs and feet mechanism includes hip joint mechanism
(3), thigh (4), knee-joint mechanism (5), shank (6) and shank fixed block mechanism (7), the hip joint mechanism are closed including hip
Section connector one (3-1) and hip joint connector two (3-2), the knee-joint mechanism (5) include one (5- of knee joint connector
1) with knee joint connector two (5-2), the waist fixed mechanism (2) and the hip joint connector one (3-1) can turn
Dynamic connection, the hip joint connector one (3-1), hip joint connector two (3-2) are connected by steering engine (7), the hip
Joint connector two (3-2), thigh (4), knee joint connector one (5-1) are fixedly connected sequentially, the knee joint connector
One (5-1), knee joint connector two (5-2) are connected also by steering engine (7), the knee joint connector two (5-2), shank
(6), shank fixed block mechanism (7) is fixedly connected sequentially.
2. the auxiliary walking exoskeleton robot according to claim 1 based on Multi-sensor Fusion, the backboard
(1), thigh (4) and shank (6) are made of carbon fiber, and miscellaneous part is made of ABS material.
A kind of 3. control system of the auxiliary walking exoskeleton robot based on Multi-sensor Fusion as claimed in claim 1 or 2
System, it is characterised in that the system includes waist and two modules of sole；
The sole module includes left foot sole module and right crus of diaphragm sole module, and it is single that the right crus of diaphragm sole module includes first
Piece machine and the first power module being connected with first microcontroller, right crus of diaphragm force-sensing sensor, the first wireless communication module,
First power module is powered for the first microcontroller, and the right crus of diaphragm force-sensing sensor is used for detecting the right crus of diaphragm for the person of being worn
Power is stepped on, first wireless communication module gives right crus of diaphragm data sending to the second wireless communication module；
The left foot sole module include second singlechip and be connected with the second singlechip second source module,
Left foot force-sensing sensor, the second wireless communication module and the 3rd wireless communication module, the second source module are single for second
Piece machine is powered, and the left foot that the left foot force-sensing sensor is used for detecting the person of being worn steps on power, second radio communication mold
Block is used to receive the right crus of diaphragm data for coming from first wireless communication module, and the 3rd wireless communication module is used for left and right foot
Data sending gives the 4th wireless communication module；
The waist module includes the 3rd microcontroller and the 3rd power module being connected with the 3rd described microcontroller, a left side
Leg attitude detection module, right leg attitude detection module, the 4th wireless communication module and motion-control module, the 3rd power supply
Module is used to power for the 3rd microcontroller, and the left leg attitude detection module and right leg attitude detection module are used for obtaining human leg
Portion with it is upright when angle offset and 3-axis acceleration value, the 4th wireless communication module receive and come from the 3rd wireless communication
The left and right foot data of module；The first steering engine, the left leg that the motion-control module includes being located at left leg hip joint are kneed
Second steering engine, the 3rd steering engine of right leg hip joint and the kneed 4th steering engine composition of right leg.
4. system according to claim 3, it is characterised in that the left foot force-sensing sensor and right crus of diaphragm force-sensing sensor
Forefoot area, the 2nd~4 metatarsal area and hindfoot areas are arranged in, the information of human body sole is obtained by respective regions,
So as to judge the motion state of human body.
5. the system according to claim 3 or 4, it is characterised in that the sole module is installed in insole.
6. system according to claim 3, it is characterised in that the force-sensing sensor of the forefoot area is 3 points
Not Wei Yu at the first remote section metatarsal, at the first nearly section metatarsal with the 5th nearly section metatarsal, the power of the 2nd~4 metatarsal area
Dependent sensor is 1, and at femur, the force-sensing sensor of the hindfoot areas is 1, at calcaneum.
7. according to the system any one of claim 3-6, it is characterised in that the force-sensing sensor is FSR402 power
Dependent sensor.
8. according to the system any one of claim 3-7, it is characterised in that the left leg attitude detection module and the right side
Leg attitude detection module is six axis gyroscope accelerometers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810008043.2A CN107998609A (en) | 2018-01-04 | 2018-01-04 | A kind of auxiliary walking exoskeleton robot system based on Multi-sensor Fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810008043.2A CN107998609A (en) | 2018-01-04 | 2018-01-04 | A kind of auxiliary walking exoskeleton robot system based on Multi-sensor Fusion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107998609A true CN107998609A (en) | 2018-05-08 |
Family
ID=62049656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810008043.2A Pending CN107998609A (en) | 2018-01-04 | 2018-01-04 | A kind of auxiliary walking exoskeleton robot system based on Multi-sensor Fusion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107998609A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836757A (en) * | 2018-07-09 | 2018-11-20 | 浙江大学城市学院 | A kind of assisted walk exoskeleton robot system with self-regulation |
| CN109011363A (en) * | 2018-09-30 | 2018-12-18 | 淄博正邦知识产权企划有限公司 | A kind of electronic reinforcement plate |
| CN109176463A (en) * | 2018-08-07 | 2019-01-11 | 长沙紫宸科技开发有限公司 | A kind of multi-functional sub-arm self-balancing mechanical exoskeleton |
| CN110123329A (en) * | 2019-05-17 | 2019-08-16 | 浙江大学城市学院 | A kind of intelligent machine frame and its control method carrying out position of human body adjustment for cooperative movement auxiliary lower limb exoskeleton |
| CN111557828A (en) * | 2020-04-29 | 2020-08-21 | 天津科技大学 | Active stroke lower limb rehabilitation robot control method based on healthy side coupling |
| WO2021047686A1 (en) * | 2019-09-09 | 2021-03-18 | 江苏美安医药股份有限公司 | Medical-use walking aid walking safety protection system |
| CN112891151A (en) * | 2021-01-19 | 2021-06-04 | 尚翼(海宁)科技有限公司 | Intelligent walking aid with multi-sensor information fusion |
| CN112959365A (en) * | 2021-03-18 | 2021-06-15 | 广州视源电子科技股份有限公司 | Robot state detection method and device |
| CN113274700A (en) * | 2021-02-07 | 2021-08-20 | 南昌大学第二附属医院 | Neural recovered motion of shank dresses device |
| CN113329726A (en) * | 2019-01-23 | 2021-08-31 | 新确有限公司 | Walking movement assisting device |
| CN114888776A (en) * | 2022-04-24 | 2022-08-12 | 河北工业大学 | Passive foot assisting mechanism integrating double sensors and heterogeneous elastic elements |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| US20160310342A1 (en) * | 2013-12-27 | 2016-10-27 | Korea Polytechnic University Industry Academic Cooperation Foundation | System and method for controlling joint angle of knee-joint type walking training robot |
| CN106901949A (en) * | 2017-03-29 | 2017-06-30 | 艾施科（杭州）科技有限公司 | Full lower limb exoskeleton and its operating method |
| CN107320292A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of wearable ectoskeleton power assisting device of tubular modulesization and its control method |
| CN107411749A (en) * | 2016-10-27 | 2017-12-01 | 浙江理工大学 | The system and method for abnormal walking detection is analyzed based on plantar pressure |
| CN207722304U (en) * | 2018-01-04 | 2018-08-14 | 浙江大学城市学院 | Auxiliary walking exoskeleton robot system based on Multi-sensor Fusion |
-
2018
- 2018-01-04 CN CN201810008043.2A patent/CN107998609A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160310342A1 (en) * | 2013-12-27 | 2016-10-27 | Korea Polytechnic University Industry Academic Cooperation Foundation | System and method for controlling joint angle of knee-joint type walking training robot |
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN107411749A (en) * | 2016-10-27 | 2017-12-01 | 浙江理工大学 | The system and method for abnormal walking detection is analyzed based on plantar pressure |
| CN106901949A (en) * | 2017-03-29 | 2017-06-30 | 艾施科（杭州）科技有限公司 | Full lower limb exoskeleton and its operating method |
| CN107320292A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of wearable ectoskeleton power assisting device of tubular modulesization and its control method |
| CN207722304U (en) * | 2018-01-04 | 2018-08-14 | 浙江大学城市学院 | Auxiliary walking exoskeleton robot system based on Multi-sensor Fusion |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836757A (en) * | 2018-07-09 | 2018-11-20 | 浙江大学城市学院 | A kind of assisted walk exoskeleton robot system with self-regulation |
| CN109176463A (en) * | 2018-08-07 | 2019-01-11 | 长沙紫宸科技开发有限公司 | A kind of multi-functional sub-arm self-balancing mechanical exoskeleton |
| CN109176463B (en) * | 2018-08-07 | 2023-06-02 | 长沙紫宸科技开发有限公司 | Multifunctional auxiliary arm self-balancing mechanical exoskeleton |
| CN109011363A (en) * | 2018-09-30 | 2018-12-18 | 淄博正邦知识产权企划有限公司 | A kind of electronic reinforcement plate |
| CN113329726A (en) * | 2019-01-23 | 2021-08-31 | 新确有限公司 | Walking movement assisting device |
| CN110123329A (en) * | 2019-05-17 | 2019-08-16 | 浙江大学城市学院 | A kind of intelligent machine frame and its control method carrying out position of human body adjustment for cooperative movement auxiliary lower limb exoskeleton |
| CN110123329B (en) * | 2019-05-17 | 2024-04-02 | 浙大城市学院 | Intelligent mechanical frame for matching with exercise-assisted lower limb exoskeleton to adjust human body position and control method thereof |
| WO2021047686A1 (en) * | 2019-09-09 | 2021-03-18 | 江苏美安医药股份有限公司 | Medical-use walking aid walking safety protection system |
| CN111557828A (en) * | 2020-04-29 | 2020-08-21 | 天津科技大学 | Active stroke lower limb rehabilitation robot control method based on healthy side coupling |
| CN112891151A (en) * | 2021-01-19 | 2021-06-04 | 尚翼(海宁)科技有限公司 | Intelligent walking aid with multi-sensor information fusion |
| CN113274700A (en) * | 2021-02-07 | 2021-08-20 | 南昌大学第二附属医院 | Neural recovered motion of shank dresses device |
| CN112959365A (en) * | 2021-03-18 | 2021-06-15 | 广州视源电子科技股份有限公司 | Robot state detection method and device |
| CN114888776A (en) * | 2022-04-24 | 2022-08-12 | 河北工业大学 | Passive foot assisting mechanism integrating double sensors and heterogeneous elastic elements |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107998609A (en) | A kind of auxiliary walking exoskeleton robot system based on Multi-sensor Fusion | |
| CN110916679B (en) | Human body lower limb pose gait detection device and method | |
| CN105795571B (en) | A kind of data collecting system and method for ectoskeleton pressure footwear | |
| JP5747034B2 (en) | Fabric sensing system gait analysis system and method | |
| CN106037753B (en) | A kind of wearable data collection system and its method based on multi-sensor fusion | |
| CN106667494B (en) | A kind of insole of athletic posture monitoring | |
| CN209284398U (en) | A kind of Intelligent insole | |
| CN105249664B (en) | Knapsack and its application method | |
| CN108577854A (en) | Gait recognition method and gait ancillary equipment | |
| CN207722304U (en) | Auxiliary walking exoskeleton robot system based on Multi-sensor Fusion | |
| CN108836757A (en) | A kind of assisted walk exoskeleton robot system with self-regulation | |
| CN110420029A (en) | A kind of walking step state wireless detecting system based on Multi-sensor Fusion | |
| CN109480857B (en) | Device and method for detecting frozen gait of Parkinson disease patient | |
| CN108338447B (en) | Sports shoes with foot information acquisition and pressure measurement system | |
| CN110811553A (en) | Detection method for assistance efficiency of load exoskeleton | |
| CN108836344B (en) | Step length step frequency estimation method and device and gait detector | |
| CN107137086A (en) | A kind of Intelligent insole of generating multifunctional self | |
| CN108186024A (en) | A kind of movement gait monitor and multi-parameter sensor data processing method | |
| KR101878254B1 (en) | Smart Shoes System And Method for Realizing The Same | |
| CN106821384A (en) | It is a kind of walk appearance training shoe-pad | |
| CN209220856U (en) | A kind of assisted walk exoskeleton robot system with self-regulation | |
| CN110123329B (en) | Intelligent mechanical frame for matching with exercise-assisted lower limb exoskeleton to adjust human body position and control method thereof | |
| Ngamsuriyaroj et al. | Walking gait measurement and analysis via knee angle movement and foot plantar pressures | |
| CN112274874A (en) | Human motion energy consumption evaluation system and method based on micro-inertial sensor | |
| CN111700623A (en) | Human body gait detection system and method based on plantar pressure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180508 |