CN108098741A - A kind of lower limb exoskeleton power assisting device and its control method - Google Patents
A kind of lower limb exoskeleton power assisting device and its control method Download PDFInfo
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- CN108098741A CN108098741A CN201810032149.6A CN201810032149A CN108098741A CN 108098741 A CN108098741 A CN 108098741A CN 201810032149 A CN201810032149 A CN 201810032149A CN 108098741 A CN108098741 A CN 108098741A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 20
- 210000000689 upper leg Anatomy 0.000 claims abstract description 62
- 210000002414 leg Anatomy 0.000 claims abstract description 34
- 210000003423 ankle Anatomy 0.000 claims abstract description 20
- 210000002683 foot Anatomy 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims description 27
- 238000007405 data analysis Methods 0.000 claims description 13
- 230000003183 myoelectrical effect Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 8
- 210000000629 knee joint Anatomy 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 238000004886 process control Methods 0.000 claims description 2
- 230000037147 athletic performance Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 210000003205 muscle Anatomy 0.000 abstract description 4
- 238000004088 simulation Methods 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 20
- 238000001914 filtration Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000010410 layer Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005183 dynamical system Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 239000011229 interlayer Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
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- 238000009776 industrial production Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001766 physiological effect Effects 0.000 description 1
- 238000009790 rate-determining step (RDS) Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of lower limb exoskeleton power assisting devices, including at least one of left leg power assisting device and right leg power assisting device, each leg power assisting device includes pneumatic system, foot's fixed part, shank connecting portion, ankle fixed part, shank fixed part, thigh fixed part, thigh root fixed part；Wherein foot's fixed part is fixedly connected with shank connecting portion, shank connecting portion is flexibly connected by the first air rammer with shank fixed part, shank fixed part part extends downwardly and connects ankle fixed part, shank fixed part is flexibly connected by the second air rammer with thigh fixed part, and thigh fixed part is flexibly connected by the third and fourth air rammer with thigh root fixed part；The invention further relates to a kind of control methods of above device.It is contemplated that simulation human muscle's effect, compressed air cylinder is installed in leg, motion intention is read by precision control sensor, suitable power-assisted is given suitable at the time of, realizes the promotion of human strength and athletic performance.
Description
Technical field
The present invention relates to a kind of exoskeleton device more particularly to a kind of lower limb exoskeleton power assisting device and its control methods.
Background technology
Ectoskeleton is that fusion sensing, control, information, fusion, mobile computing are that operator provides a kind of wearable machine
Tool mechanism.Ectoskeleton is a kind of wearable machine that can enhance Human Body Capacity, it can help people to run much faster, jump more
Height can carry more heavier things.Current wearable ectoskeleton is widely used in medical rehabilitation, industrial production and military affairs
Using etc. various fields.
Wearable lower limb exoskeleton relatively conventional at present includes：It is knee joint assistance exoskeleton, heavy burden lower limb exoskeleton, auxiliary
Walk help is gone weak ectoskeleton and Medical lower limb rehabilitation ectoskeleton.Wherein, knee joint assistance exoskeleton is mainly made of elastic material,
It is extremely limited to the power-assisted of the movement of people without external impetus；Heavy burden lower limb exoskeleton is rigid support, power for spring and
Hydraulic system, dynamical system is bulky, and it is inconvenient to wear；Secondary row go weak ectoskeleton simulation human muscle drawing, pass through bullet
Power bandage and steel wire constrictor are driven, and to achieve the purpose that reduce human body walking energy expenditure, but its control is in the presence of inaccurate
The shortcomings that true；Medical lower limb rehabilitation ectoskeleton, power are the torsion motor in the device of leg, and the lower devices are big there are volume,
Not the shortcomings that activity is not good enough.
Above-mentioned four kinds of wearable lower limb exoskeletons of the prior art can only mechanically repeat default action, type of drive
It is excessively stiff, the wish of wearer can not be deferred to completely, and the raising of human motion performance is helped limited.
The content of the invention
The present invention is directed to the problems of the prior art, provides a kind of lower limb exoskeleton power assisting device and its control method,
It is intended to simulation human muscle's effect, and compressed air cylinder is installed in leg, and movement is read by precision control sensor
It is intended to, suitable power-assisted is given suitable at the time of, realizes the promotion of human strength and athletic performance.
To achieve the above object, the present invention adopts the following technical scheme that：
The present invention first purpose be to provide a kind of lower limb exoskeleton power assisting device, include left leg power assisting device with
At least one of right leg power assisting device, the left leg power assisting device are identical with the structure of right leg power assisting device；It is each
It is solid that leg power assisting device includes pneumatic system, foot's fixed part, shank connecting portion, ankle fixed part, shank fixed part, thigh
Determine portion, thigh root fixed part；
Wherein, foot's fixed part is fixedly connected with shank connecting portion, shank connecting portion by the first air rammer with
Shank fixed part is flexibly connected, and shank fixed part part extends downwardly and connects ankle fixed part, and shank fixed part passes through second
Air rammer is flexibly connected with thigh fixed part, and thigh fixed part passes through the 3rd air rammer and the 4th air rammer and thigh root
Fixed part is flexibly connected.
In order to further optimize above device, the technical measures that the present invention is taken further include：
Further, the pneumatic system includes compressed air source unit, Gas controller and air rammer, and the compressed air source unit is
Each air rammer provides compressed air, and the Gas controller includes shut-off solenoid valve and flow control valve, is used to control pressure
The air inflow of contracting air.
Further, foot's fixed part, ankle fixed part, shank fixed part, thigh fixed part, thigh root fixed part
It is double-layer structure that is expansible and tightening.
Further, foot's fixed part is that can be embedded in the clamping device of wearer's shoes bottom or be worn for that can be arranged
Foot's object wearing device of wearer's shoes entirety；Wherein described clamping device includes the transverse bar being fixedly connected with shank connecting portion,
Being symmetrical arranged in the transverse bar can be described each compared with transverse bar movement and the interior mobile bar with limiting device
The end set clamping bar connected to it of interior mobile bar；Preferably, the row bar is similar with the type of attachment of interior mobile bar
In the Tiebar structure of trolley case.
Further, the ankle fixed part, shank fixed part, thigh fixed part, thigh root fixed part are and human body
The matched annular covered device of corresponding site institute of lower limb, each annular covered device include annular set and outer ring
Set, the outer ring cover sandwich establishment, and the annular set is installed in the interlayer and can be moved along outer ring set
To change the size of each fixed part, limiting device is set between annular set and outer ring set.
Further, first air rammer and the second air rammer are installed on the back side of shank, the 3rd gas
Piston and the 4th air rammer are installed on the face side of thigh.
Further, the piston end of first air rammer is hinged with the shank connecting portion, first gas
The fixing end of piston is fixedly connected with the shank fixed part；The piston end of second air rammer and the thigh
It is hinged in the middle part of fixed part, the fixing end of second air rammer is fixedly connected with the shank fixed part；
Third and fourth air rammer is arranged symmetrically compared with the thigh fixed part, third and fourth air rammer
Piston end with being hinged in the middle part of the thigh fixed part, the fixing end of third and fourth air rammer is and institute
Thigh root fixed part is stated to be fixedly connected.
Further, the shank connecting portion is the arc with certain radian and tapered width protruded outward from ankle side
Body；The top of the arc body sets the first air rammer mounting portion, and one is set in the first air rammer mounting portion laterally
Axis, the piston end of first air rammer set hinge hole, and the hinge hole is sheathed on the lateral shaft.
Further, it is fixedly connected with an annular on the outside of the shank fixed part and is arranged circle, which is arranged circle also for can
Extension and the double-layer structure tightened, are fixedly connected respectively with the first air rammer and the second air rammer.
Further, the thigh fixed part is respectively provided with the mounting portion protruded outward with the hinged position of each air rammer,
Lateral shaft is respectively provided on each mounting portion, the hinge hole of the piston end of each air rammer is each set on each lateral shaft.
Further, the leg power assisting device further includes control system, and the control system includes at least one kind of sensing
Device, data acquisition device and data analysis set-up, the data analysis set-up are used to export control signal to pneumatic system.
Further, the sensor is selected from pressure sensor, bioelectrical signals sensor, myoelectric sensor, angle and passes
At least one of sensor, acceleration transducer, ground transaucer.
Further, the sensor is current potential angular transducer, gyroscope acceleration transducer, EMG myoelectric sensors
Further, the outside of the ankle fixed part sets current potential angular transducer, for detecting the angle of ankle-joint
Degree；The outside of the lower part of the thigh fixed part sets current potential angular transducer, for detecting kneed angle；It is described big
The inside of the middle and upper part of leg fixed part sets the acceleration transducer and myoelectric sensor for being close to thigh wall, the shank fixed part
Inside set and be close to the acceleration transducer and myoelectric sensor of shank wall.
Further, the quantity of each sensor is at least 2.
Further, the control system is installed on the one side of thigh root fixed part, wherein each sensor,
Data acquisition device, data analysis set-up and pneumatic controller are electrically connected successively, and power supply is connected to each power device；Institute
State compressed air source unit and Gas controller be installed on the another side of thigh root fixed part, the compressed air source unit by hose with
The Gas controller connection；The Gas controller includes the first gas controller being arranged in parallel and second gas control
Device, the first gas controller and second gas controller are each communicated with to the rodless cavity of each air rammer and had by hose
Rod cavity；Wherein, the outlet of each Gas controller is respectively provided with 4 branch hoses, is respectively connected to the first air rammer, the second gas
Piston, the 4th air rammer of the 3rd air rammer, each Gas controller include shut-off solenoid valve and flow control valve.
Alternatively, further, the top of the thigh root fixed part sets an elastic webbing, is connected with waist fixed part
It connects, compressed air source unit, Gas controller and control system is set on waist fixed part.
Further, in the power assisting device not comprising control system, the pneumatic system sets manual control button.
Further, the compressed air source unit for compressed air reservoir or including air compressor, compressed air reservoir and
Its auxiliary device.Wherein compressed air reservoir can be compressed the supplement of air by external equipment.
Further, the material that the power assisting device uses is tough and tensile, lightweight and flexible composite material.
Second object of the present invention is to provide a kind of control method of lower limb exoskeleton power assisting device, including：Pass through
The sensing results of wearer or the acquisition process output control pneumatic system of data are the rodless cavity or rod chamber of air rammer
Compressed air is provided, each air rammer is driven to be acted, so as to provide power-assisted for the walking or movement of wearer.
Further, the control method is included using the method for the acquisition process control lower limb exoskeleton power assisting device of data
Following steps：
Acceleration transducer and myoelectric sensor of the step (1) by being mounted at thigh, at shank and mounted on ankle
The exercise data at each position of the current potential angular transducer detection wearer at joint and knee joint, and the data are sent to number
According to harvester；
Step (2) described data acquisition device is amplified the data of acquisition, filters and normalized, and will processing
Processing afterwards is sent to data analysis set-up；
Step (3) described data analysis set-up is reprocessed and analyzed to data, if data are in based on a large amount of numbers
According to fitting function section outside, then resurvey data, repeat step (1)-(3)；If data are in based on a large amount of numbers
According to fitting function section within, then export control signal and be sent to pneumatic system；
Opening and closing, the open and-shut mode of switch electromagnetic valve and the speed control of step (4) the pneumatic system control compressed air source unit
The aperture of valve processed provides suitable compressed air for air rammer, so as to control the movement of air rammer, drives human synovial
Power-assisted is realized in lever motion.
Further, the filtering process is medium filtering or smothing filtering.
Further, the reprocessing includes carrying out noise elimination, noise filtering and noise smoothing to the signal, then extracts
Useful signal is as control signal.
Further, the exercise data of the step (1) includes angle-data, acceleration information and myoelectricity data, described
The fitting function based on mass data in step (3) includes angle-data fitting function, acceleration information fitting function and flesh
Electric data fitting function is respectively used to analyze compared with the angle-data, acceleration information and myoelectricity data that detect；
Wherein, in step (3), it is based on as long as there is 1 data to be in angle-data, acceleration information and myoelectricity data
Outside the section of the fitting function of mass data, then data are resurveyed, repeat step (1)-(3)；Angle-data accelerates the number of degrees
According to in myoelectricity data only have 3 data be within the section of the fitting function based on mass data when, just output control
Signal.
Further, the data acquisition device is Arduino devices.
Compared with prior art, the invention has the advantages that：
The present invention gathers ectoskeleton by sensors such as current potential angular transducer, acceleration transducer, myoelectric sensors and transports
Then dynamic main information merges multi-sensor information by processing unit and the movement gait of wearer is analyzed, so as to
The movement of air rammer is controlled, drives the lever motion of human synovial, realizes the promotion of human strength and athletic performance.
The present invention is monitored simultaneously using multiple sensors progress, be can effectively ensure that the accuracy of testing result, is used simultaneously
Compression cylinder dynamical system effectively reduces the volume and making material of donning system, reduces the production cost of power assisting device；
Lower limb exoskeleton power assisting device of the present invention improves structure according to the physiological property of human leg, structure letter
It is single, meet the physilogical characteristics of human body, each fixed part is all provided with being set to the mechanism of adjustable dimension, is applicable to wearing for different building shape
Wearer so as to fulfill a tractor serves several purposes, effectively saves use cost；And each fixed part is sheathed on outside each body part,
It combines closely with human body so that pneumatic system is more easily controlled the movement of people.
Lower limb exoskeleton power assisting device of the present invention is simple and practical, detection method accurately and reliably, suitable for pushing away on a large scale
It is wide to use in fact.
Description of the drawings
Fig. 1 is a kind of structure diagram of lower limb exoskeleton power assisting device in one embodiment of the invention；
Fig. 2 is the control method schematic diagram of the lower limb exoskeleton power assisting device in one embodiment of the invention；
Fig. 3 is the comparison diagram of the function of gathered data and the fitting function based on mass data in one embodiment of the invention；
Reference numeral in figure is as follows：
1st, foot's fixed part；2nd, shank connecting portion；3rd, ankle fixed part；4th, shank fixed part；5th, thigh fixed part；6th, it is big
Leg root fixed part；7th, the first air rammer；8th, the second air rammer；9th, the 3rd air rammer；10th, the 4th air rammer.
Specific embodiment
The present invention provides a kind of lower limb exoskeleton power assisting device, including left leg power assisting device and right leg power assisting device
At least one of, the left leg power assisting device is identical with the structure of right leg power assisting device；Each leg power assisting device is equal
Pneumatic system including interconnection, foot's fixed part, shank connecting portion, ankle fixed part, shank fixed part, thigh are fixed
Portion, thigh root fixed part；The present invention also provides a kind of control methods of above-mentioned lower limb exoskeleton power assisting device.
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is further described.Following embodiment is only
For clearly illustrating technical scheme, and it is not intended to limit the protection scope of the present invention and limits the scope of the invention.
Embodiment 1
The present embodiment is a kind of lower limb exoskeleton power assisting device and its control method of a preferred versions.
As shown in Figure 1, the lower limb exoskeleton power assisting device in the embodiment, simultaneously including left leg power assisting device and the right side
Leg power assisting device, the left leg power assisting device are identical with the structure of right leg power assisting device；Each leg power assisting device is equal
Including pneumatic system, foot's fixed part 1, shank connecting portion 2, ankle fixed part 3, shank fixed part 4, thigh fixed part 5, thigh
Root fixed part 6.
In this embodiment, foot's fixed part 1 is that can be embedded in the clamping device of wearer's shoes bottom, including with shank
The transverse bar that connecting portion is fixedly connected, being symmetrical arranged in the transverse bar can be mobile compared with the transverse bar and with /V
The interior mobile bar of device, end set foot's clamping bar connected to it of each interior sliding bar, the row bar with it is interior
The type of attachment of mobile bar is similar to the /V form of the Tiebar structure of trolley case, and the /V dress of other conventionally forms can also be used
It puts.
In this embodiment, ankle fixed part 3, shank fixed part 4, thigh fixed part 5, thigh root fixed part 6 be with
The matched annular covered device of corresponding site institute of human body lower limbs, each annular covered device include annular set and outer shroud
Shape set, the outer ring cover sandwich establishment, and the annular set is installed in the interlayer and can be moved along outer ring set
It is dynamic, to change the size of each fixed part, limiting device is set between the annular set and outer ring set, which is this
Conventional use of annular spacing device in field.
In the present embodiment, foot's fixed part 1 is fixedly connected with shank connecting portion 2, and shank connecting portion 2 passes through first
Air rammer 7 is flexibly connected with the shank fixed part 4, and 4 part of shank fixed part, which extends downwardly and connects ankle, to be fixed
Portion 3, the outside of the shank fixed part 4 are fixedly connected with an annular and are arranged circle, which is arranged circle also to be expansible and deflation
Double-layer structure is fixedly connected respectively with the first air rammer 7 and the second air rammer 8, and the thigh fixed part 5 passes through the 3rd
9 and the 4th air rammer 10 of air rammer is flexibly connected with thigh root fixed part.
In this embodiment, 7 and second air rammer 8 of the first air rammer is installed on the back side of thigh, described
3rd air rammer 9 and the 4th air rammer 10 are installed on the face side of thigh；The piston end of first air rammer 7 and institute
It states shank connecting portion 2 to be hinged, the fixing end of first air rammer 7 is fixedly connected with the shank fixed part 4；
The piston end of second air rammer 8 and the middle part of the thigh fixed part 5 are hinged, second air rammer 8
Fixing end be fixedly connected with the shank fixed part 4；Third and fourth air rammer 9,10 is compared with described big
Leg fixed part 5 is arranged symmetrically, the piston end of third and fourth air rammer 9,10 with the thigh fixed part 5
Middle part is hinged, and the fixing end of third and fourth air rammer 9,10 is fixed with the thigh root fixed part 6
Connection.
In this embodiment, shank connecting portion 2 is to have certain radian and tapered width from what ankle side protruded outward
Arc body；The top of the arc body sets the first air rammer mounting portion, and a horizontal stroke is set in the first air rammer mounting portion
To axis, the piston end of first air rammer sets hinge hole, and the hinge hole is sheathed on the lateral shaft.The thigh
Fixed part 5 is respectively provided with the mounting portion protruded outward with the hinged position of each air rammer 8~10, and transverse direction is respectively provided on each mounting portion
Axis, the hinge hole of the piston end of each air rammer 8~10 are each set on each lateral shaft.
In this embodiment, pneumatic system includes compressed air source unit, Gas controller and air rammer 7~10, the source of the gas
Device is compressed air reservoir, provides compressed air for each air rammer 7~10, the Gas controller includes shut-off electromagnetism
Valve and flow control valve are used to control the air inflow of compressed air；Compressed air source unit and Gas controller are installed in thigh root
On the one side of fixed part 6, the compressed air source unit is connected by hose with the Gas controller；The Gas controller includes
The first gas controller and second gas controller being arranged in parallel, the first gas controller and second gas controller lead to
Hose is crossed to each communicate with to the rodless cavity and rod chamber of each air rammer 7~10；The outlet of each Gas controller is respectively provided with 4
Branch hose is respectively connected to the first air rammer 7, the second air rammer 8, the 3rd air rammer 9 and the 4th air rammer 10.
In this embodiment, personal control is set on the one side of thigh fixed part.The personal control and gas
Controller is electrically connected, and the personal control sets 3 control buttons, and one of button is in order to control to each air rammer
The air inlet button of the compressed air of 7~10 rodless cavity, one of button is in order to control to the rod chamber of each air rammer 7~10
Compressed air air inlet button, one of button is close button, and above-mentioned button can control shut-off solenoid valve and flow control
The aperture of valve processed.
After above-mentioned power assisting device is dressed by wearer, rate-determining steps are as follows：The perception moved by wearer to oneself
As a result, when for example needing to carry out spring-like movement, personal control is turned on and off, is air rammer to control pneumatic controller
Rodless cavity or rod chamber provide compressed air, and each air rammer is driven to be acted, so as to which the walking for wearer or movement carry
For power-assisted.
Embodiment 2
The present embodiment is the alternative embodiment of embodiment 1, and compared with the power assisting device in embodiment 1, the present embodiment also wraps
Control system is included, the control system includes at least one kind of sensor, data acquisition device and data analysis set-up, the data
Analytical equipment is used to export control signal to pneumatic system.In the present embodiment, the sensor used is current potential angle sensor
Device, gyroscope acceleration transducer, EMG myoelectric sensors；The outside of the ankle fixed part 3 sets current potential angular transducer,
It is detected for the angle of ankle-joint；The outside of the lower part of the thigh fixed part 5 sets current potential angular transducer, for knee
The angle detection in joint；The inside of the middle and upper part of the thigh fixed part 5 set be close to thigh wall acceleration transducer and
Myoelectric sensor；The acceleration transducer and myoelectric sensor for being close to shank wall are set in the inside of the shank fixed part 4.Respectively
The quantity of sensor is 3.
In this embodiment, elastic webbing (not shown), the elastic webbing and the waist of elasticity are set on thigh root fixed part 6
Portion's fixed part (not shown) connection.Compressed air source unit, gas Gas controller and control system are set in the outside of waist fixed part
System, the connection mode of the two is with embodiment 1, and in the present embodiment, compressed air source unit includes air compressor and compressed air reservoir,
Each sensor, data acquisition device, data analysis set-up and air compressor, pneumatic controller are electrically connected successively
It connects.
As shown in Fig. 2, the control method of the lower limb exoskeleton power assisting device described in the present embodiment is as follows：
Acceleration transducer and myoelectric sensor of the step (1) by being mounted at thigh, at shank and mounted on ankle
The exercise data at each position of the current potential angular transducer detection wearer at joint and knee joint, and the data are sent to number
According to harvester (Arduino devices), the exercise data includes angle-data, acceleration information and myoelectricity data；
Step (2) described data acquisition device is amplified the data of acquisition, filters and normalized, and will processing
Processing afterwards is sent to data analysis set-up；
Step (3) described data analysis set-up is reprocessed and analyzed to data, if data are in based on a large amount of numbers
According to fitting function section outside, then resurvey data, repeat step (1)-(3)；If data are in based on a large amount of numbers
According to fitting function section within, then export control signal and be sent to pneumatic controller；Wherein, based on mass data
Fitting function include angle-data fitting function, acceleration information fitting function and myoelectricity data fitting function, use respectively
In the analysis compared with the angle-data of detection, acceleration information and myoelectricity data；If angle-data, acceleration information and
There is 1 data to be in outside the section of the fitting function based on mass data in myoelectricity data, then resurvey data, repeat to walk
Suddenly (1)-(3)；3 data only in angle-data, acceleration information and myoelectricity data are in the plan based on mass data
When closing within the section of function, control signal is just exported.
Step (4) pneumatic controller controls the switch of air compressor, switch electromagnetic valve to open according to control signal
The aperture of closed state and speed control valve provides suitable compressed air for air rammer, so as to control the fortune of air rammer
It is dynamic, the lever motion of human synovial is driven, realizes power-assisted.
In this embodiment, as shown in figure 3, being collected by arduino to the knee joint data of current potential angular transducer
Function curve is compared with big data matlab Function Fitting results, and close to 99%, this is reacted the two matching degree from side
The accuracy of the detection method.
From above-described embodiment, the present invention provides a kind of lower limb exoskeleton power assisting device and its control method, purports
In simulation human muscle's effect, compressed air cylinder is installed in leg, motion intention is read by precision control sensor,
Suitable power-assisted is given suitable at the time of, realizes the promotion of human strength and athletic performance
Specific embodiments of the present invention are described in detail above, but it is intended only as example, it is of the invention and unlimited
It is formed on particular embodiments described above.To those skilled in the art, it is any to the equivalent modifications that carry out of the present invention and
It substitutes also all among scope of the invention.Therefore, the impartial conversion made without departing from the spirit and scope of the invention and
Modification, all should be contained within the scope of the invention.
Claims (10)
1. a kind of lower limb exoskeleton power assisting device, which is characterized in that including in left leg power assisting device and right leg power assisting device
At least one, the left leg power assisting device is identical with the structure of right leg power assisting device；Each leg power assisting device wraps
Include pneumatic system, foot's fixed part (1), shank connecting portion (2), ankle fixed part (3), shank fixed part (4), thigh fixed part
(5), thigh root fixed part (6)；
Wherein, foot's fixed part (1) is fixedly connected with shank connecting portion (2), and shank connecting portion (2) is pneumatic living by first
Plug (7) is flexibly connected with shank fixed part (4), and shank fixed part (4) partly extends downwardly and connects ankle fixed part (3), small
Leg fixed part (3) is flexibly connected by the second air rammer (8) with thigh fixed part (5), and thigh fixed part (5) passes through the 3rd gas
Piston (9) and the 4th air rammer (10) are flexibly connected with thigh root fixed part (6).
2. a kind of lower limb exoskeleton power assisting device according to claim 1, which is characterized in that the pneumatic system include according to
Compressed air source unit, Gas controller and the air rammer (7~10) of secondary connection, the compressed air source unit are each air rammer (7~10)
Compressed air is provided, the Gas controller includes shut-off solenoid valve and flow control valve, be used to controlling compressed air into
Tolerance.
3. a kind of lower limb exoskeleton power assisting device according to claim 2, which is characterized in that the leg power assisting device is also
Including control system, the control system includes at least one kind of sensor, data acquisition device and data analysis set-up, the number
It is used to export control signal to the pneumatic system according to analytical equipment.
A kind of 4. lower limb exoskeleton power assisting device according to claim 3, which is characterized in that the ankle fixed part (3)
Outside set current potential angular transducer, for ankle-joint angle detect；The outside of the lower part of the thigh fixed part (5)
Current potential angular transducer is set, is detected for kneed angle；The inside of the middle and upper part of the thigh fixed part (5) is set
It is close to the acceleration transducer and myoelectric sensor of thigh wall；It is set in the inside of the shank fixed part (4) and is close to shank wall
Acceleration transducer and myoelectric sensor.
A kind of 5. lower limb exoskeleton power assisting device according to claim 4, which is characterized in that first air rammer
(7) piston end is hinged with the shank connecting portion (2), fixing end and the shank of first air rammer (7)
Fixed part (4) is fixedly connected；The middle part of the piston end of second air rammer (8) and the thigh fixed part (5) into
Row is hinged, and the fixing end of second air rammer (8) is fixedly connected with the shank fixed part (4)；Described 3rd
It is arranged symmetrically with the 4th air rammer (9,10) compared with the thigh fixed part (5), described third and fourth is pneumatic living
The piston end of (9,10) is filled in being hinged in the middle part of the thigh fixed part (5), third and fourth air rammer (9,
10) fixing end is fixedly connected with the thigh root fixed part (6).
6. a kind of lower limb exoskeleton power assisting device according to claim 2, which is characterized in that the compressed air source unit and gas
Controller is installed on the one side of thigh root fixed part (6), and the compressed air source unit passes through hose and the Gas controller
Connection；The Gas controller includes the first gas controller being arranged in parallel and second gas controller, the first gas
Controller and second gas controller are each communicated with to the rodless cavity and rod chamber of each air rammer (7~10)；Each gas control
The outlet of device processed is respectively provided with 4 branch hoses, is respectively connected to the first air rammer (7), the second air rammer (8), the 3rd gas
Piston (9) and the 4th air rammer (10).
7. a kind of lower limb exoskeleton power assisting device according to claim 3, which is characterized in that each sensor, data
Harvester, data analysis set-up and pneumatic system are electrically connected successively.
8. a kind of control method of lower limb exoskeleton power assisting device, which is characterized in that including：
By the sensing results of wearer or the acquisition process output control pneumatic system of data, so as to the nothing for air rammer
Rod cavity or rod chamber provide compressed air, and each air rammer is driven to be acted, so as to be provided for the walking or movement of wearer
Power-assisted.
9. the control method of a kind of lower limb exoskeleton power assisting device according to claim 8, which is characterized in that using data
Acquisition process control lower limb exoskeleton power assisting device method comprise the following steps：
Acceleration transducer of the step 1) by being mounted at thigh, at shank, myoelectric sensor and mounted on ankle-joint and
The exercise data at each position of the current potential angular transducer detection wearer at knee joint, and the data are sent to data acquisition
Device；
Step 2) the data acquisition device is amplified the data of acquisition, filters and normalized, and will treated
Processing is sent to data analysis set-up；
Step 3) the data analysis set-up is reprocessed and analyzed to data, if data are in the plan based on mass data
Outside the section for closing function, then data are resurveyed, repeat step 1) -3)；If data are in the fitting based on mass data
Within the section of function, then export a control signal and be sent to pneumatic system；
Step 4) the pneumatic system controls the opening and closing of compressed air source unit, the open and-shut mode of switch electromagnetic valve and speed control valve
Aperture provides suitable compressed air for air rammer, so as to control the movement of air rammer, the lever of human synovial is driven to transport
It is dynamic, realize power-assisted.
A kind of 10. control method of lower limb exoskeleton power assisting device according to claim 9, which is characterized in that the step
Rapid exercise data 1) includes angle-data, acceleration information and myoelectricity data, in the step 3) based on mass data
Fitting function includes angle-data fitting function, acceleration information fitting function and myoelectricity data fitting function, is respectively used to
It is analyzed compared with the angle-data, acceleration information and myoelectricity data of detection；Wherein, in step 3), as long as angle number
According to thering is 1 data to be in outside the section of the fitting function based on mass data in, acceleration information and myoelectricity data, then again
Gathered data repeats step 1) -3)；3 data only in angle-data, acceleration information and myoelectricity data are in being based on
When within the section of the fitting function of mass data, control signal is just exported.
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