CN108175635B - Lower limb rehabilitation exoskeleton robot gait planning method based on stability criterion - Google Patents
Lower limb rehabilitation exoskeleton robot gait planning method based on stability criterion Download PDFInfo
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- 230000005021 gait Effects 0.000 title claims abstract description 33
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 17
- 238000012549 training Methods 0.000 claims abstract description 26
- 210000000629 knee joint Anatomy 0.000 claims abstract description 11
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 10
- 230000001133 acceleration Effects 0.000 claims abstract description 8
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- 230000005484 gravity Effects 0.000 claims description 7
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- 210000001699 lower leg Anatomy 0.000 claims description 6
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- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
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- 210000001503 joint Anatomy 0.000 description 1
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/04—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
- A61H2230/045—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation used as a control parameter for the apparatus
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Abstract
A lower limb rehabilitation exoskeleton robot gait planning method based on stability criteria comprises the following steps: (1) the rehabilitation training program provides a training step size and a stride, and the step frequency is provided by the heart rate of the patient. If the heart rate is increased, the training amount is over-large; if the heart rate changes little, it indicates that the training intensity of the patient is not enough, and the rehabilitation doctor needs to adjust the rehabilitation training plan until the effective training amount is reached. (2) The rehabilitation exoskeleton robot calls a ZMP stability rule according to input parameters such as step length, stride and step frequency, calculates the data of ankle joint and knee joint angles, angular velocity and angular acceleration, and then a controller of the rehabilitation exoskeleton robot performs servo control according to the joint data so as to guide a patient to perform rehabilitation training.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a gait planning method of a lower limb rehabilitation exoskeleton robot based on a stability criterion.
Background
The lower limb rehabilitation exoskeleton robot is a man-machine integrated system which can help patients with lower limb disabilities or lower limb paralysis to walk like normal people. In recent years, the number of people with lower limb injury or hemiplegia caused by aging population, cerebral apoplexy, traffic accidents and the like is increasing, so that the lower limb rehabilitation exoskeleton robot product has practical significance for human welfare and welfare career and aging social security system, and can generate obvious social benefit.
Gait planning is one of key technologies of a rehabilitation exoskeleton robot system, and is an important component for realizing rehabilitation training and stable walking. The gait planning mainly comprises the following four methods: (1) gait planning based on the center of mass of the robot: the robot is centralized to the mass center, and the gait of the robot is analyzed and optimized by applying the mechanical principle. (2) And (3) gait planning based on the spring load inverted pendulum model: regarding the robot as an inverted pendulum model, the length of the legs is adjusted and variable by springs. (3) Gait planning based on optimal control: and planning a joint motion track meeting the constraint condition to optimize certain performance indexes of the robot. (4) Stability-based gait planning: firstly, according to the constraint condition to be met in the robot motion process, designing the motion trail of key points (usually foot and hip), and then calculating the motion of other joints by geometric constraint. And then, constraining by using the stability criteria of each stage, and finding out the track with the maximum stability margin under the condition of meeting the stability criteria as a planning result by traversing search in the effective range of the variable parameters.
The stability of the rehabilitation robot mainly depends on the condition of the motion environment, and the gravity center of the robot is positioned in the support polygon of the robot, so that the stability of the robot can be ensured. Stability refers to the fact that if the gait track of the robot has stability in a certain limit ring during the movement process of the robot, the movement process is called gait stability. Namely, under the condition of no external interference, the gait of each movement period can reproduce the gait of the previous period, and the robot can move in stable periodic gait; under the condition of interference, the original stable periodic gait motion can be recovered after the limited step adjustment through the control action. The stability criteria include Zero Moment Point (ZMP), Foot Rotation Indication Point (FRI), angular momentum spindle (CMP), and the like. ZMP is the most widely applied stability criterion in the field of mobile robot research. The core idea is to ensure that the robot in the supporting phase is completely contacted with the ground, so that each degree of freedom is directly controllable, and the condition of overturning is avoided. The FRI is a point on the foot-ground interface that may be located inside or outside the support area where a net ground reaction force will act on the FRI point to ensure that the foot meets the condition of a zero moment point. When the support foot is at rest, the FRI and ZMP are corresponding; the FRI and ZMP are two different points when the support foot experiences non-zero rotational acceleration. CMP is the intersection of parallel lines drawn from the centroid and ground reaction forces with the outer contact surface. In order to keep the angular momentum of the entire body in the horizontal direction constant, a ground reaction force must be applied at the CMP. When the moment around the center of mass is zero, CMP corresponds to ZMP; when the moment around the center of mass is not zero, the result of dividing the level component value of the moment by the normal component value of the ground reaction force is the distance separating the CMP and the ZMP.
Disclosure of Invention
Aiming at the problems existing in gait planning of the rehabilitation exoskeleton robot in the prior art, a motion planning method for planning knee joints and hip joints of the rehabilitation exoskeleton robot based on a stability criterion is provided.
A lower limb rehabilitation exoskeleton robot gait planning method based on stability criteria comprises the following steps:
(1) the rehabilitation training program provides a training step size and a stride, and the step frequency is provided by the heart rate of the patient. If the heart rate is increased, the training amount is over-large; if the heart rate changes little, it indicates that the training intensity of the patient is not enough, and the rehabilitation doctor needs to adjust the rehabilitation training plan until the effective training amount is reached.
(2) The rehabilitation exoskeleton robot calls a ZMP stability rule according to input parameters such as step length, stride and step frequency, calculates the data of ankle joint and knee joint angles, angular velocity and angular acceleration, and then a controller of the rehabilitation exoskeleton robot performs servo control according to the joint data so as to guide a patient to perform rehabilitation training.
Preferably, the ZMP formula of the rehabilitation exoskeleton robot is as follows:
wherein: x is the number ofzmpFor rehabilitation of the position of the exoskeleton robot ZMP in the x-axis direction; y iszmpFor rehabilitation of the position of the exoskeleton robot ZMP in the y-axis direction; m isiRehabilitation of the mass of exoskeleton robot component i; x is the number ofi、yi、ziCoordinates of a center of mass of a rehabilitation exoskeleton robot component i; n is the number of the components of the rehabilitation exoskeleton robot, and g is the gravity acceleration.
The ZMP track of the rehabilitation exoskeleton robot is calculated through the motion tracks (positions) of the two feet of the rehabilitation exoskeleton robot, and the motion tracks of the two feet of the rehabilitation exoskeleton robot are obtained through step length, step length and step frequency.
Preferably, the pose (x) of each part i of the rehabilitation exoskeleton robot is calculated by the formula (1)i、yi、zi)。
According to the kinematics equation of the rehabilitation exoskeleton robot, a Jacobi matrix of the rehabilitation exoskeleton robot is obtained, wherein the Jacobi matrix represents the position and posture (x) of each part i of the rehabilitation exoskeleton roboti、yi、zi) Information of each joint of rehabilitation exoskeleton robot
The functional relationship of (a). The kinematic equation of the rehabilitation exoskeleton robot is as follows:
the rehabilitation exoskeleton robot Jacobi matrix J comprises the following components:
(1) suppose the step length of the rehabilitation exoskeleton robot is XlStride of Xs
(2) The gravity center height of the exoskeleton robot is kept unchanged in the rehabilitation training
(3) Simplify the exoskeleton robot for lower limb rehabilitation into a left shank L1Left thigh L2Right crus L3Right thigh L4Four components are mathematically modeled.
(4) According to the kinematic formula (2) and the ZMP formula (1), the gait (left ankle joint theta) of the left leg of the rehabilitation exoskeleton robot can be calculated1Left knee joint theta2) Comprises the following steps:
θ1＝-β-α1
θ2＝α1+α2
β＝arctan(Xl/Xs)
L＝(L1+L2)*cos(β)
rehabilitation exoskeleton robot right leg gait (right ankle joint theta)3Right knee joint theta4) Comprises the following steps:
θ3＝-β-α3
θ4＝α1+α4
β＝arctan(Xl/Xs)
L＝(L3+L4)*cos(β)
drawings
Fig. 1 is a rehabilitation process of the exoskeleton robot.
Fig. 2 is a gait planning framework of the rehabilitation exoskeleton robot.
Fig. 3 is a mathematical model of a rehabilitation exoskeleton robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 3 in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
Fig. 1 is a rehabilitation process of the exoskeleton robot. According to a rehabilitation plan provided by a rehabilitation doctor, a patient wears the exoskeleton robot to perform rehabilitation training, the rehabilitation exoskeleton robot evaluates a rehabilitation process according to the training process of the patient, and the rehabilitation doctor timely adjusts the rehabilitation plan of the patient after obtaining an evaluation report.
Fig. 2 is a gait planning framework for a rehabilitation exoskeleton robot. The rehabilitation training program provides a training step size and a stride, and the step frequency is provided by the heart rate of the patient. If the heart rate is increased, the training amount is over-large; if the heart rate changes little, it indicates that the training intensity of the patient is not enough, and the rehabilitation doctor needs to adjust the rehabilitation training plan until the effective training amount is reached. The rehabilitation exoskeleton robot calls a ZMP stability rule according to input parameters such as step length, stride and step frequency, calculates the data of ankle joint and knee joint angles, angular velocity and angular acceleration, and then a controller of the rehabilitation exoskeleton robot performs servo control according to the joint data so as to guide a patient to perform rehabilitation training.
Fig. 3 is a mathematical model of a rehabilitation exoskeleton robot.
The ZMP formula of the rehabilitation exoskeleton robot is as follows:
wherein: x is the number ofzmpFor rehabilitation of the position of the exoskeleton robot ZMP in the x-axis direction; y iszmpFor rehabilitation of the position of the exoskeleton robot ZMP in the y-axis direction; m isiFor rehabilitation of the mass of exoskeleton robot part i: x is the number ofi、yi、ziCoordinates of a center of mass of a rehabilitation exoskeleton robot component i; n is the number of the components of the rehabilitation exoskeleton robot, and g is the gravity acceleration.
The ZMP track of the rehabilitation exoskeleton robot can be calculated through the motion tracks (positions) of the two feet of the rehabilitation exoskeleton robot, and the motion tracks of the two feet of the rehabilitation exoskeleton robot can be obtained through step length, step length and step frequency.
The pose (x) of each part i of the rehabilitation exoskeleton robot can be calculated by the formula (1)i、yi、zi)。
According to the kinematics equation of the rehabilitation exoskeleton robot, a Jacobi matrix of the rehabilitation exoskeleton robot can be obtained, wherein the Jacobi matrix represents the position and posture (x) of each part i of the rehabilitation exoskeleton roboti、yi、zi) Information of each joint of rehabilitation exoskeleton robot
The functional relationship of (a). The kinematic equation of the rehabilitation exoskeleton robot is as follows:
the rehabilitation exoskeleton robot Jacobi matrix J comprises the following components:
(1) suppose the step length of the rehabilitation exoskeleton robot is XlStride of Xs
(2) The gravity center height of the exoskeleton robot is kept unchanged in the rehabilitation training
(3) Simplify the exoskeleton robot for lower limb rehabilitation into a left shank L1Left thigh L2Right crus L3Right thigh L4Four components are mathematically modeled.
(4) According to the kinematic formula (2) and the ZMP formula (1), the gait (left ankle joint theta) of the left leg of the rehabilitation exoskeleton robot can be calculated1Left knee joint theta2) Comprises the following steps:
θ1＝-β-α1
θ2＝α1+α2
β＝arctan(Xl/Xs)
L＝(L1+L2)*cos(β)
rehabilitation exoskeleton robot right leg gait (right ankle joint theta)3Right knee joint theta4) Comprises the following steps:
θ3＝-β-α3
θ4＝α1+α4
β＝arctan(Xl/Xs)
L＝(L3+L4)*cos(β)
it should be understood that the above-described embodiments of the present invention are merely examples for illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. There is no need or no way to give poor examples of all embodiments. And such obvious changes and modifications which are within the spirit of the invention are deemed to be covered by the present invention.
Claims (4)
1. A gait planning method of a lower limb rehabilitation exoskeleton robot based on a stability criterion is characterized by comprising the following steps:
(1) the rehabilitation training plan provides a training step length and a step length, and the step frequency is provided by the heart rate of the patient;
(2) the rehabilitation exoskeleton robot inputs parameters according to the step length, the step length and the step frequency, calls a ZMP stability rule, calculates the data of the angle, the angular velocity and the angular acceleration of the ankle joint and the knee joint, and then carries out servo control on a controller of the rehabilitation exoskeleton robot according to the data of the joint;
the ZMP formula of the rehabilitation exoskeleton robot is as follows:
wherein:
-xzmpfor rehabilitation of the position of the exoskeleton robot ZMP in the x-axis direction;
-yzmpfor rehabilitation of the position of the exoskeleton robot ZMP in the y-axis direction;
-mirehabilitation of the mass of exoskeleton robot component i;
-xi、yi、zicoordinates of a center of mass of a rehabilitation exoskeleton robot component i;
-n is the number of rehabilitation exoskeleton robot components;
-g is the acceleration of gravity;
the ZMP track of the rehabilitation exoskeleton robot is calculated through the positions of the motion tracks of the two feet of the rehabilitation exoskeleton robot, and the motion tracks of the two feet of the rehabilitation exoskeleton robot are obtained through step length, step length and step frequency.
2. The gait planning method for the lower limb rehabilitation exoskeleton robot based on the stability criterion as claimed in claim 1, wherein the pose of each component i of the rehabilitation exoskeleton robot is calculated by the formula (1);
according to a kinematic equation of the rehabilitation exoskeleton robot, a Jacobi matrix of the rehabilitation exoskeleton robot is obtained, wherein the Jacobi matrix represents a functional relation between the pose of each part i of the rehabilitation exoskeleton robot and each joint information of the rehabilitation exoskeleton robot; the kinematic equation of the rehabilitation exoskeleton robot is as follows:
wherein:
-xi、yi、zirepresenting the pose of each component i of the rehabilitation exoskeleton robot;
-θ1、θ2、θ3representing gait information of each joint of the rehabilitation exoskeleton robot;
the rehabilitation exoskeleton robot Jacobi matrix J comprises the following components:
wherein:
-J is a rehabilitation exoskeleton robot Jacobi matrix
-θ1、θ2、θ3Showing the gait information of each joint of the rehabilitation exoskeleton robot.
3. The gait planning method for the lower limb rehabilitation exoskeleton robot of claim 2, wherein the method comprises the following steps:
(1) suppose the step length of the rehabilitation exoskeleton robot is XlStride of Xs；
(2) Supposing that the height of the gravity center of the exoskeleton robot is kept unchanged in rehabilitation training;
(3) simplify the exoskeleton robot for lower limb rehabilitation into a left shank L1Left thigh L2Right crus L3Right thigh L4Performing mathematical modeling on the four components;
(4) according to the kinematic formula (2) and the ZMP formula (1), the gait of the left leg of the rehabilitation exoskeleton robot can be calculated as follows:
θ1＝-β-α1
θ2＝α1+α2
β＝arctan(Xl/Xs)
L＝(L1+L2)*cos(β)
wherein:
-θ1representing the left ankle joint;
-θ2showing the left knee joint.
4. The gait planning method for the lower limb rehabilitation exoskeleton robot of claim 3, wherein the gait of the right leg of the rehabilitation exoskeleton robot is as follows:
θ3＝-β-α3
θ4＝α1+α4
β＝arctan(Xl/Xs)
L＝(L3+L4)*cos(β)
wherein:
-θ3represents the right ankle joint;
-θ4representing the right knee joint.
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