CN108175642A - 一种用于下肢外骨骼人机系统闭环控制传感系统 - Google Patents
一种用于下肢外骨骼人机系统闭环控制传感系统 Download PDFInfo
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Abstract
本发明公开了一种用于下肢外骨骼人机系统闭环控制传感系统,包括下肢外骨骼人机体,及安装于下肢外骨骼人机体关节处的动作机构;其特征在于:所述下肢外骨骼人机体关节处还安装有倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器;所述倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器通信连接到信号采集平台;所述信号采集平台通信连接外骨骼控制器;所述外骨骼控制器通信连接关节驱动力矩;所述关节驱动力矩通信连接驱动系统;本发明的用于下肢外骨骼人机系统闭环控制传感系统,利用倾角传感器、压力传感器、加速度传感器、力矩传感器以及编码器等多传感器系统来获取人体及外骨骼系统的运动信息,形成闭环。
Description
技术领域
本发明涉及一种外骨骼机器人组件,具体涉及一种用于下肢外骨骼人机系统闭环控制传感系统,属于外骨骼机器人技术领域。
背景技术
下肢助力外骨骼机器人是一种并联在人体下肢外部,对穿戴者进行行走助力的机器人,随着老龄化的加剧,下肢助力外骨骼机器人是近年来研究的热点;目前,下肢助力外骨骼机器人多采用刚性连杆组成的刚性框架机构系统,借助大腿、小腿处的绑缚装置与穿戴者下肢耦合在一起;当穿戴者进行行走运动时,刚性杆并联在人体下肢外部运动,增加了人体下肢的运动阻抗,改变了穿戴者的运动自然频率,造成运动干扰;此外,人体各关节的运动是由肌肉骨骼系统共同作用下沿着复杂关节骨曲面形成的空间三维运动,而刚性下肢外骨骼的各关节运动轴很难与穿戴者的运动轴相匹配,导致行走运动中外骨骼机械腿与人腿存在很大的未对准误差,这种误差影响了穿戴者的穿戴舒适性,严重时还会造成穿戴者下肢疼痛及运动损伤;尽管通过构型优化可实现下肢外骨骼机构的轻量化设计,但下肢外骨骼的刚性连杆机构对穿戴者自然行走步态的运动干扰仍不能忽视;为了实现下肢助力外骨骼在行走运动中能对穿戴者有效助力,并且对穿戴者自然运动影响较小,需要下肢助力外骨骼系统具有重量轻、人机贴合性好的特点,同时下肢助力外骨骼的驱动机制应像人体肌肉一样具有较低的机械输出阻抗及能适应较大控制带宽的特点;现有技术还未解决这些问题;中国专利申请号:201510850693.8,公开了一种柔性外骨骼机器人,包括:穿戴于人体下肢上的下肢柔性绑缚装置,驱动下肢柔性绑缚装置运动的仿生驱动装置,连接于驱动装置与下肢柔性绑缚装置之间的传动装置,其采用柔性材料做成的轻型、易穿戴的下肢柔性绑缚装置,使用仿生驱动方式驱动下肢柔性绑缚装置辅助人体行走;而下肢负重外骨骼工作机理为感知系统实时捕获人体步行状态,控制器产生控制信号驱动机械骨骼跟随人体运动;从感知系统捕获人体步态到输出控制信号,以及驱动机构驱动外骨骼关节到达目标轨迹均需要一定的时间,而此过程人体已经运动到另一状态,现有技术中,下肢助力外骨骼机器人数据采集系统比较落后,不能形成闭环,人机协调效果比较差。
发明内容
为解决上述问题,本发明提出了一种用于下肢外骨骼人机系统闭环控制传感系统,利用倾角传感器、压力传感器、加速度传感器、力矩传感器以及编码器等多传感器系统来获取人体及外骨骼系统的运动信息,并传递给控制系统,控制系统计算出外骨骼系统各个关节运动量和动作机构所需力矩,实时采集外骨骼系统当前运动姿态,并反馈给控制器,形成闭环。
本发明的用于下肢外骨骼人机系统闭环控制传感系统,包括下肢外骨骼人机体,及安装于下肢外骨骼人机体关节处的动作机构;其特征在于:所述下肢外骨骼人机体关节处还安装有倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器;所述倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器通信连接到信号采集平台;所述信号采集平台通信连接外骨骼控制器;所述外骨骼控制器通信连接关节驱动力矩;所述关节驱动力矩通信连接驱动系统;所述驱动系统与动作机构通信连接。
作为优选的实施方案,所述倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器通过AD转化模块连接到信号采集平台。
作为优选的实施方案,所述压力传感器安装于左侧和右侧脚的鞋底。
本发明与现有技术相比较,本发明的用于下肢外骨骼人机系统闭环控制传感系统,利用倾角传感器、压力传感器、加速度传感器、力矩传感器以及编码器等多传感器系统来获取人体及外骨骼系统的运动信息,并传递给控制系统,控制系统计算出外骨骼系统各个关节运动量和动作机构所需力矩,实时采集外骨骼系统当前运动姿态,并反馈给控制器,形成闭环。
附图说明
图1是本发明的整体结构示意图。
具体实施方式
如图1所示,本发明的用于下肢外骨骼人机系统闭环控制传感系统,包括下肢外骨骼人机体,及安装于下肢外骨骼人机体关节处的动作机构;其特征在于:所述下肢外骨骼人机体关节处还安装有倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器;所述倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器通信连接到信号采集平台;所述信号采集平台通信连接外骨骼控制器;所述外骨骼控制器通信连接关节驱动力矩;所述关节驱动力矩通信连接驱动系统;所述驱动系统与动作机构通信连接;下肢外骨骼系统行走时,压力传感器实时测量当前足压,为步态判定提供参数,同时置于人腿上的倾角传感器实时检测当前人体姿态,为外骨骼各个关节转动提供参数,控制器融合各个传感器上信息,计算出当前外骨骼系统各个关节所需力矩,并驱动各个关节运转,同时外骨骼关节上的编码器实时采集外骨骼关节角度变量,并返回到控制器,形成反馈,从而实时调节外骨骼的姿态,使系统快速精确地响应人体动作。
所述倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器通过AD转化模块连接到信号采集平台。
所述压力传感器安装于左侧和右侧脚的鞋底。
本发明的用于下肢外骨骼人机系统闭环控制传感系统,利用倾角传感器、压力传感器、加速度传感器、力矩传感器以及编码器等多传感器系统来获取人体及外骨骼系统的运动信息,并传递给控制系统,控制系统计算出外骨骼系统各个关节运动量和动作机构所需力矩,实时采集外骨骼系统当前运动姿态,并反馈给控制器,形成闭环。
以上述依据本发明的理想实施例为启示,通过上述的说明内容,相关工作人员完全可以在不偏离本项发明技术思想的范围内,进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容,必须要根据权利要求范围来确定其技术性范围。
Claims (3)
1.一种用于下肢外骨骼人机系统闭环控制传感系统,包括下肢外骨骼人机体,及安装于下肢外骨骼人机体关节处的动作机构;其特征在于:所述下肢外骨骼人机体关节处还安装有倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器;所述倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器通信连接到信号采集平台;所述信号采集平台通信连接外骨骼控制器;所述外骨骼控制器通信连接关节驱动力矩;所述关节驱动力矩通信连接驱动系统;所述驱动系统与动作机构通信连接。
2.根据权利要求1所述的用于下肢外骨骼人机系统闭环控制传感系统,其特征在于:所述倾角传感器、压力传感器、加速度传感器、力矩传感器和编码器通过AD转化模块连接到信号采集平台。
3.根据权利要求1所述的用于下肢外骨骼人机系统闭环控制传感系统,其特征在于:所述压力传感器安装于左侧和右侧脚的鞋底。
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108992071A (zh) * | 2018-08-06 | 2018-12-14 | 上海博灵机器人科技有限责任公司 | 一种下肢外骨骼式步态分析系统 |
CN110051361A (zh) * | 2019-05-16 | 2019-07-26 | 南京晓庄学院 | 一种穿戴式下肢骨骼运动检测装置 |
CN110974625A (zh) * | 2019-12-24 | 2020-04-10 | 博灵(常州)机器人科技有限公司 | 一种用于肌肉拉伸和干预训练的数据采集控制系统 |
CN112370305A (zh) * | 2020-11-11 | 2021-02-19 | 深圳市迈步机器人科技有限公司 | 一种下肢康复训练外骨骼机器人及其控制方法 |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108992071A (zh) * | 2018-08-06 | 2018-12-14 | 上海博灵机器人科技有限责任公司 | 一种下肢外骨骼式步态分析系统 |
CN110051361A (zh) * | 2019-05-16 | 2019-07-26 | 南京晓庄学院 | 一种穿戴式下肢骨骼运动检测装置 |
CN110974625A (zh) * | 2019-12-24 | 2020-04-10 | 博灵(常州)机器人科技有限公司 | 一种用于肌肉拉伸和干预训练的数据采集控制系统 |
CN112370305A (zh) * | 2020-11-11 | 2021-02-19 | 深圳市迈步机器人科技有限公司 | 一种下肢康复训练外骨骼机器人及其控制方法 |
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