CN108283569A - A kind of exoskeleton robot control system and control method - Google Patents
A kind of exoskeleton robot control system and control method Download PDFInfo
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- CN108283569A CN108283569A CN201711449077.7A CN201711449077A CN108283569A CN 108283569 A CN108283569 A CN 108283569A CN 201711449077 A CN201711449077 A CN 201711449077A CN 108283569 A CN108283569 A CN 108283569A
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- 210000004394 hip joint Anatomy 0.000 claims description 50
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 39
- 210000000629 knee joint Anatomy 0.000 claims description 32
- 230000000875 corresponding effect Effects 0.000 claims description 31
- 238000012512 characterization method Methods 0.000 claims description 27
- 210000003127 knee Anatomy 0.000 claims description 26
- 210000002683 foot Anatomy 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 20
- 210000001624 hip Anatomy 0.000 claims description 18
- 230000000153 supplemental effect Effects 0.000 claims description 17
- 210000003423 ankle Anatomy 0.000 claims description 16
- 230000004936 stimulating effect Effects 0.000 claims description 16
- 238000000605 extraction Methods 0.000 claims description 6
- 238000002474 experimental method Methods 0.000 claims description 5
- 238000005424 photoluminescence Methods 0.000 claims description 5
- 230000000638 stimulation Effects 0.000 claims description 5
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- 238000001514 detection method Methods 0.000 claims description 3
- 210000003314 quadriceps muscle Anatomy 0.000 claims description 3
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- 230000003993 interaction Effects 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 210000003141 lower extremity Anatomy 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 abstract description 3
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- 238000004088 simulation Methods 0.000 abstract description 2
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
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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
- 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
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
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- 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
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- 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
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- 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
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- 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
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- A—HUMAN NECESSITIES
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- 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
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- A—HUMAN NECESSITIES
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- 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
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
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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
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Abstract
The present invention relates to a kind of exoskeleton robot control system and control methods, to solve existing rehabilitation exoskeleton robot poor universality, and can not correctly judge the demand that human motion is intended to, can not achieve the functional effect of man-machine coordination.Exoskeleton robot control system, including attitude transducer, angular transducer, pressure sensor, surface electromyogram signal sensor, processor, exoskeleton robot wearing component and human-computer interaction module.The present invention can be intended to by the lower extremity movement of great amount of samples accurate judgement wearer by establishing representation of athletic database, to be assisted, improve the real-time and accuracy of auxiliary；Invention shows by VR aobvious equipment progress three-dimensional simulation and carries out simulated scenario and shows, provides visual stimulus to this is dressed, improves the degree of being actively engaged in of wearer, be conducive to the nerve and muscle recovery of affected part.
Description
Technical field
The present invention relates to a kind of exoskeleton robot control system and control methods, belong to exoskeleton robot field.
Background technology
Exoskeleton robot is widely used in daily production and living field, especially in rehabilitation field, is led to
Passive and active training can be realized by crossing rehabilitation exoskeleton robot, i.e., effectively avoid wearer due to a lack of movement and caused by flesh
Meat atrophy problem, and the effective rehabilitation efficacy for improving wearer.But just at present, rehabilitation exoskeleton robot there is also
Some are not as good as drawback.First, traditional rehabilitation exoskeleton robot often only considers the action realization of exoskeleton robot,
Action is executed by what wearer deacclimatized exoskeleton robot, lacks good human-computer interaction function so that rehabilitation efficacy is not good enough.
Secondly, existing exoskeleton robot can not accurately be expected lower extremity movement intention.Therefore, it is necessary to exoskeleton robot in people
Reinforcement upgrading is carried out in terms of machine synergistic function and intelligent control.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of exoskeleton robot control system and controls
Method solves the problems, such as that existing rehabilitation exoskeleton robot can not correctly judge that human motion is intended to, reaches realization man-machine coordination
Functional effect.
The object of the invention is achieved by following technical solution：
A kind of exoskeleton robot control system, including attitude transducer, angular transducer, pressure sensor, table are provided
Facial muscle electric signal sensor, processor and exoskeleton robot dress component；
Exoskeleton robot wearing component is through waist, thigh, shank and the foot of wearer；Hip joint, knee joint and
Shaft is arranged in ankle, and thigh mechanical arm is connected between hip joint and knee joint shaft, can be in the driving of first motor
Under around hip joint shaft rotate, under the driving of the second motor around knee joint shaft rotate；Shank mechanical arm is connected to knee joint
Between ankle-joint shaft, it can be rotated around knee joint shaft under the driving of the second motor；Footboard is mounted on vola, one end
It is connected with ankle-joint shaft, can be rotated around ankle-joint shaft under the driving of third motor；
The attitude transducer is being separately positioned on the surface of wearer's foot, the side of thigh, the side of shank and rumpbone just
Front obtains the posture information of wearer's foot, thigh, shank and waist respectively；
The angular transducer is separately positioned on wearer's hip joint both sides, knee joint and ankle-joint side, obtains wearing
Person's hip joint both sides, knee joint and ankle joint angle information；
The pressure sensor is separately positioned on wearer vola, thigh upper surface, shank upper surface, obtains wearer's foot
Bottom, thigh, the pressure information dressed exoskeleton robot between component at shank；
The surface electromyogram signal sensor is separately positioned on the shin bone of wearer's thigh rectus femoris and biceps muscle of thigh, shank
On preceding flesh, gastrocnemius and musculus soleus, for obtaining wearer's thigh, shank surface electromyogram signal in real time；
Processor receives the attitude transducer, angular transducer, pressure sensor, surface electromyogram signal sensor and sends
Acquisition information, be filtered and feature extraction, obtain wearer motion's characterization parameter, obtained representation of athletic will be resolved
Parameter is matched with the representation of athletic supplemental characteristic stored in database, finds the corresponding movement of representation of athletic supplemental characteristic
It is intended to；According to the motion intention of wearer, determine and export exoskeleton robot wearing component first to third motor it is defeated
Go out torque.
Preferably, the motion intention is hip joint stretching, extension, hip joint buckling, knee extension, knee sprung, ankle pass
Save dorsiflex or ankle-joint plantar flexion.
Preferably, the acquisition modes of the database are：It is laggard that a large number of experiments person dresses exoskeleton robot wearing component
Row corresponding sports obtain training sample, and experimenter executes corresponding action, obtain corresponding characterization parameter, including wearer's foot,
The posture information of thigh, shank and waist, wearer's hip joint both sides, two knee joints and two ankle joint angle information, wears
Two vola of wearer, thigh, the pressure information at shank, two thigh of wearer, shank surface electromyogram signal, obtain characterization parameter with
The correspondence of motion intention.
Preferably, further include active feedback systems and VR aobvious equipment, processor is by motion intention, attitude transducer and institute
The information for stating angular transducer detection is sent to active feedback systems, and active feedback systems, which control VR aobvious equipment, keeps wearer real
When the action of itself is seen in virtual environment, show the suitable scene of the motion intention.
Preferably, VR aobvious equipment passes through threedimensional model according to the information that attitude transducer and the angular transducer detect
The action for simulating wearer shows the suitable scene of the motion intention, hip joint stretching, extension and hip joint buckling by motion intention
The suitable scene of stretching, extension is walking movement, and the scene that knee extension and knee sprung stretching, extension are suitble to is leaping over obstacles；Ankle closes
The scene that section dorsiflex and ankle-joint plantar flexion are suitble to is cycling motion.
Preferably, further include active feedback systems and wearable air bag；
Wearer can not consciousness position and can consciousness position be respectively provided with wearable air bag, active feedback systems according to
Pressure sensor acquisition can not consciousness position pressure value, control can not consciousness position and can consciousness position pass through
Wearable air bag apply with pressure sensor acquire can not the identical pressure of the pressure value at consciousness position.
Preferably, further include wearable stimulating electrode, wearer can not consciousness position and can consciousness position be all provided with
Set wearable stimulating electrode, active feedback systems control wearable stimulating electrode apply with pressure sensor acquisition can not
The directly proportional electro photoluminescence of pressure value at consciousness position.
It provides simultaneously and a kind of carrying out exoskeleton robot motion control using the exoskeleton robot control system
Method includes the following steps：
(1) wearer dresses exoskeleton robot and dresses component；
(2) attitude transducer, angular transducer, pressure sensor, surface electromyogram signal sensor carry out information collection, pass
Defeated to arrive processor, processor is filtered and feature extraction, obtains wearer motion's characterization parameter；
(3) processor carries out the representation of athletic supplemental characteristic for resolving obtained representation of athletic parameter and being stored in database
Matching, obtains the corresponding motion intention of representation of athletic supplemental characteristic；
(4) it according to the motion intention of wearer, determines and exports exoskeleton robot wearing component first to third electricity
The output torque of machine.
Preferably, the acquisition modes of the database are：It is laggard that a large number of experiments person dresses exoskeleton robot wearing component
Row corresponding sports obtain training sample, and experimenter executes corresponding action, obtain corresponding characterization parameter, including wearer's foot,
The posture information of thigh, shank and waist, wearer's hip joint both sides, two knee joints and two ankle joint angle information, wears
Two vola of wearer, thigh, the pressure information at shank, two thigh of wearer, shank surface electromyogram signal, it is dynamic that experimenter executes this
The characterization parameter of work is counted, and is obtained and is executed a certain action, the range of corresponding each characterization parameter.
Preferably, it if motion intention stretches for hip joint, controls first motor output torque and makes thigh mechanical arm
Stretching, extension；If motion intention is hip joint buckling, controls first motor output torque and make thigh mechanical arm buckling；If fortune
It is dynamic to be intended to knee extension, then it controls the second motor output torque and shank mechanical arm is stretched；If motion intention is knee
Joint buckling then controls the second motor output torque and makes shank mechanical arm buckling；If motion intention is ankle dorsal flexion,
Control third motor output torque makes footboard dorsiflex；If motion intention is ankle-joint plantar flexion, third motor power output
Square makes footboard plantar flexion.
Preferably, the information that motion intention, attitude transducer and the angular transducer detect is sent to active feedback
System, active feedback systems, which control VR aobvious equipment, makes wearer see the action of itself in virtual environment in real time, shows the fortune
It is dynamic to be intended to suitable scene.
Preferably, if wearer is neurotrosis, can also be matched according to wearable air bag and wearable stimulating electrode
It closes exoskeleton robot and haptic stimulus is carried out to wearer.
Preferably, show that the suitable scene of the motion intention, hip joint stretching, extension and hip joint buckling are stretched by motion intention
The suitable scene of exhibition is walking movement, and the scene that knee extension and knee sprung stretching, extension are suitble to is leaping over obstacles；Ankle-joint
The scene that dorsiflex and ankle-joint plantar flexion are suitble to is cycling motion.
Preferably, wearer can not consciousness position and can consciousness position be respectively provided with wearable air bag and wearable
Stimulating electrode, active feedback systems according to the pressure sensor acquire can not consciousness position pressure value, control is can not
Consciousness position and can consciousness position by wearable air bag apply with pressure sensor acquisition can not consciousness position pressure
Be worth identical pressure, control wearable stimulating electrode apply with pressure sensor acquisition can not consciousness position pressure value at
Direct ratio electro photoluminescence.
Preferably, the representation of athletic that step (3) processor will resolve obtained representation of athletic parameter and be stored in database
Supplemental characteristic is matched, and further includes processor by the movement after obtaining the corresponding motion intention of representation of athletic supplemental characteristic
Characterization parameter and motion intention are filled into as new samples in database.
The present invention has the following advantages that compared with prior art：
(1) present invention proposes a kind of exoskeleton robot control system and control method, by establishing representation of athletic number
According to library, it can be intended to by the lower extremity movement of great amount of samples accurate judgement wearer, to be assisted, improve the reality of auxiliary
When property and accuracy；
(2) present invention shows by VR aobvious equipment progress three-dimensional simulation and carries out simulated scenario and shows, is carried to this is dressed
For visual stimulus, the degree of being actively engaged in of wearer is improved, is conducive to the nerve and muscle recovery of affected part.
(3) present invention is arranged wearable air bag and wearable stimulating electrode and provides haptic stimulus, more intuitively allows trouble
The size of person's perception avoids the occurrence of excessive stimulation, causes secondary injury, to wearer can not consciousness position massage, carry
High recovery effects.
Description of the drawings
Fig. 1 is exoskeleton robot control system functional block diagram of the present invention；
Fig. 2 is that the exoskeleton robot of the present invention dresses block diagram.
Specific implementation mode
It is illustrated with reference to Fig. 1, present embodiment includes that more sensing datas calculate module, representation of athletic database, human-computer interaction
Module and exoskeleton robot dress component；
Exoskeleton robot wearing component is through waist, thigh, shank and the foot of wearer；Hip joint, knee joint and
Ankle setting shaft 1,2,3, thigh mechanical arm 4 is connected between hip joint and knee joint shaft, can be in first motor
Driving under around hip joint shaft 1 rotate, under the driving of the second motor around knee joint shaft 2 rotate；Shank mechanical arm 5 connects
Between knee joint and ankle-joint shaft, it can be rotated around knee joint shaft 2 under the driving of the second motor；Footboard 6 is installed
In vola, one end is connected with ankle-joint shaft 3, can be rotated around ankle-joint shaft 3 under the driving of third motor；
More sensing datas calculate module by attitude transducer, angular transducer, pressure sensor, surface electromyogram signal
Sensor and representation of athletic parameter calculation processor composition；
The attitude transducer is being separately positioned on the surface of wearer's foot, the side of thigh, the side of shank and rumpbone just
Front, the posture information for obtaining wearer's foot, thigh, shank and waist in real time；
The angular transducer is separately positioned on wearer's hip joint both sides, knee joint and ankle-joint lateral location, is used for
Wearer's hip joint both sides, knee joint and ankle joint angle information are obtained in real time；
The pressure sensor is separately positioned on wearer vola, thigh upper surface, at shank upper surface location, for real
When obtain wearer two vola, thigh, the human-computer interaction force information at shank, i.e., exoskeleton robot wearing component, which is supplied to, wears
The size of the power of wearer.
The surface electromyogram signal sensor is separately positioned on two thigh rectus femoris of wearer and biceps muscle of thigh (long head), two
On the tibialis anterior of shank, gastrocnemius and musculus soleus, for obtaining two thigh of wearer, shank surface electromyogram signal in real time；
The representation of athletic parameter calculation processor is for summarizing and handling wearer's two side legs, thigh, shank and waist
Posture information, two side hip joints, knee joint and ankle joint angle information are filtered and feature extraction, are dressed
Person's representation of athletic parameter, the representation of athletic supplemental characteristic progress that obtained representation of athletic parameter will be resolved and stored in database
Match, finds the corresponding motion intention of representation of athletic supplemental characteristic；According to the motion intention of wearer, determines and export ectoskeleton
Output torque of the component first to third motor is dressed by robot.
The acquisition modes of the database are：A large number of experiments person is accordingly transported after dressing exoskeleton robot wearing component
Dynamic to obtain training sample, experimenter executes corresponding action, obtains corresponding characterization parameter, including wearer's foot, thigh, shank
And the posture information of waist, wearer's hip joint both sides, two knee joints and two ankle joint angle information, two foot of wearer
Bottom, thigh, the pressure information at shank, two thigh of wearer, shank surface electromyogram signal, experimenter execute the characterization of the action
Parameter is counted, and is obtained and is executed a certain action, the range of corresponding each characterization parameter.
The human-computer interaction module is made of virtual reality system, tactile stimulation system；
The virtual reality system is made of VR aobvious equipment, man-machine threedimensional model and virtual scene, and VR aobvious equipment can
It realizes head wearing, for realizing the action of the real-time visible collaborative processes man-machine under virtual environment of wearer, coordinates ectoskeleton
Robot carries out visual stimulus to wearer；
The tactile stimulation system is made of wearable stimulating electrode and wearable air bag, wearable stimulating electrode
With wearable air bag respectively can not consciousness position and can consciousness position, carry out haptic stimulus.
Rehabilitation exoskeleton robot man-machine coordination control method with intelligent control, includes the following steps：
Step 1：Wearer dresses exoskeleton robot and dresses component, initializes system, is inputted by human-computer interaction interface
Wearer's gender, height, age, weight basic information, representation of athletic database root are believed according to gender, height, age, weight basis
Breath carries out archives foundation；
Step 2：Information Perception, when wearer moves, set attitude transducer, angular transducer, pressure
Sensor, surface electromyogram signal sensor carry out information collection, respectively the posture information of wearer's foot, thigh, shank and waist,
Wearer's hip joint both sides, two knee joints and two ankle joint angle information, two vola of wearer, thigh, the pressure at shank
Force information, two thigh of wearer, shank surface electromyogram signal, the information acquired above is transferred at representation of athletic parameter calculation
Reason device is simultaneously filtered and feature extraction, obtains wearer motion's characterization parameter, wherein kinematics characterization parameter is waist, left and right
The attitude angle of lower limb thigh, shank and foot, left and right lower limb hip, SCID Mice buckling or stretching angle, Kinetic Characterization ginseng
Number is left and right lower limb thigh, shank and foot plate institute stress size, and bio signal characterization parameter is left and right lower limb thigh, shank
The electromyography signal of each major muscles；
Step 3：Motor pattern self study and decision, the motion table that representation of athletic parameter calculation processor obtains resolving
Sign parameter is matched with the representation of athletic supplemental characteristic stored in database, finds the corresponding fortune of representation of athletic supplemental characteristic
It is dynamic to be intended to.And the dynamic characterization parameter of the group and motion intention are filled into as new samples in database.
The database is that progress corresponding sports are trained after a large number of experiments person dresses exoskeleton robot wearing component
Sample, experimenter execute corresponding action (corresponding corresponding motion intention), and it is (wearer's foot, big to obtain corresponding characterization parameter
The posture information of leg, shank and waist, wearer's hip joint both sides, two knee joints and two ankle joint angle information, wearing
Two vola of person, thigh, the pressure information at shank, two thigh of wearer, shank surface electromyogram signal), obtain characterization parameter with
The correspondence of motion intention.Corresponding action include hip joint stretching, extension, hip joint buckling, knee extension, knee sprung,
Ankle dorsal flexion, ankle-joint plantar flexion.The characterization parameter that experimenter executes the action counts, and obtains and executes a certain action, right
The range for each characterization parameter answered.
After obtaining the representation of athletic supplemental characteristic of wearer, the action of execution is searched from database, is judged instantaneous
Motion intention is hip joint stretching, extension, hip joint buckling, knee extension, knee sprung, ankle dorsal flexion, ankle-joint plantar flexion.
Step 4：It is intended to according to the transient motion of wearer, determines and export exoskeleton robot wearing component and closed in hip
The torque of section, knee joint and/or ankle motor；Motion intention, attitude transducer and the angular transducer are examined simultaneously
The information of survey is sent to active feedback systems, and active feedback systems, which control VR aobvious equipment, makes wearer be seen in real time in virtual environment
See the action of itself, and display is coordinated to execute the scene of the action, cooperation exoskeleton robot is to wearer's progress visual stimulus；
If wearer is neurotrosis, also exoskeleton robot can be coordinated according to wearable air bag and wearable stimulating electrode
Haptic stimulus is carried out to wearer.
If motion intention stretches for hip joint, controls first motor output torque and thigh mechanical arm is stretched, carry
For the auxiliary force of hip joint stretching, extension, auxiliary wearer completes hip joint stretching, extension；If motion intention is hip joint buckling, control
First motor output torque makes thigh mechanical arm buckling, provides the auxiliary force of hip joint buckling, and auxiliary wearer, which completes hip, closes
Save buckling；If motion intention is knee extension, controls the second motor output torque and shank mechanical arm is stretched, provide
The auxiliary force of knee extension, auxiliary wearer complete knee extension；If motion intention is knee sprung, the is controlled
Two motor output torques make shank mechanical arm buckling, provide the auxiliary force of knee sprung, and auxiliary wearer completes knee joint
Buckling；If motion intention is ankle dorsal flexion, controls third motor output torque and make footboard dorsiflex, ankle-joint is provided
The auxiliary force of dorsiflex, auxiliary wearer complete ankle dorsal flexion；If motion intention is ankle-joint plantar flexion, third motor is controlled
Output torque makes footboard plantar flexion, provides the auxiliary force of ankle-joint plantar flexion, and auxiliary wearer completes ankle-joint plantar flexion.
VR aobvious equipment makes wearer see that the action of itself, wearing show empty by threedimensional model in virtual environment in real time
Near-ring is domestic, according to the information that attitude transducer and the angular transducer detect, judges the posture of wearer, and pass through three-dimensional
Model shows corresponding posture, shows that the suitable scene of the motion intention, hip joint stretching, extension and hip joint are bent by motion intention
Scene suitable Qu Shenzhan is walking movement, and the scene that knee extension and knee sprung stretching, extension are suitble to is leaping over obstacles；Ankle
The scene that joint dorsiflex and ankle-joint plantar flexion are suitble to is cycling motion, carries out visual stimulus.
If wearer is neurotrosis, itself stress can not be perceived, then it can also be according to cooperation exoskeleton robot to wearing
Wearer carries out haptic stimulus, and the method for stimulation is：Wearer can not consciousness position and can consciousness position be respectively provided with it is wearable
Air bag and wearable stimulating electrode, and according to the pressure sensor acquisition can not consciousness position pressure value, it is unknowable
Feel position and can consciousness position identical pressure applied by wearable air bag pass through wearable stimulating electrode and apply and pressure
The directly proportional electro photoluminescence of power.To wearer can not consciousness position massage, while allow can consciousness position formed force feedback to wearing
Person knows.
The above, best specific implementation mode only of the invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the known technology of professional and technical personnel in the field.
Claims (15)
1. a kind of exoskeleton robot control system, it is characterised in that：Including attitude transducer, angular transducer, pressure sensing
Device, surface electromyogram signal sensor, processor and exoskeleton robot dress component；
Exoskeleton robot wearing component is through waist, thigh, shank and the foot of wearer；Hip joint, knee joint and ankle close
Shaft (1,2,3) is set at section, and thigh mechanical arm (4) is connected between hip joint and knee joint shaft, can be in first motor
Driving under around hip joint shaft (1) rotate, under the driving of the second motor around knee joint shaft (2) rotate；Shank mechanical arm
(5) it is connected between knee joint and ankle-joint shaft, can be rotated around knee joint shaft (2) under the driving of the second motor；Foot
Pedal (6) is mounted on vola, and one end is connected with ankle-joint shaft (3), can be under the driving of third motor around ankle-joint shaft
(3) it rotates；
The attitude transducer is separately positioned on immediately ahead of the surface of wearer's foot, the side of thigh, the side of shank and rumpbone,
The posture information of wearer's foot, thigh, shank and waist is obtained respectively；
The angular transducer is separately positioned on wearer's hip joint both sides, knee joint and ankle-joint side, obtains wearer's hip
Joint both sides, knee joint and ankle joint angle information；
The pressure sensor is separately positioned on wearer vola, thigh upper surface, shank upper surface, obtain wearer vola,
The pressure information dressed with exoskeleton robot between component at thigh, shank；
Before the surface electromyogram signal sensor is separately positioned on the shin bone of wearer's thigh rectus femoris and biceps muscle of thigh, shank
On flesh, gastrocnemius and musculus soleus, for obtaining wearer's thigh, shank surface electromyogram signal in real time；
Processor receive the attitude transducer, angular transducer, pressure sensor, surface electromyogram signal sensor send adopt
Collect information, be filtered and feature extraction, obtain wearer motion's characterization parameter, obtained representation of athletic parameter will be resolved
It is matched with the representation of athletic supplemental characteristic stored in database, finds the corresponding movement meaning of the representation of athletic supplemental characteristic
Figure；According to the motion intention of wearer, determines and export output of the exoskeleton robot wearing component first to third motor
Torque.
2. exoskeleton robot control system as described in claim 1, it is characterised in that：The motion intention is stretched for hip joint
Exhibition, hip joint buckling, knee extension, knee sprung, ankle dorsal flexion or ankle-joint plantar flexion.
3. exoskeleton robot control system as claimed in claim 1 or 2, it is characterised in that：The acquisition side of the database
Formula is：A large number of experiments person carries out corresponding sports acquisition training sample after dressing exoskeleton robot wearing component, and experimenter executes
Corresponding action, obtains corresponding characterization parameter, includes the posture information of wearer's foot, thigh, shank and waist, wearer's hip
Joint both sides, two knee joints and two ankle joint angle information, two vola of wearer, thigh, the pressure information at shank, wear
Two thigh of wearer, shank surface electromyogram signal obtain the correspondence of characterization parameter and motion intention.
4. exoskeleton robot control system as claimed in claim 1 or 2, it is characterised in that：Further include active feedback systems
With VR aobvious equipment, the information that motion intention, attitude transducer and the angular transducer detect is sent to actively by processor
Reponse system, active feedback systems, which control VR aobvious equipment, makes wearer see the action of itself in virtual environment in real time, shows
The suitable scene of the motion intention.
5. exoskeleton robot control system as claimed in claim 4, it is characterised in that：VR aobvious equipment is sensed according to posture
Device and the information of angular transducer detection simulate the action of wearer by threedimensional model, and the fortune is shown by motion intention
Dynamic to be intended to suitable scene, hip joint stretching, extension and the suitable scene of hip joint buckling stretching, extension are walking movement, knee extension and
The suitable scene of knee sprung stretching, extension is leaping over obstacles；The scene that ankle dorsal flexion and ankle-joint plantar flexion are suitble to is to cycle to transport
It is dynamic.
6. exoskeleton robot control system as claimed in claim 1 or 2, it is characterised in that：Further include active feedback systems
With wearable air bag；
Wearer can not consciousness position and can consciousness position be respectively provided with wearable air bag, active feedback systems are according to
Pressure sensor acquisition can not consciousness position pressure value, control can not consciousness position and can consciousness position pass through wearing
Formula air bag apply with pressure sensor acquire can not the identical pressure of the pressure value at consciousness position.
7. exoskeleton robot control system as claimed in claim 6, which is characterized in that further include wearable stimulation electricity
Pole, wearer can not consciousness position and can consciousness position be respectively provided with wearable stimulating electrode, active feedback systems control
Wearable stimulating electrode apply to pressure sensor acquire can not the directly proportional electro photoluminescence of the pressure value at consciousness position.
8. a kind of side carrying out exoskeleton robot motion control using exoskeleton robot control system described in claim 1
Method, which is characterized in that include the following steps：
(1) wearer dresses exoskeleton robot and dresses component；
(2) attitude transducer, angular transducer, pressure sensor, surface electromyogram signal sensor carry out information collection, are transferred to
Processor, processor is filtered and feature extraction, obtains wearer motion's characterization parameter；
(3) the representation of athletic supplemental characteristic progress that processor will resolve obtained representation of athletic parameter and be stored in database
Match, obtains the corresponding motion intention of representation of athletic supplemental characteristic；
(4) it according to the motion intention of wearer, determines and exports exoskeleton robot and dress component first to third motor
Output torque.
9. the method for motion control as claimed in claim 8, which is characterized in that the acquisition modes of the database are：Largely
Experimenter carries out corresponding sports acquisition training sample after dressing exoskeleton robot wearing component, and experimenter executes corresponding dynamic
Make, obtains corresponding characterization parameter, include the posture information of wearer's foot, thigh, shank and waist, wearer's hip joint two
Side, two knee joints and two ankle joint angle information, two vola of wearer, thigh, the pressure information at shank, wearer two
Thigh, shank surface electromyogram signal, the characterization parameter that experimenter executes the action count, and obtain and execute a certain action, right
The range for each characterization parameter answered.
10. the method for motion control as claimed in claim 8 or 9, which is characterized in that in step (4), if motion intention is
Hip joint stretches, then controls first motor output torque and thigh mechanical arm is stretched；If motion intention is hip joint buckling,
It then controls first motor output torque and makes thigh mechanical arm buckling；If motion intention is knee extension, second is controlled
Motor output torque makes shank mechanical arm stretch；If motion intention is knee sprung, the second motor power output is controlled
Square makes shank mechanical arm buckling；If motion intention is ankle dorsal flexion, controls third motor output torque and make foot pedal
Backboard is bent；If motion intention is ankle-joint plantar flexion, third motor output torque makes footboard plantar flexion.
11. the method for motion control as claimed in claim 8 or 9, which is characterized in that further include that will move meaning in step (4)
The information of figure, attitude transducer and angular transducer detection is sent to active feedback systems, and active feedback systems control VR
Aobvious equipment makes wearer see the action of itself in virtual environment in real time, shows the suitable scene of the motion intention.
12. the method for motion control as claimed in claim 11, which is characterized in that step (4) if in further include wearer
For neurotrosis, then can also according to wearable air bag and wearable stimulating electrode, coordinate exoskeleton robot to wearer into
Row haptic stimulus.
13. the method for motion control as claimed in claim 11, which is characterized in that further include being anticipated by moving in step (4)
Figure shows the suitable scene of the motion intention, and the scene that hip joint stretching, extension and the stretching, extension of hip joint buckling are suitble to is walking movement, knee
The scene that joint extension and knee sprung stretching, extension are suitble to is leaping over obstacles；The scene that ankle dorsal flexion and ankle-joint plantar flexion are suitble to
For cycling motion.
14. the method for motion control as claimed in claim 12, which is characterized in that in wearer can not consciousness position and can
Consciousness position is respectively provided with wearable air bag and wearable stimulating electrode, further include active feedback systems in step (4) according to
Pressure sensor acquisition can not consciousness position pressure value, control can not consciousness position and can consciousness position pass through
Wearable air bag apply with pressure sensor acquire can not the identical pressure of the pressure value at consciousness position, control wearable thorn
Swash electrode apply to pressure sensor acquire can not the directly proportional electro photoluminescence of the pressure value at consciousness position.
15. the method for motion control as claimed in claim 8 or 9, which is characterized in that step (3) processor obtains resolving
Representation of athletic parameter matched with the representation of athletic supplemental characteristic stored in database, obtain the representation of athletic supplemental characteristic
Further include that the representation of athletic parameter and motion intention are filled into database by processor as new samples after corresponding motion intention
In.
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| CN114043461A (en) * | 2021-12-02 | 2022-02-15 | 安徽三联机器人科技有限公司 | Hip joint exoskeleton device and control system and control method thereof |
| CN114983400A (en) * | 2022-07-27 | 2022-09-02 | 南昌大学 | Lower limb joint mobility monitoring system and monitoring method |
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