CN108451749A - A kind of control method of device of walking aid - Google Patents
A kind of control method of device of walking aid Download PDFInfo
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- CN108451749A CN108451749A CN201710088869.XA CN201710088869A CN108451749A CN 108451749 A CN108451749 A CN 108451749A CN 201710088869 A CN201710088869 A CN 201710088869A CN 108451749 A CN108451749 A CN 108451749A
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- 230000009184 walking Effects 0.000 title claims abstract description 109
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000006243 chemical reaction Methods 0.000 claims abstract description 9
- 230000009471 action Effects 0.000 claims description 31
- 230000001934 delay Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 230000036544 posture Effects 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 abstract description 4
- 210000002414 leg Anatomy 0.000 description 73
- 210000000689 upper leg Anatomy 0.000 description 25
- 210000003127 knee Anatomy 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000001699 lower leg Anatomy 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of control methods of device of walking aid, including following procedure：User's wearing fixes device of walking aid on its waist, and it selects to preset operating mode in control unit accordingly by mode conversion switch, wherein, device of walking aid assists the left leg of user to walk and/or assists the right leg of user to walk by the second motor part by the first motor part；In default operating mode, control unit controls the rotation of the first motor part, and to assist, user leg is raised up to extreme higher position or control unit controls the rotation of the second motor part to assist user leg to be raised up to extreme higher position；Then the first motor part of control unit control, which is braked, is braked with assisting user leg to transfer to ground or the second motor part of control unit control to assist user leg to transfer to ground.It applies the technical scheme of the present invention and solves the problems, such as that user is unnatural using walking postures when device of walking aid progress stair climbing walking in the prior art.
Description
Technical field
It the present invention relates to the use of the technical field of auxiliary equipment that motor power assists user's walking, and in particular, to a kind of
Control method of the weak people using the device of walking aid of the power-assisted of motor its walking action is acted for walking.
Background technology
In the device of walking aid of the prior art, it is suitable only for carrying out walking auxiliary on level land.When user makes
When intending stair climbing with existing device of walking aid, after the tiptoe of user significantly lifts, the horse of device of walking aid
It will rapidly weaken up to power, tiptoe caused to fall on ground, the walking postures of user become extremely unnatural.
In patent document " special open 2016-2404 bulletins ", in the device of walking aid disclosed in its technical solution,
(such as 1 institute of Figure of description of the present invention shown in Figure of description 7 (b) of the control circuit as disclosed in " special open 2016-2404 "
Show), the torsion of motor will present triangular wave when control.At this point, if user intends stair climbing, tiptoe significantly will be pulled away from ground
Face.However, after the tiptoe on level land significantly lifts originally, motor power will rapidly weaken, and tiptoe is caused to fall to ground
On, walking postures become extremely unnatural.
In patent document " special open 2015-159927 bulletins ", in the walk supporting device disclosed in its technical solution
In, control circuit is calculated by the signal transmitted to the sensor being separately positioned on thigh, shank and body trunk,
Level land is in analysis judgement ground or has the place of segment difference, carrys out switching motor power.But it inevitably, can encounter because in user
Multiple sensors are assembled with it and cause assembling process too troublesome, and the wiring to handle sensor, can be influenced whole
It is external see, the problems such as device of walking aid cost is excessively high.
Therefore, how to control device of walking aid action is made with reaching to allow user significantly lifts tiptoe
User carries out the effect of the action of walking naturally, and there are still considerable room for improvement.
Invention content
The purpose of the present invention is to provide a kind of control methods of device of walking aid, it is intended to using simple and lower
It is unnatural using walking postures when device of walking aid progress stair climbing walking that cost way solves user in the prior art
Problem can still make natural walking action, need not be further added by the quantity of sensor even if tiptoe is substantially lifted from ground.
In order to solve the above technical problems, the technical scheme is that：A kind of control method of device of walking aid is provided,
Including following procedure：User's wearing fixes device of walking aid on its waist, and selects to control by mode conversion switch
Operating mode is preset in portion processed accordingly, wherein device of walking aid assists the left leg of user to carry out by the first motor part
It walks and/or assists the right leg of user to walk by the second motor part；In default operating mode, control unit control the
To assist, user leg is raised up to extreme higher position to the rotation of one motor part or control unit controls the rotation of the second motor part to assist
User leg is raised up to extreme higher position；Then control unit controls the first motor part and is braked to assist user leg to transfer
The second motor part is controlled to ground or control unit to be braked to assist user leg to transfer to ground.
Optionally, which includes MCU processor, the first dynamic pickup and the second dynamic pickup, the first dynamic
The information is simultaneously transmitted to MCU processor by the leg lift action information of sensor or the second dynamic pickup detection user,
MCU processor controls the first motor part or the rotation of the second motor part to assist user's leg after receiving leg lift action information
Portion is raised up to extreme higher position, after then the first dynamic pickup or the second dynamic pickup detect that leg is raised up to extreme higher position
Arrival position signal is sent out to MCU processor, MCU processor controls the first motor part again or the second motor part is braked with auxiliary
User leg is helped to transfer to ground.
Optionally, control unit further includes the first control IC modules and the second control IC modules, when MCU processor receives leg
After portion's lift action information, MCU processor sends out rotation command to the first control IC modules or the second control IC modules, and first
It controls IC modules and the rotation of the first motor part is controlled to assist user leg to be raised up to extreme higher position according to the rotation command, or
Second control IC modules control the rotation of the second motor part to assist user leg to be raised up to extreme higher position according to the rotation command；
And after MCU processor receives in-position signal, MCU processor sends out braking instruction to control to the first control IC modules
The first motor part is made to be braked to assist user leg to transfer to ground or MCU processor to the second control IC modules
It sends out braking instruction and is braked with controlling the second motor part to assist user leg to transfer to ground.
Optionally, after the first control IC modules or the second control IC modules receive rotation command, the first control IC
Module or second control IC the first predetermined times of module delays after, first control IC modules control the first motor part rotation with auxiliary
User leg is helped to be raised up to extreme higher position or second control IC modules control the second motor part rotation to assist user's leg
Portion is raised up to extreme higher position.
Optionally, it controls the first motor part in the first control IC modules or the second control IC modules controls the second motor part and turn
After dynamic, within second scheduled time, first control the first motor part of IC modules control gradually increases power to be made with assisting lifting
User leg or the second control IC modules control the second motor part and gradually increase power to assist lifting user leg.
Optionally, after the first control IC modules or the second control IC modules receive braking instruction, the first control IC
Module controls the first motor part and is braked within the third predetermined time to assist user leg to transfer to ground or second
Control IC modules control the second motor part and are braked within the third predetermined time to assist user leg to transfer to ground.
Optionally, after the first control IC modules or the second control IC modules receive braking instruction, the first control IC
The 4th predetermined time of module or the second control IC module delays, then first control IC modules the first motor part of control or the second control
IC modules processed control the second motor part and are braked to assist user leg to transfer to ground.
Optionally, in default operating mode, the user for the single leg inconvenient walking of auxiliary walks, walking auxiliary dress
It sets the first motor part for being provided only to the left leg walking of auxiliary user or device of walking aid is provided only to assist
Second motor part of the right leg walking of user；In default operating mode, to assist the user of both legs inconvenient walking into every trade
It walks, device of walking aid has been set along the first motor part and the second motor part, and the first motor part replaces work with the second motor part
Make, the first motor part auxiliary left leg of user is walked, and the second motor part auxiliary right leg of user is walked.
In the present invention, on the basis of application device of walking aid provided by the present invention, by using control unit to step
The first motor part and the second motor part in row auxiliary device carry out drive control, to realize the auxiliary to device of walking aid
Power is managed so that device of walking aid is simply dynamic by control unit and the first motor part, the second motor part two
Control association between power source, you can realize the steady running for presetting operating mode, realize and walking auxiliary is carried out to user
Function.Even if the time that end of braking and tiptoe land is not completely the same, as long as being raised to most from floor from the tiptoe of huckle
High position, until tiptoe land before or after all in walking will not be hindered in the range of, too big shadow would not be brought
It rings.
Description of the drawings
Fig. 1 is the triangular wave figure of control circuit disclosed in the prior art；
Fig. 2 is the folding storage structural schematic diagram of the embodiment of the device of walking aid of the present invention；
Fig. 3 is the dimensional structure diagram of the embodiment of the device of walking aid of the present invention；
Fig. 4 is the overlooking structure diagram of Fig. 3；
Fig. 5 is the structure composition schematic diagram of the control unit of the present invention；
Fig. 6 is control unit control manipulation foot action procedure chart；
Fig. 7 is the Structure and Process block diagram of each component part in control unit.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that when element is referred to as " being fixed on " or " being set to " another element, it can be directly another
On one element or it is connected on another element.When an element is referred to as " being connected to " another element, it can be with
It is directly to another element or is indirectly connected on another element.
It should also be noted that, the orientation term such as left and right, upper and lower in the present embodiment, be only each other relative concept or
It is reference with the normal operating condition of product, and should not be regarded as restrictive.
As shown in Figures 2 to 5, in the first embodiment of the device of walking aid of auxiliary walking of the invention, walking auxiliary
Device includes waistband 10, control unit 20, the first walking assisted parts 30 and the second walking assisted parts 40, wherein the first walking assists
Portion 30 include first support 31, the first motor part 33 and first connecting portion 35, the second walking assisted parts 40 include second support 41,
Second motor part 43 and second connecting portion 45.In the present embodiment, waistband 10 is used for ligature in the waist of user, control unit 20
Be arranged on the outside of waistband 10, the first end of first support 31 by the shell of the first fulcrum 32 and control unit 20 rotationally
Connection, first support 31 is rotatable around the central axis of the first fulcrum 32, and the central axis of the first fulcrum 32 is along user's
Height direction extends, and the first motor part 33 is connect by third shaft 34 with the second end of first support 31, the first motor part 33
Central axis around third shaft 34 is rotatable, and the central axis of third shaft 34 extends along the direction of advance of user, control
Portion 20 is electrically connected with the first motor part 33 to control the startup of the first motor part 33 or close, and first connecting portion 35 makes for ligature
On one of user thigh, first connecting portion 35 is connect by first rotating shaft 36 with the output end of the first motor part 33, the
One interconnecting piece 35 around first rotating shaft 36 central axis can left-right rotation, the advance of the central axis of first rotating shaft 36 along user
Direction extends, and similarly, the first end of second support 41 is rotatably coupled by the shell of the second fulcrum 42 and control unit 20,
Second support 41 is rotatable around the central axis of the second fulcrum 42, and the central axis of the second fulcrum 42 is along the height direction of user
Extend, the second motor part 43 is connect by the 4th shaft 44 with the second end of second support 41, and the second motor part 43 is around the 4th turn
The central axis of axis 44 is rotatable, and the central axis of the 4th shaft 44 extends along the direction of advance of user, control unit 20 and the
The electrical connection of two motor portion 43 is to control the startup of the second motor part 43 or close, and second connecting portion 45 is for ligature in the another of user
On one thigh, second connecting portion 45 passes through the output axis connection of the second shaft 46 and the second motor part 43, second connecting portion 45
Around the second shaft 46 central axis can left-right rotation, the central axis of the second shaft 46 extends along the direction of advance of user.
Control unit 20 includes MCU processor 200, the first dynamic pickup 201 for detecting the one of leg action of user, uses
In first for detecting the second dynamic pickup 202 of another leg action of user, being acted for controlling the first motor part 33
Control IC modules 203 control IC modules 204 and for switching MCU processor for controlling the second of the action of the second motor part 43
The mode conversion switch 205 of preset control model in 200, the mode conversion switch 205 are arranged on the shell of control unit 20,
First dynamic pickup 201 and the second dynamic pickup 202 are electrically connected with the input terminal of MCU processor 200 respectively, the first control
IC modules 203 and second control IC modules 204 and are electrically connected respectively with the output end of MCU processor 200, and MCU processor 200
Control user raises leg height and is enough to cross over stair height.
It devises to slow down in the mounting shell body of first motor part 33 and the second motor part 43 and increases the deceleration mechanism of square, and lead to
The motor of the motor and the second motor part 43 of crossing the first motor part of deceleration mechanism pair 33, which is realized, to slow down to reach the auxiliary of motor output
The similar rate for helping speed to walk with normal person, it is more preferable thereby using user experience of the person in assisting walking process.
As shown in Figures 2 to 4, in the first embodiment, by first support 31 and after user ties up waistband 10
When two holders 41 are closed to waistband 10, in order to make first support 31 and second support 41 be bonded even closer with waistband 10,
Therefore, the left and right sides of waistband 10 is equipped with the first hook 11, and the first hooking hole 310, second support are provided in first support 31
The second hooking hole is provided on 41, the hook 11 in the first hooking hole 310 and wherein side is equipped with, the second hooking hole and the other side
Hook 11 match.By this mode, waistband 10 can be with 41 integration of first support 31 and second support.
In another feasible embodiment, the first motor part 33 is fixedly connected with the second end of first support 31, and second
Motor part 43 is fixedly connected with the second end of second support 41, and passes through first between first connecting portion 35 and the first motor part 33
Shaft 36 is rotatably coupled, and is rotatably coupled by the second shaft 46 between second connecting portion 45 and the second motor part 43,
Remaining structure is identical with the first embodiment.
According to another aspect of the present invention, a kind of control method of device of walking aid is provided.The walking of the present invention is auxiliary
It helps and is provided with three kinds of default operating modes in the control unit 20 of device altogether：The first default operating mode is only to lift user
The general walking auxiliary mode of huckle；Second of default operating mode is to lift the thigh of user, while pushing back opposite end
The walking auxiliary mode of huckle；The third default operating mode is the walking auxiliary mould for only strongly lifting user's huckle
Formula.
As shown in fig. 7, the control method in the device of walking aid of the present invention includes following procedure：User's wearing is solid
Device of walking aid is set on its waist, and default work accordingly in control unit 20 is selected by mode conversion switch 205
Pattern, wherein device of walking aid assists left leg and the right side of user by the first motor part 33 and the second motor part 43 respectively
Leg is walked；In default operating mode, MCU processor 200 controls the rotation of the first motor part 33 to assist user leg
It is raised up to the extreme higher position (road conditions that the extreme higher position can often walk according to user's walking habits and combined use person
Carry out actual set change) or MCU processor 200 control the rotation of the second motor part 43 to assist user leg to be raised up to
Extreme higher position；Then control unit 20 controls the first motor part 33 and is braked to assist user leg to transfer to ground, or
Control unit 20 controls the second motor part 43 and is braked to assist user leg to transfer to ground.
Secondly, the leg lift action information of the first dynamic pickup 201 or the second dynamic pickup 202 detection user
And the information is transmitted to MCU processor 200, MCU processor 200 controls the first motor after receiving leg lift action information
Portion 33 or the second motor part 43 rotation to assist user leg to be raised up to extreme higher position, then the first dynamic pickup 201 or
Second dynamic pickup 202 detects sends out arrival position signal, MCU after leg is raised up to extreme higher position to MCU processor 200
Processor 200 controls the first motor part 33 again or the second motor part 43 is braked to assist user leg to transfer to ground.
In braking process, the first motor part 33 or the second motor part 43 are no longer moved as the leg of user provides the auxiliary that auxiliary is lifted
Power, and the leg of user can fall under Gravitative Loads at this time, due to the first motor part 33 or the system of the second motor part 43
Action is used, and the first motor part 33 or the second motor part 43 can be to the similar obstruction power with brake in the leg dropping process of user
To realize that the leg of user slowly falls to ground.
Further, after MCU processor 200 receives leg lift action information, MCU processor 200 to first
Control IC modules 203 or the second control IC modules 204 send out rotation command, and the first control IC modules 203 are according to the rotation command
The rotation of the first motor part 33 is controlled to assist user leg to be raised up to 204 basis of extreme higher position or the second control IC modules
The rotation command controls the rotation of the second motor part 43 to assist user leg to be raised up to extreme higher position；And in MCU processor 200
After receiving in-position signal, MCU processor 200 sends out braking instruction to control first to the first control IC modules 203
Motor part 33 is braked controls IC modules to assist user leg to transfer to ground or MCU processor 200 to second
204, which send out braking instruction, is braked with controlling the second motor part 43 to assist user leg to transfer to ground.
Specifically, after the first control IC modules 203 or the second control IC modules 204 receive rotation command, first
Control IC modules 203 or after the second control IC modules 204 postponed for the first predetermined time, the first control IC modules 203 control the
To assist, user leg is raised up to extreme higher position to the rotation of one motor part 33 or the second control IC modules 204 control the second horse
It is rotated up to portion 43 to assist user leg to be raised up to extreme higher position.
More specifically, controlling the first motor part 33 or the second in the first control IC modules 203 or the second control IC modules 204
After motor part 43 rotates, within second scheduled time, the first control IC modules 203 control the first motor part 33, and gradually increase is dynamic
Power controls the second motor part 43 and gradually increases power with auxiliary to assist lifting user leg or the second control IC modules 204
It helps and lifts user leg.
Preferably, after the first control IC modules 203 or the second control IC modules 204 receive braking instruction, first
It controls IC modules 203 or the second control IC modules 204 postponed for the 4th predetermined time, the first control IC modules 203 control the first horse
It is braked within the third predetermined time to assist user leg to transfer to ground or the second control IC modules up to portion 33
204 the second motor parts 43 of control are braked within the third predetermined time to assist user leg to transfer to ground.
Fig. 6 is the foot action that control unit 20 is manipulated, and the right crus of diaphragm of user indicates that left foot is then with white table with black
Show.Foot action when Fig. 6 A are user's walkings, Fig. 6 B are mode conversion switch 205 in the dynamic of the first walking auxiliary mode
The case where when operation mode, solid line represent the signal that MCU processor 200 is sent to A terminals, and dotted line then represents and is sent to B terminals
Signal.In addition, Fig. 6 C are the tracks of its knee motions of user.Fig. 6 A-a are before user starts walking, huckle relative to
Floor is in upright state.Fig. 6 A-b are that user prepares to start walking, only lift left thigh portion, are bent toward rear below knee
State.Fig. 6 A-c are that user lifts left thigh portion, the state being further bent toward rear below knee.Fig. 6 A-d are to use
The tiptoe in left thigh portion is raised to the height that may span across stair, and right thigh portion is bent toward rear, allowed above the waist forward by person
The state of Fang Yidong.Fig. 6 A-e are knee to be stretched in the state that user lifts in left thigh portion to highest, and tiptoe is allowed to connect
It contacts to earth the state of plate.Fig. 6 A-f are the midway states that the huckle of left and right is restored to primary position by user.Fig. 6 A-g are to make
User only lifts right thigh portion for lasting walking, toward the state of rear bending below knee.
In the first presets operating mode, the control method of the device of walking aid includes following procedure：User wears
The device of walking aid is worn, and control auxiliary walking accordingly in MCU processor 200 is selected by mode conversion switch 205
Pattern；The leg lift action information of first dynamic pickup 201 or the second dynamic pickup 202 detection user, and will
The information is transmitted to MCU processor 200, and MCU processor 200 passes through the first A terminals 206 after receiving the leg lift action information
Startup control instruction is sent out to the first control IC modules 203 or by the 2nd A terminals 208 to the second control IC modules 204, first
It controls IC modules 203 or the second control IC modules 204 controls the first motor part 33 or the second motor according to the startup control instruction
Portion 43 starts can be across the height of stair, the first dynamic pickup 201 or the second dynamic pickup to assist leg to be raised up to
202 detect and send out arrival position signal, MCU processor 200 to MCU processor 200 after the leg is raised up to highest position
Receive after the in-position signal through the first B terminals 207 to the first control IC modules 203 or by the 2nd B terminals 209 to
Second control IC modules 204 send out control for brake instruction, and the first control IC modules 203 or the second control IC modules 204 are according to this
Control for brake instruction the first motor part 33 of control or the second motor part 43 are braked so that user leg is gently transferred to ground
Face.
It is received after starting control instruction in the first control IC modules 203 or the second control IC modules 204, the first control
After IC modules 203 or second control 204 first predetermined time of delay of IC modules, the first predetermined time was 50ms or first pre-
Setting can adaptively be adjusted according to the speed degree that the walking custom of user and walking act by fixing time, then
It controls the first motor part 33 or the second motor part 43 starts.
The first motor part 33 or the second motor part 43 are controlled in the first control IC modules 203 or the second control IC modules 204
After startup, the first motor part 33 is controlled within second scheduled time or the second motor part 43 gradually increases power and used with lifting
Person leg.In the present invention, the second predetermined time was that can be practised according to the walking of user 150ms or the second predetermined time
The speed degree of used and walking action is adaptively adjusted setting.
After the first control IC modules 203 or the second control IC modules 204 receive braking instruction, the first control IC moulds
Block 203 or second controls IC modules 204 and postponed for the 4th predetermined time, and the first motor part 33 is then controlled within the third predetermined time
Or second motor part 43 braked.In the present invention, it is 50ms between third is predetermined, the 4th predetermined time was 200ms, or
Third predetermined time and the 4th predetermined time can according to the speed degree that the walking custom of user and walking act come
Carry out adaptively adjustment setting.
In the first presets operating mode, as shown in Fig. 6 A-b, user prepares to start walking, only lifts left thigh
When, the first dynamic pickup 201 on left leg can detect this action.Then the first dynamic pickup 201 is to MCU processing
Device 200 sends out signal, and then MCU processor 200 is sent out by the first A terminals 206 to the first control IC modules 203 after 50ms
Go out enabled instruction, starts to which the first control IC modules 203 control the first motor part 33, the first motor part 33 is in 150ms at this time
Within gradually increase strength.Then, as in Fig. 6 A-c, the first motor part 33 can allow the first cursor 352 of first connecting portion 35
Rotation so that left thigh is counterclockwise rotated into figure.It will present below the knee of left leg toward rear bending this when
State.In Fig. 6 A-d, tiptoe can be raised to the height being enough across stair by left thigh portion with the rotation of the first motor part 33
Degree, the knee of left foot and is approximately perpendicular to floor at this when.It on the other hand, above the waist can be because of having huckle toward rear
Bending, and moved toward front.After height of being enough of lifting of left thigh portion across stair, 201 meeting of the first dynamic pickup
This action is detected, MCU processor 200 is then passed to, then MCU processor 200 is controlled by the first B terminals 207 to first
IC modules 203 processed send out braking instruction, and after the stand-by period by 50ms, in the time inside brake first of 200ms
Motor part 33.With this braking, left thigh portion can resist the power of the first motor part 33 in the position shown in Fig. 6 A-e, allow
First cursor 352 is toward rotationally clockwise so that tiptoe lands.After left thigh resists the power of the first motor part 33,
The first cursor 352 can be allowed to rotate, the power of the first motor part 33 will not suddenly disappear, and left thigh can be with natural posture
Tiptoe is set to land.Later, in Fig. 6 A-f, user restores in right thigh portion to primary position, and the walking for completing left foot is dynamic
Make.In Fig. 6 A-g, when specifically only lifting right thigh, the second dynamic pickup 202 of right crus of diaphragm can detect this action.MCU
Processor 200 is according to the signal from the second dynamic pickup 202, after the stand-by period of 50ms, by the second control IC moulds
Block 204 controls the second motor part 43 and starts, and strength is gradually increased in 150ms.In this way, right thigh can execute and left thigh phase
Same walking action allows user to make natural walking action.
In the device of walking aid, the first motor part 33 and the second motor part 43 are brushless motor, certainly also can profit
Power is provided with brush motor.When the first motor part 33 and the second motor part 43 are separately positioned on the waist both sides of user
It waits, double-legged walking can be assisted.If the first motor part 33 or 43 only one of the second motor part are arranged on the side of waist,
The user that device of walking aid can only assist single foot handicapped at this time.
In second of default operating mode, the control method of the device of walking aid includes following procedure：User wears
The device of walking aid is worn, and control auxiliary walking accordingly in MCU processor 200 is selected by mode conversion switch 205
Pattern；First dynamic pickup 201 detects the leg lift action information of user, and the information is transmitted to MCU processing
Device 200, MCU processor 200 receive after the leg lift action information through the first A terminals 206 to the first control IC modules 203
Startup control instruction is sent out, and MCU processor 200 is sent out reversely by the 2nd A terminals 208 to the second control IC modules 203
Start control instruction, the first control IC modules 203 control the first motor part 33 according to the startup control instruction and start to assist leg
Portion is raised up to the height that can cross over stair, and the second control IC modules 203 control the second horse according to the reverse starting control instruction
It is rotated backward up to portion 43 and the first motor part 33 so that user advances；First dynamic pickup 201 detects that the leg is lifted
Arrival position signal is sent out to MCU processor 200 after to extreme higher position, after MCU processor 200 receives the in-position signal
It is sent out to the first control IC modules 203 and by the 2nd B terminals 209 to the second control IC modules 204 by the first B terminals 207
Control for brake instructs, and the first control IC modules 203 and the second control IC modules 204 instruct the first horse of control according to the control for brake
Up to portion 33 and the second motor part 43 is braked so that the leg that user lifts is transferred to ground.Mould is assisted with the first walking
Control method under formula compares, remaining control process of the control method under second of auxiliary mode is auxiliary with the first walking
Help pattern identical, details are not described herein.
In second of default operating mode, in Fig. 6 A-b, user prepares to start walking, only lifts left thigh portion
When, the first dynamic pickup 201 of left foot can detect this action.Control unit 20 can penetrate and come from the first dynamic pickup 201
Signal start the first motor part 33 after 50ms, and within 150ms, gradually increase strength.On the other hand, control unit 20
The signal from the first dynamic pickup 201 can be penetrated, after 50ms, through the 2nd A terminals 208, allows the second control IC modules
204 start the second motor part 43, and the second motor part 43 is made to be rotated towards the opposite direction of the first motor part 33.Then, second
After motor part 43 allows right thigh portion to be moved toward rear, it will be moved above the waist toward front.Meanwhile control unit 20 can be in Fig. 6 A-e institutes
First motor part 33 of mark terminates during before braking, the second motor part 43 persistently to be allowed to rotate in the opposite direction.Through this
The counter-rotating of a second motor part 43 will move due to the power of the second motor part 43 toward front above the waist.It is this by phase
The pattern that the huckle of opposite ends pushes back can assist forward just moving the upper semi-square of user.On the other hand, control unit 20 controls
The tiptoe of left thigh is improved to the height for being enough to cross over stair, signal can be transmitted to the first B terminals 207, and passing through
After the stand-by period of 50ms, in the first motor part of time inside brake 33 of 200ms.Stair are may span across as this braking is raised to
The left thigh portion of height can resist the power of the first motor part 33 in the position of Fig. 6 A-e marks, make the first cursor 352 past
It is rotated clockwise, tiptoe is made to land.
It in the third presets operating mode, compares with the first walking auxiliary mode, is controlling the first horse
When up to portion 33 or the second motor part 43 starting, need that the first motor part 33 or the second motor part 43 is allowed to carry out strength startup, only
It needs to expand using 204 control of the first control IC modules 203 or the second control IC modules through the first motor part 33 or the
The impulse amplitude in two motor portion 43 or the first control IC modules 203 or the second control IC modules 204 directly control
Increase the startup voltage or starting current of the first motor part 33 or the second motor part 43.In this example, the third walking
Under auxiliary mode, the first motor part 33 and the second motor part 43 can obtain lower 1.5 times of the torsion of the first walking auxiliary mode
Square.This strength lifts the pattern of huckle, and the user that leg is benumbed can be assisted to carry out walking.On the other hand, control unit
20 are improved tiptoe to the height for being enough to cross over stair by controlling the first motor part 33 or the second motor part 43, can will be interrogated
B terminals number are transmitted to, and after the stand-by period of 50ms, the first B terminals 207 send out system to the first control IC modules 203
Time inside brake first motor part 33 of the dynamic instruction in 200ms；Or the 2nd B terminals 209 sent out to the second control IC modules 204
Time inside brake second motor part 43 of the braking instruction in 200ms.As motor part is braked, it is raised to and may span across stair height
Leg the power of motor part can be resisted in the position that Fig. 6 A-e are indicated, allow the first cursor 352 of first connecting portion 35
Or the second cursor 452 of second connecting portion 45 is rotated clockwise and tiptoe is made to land.
In the present invention, it is existing skill that MCU processor 200, first, which controls IC modules 203, second and controls IC modules 204,
The existing electrical equipment of technology molding and technology maturation in art.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made by within principle etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of control method of device of walking aid, which is characterized in that including following procedure：
User's wearing fixes device of walking aid on its waist, and is selected in control unit accordingly by mode conversion switch
Default operating mode, wherein device of walking aid assists the left leg of user to walk and/or lead to by the first motor part
Cross the second motor part assists the right leg of user to walk respectively；
In default operating mode, control unit controls the first motor part and rotates to assist user leg to be raised up to extreme higher position,
Or control unit controls the rotation of the second motor part to assist user leg to be raised up to extreme higher position；Then control unit control first
Motor part, which is braked, is braked with assisting user leg to transfer to ground or the second motor part of control unit control with auxiliary
User leg is helped to transfer to ground.
2. the control method of device of walking aid as described in claim 1, which is characterized in that the control unit includes MCU processing
Device, the first dynamic pickup and the second dynamic pickup, the first dynamic pickup or the second dynamic pickup detection user's
The information is simultaneously transmitted to MCU processor by leg lift action information, and MCU processor is controlled after receiving leg lift action information
It makes the first motor part or the second motor part is rotated to assist user leg to be raised up to extreme higher position, then the first dynamic pickup
Or second dynamic pickup detect and send out arrival position signal, MCU processing to MCU processor after leg is raised up to extreme higher position
Device controls the first motor part again or the second motor part is braked to assist user leg to transfer to ground.
3. the control method of device of walking aid as claimed in claim 2, which is characterized in that control unit further includes the first control
IC modules and the second control IC modules, after MCU processor receives leg lift action information, MCU processor is to first
Control IC modules or the second control IC modules send out rotation command, and the first control IC modules control the first horse according to the rotation command
It is rotated up to portion to assist user leg to be raised up to extreme higher position or the second control IC modules according to rotation command control the
Two motor portion is rotated to assist user leg to be raised up to extreme higher position；And MCU processor receive in-position signal it
Afterwards, MCU processor sends out braking instruction to the first control IC modules and is braked with controlling the first motor part to assist user
It transfers to ground or MCU processor and sends out braking instruction to the second control IC modules to control the progress of the second motor part in leg
Braking is to assist user leg to transfer to ground.
4. the control method of device of walking aid as claimed in claim 3, which is characterized in that in the first control IC modules or the
After two control IC modules receive rotation command, the first control IC modules or second control IC the first predetermined times of module delays
Later, the first control IC modules control the rotation of the first motor part to assist user leg to be raised up to extreme higher position or second
It controls IC modules and controls the rotation of the second motor part to assist user leg to be raised up to extreme higher position.
5. the control method of device of walking aid as claimed in claim 3, which is characterized in that in the first control IC modules control
After first motor part or the second control IC modules control the rotation of the second motor part, within second scheduled time, the first control IC
Module controls the first motor part and gradually increases power to assist lifting user leg or the second control IC modules control second
Motor part gradually increases power to assist lifting user leg.
6. the control method of device of walking aid as claimed in claim 3, which is characterized in that in the first control IC modules or the
Two control IC modules receive braking instruction after, first control IC modules control the first motor part within the third predetermined time into
Row braking controls the second motor part in the pre- timing of third to assist user leg to transfer to ground or the second control IC modules
It is interior to be braked to assist user leg to transfer to ground.
7. the control method of device of walking aid as claimed in claim 6, which is characterized in that in the first control IC modules or the
After two control IC modules receive braking instruction, the 4th pre- timing of the first control IC modules or the second control IC module delays
Between, then the first control IC modules control the first motor part or the second control IC modules control the second motor part and braked with auxiliary
User leg is helped to transfer to ground.
8. the control method of the device of walking aid as described in any one of claim 1 to 7, which is characterized in that in default work
In operation mode, the user for the single leg inconvenient walking of auxiliary walks, and the device of walking aid is provided only to assist
First motor part of the left leg walking of user or the device of walking aid are provided only to the right leg walking of auxiliary user
The second motor part；In default operating mode, to assist the user of both legs inconvenient walking to walk, the walking auxiliary
Device has been set along the first motor part and the second motor part, and first motor part is worked alternatively with second motor part,
The first motor part auxiliary left leg of user is walked, and the second motor part auxiliary right leg of user is walked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710088869.XA CN108451749A (en) | 2017-02-20 | 2017-02-20 | A kind of control method of device of walking aid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710088869.XA CN108451749A (en) | 2017-02-20 | 2017-02-20 | A kind of control method of device of walking aid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108451749A true CN108451749A (en) | 2018-08-28 |
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ID=63221897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710088869.XA Pending CN108451749A (en) | 2017-02-20 | 2017-02-20 | A kind of control method of device of walking aid |
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| Country | Link |
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| CN (1) | CN108451749A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000166997A (en) * | 1998-12-10 | 2000-06-20 | Nsk Ltd | Walking auxiliary device |
| CN103813772A (en) * | 2012-07-20 | 2014-05-21 | 国立大学法人九州大学 | Tool for aiding ambulatory swing movement of swinging leg and method for controlling assist force |
| CN104869969A (en) * | 2012-09-17 | 2015-08-26 | 哈佛大学校长及研究员协会 | Soft exosuit for assistance with human motion |
| CN105125384A (en) * | 2015-09-22 | 2015-12-09 | 谷林电器(深圳)有限公司 | Sliding and rotation transmission mechanism used in walk assisting device and walk assisting device |
-
2017
- 2017-02-20 CN CN201710088869.XA patent/CN108451749A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000166997A (en) * | 1998-12-10 | 2000-06-20 | Nsk Ltd | Walking auxiliary device |
| CN103813772A (en) * | 2012-07-20 | 2014-05-21 | 国立大学法人九州大学 | Tool for aiding ambulatory swing movement of swinging leg and method for controlling assist force |
| CN104869969A (en) * | 2012-09-17 | 2015-08-26 | 哈佛大学校长及研究员协会 | Soft exosuit for assistance with human motion |
| CN105125384A (en) * | 2015-09-22 | 2015-12-09 | 谷林电器(深圳)有限公司 | Sliding and rotation transmission mechanism used in walk assisting device and walk assisting device |
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