CN108714889A - A kind of ectoskeleton man-machine system - Google Patents
A kind of ectoskeleton man-machine system Download PDFInfo
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- CN108714889A CN108714889A CN201810598090.7A CN201810598090A CN108714889A CN 108714889 A CN108714889 A CN 108714889A CN 201810598090 A CN201810598090 A CN 201810598090A CN 108714889 A CN108714889 A CN 108714889A
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- ectoskeleton
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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Abstract
The invention discloses a kind of ectoskeleton man-machine system, the technical solution adopted in the present invention be include Intelligent Sensing System, Intelligent Sensing System is made of attitude measurement system and Intelligent shoe system；Attitude measurement system is made of IMU measuring units and encoder, for measuring the 3 d pose and movement speed of ectoskeleton trunk in walking process；Intelligent shoe used in robot is made of sole, vamp, pressure sensor, distance measuring sensor, pressure sensor is embedded in intelligent shoe sole, to measure the interaction force between ectoskeleton foot and ground in the process of walking, distance measuring sensor is installed on the outside of ectoskeleton shank link, to measure ectoskeleton toe cap at a distance from front obstacle and the distance on ground is left in ectoskeleton vola.The beneficial effects of the invention are as follows the safe and reliable operation that can ensure lower limb exoskeleton robot and the comfort levels of raising wearer.
Description
Technical field
The invention belongs to technical field of robot control, are related to a kind of ectoskeleton man-machine system.
Background technology
Being constantly progressive and develop with science and technology, machine also becomes more hommization, modernization, intelligence, ours
Become to become more and more important in life.In current medical instrument, has and semi-automatic electrically controlled system or even automatic control much may be implemented
The rehabilitation machine of system reduces the unnecessary manual labor of doctor.For a long time, the diseases such as cerebral apoplexy, fracture, it is sick and wounded to patient,
Wounded's locomotor activity brings prodigious obstacle, rehabilitation maneuver mainly to be carried out by professional rehabilitation teacher guidance, assistance patient a large amount of
Walking and other training.In rehabilitation course, rehabilitation teacher need to carry out largely repeating and onerous toil, and therefore, one kind can help to suffer from
Person carries out the machinery of rehabilitation training, undoubtedly has quite high researching value and good actual application prospect, ectoskeleton man-machine
System is extremely bonded with human body, can preferably be helped the crowd of lower limb paralysis to stand up again faster and be entered society.It is existing
Ectoskeleton man-machine system be mainly to aid in the crowd of lower limb inconvenience and stand up again.For present rehabilitation medical instrument
Such as healing robot, its bigger floor space of build is also big, and the occasion used is restricted, and safety is not strong, suffers from
Person is also mostly constraint with it.
Invention content
The purpose of the present invention is to provide a kind of ectoskeleton man-machine systems, and the beneficial effects of the invention are as follows can ensure lower limb
The safe and reliable operation of exoskeleton robot and the comfort level for improving wearer.
The technical solution adopted in the present invention be include Intelligent Sensing System, Intelligent Sensing System puts on ectoskeleton to patient
Gait when walking carries out analysis and is intended to be identified to wearer motion, and Intelligent Sensing System is by attitude measurement system and intelligence
It can shoe system composition；
Wherein, attitude measurement system is made of IMU measuring units and encoder, for measuring ectoskeleton body in walking process
Dry 3 d pose and movement speed；
Intelligent shoe used in robot is made of sole, vamp, pressure sensor, distance measuring sensor, pressure sensor insertion
Intelligent shoe sole, to measure the interaction force between ectoskeleton foot and ground in the process of walking, distance measuring sensor installation
On the outside of ectoskeleton shank link, to measure ectoskeleton toe cap at a distance from front obstacle and ground is left in ectoskeleton vola
Distance.
Further, IMU measuring units are made of accelerometer and gyroscope, and IMU measuring units pass through CAN bus with intelligent shoe
Carry is on master controller, while IMU measuring units and intelligent shoe can all use serial ports or wireless module be communicated with PC machine.
Further, Intelligent Sensing System collects acceleration of gravity posture number first based on sensor-based system gait analysis method
According to attitude data includes accelerometer measured value, spin matrix calculates and gyroscope measured value, passes through acceleration of gravity data and appearance
State data calculate acceleration of motion, then calculate walking step height, step-length by static compensation.
Further, intelligent shoe includes sole and vamp, and sole outer ring is rubber layer, and several metal sleeves are equipped in sole,
Pressure sensor is installed, for detecting pressure when robot ambulation, sole is equipped with several support columns in metal sleeve
It is supported for robot ambulation, vamp links together with sole, and vamp is mounted on sole, and vamp heel is equipped with a circle metal
Layer is equipped with mobilizable shoestring in the middle part of vamp, and for robot step to be locked, distance measuring sensor has been also equipped on vamp,
Ranging when for walking.
Description of the drawings
Fig. 1 is intelligent shoe structural schematic diagram；
Fig. 2 is attitude measurement flow diagram.
Specific implementation mode
The present invention is described in detail With reference to embodiment.
1. gait when Intelligent Sensing System is intended to put on ectoskeleton walking to patient is analyzed and to wearer motion
Intention is identified, and this system is mainly made of attitude measurement system and Intelligent shoe system.
(1) attitude measurement system is mainly made of IMU Inertial Measurement Units and encoder, and major function is for measuring
The 3 d pose and movement speed of ectoskeleton trunk in walking process.
(2) Intelligent shoe system is mainly made of pressure sensor, distance measuring sensor, and pressure sensor is embedded in intelligent shoe shoes
Bottom, to measure the interaction force between ectoskeleton foot and ground in the process of walking.Distance measuring sensor is installed on ectoskeleton
On the outside of shank link, to measure ectoskeleton toe cap at a distance from front obstacle and the distance on ground is left in ectoskeleton vola.
The measurement shoes of the present invention are as shown in Figure 1：Including sole 1 and vamp 2,1 outer ring of sole is rubber layer 101, is equipped in sole 1 several
Metal sleeve 102 is equipped with pressure sensor 103 in metal sleeve 102, for detecting pressure when robot ambulation, sole
1 bottom is equipped with several support columns 104 and is supported for robot ambulation, and vamp 2 links together with sole 1, and vamp 2 is mounted on
On sole 1,2 heel of vamp is equipped with a circle metal layer 201, and 2 middle part of vamp is equipped with mobilizable shoestring 202, is used for robot
Step is locked, and distance measuring sensor 203 has been also equipped on vamp, ranging when for walking.
(3) microprocessor is the core of entire circuit in Intelligent Sensing System, and accelerometer and gyroscope constitute IMU inertia and survey
Measure unit, pressure sensor and the main sensors part that distance measuring sensor is intelligent shoe.IMU Inertial Measurement Units are logical with intelligent shoe
CAN bus (controller local area network) carry is crossed on master controller, while IMU Inertial Measurement Units and intelligent shoe can all use string
Mouth or wireless module are communicated with PC machine, and data are carried out real-time display and analyzed convenient for the research and development starting stage.Intelligent Sensing System
On-line debugging program, the acquisition of transducer calibration data and experiment etc. are required for displaying data in real-time in research and development, this is just needed
Position machine.IMU Inertial Measurement Units are communicated with master controller in system, intelligent shoe is communicated with master controller, IMU Inertial Measurement Units
Communicated with intelligent shoe all is realized using CAN bus；IMU Inertial Measurement Units are communicated with PC machine, intelligent shoe with PC machine using string
Cause for gossip is existing.
2. the present invention forms basic framework using light titanium alloy, realizes and turn in joint steering engine, many places installation sensing
Device detects human body attitude, with the band fixing human and ectoskeleton of resilient enough.Energy driving is provided using motor.The present invention
Gait analysis of the gesture stability based on sensor-based system, lower limb gait analysis, as shown in Fig. 2, Intelligent Sensing System of the present invention is based on
Sensor-based system gait analysis method includes step-length, walks high calculating, in the detection of gait cycle and the calculating of vola CoP etc.
Hold.Acceleration of gravity attitude data is collected first, and attitude data includes accelerometer measured value, spin matrix calculates and gyroscope is surveyed
Magnitude calculates acceleration of motion by acceleration of gravity data and attitude data, then by static compensation calculate walking step it is high,
Step-length.Step-length of walking is horizontal direction displacement with high calculating one is walked, another is vertical direction displacement.Theoretically by right
Acceleration value quadratic integral can acquire displacement, but due to the presence of noise, actually ask step-length and step Gao Shixu be filtered and
Compensation.
The method of the present invention is detected：
1. it is minimum using rate of false alarm when SHOD methods detection foot stationary state, and carry out experimental verification.IMU is passed when experiment
Sensor is fixed in intelligent shoe, and normal person dresses intelligent shoe and carries out normal walking experiment, acquires accelerometer and gyroscope evidence, and right
Data are arranged, and as a result it is found that when stationary state tag line value is 15, can determine that foot remains static.
2. material calculation, step height are a main points of research.When measuring step-length, one ten meters straight is drawn on ground first
Then line indicates scale above using tape measure, step-length is measured by the way of back and forth walking.When measurement step is high, original place is utilized
The mode marked time measures.Tester dresses intelligent shoe along straight line moving in step-length measurement experiment, record walking starting point and
Final position simultaneously calculates travel distance.The IMU travel distances calculated are uploaded to PC machines using serial ports simultaneously, repeat 10
Secondary experiment, interpretation of records experimental data is as shown in table 1, as can be known from the table data, IMU measure step error 1%~3% it
Between, illustrate that measuring walking step-length using IMU has higher precision.
Table 1
After 3.IMU sensors are by demarcating and being filtered to its measurement data, have in measurement accuracy and stability
Prodigious raising.IMU, which measures attitude angle, as can be known from the table data has good Precision Experiment as shown in table 2.
Table 2
The above is only the better embodiment to the present invention, not makees limit in any form to the present invention
System, every any simple modification that embodiment of above is made according to the technical essence of the invention, equivalent variations and modification,
Belong in the range of technical solution of the present invention.
Claims (4)
1. a kind of ectoskeleton man-machine system, it is characterised in that：Including Intelligent Sensing System, Intelligent Sensing System puts on patient outer
Gait when bone is walked carries out analysis and is intended to be identified to wearer motion, and Intelligent Sensing System is by attitude measurement system
It is constituted with Intelligent shoe system；
Wherein, attitude measurement system is made of IMU measuring units and encoder, for measuring ectoskeleton trunk in walking process
3 d pose and movement speed；
Intelligent shoe used in robot is made of sole, vamp, pressure sensor, distance measuring sensor, pressure sensor insertion intelligence
Shoes sole, to measure the interaction force between ectoskeleton foot and ground in the process of walking, distance measuring sensor is installed on outer
On the outside of bone shank link, to measure ectoskeleton toe cap at a distance from front obstacle and ectoskeleton vola leave ground away from
From.
2. according to a kind of ectoskeleton man-machine system described in claim 1, it is characterised in that：The IMU measuring units are by accelerometer
Formed with gyroscope, IMU measuring units and intelligent shoe by CAN bus carry on master controller, while IMU measuring units and
Intelligent shoe can all use serial ports or wireless module to be communicated with PC machine.
3. according to a kind of ectoskeleton man-machine system described in claim 1, it is characterised in that：The Intelligent Sensing System is based on sensing
System gait analysis method collects acceleration of gravity attitude data first, and attitude data includes accelerometer measured value, spin matrix
Calculating and gyroscope measured value calculate acceleration of motion by acceleration of gravity data and attitude data, then pass through static compensation
Calculate walking step height, step-length.
4. according to a kind of ectoskeleton man-machine system described in claim 1, it is characterised in that：The intelligent shoe includes sole and shoes
Face, sole outer ring are rubber layer, and several metal sleeves are equipped in sole, pressure sensor are equipped in metal sleeve, for examining
Pressure when robot ambulation is surveyed, sole is equipped with several support columns and is supported for robot ambulation, and vamp is connect with sole
Together, vamp is mounted on sole, and vamp heel is equipped with a circle metal layer, is equipped with mobilizable shoestring in the middle part of vamp, is used for
Robot step is locked, distance measuring sensor has been also equipped on vamp, ranging when for walking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810598090.7A CN108714889A (en) | 2018-06-12 | 2018-06-12 | A kind of ectoskeleton man-machine system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810598090.7A CN108714889A (en) | 2018-06-12 | 2018-06-12 | A kind of ectoskeleton man-machine system |
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| CN108714889A true CN108714889A (en) | 2018-10-30 |
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| CN201810598090.7A Pending CN108714889A (en) | 2018-06-12 | 2018-06-12 | A kind of ectoskeleton man-machine system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648541A (en) * | 2018-11-16 | 2019-04-19 | 浙江大学 | A kind of foot object wearing device applied to exoskeleton robot |
| CN111924020A (en) * | 2020-08-11 | 2020-11-13 | 腾讯科技（深圳）有限公司 | Leg assembly and apparatus for robot |
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| US6836744B1 (en) * | 2000-08-18 | 2004-12-28 | Fareid A. Asphahani | Portable system for analyzing human gait |
| CN105795571A (en) * | 2016-04-13 | 2016-07-27 | 电子科技大学 | Data acquisition system and method for exoskeleton pressure shoe |
| CN105835044A (en) * | 2016-06-07 | 2016-08-10 | 电子科技大学 | Exoskeleton robot ranging smart shoe system based on integration of several sensors |
| CN106037753A (en) * | 2016-07-06 | 2016-10-26 | 电子科技大学 | Wearable data collection system based on multi-sensor fusion and method adopted by system |
| CN106176149A (en) * | 2016-09-08 | 2016-12-07 | 电子科技大学 | A kind of ectoskeleton gait analysis system based on multi-sensor fusion and method |
| US20170014297A1 (en) * | 2014-03-11 | 2017-01-19 | Robotiques 3 Dimensions | Exoskeleton slipper |
| CN107943021A (en) * | 2017-10-19 | 2018-04-20 | 布法罗机器人科技（成都）有限公司 | A kind of adaptive stair activity control system and method |
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Patent Citations (7)
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| US6836744B1 (en) * | 2000-08-18 | 2004-12-28 | Fareid A. Asphahani | Portable system for analyzing human gait |
| US20170014297A1 (en) * | 2014-03-11 | 2017-01-19 | Robotiques 3 Dimensions | Exoskeleton slipper |
| CN105795571A (en) * | 2016-04-13 | 2016-07-27 | 电子科技大学 | Data acquisition system and method for exoskeleton pressure shoe |
| CN105835044A (en) * | 2016-06-07 | 2016-08-10 | 电子科技大学 | Exoskeleton robot ranging smart shoe system based on integration of several sensors |
| CN106037753A (en) * | 2016-07-06 | 2016-10-26 | 电子科技大学 | Wearable data collection system based on multi-sensor fusion and method adopted by system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648541A (en) * | 2018-11-16 | 2019-04-19 | 浙江大学 | A kind of foot object wearing device applied to exoskeleton robot |
| CN111924020A (en) * | 2020-08-11 | 2020-11-13 | 腾讯科技（深圳）有限公司 | Leg assembly and apparatus for robot |
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