CN108836759A - A kind of shatter-resistant system based on lower limb exoskeleton robot - Google Patents
A kind of shatter-resistant system based on lower limb exoskeleton robot Download PDFInfo
- Publication number
- CN108836759A CN108836759A CN201810798179.8A CN201810798179A CN108836759A CN 108836759 A CN108836759 A CN 108836759A CN 201810798179 A CN201810798179 A CN 201810798179A CN 108836759 A CN108836759 A CN 108836759A
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- CN
- China
- Prior art keywords
- lower limb
- exoskeleton robot
- limb exoskeleton
- shatter
- plain weave
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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
- 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
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0184—Means for preventing injuries by raising an alarm
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Abstract
The shatter-resistant system based on lower limb exoskeleton robot that the present invention relates to a kind of.It is mounted on the upside of wide plain weave elastic webbing including lower limb exoskeleton robot, wide plain weave elastic webbing and primary control box, the primary control box；The primary control box includes power supply module, center of gravity acquisition module and data analysis module；The center of gravity acquisition module and data analysis module are all integrated on bottom plate, and bottom plate is made of various mini components；The width plain weave elastic webbing is internally provided with vibrator；The lower limb exoskeleton robot is set as two, is separately mounted to wide plain weave elastic webbing two sides.This shatter-resistant system suitability is strong, can be adapted to all lower limb exoskeleton robots, either walk-aiding exoskeleton robot or assistance exoskeleton robot, and can add multiple functions according to the requirement of wearer, expansivity is strong.
Description
Technical field
It is especially a kind of anti-based on lower limb exoskeleton robot the present invention relates to exoskeleton robot system control field
Fall system.
Background technique
Lower limb exoskeleton robot is a kind of man-machine integration mechanical device that people can be allowed to wear, and has merged robotics,
Bionics, the multi-field technology such as ergonomics is in one.Its major function is to expand or enhance the physiological function of a people, is
The effects of human body provides power-assisted, protection, supports, is mainly used in the fields such as medical rehabilitation and military affairs at present.For example, paralytic patient
It can stand again by lower limb exoskeleton robot, and human body walking can be driven by lower limb exoskeleton robot, and
Carry out rehabilitation training, the atrophy of reducing human lower limb muscles.
When dressing lower limb exoskeleton robot movement, a most key problem is how in the process of movement
Total balance of the body is kept, avoids falling down.Many experiments show that paralytic patient carries out rehabilitation training in wearing lower limb exoskeleton robot
When, in order to maintain balance, the transfer that certain time will be spent to carry out center of gravity after a step is often covered, and in walking process
In at least need accompanying for a normal person, this not only increases the time of paraplegia patients ' recovery training, but also will cause additional
Physical demands, influence the effect of rehabilitation training, most importantly, patient's center of gravity transfer during, due to there is no standard
True signal is reminded, and greatly it is possible that center of gravity shifts, not in place or barycentre offset is excessive to cause patient to fall down, right
Patient causes serious injury.
In current existing lower limb exoskeleton robot, rare there are the robot of Shatter-resistant device, certain lower limb dermoskeletons
The realization of bone robot shatter-resistant is mainly by the locked of mechanical structure, and locked trigger condition is that exoskeleton robot is disconnected
Electricity, this is more originally without solving the problems, such as that it is not in place that paralytic patient center of gravity shifts, and a kind of only measure for coping with special status,
It even successfully locks, if the center of gravity of patient still shifts not in place, still patient can be damaged.There are also some lower limb
Exoskeleton robot is to carry out shatter-resistant judgement by simulating the biomimetic control method of body gait, although such method is better than
Power-off is locked, but more this problem is not resolved still, even can completely be simulated to body gait, once
It encounters center of gravity and shifts problem not in place, the patient for dressing lower limb exoskeleton robot can still fall down.Lower limb exoskeleton machine
The working environment of people cannot be limited only to indoor level land, fully take into account a variety of surface conditions, meadow, muddy and ruthed lane,
The Various Complexes such as stone road, so being only that it is impossible to meet the requirements of the shatter-resistant of lower limb exoskeleton robot by gait simulation.
The patent of 103263339 B of Publication No. CN describes a kind of shatter-resistant self-locking mechanism of exoskeleton robot, the machine
Structure is connect by linkage with knee joint driving unit, and the shatter-resistant self-locking mechanism includes electromagnet, pawl, ratchet, bullet
Spring is controlled pawl by the energization power-off of electromagnet and is detached from or is bonded ratchet, to achieve the purpose that shatter-resistant.But this patent
Other situations that exoskeleton robot is fallen down are not accounted for, and only only account for powering off a kind of special circumstances.Publication No. CN
The patent of 103263339 B describes a kind of biomimetic control method of ectoskeleton assistant robot falling-resistant gait, to patient's
The state of falling down is judged and has been merged human posture's reflectance mechanism, which cannot be anti-to carrying out in real time to emergency situations
It answers, once gait simulates mistake, leads to gravity center instability, body has no idea timely to adjust position of centre of gravity, and patient can still fall
And to it cause serious injury.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology, and all lower limb exoskeleton machines can be adapted to by providing one kind
Device people, the shatter-resistant system with the strong lower limb exoskeleton robot of expansivity.
The purpose of the present invention is achieved through the following technical solutions：A kind of shatter-resistant system based on lower limb exoskeleton robot
System.It is mounted on wide plain weave elastic webbing including lower limb exoskeleton robot, wide plain weave elastic webbing and primary control box, the primary control box
Side；The primary control box includes power supply module, center of gravity acquisition module and data analysis module；The center of gravity acquisition module and data point
Analysis module is all integrated on bottom plate, and bottom plate is made of various mini components；The width plain weave elastic webbing is internally provided with vibration
Device；The lower limb exoskeleton robot is set as two, is separately mounted to wide plain weave elastic webbing two sides.
Further, the vibrator is provided with 12, respectively 1 ~ No. 12 vibrator of number.
Further, the vibrator is set as button motor.
Further, the power supply module is set as chargeable mobile power source.
Further, the center of gravity acquisition module is connected by serial ports with data analysis module, and by data point
Analyse module energy supply.
Further, the center of gravity acquisition module includes gyroscope and one chip microcomputer.
The present invention has the following advantages that：
1, this set lower limb exoskeleton robot Shatter-resistant device is adaptable, can be adapted to all lower limb exoskeleton robots, nothing
By being walk-aiding exoskeleton robot or assistance exoskeleton robot, and a variety of function can be added according to the requirement of wearer
Can, expansivity is strong.
2, all ambient conditions, level land, plank, meadow, stone road etc. are coped with, as long as being worn by this set equipment,
The center of gravity transfer case of wearer can be reacted in real time, and prompting is made to wearer.And it is not limited solely to conduct
A kind of power-off protection apparatus of exoskeleton robot.
3, accuracy of data acquisition is high, and information transfer rate is fast, can analyze data in a short time and make feedback, can be with
It makes prompting in time before wearer falls down, improves the safety of exoskeleton robot.
4, high reliablity, because being directly to carry out vibration reminding by tactile, unlike indicator light and sound prompting,
Most of energy can be maintained at this part thing of walking by dispersion patient's attention that will not be excessive in patient's walking process, patient
On, rather than pay attention to that balance is kept to pay attention to seeing warning light or listening again again.
5, at low cost, light-weight, wearing comfort, and will not cause harm to the human body.
Detailed description of the invention
Fig. 1 is overall appearance structural representation of the invention；
Fig. 2 is vibrational feedback modular structure schematic diagram；
Fig. 3 is the operation principle schematic diagram of vibrator；
Fig. 4 is primary control box schematic diagram of internal structure；
Fig. 5 is the operation principle schematic diagram of center of gravity acquisition module；
Fig. 6 is that one chip microcomputer obtains the decision flow chart after information；
In figure：1 ~ 12- vibrator, 13- wide plain weave elastic webbing, 14- power supply module, 15- center of gravity acquisition module, the analysis of 16- data
Module, 17- primary control box, 18- bottom plate, 19- lower limb exoskeleton robot.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing, but protection scope of the present invention is not limited to following institute
It states.
As shown in Fig. 1 ~ 6, a kind of shatter-resistant system based on lower limb exoskeleton robot.It includes lower limb exoskeleton robot
19, wide plain weave elastic webbing 13 and primary control box 17, the primary control box 17 are mounted on wide 13 upside of plain weave elastic webbing；The primary control box 17
Including power supply module 14, center of gravity acquisition module 15 and data analysis module 16；The center of gravity acquisition module 15 and data analyze mould
Block 16 is all integrated on bottom plate 18, and bottom plate 18 is made of various mini components；The wide plain weave elastic webbing 13 is internally provided with
Vibrator；The lower limb exoskeleton robot 19 is set as two, is separately mounted to wide 13 two sides of plain weave elastic webbing.
In conjunction with aforesaid way, the vibrator is provided with 12, respectively 1 ~ No. 12 vibrator of number.No. 1 vibrator ~ No. 12
Vibrator be for feed back patient adjust center of gravity whether in place and court where to adjust center of gravity.When data analysis module 16 is given
Out after the information of center of gravity transfer, No. 1 vibrator ~ No. 12 vibrator is started to work, in order to keep balancing, it is assumed that by calculating, most
It is the direction of No. 1 vibrator that whole human body, which needs the direction gone to, if the direction of human body is the direction of No. 5 vibrators at this time, with 1
Number vibrator misalignment angle is excessive, and feedback module is started to work, before this by No. 11 vibrators of 60 degree of the vibrator of left and right distance 1
Start to shake with No. 3 vibrators, other vibrators are in static state at this time, and when patients' feeling is to after vibration, body is opened
On the rough direction that beginning redirect to No. 11 vibrators and No. 3 vibrator angles are 120 degree, when the direction of patient is in 11
After in the range of number vibrator and No. 3 vibrators, No. 11 vibrators and No. 3 vibrators stop working at once, are become by vibrating state
For halted state.No. 12 vibrators and No. 2 vibrators start to shake at the same time, thus reduce the range of correct direction,
Patients' feeling continues to turn to after shaking to second according to the direction of No. 12 vibrators and No. 2 vibrators, moves be finally made to two shakes
In dynamic device angle, No. 12 vibrators and No. 2 vibrators stop vibration at this time, direction at this time substantially with the accurate direction one that provides
It causes, all vibrators do not continue to work.After patients' feeling shakes less than vibrator, illustrate that center of gravity transfer at this time is complete
At, can start carry out next step walking.
In conjunction with aforesaid way, the vibrator is set as button motor.No. 1 vibrator ~ No. 12 vibrator is voltage rating
For 1 ~ 6 volt of button motor, advantage be it is small in size, low in energy consumption, and seismaesthesia is strong, human feeling's effect is good.The vibrator
It is mounted in wide plain weave elastic webbing 13, dismantles very convenient in the way to insert.
In conjunction with aforesaid way, the power supply module 14 is set as chargeable mobile power source.Power supply module 14 is chargeable
Mobile power source, output voltage is 5 volts, output electric current be 6800 milliamperes, mainly be data analysis module 16 energize.
In conjunction with aforesaid way, the center of gravity acquisition module 15 is connected by serial ports with data analysis module 16, and according to
It is energized by data analysis module 16.Noise filtering is improved acquisition data by digital filtering technique by center of gravity acquisition module 15
Precision cooperate dynamic Kalman filtering algorithm by being internally integrated attitude algorithm device, can be exported in the environment of dynamic
The current pose of human body, the precision of attitude measurement are 0.05 degree.
In conjunction with aforesaid way, the center of gravity acquisition module 15 includes gyroscope and one chip microcomputer.Center of gravity acquires mould
15 pieces are mainly made of six axis gyroscopes, can export 3-axis acceleration, angular speed and angle, and optional 9600 hertz of baud rate
Or 115200 hertz.X, Y-axis angle precision are 0.05 degree, and the angle of Z axis is integrated by gyroscope to be calculated, and are suitable for dynamically and quiet
State environment.Module can be currently in X after powering on, Y, and the acceleration on Z axis passes to one chip microcomputer.When lower limb exoskeleton machine
When device people's setting in motion, according to the difference in the direction of movement and the acceleration of movement, the acceleration generated on three axis is also not to the utmost
It is identical, but the direction of gravity acceleration g and size are constant.Center of gravity acquisition module 15 can be transmitted in real time with current angle speed
Degree, angular acceleration, the acceleration of gravity data packet on each axis to one chip microcomputer, after parsing data packet, analysis
Data obtain the current state information of wearer, currently whether need to be implemented center of gravity transfer by algorithm judgement.
The course of work of the invention is as follows：When dressing the equipment, it is only necessary to by the evil spirit of the wide plain weave elastic webbing 13 of annular
Art patch is opened, and is sleeved on waist, velcro is adjacent to, and equipment wearing is completed.Then it turns on the switch, equipment can start work
Make.The body posture information that current wearer is acquired by center of gravity acquisition module 15 is transferred to data analysis module 16, data analysis
Data after analysis are converted to the control signal of vibrator and are transferred to vibrator by module 16, and vibrator is started to work.Root
According to the orientation that vibrator prompts, wearer shifts body, and until center of gravity shifts in place, vibrator stops working, a work week
Phase completes, and wearer can carry out the operation of next step to exoskeleton robot.
One chip microcomputer obtains the judgement process after information, whether in place to first determine whether center of gravity transfer, if center of gravity turns
It moves not in place, control signal is output to vibrator, vibrator obtains starting to carry out shaking according to the process of figure three after signal anti-
Feedback, after human body turns an angle, one chip microcomputer continues to judge that position of centre of gravity and angle at this time are with calculated result
No consistent, and at the same time control vibrator mode changes, until center of gravity transfer is in place, patient is worked as in the wholly off vibration of vibrator
When being not felt by vibrator vibration, the walking that can control the carry out next step of lower limb exoskeleton robot is indicated.One at this time
Judge that the period completes, when the walking of Patient controlled lower limb exoskeleton robot, so the center of gravity transfer amount to be shifted is general
For be very little, most of situation is the center of gravity transfer for not needing to do similar to the big offset of figure three, mainly in special feelings
Play the role of prompt under condition.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
For, under the premise of different disengaging the invention design, various modifications and improvements can be made, these belong to this hair
Bright protection scope.
Claims (6)
1. a kind of shatter-resistant system based on lower limb exoskeleton robot, it is characterised in that：Including lower limb exoskeleton robot（19）,
Wide plain weave elastic webbing（13）And primary control box（17）, the primary control box（17）It is mounted on wide plain weave elastic webbing（13）Upside；The master
Control box（17）Including power supply module（14）, center of gravity acquisition module（15）And data analysis module（16）；The center of gravity acquisition module
（15）And data analysis module（16）All it is integrated in bottom plate（18）On, bottom plate（18）It is made of various mini components；The width
Plain weave elastic webbing（13）It is internally provided with vibrator；The lower limb exoskeleton robot（19）Two are set as, is separately mounted to
Wide plain weave elastic webbing（13）Two sides.
2. a kind of shatter-resistant system based on lower limb exoskeleton robot according to claim 1, it is characterised in that：The shake
Dynamic device is provided with 12, respectively 1 ~ No. 12 vibrator of number.
3. a kind of shatter-resistant system based on lower limb exoskeleton robot according to claim 1, it is characterised in that：The shake
Dynamic device is set as button motor.
4. a kind of shatter-resistant system based on lower limb exoskeleton robot according to claim 1, it is characterised in that：The confession
Electric module（14）It is set as chargeable mobile power source.
5. a kind of shatter-resistant system based on lower limb exoskeleton robot according to claim 1, it is characterised in that：It is described heavy
Heart acquisition module（15）Pass through serial ports and data analysis module（16）It is connected, and relies on data analysis module（16）Energy supply.
6. a kind of shatter-resistant system based on lower limb exoskeleton robot according to claim 1, it is characterised in that：It is described heavy
Heart acquisition module（15）Including gyroscope and one chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798179.8A CN108836759B (en) | 2018-07-19 | 2018-07-19 | Anti-falling system based on lower limb exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798179.8A CN108836759B (en) | 2018-07-19 | 2018-07-19 | Anti-falling system based on lower limb exoskeleton robot |
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| Publication Number | Publication Date |
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| CN108836759A true CN108836759A (en) | 2018-11-20 |
| CN108836759B CN108836759B (en) | 2020-12-29 |
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| CN109730903A (en) * | 2019-01-04 | 2019-05-10 | 电子科技大学 | One kind being used for lower limb exoskeleton robot ura-rate protective device |
| CN110772404A (en) * | 2019-12-10 | 2020-02-11 | 黑龙江省小儿脑性瘫痪防治疗育中心 | Exoskeleton type rehabilitation training device for child species |
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| Publication number | Publication date |
|---|---|
| CN108836759B (en) | 2020-12-29 |
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