CN108955507B

CN108955507B - Sensor for recognizing human body limb movement intention

Info

Publication number: CN108955507B
Application number: CN201810744009.1A
Authority: CN
Inventors: 喻洪流; 王峰; 李新伟; 余灵; 郑笒钰
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2018-07-09
Filing date: 2018-07-09
Publication date: 2020-07-17
Anticipated expiration: 2038-07-09
Also published as: CN108955507A

Abstract

The invention relates to a sensor for identifying the movement intention of human limbs, which comprises a fixed ring, four-way linear Hall sensors and a strong magnetic band, wherein the four-way linear Hall sensors are respectively arranged at the front, the rear, the left and the right positions of the fixed ring, and each linear Hall sensor is connected with a power line and an output signal line; the strong magnetic belt is worn on the joint to be measured of the wearer; the fixing ring provided with the four-direction linear Hall sensor is arranged outside the joint to be measured of the wearer, and the four-direction linear Hall sensor measures the magnetic field intensity change of a strong magnetic tape worn by the corresponding joint of the wearer to determine the position of the joint to be measured of the wearer relative to the fixing ring, so that the movement intention of the wearer is determined. The wearable power-assisted robot has the characteristics of simple structure, small volume, light weight, convenience in use, high accuracy and the like, can realize recognition of the movement intention of a wearer for the wearable power-assisted robot and the wearable rehabilitation robot, and keeps the movement following performance of the robot and the wearer.

Description

Sensor for recognizing human body limb movement intention

Technical Field

The invention relates to a human motion intention recognition sensor which is suitable for human-computer interaction, human-computer co-fusion and human-computer control of a wearable robot.

Background

Along with the rapid development of scientific technology, wearable power-assisted robots have become a great research hotspot in the manufacturing industry and wearable rehabilitation robots in the medical field, and the intelligent control of the robots also becomes one of the key technologies in the field, wherein the robots can accurately identify the movement intention of a wearer, so that good man-machine following is realized, and the wearer can be effectively integrated with the robots into a whole, which becomes especially important.

Patent publication No. 201510741056.9 discloses a novel sensor for gathering human motion signal, this sensor is through combining motion capture module, the flesh electrical signal module, flesh signal module gathers human motion signal, then input to bluetooth module after the motion signal processing with gathering through microcontroller, make it send effective signal to the main control computer, wherein motion capture module mainly comprises accelerometer, gyroscope and magnetometer, change the sensor and can be used for gathering human motion signal, but this sensor has certain defect: 1) the sensor has larger integral volume and is inconvenient to be arranged on a compact wearable robot body; 2) the device can be identified only after the motion acceleration, the angular velocity and the muscle signals of a wearer are collected and fused at the same time, the requirement on hardware of the sensor is high, and the complexity of the sensor is increased; 3) the sensor needs to collect the electromyographic signals of a human body, the method is easily influenced by external factors, the electromyographic signals need to be directly contacted with skin or implanted into physical strength for extraction, and the use conditions of electromyographic extraction are greatly limited in terms of sanitation and safety.

Disclosure of Invention

Aiming at the defects of the prior art in the field, the invention provides the sensor for identifying the movement intention of the limbs of the human body, which has the advantages of small volume, light weight, convenience in use, high accuracy and simple peripheral circuit, can identify the movement intention of a wearer for a wearable power-assisted robot and a wearable rehabilitation robot, and keeps the movement following performance of the robot and the wearer.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a sensor for identifying the movement intention of human limbs comprises a fixed ring, four-direction linear Hall sensors and a strong magnetic band, wherein the four-direction linear Hall sensors are respectively arranged at the front, the rear, the left and the right positions of the fixed ring, and each linear Hall sensor is connected with a power line and an output signal line; the strong magnetic belt is worn on the joint to be measured of the wearer; the fixing ring provided with the four-direction linear Hall sensor is arranged outside the joint to be measured of the wearer, and the four-direction linear Hall sensor measures the magnetic field intensity change of a strong magnetic tape worn by the corresponding joint of the wearer to determine the position of the joint to be measured of the wearer relative to the fixing ring, so that the movement intention of the wearer is determined.

The four-way linear Hall sensor outputs 0-3.6v analog signals, and the analog signals are collected and processed by a single chip microcomputer or an AD acquisition card.

The fixing ring is composed of two semicircular rings, one ends of the two semicircular rings are connected through a hinge, and the other ends of the two semicircular rings are locked and connected through a clamping lock; and screw holes are formed in the front direction, the rear direction and the right direction of the fixing ring.

The strong magnetic tape is a binding band made of magnetic materials and can be directly fixed at the position of the joint to be measured of the wearer, so that the position of the strong magnetic tape corresponds to that of the fixing ring.

The sensors which are arranged at the joints to be detected of the wearer and used for identifying the movement intention of each joint of the whole limb of the wearer are connected in parallel.

The invention has the beneficial effects that:

the movement intention identification sensor provided by the invention can determine the movement trend of the joint of the wearer at the moment, namely the movement intention, by detecting the position change of the movement joint of the wearer relative to the corresponding joint of the robot, and can realize the intention identification of the whole limb movement of the wearer by installing the sensor at different movement joints of the limb to be detected and fusing different key sensor data.

The wearable power-assisted robot has the characteristics of simple structure, small volume, light weight, convenience in use, high accuracy and the like, can realize recognition of the movement intention of a wearer for the wearable power-assisted robot and the wearable rehabilitation robot, and keeps the movement following performance of the robot and the wearer. The human motion intention sensor can be applied to the field of artificial intelligence such as wearable power-assisted robots and wearable rehabilitation robots. The human motion intention sensor outputs 0-3.6v analog signals, can be directly collected and processed by a common singlechip or an AD acquisition card, and has the characteristics of low noise, accurate linear output and the like.

Drawings

FIG. 1 is a schematic diagram of the whole structure of a sensor for identifying the movement intention of a human body limb of the invention;

FIG. 2 is a schematic structural diagram of a half of the sensor for recognizing human body limb movement intention;

FIG. 3 is a schematic diagram of the other half of the sensor for recognizing human body limb movement intention;

fig. 4 is a schematic diagram of the effect of using the sensor for identifying the human limb movement intention.

Detailed Description

The invention is further described with reference to the following figures and examples.

As shown in fig. 1 to 4, the sensor for recognizing the movement intention of the limb of the human body of the present invention includes: hinge 1, preceding linear hall sensor 2, right-hand linear hall sensor 3, kayser 4, rivet 5, left-hand hall sensor 6, backward hall sensor 7, retainer plate 8, strong magnetic tape 9, circuit output etc..

The forward linear Hall sensor 2, the backward Hall sensor 7, the left Hall sensor 6 and the right linear Hall sensor 3 are respectively arranged at the front, the back, the left and the right positions of the fixed ring 8, and each linear Hall sensor is connected with a power line and an output signal line; the fixing ring 8 is used for fixing at the position of a wearer or a moving joint of the wearable robot, such as the positions of the forearm and upper arm of the upper limb and the thigh and crus joint of the lower limb, and can be used for measuring the extension and flexion of the shoulder joint, adduction and abduction of the shoulder joint, extension and flexion of the elbow joint, extension and flexion of the thigh, extension and retraction of the thigh and flexion of the crus respectively. Have in the front on the retainer plate 8, back, the three direction in the right side is equipped with the screw hole, conveniently fixes on wearing formula robot arm or mechanical leg, and retainer plate 8 still is equipped with hinge 1 and kayser 4 simultaneously, can open through hinge 1 rotation at the hinge 1 of retainer plate 8 and the segmental arc of kayser 4, makes things convenient for the wearer to dress, and kayser 4 locks when being used for closed retainer plate 8 to prevent that retainer plate 8 is uncontrollable to open.

The four-direction linear Hall sensor is sequentially integrated at the front position, the rear position, the left position and the right position of the sensor fixing ring and used for collecting the position of a limb joint of a wearer relative to the fixing ring of the sensor in real time, the Hall sensor adopts a high-precision inlet linear Hall sensor SS49E, the output voltage can be changed according to the strength change of a surrounding magnetic field in an equal ratio mode, the input voltage of SS49E is 5V, the measurement distance is within 1cm, the output voltage strength is 0-3.6V, the real-time distance between a strong magnetic band of the limb of the wearer and the fixing ring can be measured after the voltage is calibrated, the position of the measured joint of the wearer relative to the fixing ring at the moment can be determined by fusing 4-direction distance parameters, and therefore the movement intention of the measured joint of the wearer is reflected.

The strong magnetic belt is a binding belt made of magnetic materials and can be directly fixed at the position of a joint to be measured of a wearer, so that the position of the joint to be measured of the wearer corresponds to that of the fixing ring, when the joint to be measured of the wearer moves, the magnetic fields in four directions of the fixing ring are linearly changed due to the strong magnetic belt, and the movement intention of the wearer at the moment can be accurately determined through the description of the linear Hall sensor.

The output line mainly comprises 6 lines, and comprises a 5V power line, a ground line and analog signal lines in four directions. The size of the analog quantity in the analog model lines in four directions directly reflects the position of the joint to be measured relative to the fixing ring at the moment, namely the movement intention of the joint to be measured is reflected in real time. Analog quantities in four directions are all within the range of 0-3.6V, and can be directly acquired, processed and transmitted into digital quantities by a single chip microcomputer or an acquisition card and calibrated, so that the movement intention of the joint of a wearer can be accurately measured, and the applicable algorithm can realize man-machine fusion, man-machine following, force control and the like, if the position closed-loop control is carried out on the joint, namely the acquired position of the detected joint is subjected to closed-loop processing, so that the robot and the wearer can keep good man-machine following, the robot cannot feel the existence of the machine, and no additional acting force can be generated on the wearer.

Claims

1. The sensor for identifying the human body limb movement intention comprises a fixed ring, a four-way linear Hall sensor and a strong magnetic tape, and is characterized in that: the four-direction linear Hall sensors are respectively arranged at the front, the rear, the left and the right positions of the fixed ring, and each linear Hall sensor is connected with a power line and one output signal line; the strong magnetic belt is worn on the joint to be measured of the wearer; the fixing ring provided with the four-way linear Hall sensor is arranged outside the joint to be measured of the wearer, and the four-way linear Hall sensor measures the magnetic field intensity change of a strong magnetic tape worn by the wearer corresponding to the joint to determine the position of the joint to be measured of the wearer relative to the fixing ring, so that the movement intention of the wearer is determined; the strong magnetic tape is a binding band made of magnetic materials and is directly fixed at the position of the joint to be measured of the wearer, so that the position of the strong magnetic tape corresponds to that of the fixing ring.

2. The sensor for recognizing human body limb movement intention according to claim 1, wherein: the four-way linear Hall sensor outputs 0-3.6v analog signals, and the analog signals are collected and processed by a single chip microcomputer or an AD acquisition card.

3. The sensor for recognizing human body limb movement intention according to claim 1, wherein: the fixing ring is composed of two semicircular rings, one ends of the two semicircular rings are connected through a hinge, and the other ends of the two semicircular rings are locked and connected through a clamping lock; and screw holes are formed in the front direction, the rear direction and the right direction of the fixing ring.

4. A sensor for identifying an intention to move a limb of a human body according to any one of claims 1 to 3, wherein: the sensors which are arranged at the joints to be detected of the wearer and used for identifying the movement intention of the joints of the whole limb of the wearer are connected in parallel.