CN109044743A - A kind of rehabilitation type lower limb exoskeleton and its control method - Google Patents

A kind of rehabilitation type lower limb exoskeleton and its control method Download PDF

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Publication number
CN109044743A
CN109044743A CN201810890096.1A CN201810890096A CN109044743A CN 109044743 A CN109044743 A CN 109044743A CN 201810890096 A CN201810890096 A CN 201810890096A CN 109044743 A CN109044743 A CN 109044743A
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China
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value
angle
elbow
center
pressure
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Inventor
曹恒
莫松海
王瑜
朱钧
江金林
陈裕梁
崔建鹏
张雨
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East China University of Science and Technology
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East China University of Science and Technology
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Publication of CN109044743A publication Critical patent/CN109044743A/en
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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
    • A61H3/02—Crutches
    • 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
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/1623—Back
    • A61H2201/1626—Holding means therefor
    • 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
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis holding means therefor
    • 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
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • A61H2201/50—Control means thereof
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/081—Back
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

Abstract

The present invention relates to a kind of rehabilitation type lower limb exoskeleton and its control methods, the lower limb exoskeleton includes a pair of of elbow Abduction, trunk module, it the controller that is arranged in trunk module and connect respectively with trunk module and the identical ectoskeleton pedipulator of structure, every ectoskeleton pedipulator includes sequentially connected thigh module from top to bottom, hip joint actuator, knee joint actuator, calf module and sensing shoes, the trunk module, inertial sensor is equipped in thigh module and calf module, the sensing shoes and elbow Abduction are equipped with pressure sensor, the inertial sensor, pressure sensor, hip joint actuator and knee joint actuator are connect with controller respectively.Compared with prior art, the present invention has many advantages, such as that signal redundancy height, good reliability, wearable property is good, stability is good, is convenient for wearer's autonomous control, is adaptable.

Description

A kind of rehabilitation type lower limb exoskeleton and its control method
Technical field
The present invention relates to exoskeleton robot motion control and field of signal processing, more particularly, to a kind of rehabilitation type lower limb Ectoskeleton and its control method.
Background technique
Lower extremity motor function is a part in human motion function and its important, since the diseases such as apoplexy cause lower limb to be transported There are serious inconvenience in life by the patient of dynamic dysfunction, if effective rehabilitation cannot be obtained, they may be forever Far it can not stand and walk.The recovery and raising of extremity motor function are played with the rehabilitation of science in time very important Effect.Rehabilitation type lower limb exoskeleton can provide the rehabilitation training and walking auxiliary of active for patient, realize the autonomous family of patient Outer ambulation training or walking power-assisted, significantly improve its quality of life and scope of activities.
Existing rehabilitation type lower limb exoskeleton robot is somewhat by acquisition wearer's lower limb surface electromyogram signal as control Signal processed realizes active training, but there are the surface electromyogram signal of patient's lower limb of lower limb motor function obstacle is very faint, adopts It is big to collect difficulty, and dresses inconvenience；Reflect that the active movement of patient is intended to and then drives somewhat by acquisition plantar pressure signal Lower limb exoskeleton robot be patient carry out initiative rehabilitation training, but there are signals it is single, system stability is not high the disadvantages of.It removes Except this, the motion control of rehabilitation type lower limb exoskeleton will also solve how to keep system balancing, realize the problems such as mobility.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide outside a kind of rehabilitation type lower limb Bone and its control method.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of rehabilitation type lower limb exoskeleton, the lower limb exoskeleton include a pair of of elbow Abduction, trunk module, are arranged in trunk module On controller and connect respectively with trunk module and the identical ectoskeleton pedipulator of structure, every ectoskeleton pedipulator wrap Sequentially connected thigh module, hip joint actuator, knee joint actuator, calf module and sensing shoes from top to bottom are included, it is described Trunk module, be equipped with inertial sensor in thigh module and calf module, the sensing shoes and elbow Abduction are equipped with pressure Sensor, the inertial sensor, pressure sensor, hip joint actuator and knee joint actuator connect with controller respectively It connects.
It is respectively equipped with pressure sensor on the forefoot and hind paw of the sensing shoes, or in the uniform cloth of entire foot palm surface If multiple pressure sensors, the lower end elbow Abduction is equipped with pressure sensor.
The inertial sensor be one-dimensional, two-dimentional or three dimension acceleration sensor, gyroscope or magnetic field sensor, to Obtain the absolute angle between center of gravity line.
Sensing the pressure sensor on shoes is resistance-type diaphragm pressure sensor or hose type oil liquid pressure sensor, elbow Abduction The pressure sensor of lower end is the force snesor combined by high rigidity spring with linear potentiometer.
A kind of control method of rehabilitation type lower limb exoskeleton, comprising the following steps:
1) trunk module is obtained in real time respectively relative to the absolute angle angle value of center of gravity line, thigh module relative to center of gravity line Absolute angle angle value, calf module turn the absolute angle angle value relative to center of gravity line, sensing relative to the absolute angle angle value of center of gravity line, elbow The pressure value that pressure value and elbow on shoes turn；
2) Hip Angle value and knee joint angle are calculated；
3) it is carried out judging that hip joint actuator and knee joint are held according to the angle threshold of setting and the pressure threshold of setting Whether row device acts, and completes gait stability control.
In the step 2), the Hip Angle by trunk module relative to center of gravity line absolute angle angle value and Thigh module is sought relative to the absolute angle angle value of center of gravity line as difference, and knee joint angle is by thigh module relative to center of gravity line Absolute angle angle value and calf module are sought relative to the absolute angle angle value of center of gravity line as difference, the Hip Angle and knee joint Feedback of the angle respectively as hip joint actuator and knee joint actuator, it is ensured that control precision, in support phase and swing phase point Not using corresponding angle curve as expected angle value.
In the step 3), specific judgment method that whether hip joint actuator and knee joint actuator act are as follows:
A) meet when simultaneously:
Absolute angle angle value θ of the trunk module relative to center of gravity lineBMeet or exceed given threshold α1；
The pressure value F of left sensing shoes forefootLtMeet or exceed given threshold Zt, the pressure value F of hind pawLhReach or surpasses Cross given threshold Zh, the pressure value F of right sensing shoes forefootRtMeet or exceed given threshold Zt, the pressure value F of hind pawRhIt reaches It arrives or is more than given threshold Zh；
The pressure value F that left elbow turnsLCThe pressure value F turned with right elbowRCMeet or exceed given threshold Zc, left elbow turn relative to The absolute angle angle value θ of center of gravity lineLCThe absolute angle angle value θ relative to center of gravity line is turned with right elbowRCMeet or exceed threshold alpha2, and it is left Elbow turns the absolute angle angle value θ relative to center of gravity lineLCThe absolute angle angle value θ relative to center of gravity line is turned greater than right elbowRC,
Right hip joint actuator is triggered at this time and right knee joint actuator executes swing phase movement, and right leg, which enters, swings rank Section, as right sensing shoes hind paw pressure value FRhIncreased to by zero or is more than given threshold ZhWhen, trigger right hip joint actuator and Right knee joint actuator executes support phase movement, and right leg enters driving phase；
B) meet when simultaneously:
Absolute angle angle value θ of the trunk module relative to center of gravity lineBMeet or exceed given threshold α1；
The pressure value F of left sensing shoes forefootLtMeet or exceed given threshold Zt, the pressure value F of hind pawLhReach or surpasses Cross given threshold Zh, the pressure value F of right sensing shoes forefootRtMeet or exceed given threshold Zt, the pressure value F of hind pawRhIt reaches It arrives or is more than given threshold Zh；
The pressure value F that left elbow turnsLCThe pressure value F turned with right elbowRCMeet or exceed given threshold Zc, left elbow turn relative to The absolute angle angle value θ of center of gravity lineLCThe absolute angle angle value θ relative to center of gravity line is turned with right elbowRCMeet or exceed threshold alpha2, and it is right Elbow turns the absolute angle angle value θ relative to center of gravity lineRCThe absolute angle angle value θ relative to center of gravity line is turned greater than left elbowLC,
Left hip joint actuator is triggered at this time and left knee joint actuator executes swing phase movement, and left leg, which enters, swings rank Section, left sensing shoes hind paw pressure value FLhIt is initially increased to by zero or is more than given threshold ZhWhen, trigger left hip joint actuator Support phase movement is executed with left knee joint actuator, left leg enters driving phase.
After the pressure value that elbow turns meets or exceeds given threshold, hip joint actuator and knee joint actuator are according to angle Data and pressure data trigger corresponding actions.
Each component of lower limb exoskeleton is relative to the absolute angle of center of gravity line and the threshold value of joint angles in walking period Different phase is adjusted to different values, is set as initial threshold in support phase, to trigger the conversion of support phase to swing phase, is putting Dynamic phase is set as another group of threshold value, to trigger the conversion of swing phase to support phase, and when being reset to support phase on triggering Initial threshold, the pressure threshold that sensing shoes and the elbow of setting turn is adjusted according to the weight of wearer, to dress rehabilitation type Lower limb exoskeleton and be in four-footed holding state when sensing shoe pressure value and elbow turn pressure value be its pressure threshold, to adapt to difference The wearer of figure.
Compared with prior art, the invention has the following advantages that
One, the present invention measures the posture of rehabilitation type lower limb exoskeleton system by inertial sensor and pressure sensor, melts Close the motion intention of multiple sensor signals identification wearer, signal redundancy height, good reliability.
Two, the present invention in sensor be all set on rehabilitation type lower limb exoskeleton basic machine, not with wearer's body It directly contacts, wearable property is good.
Three, elbow turns the balance for keeping man-machine system in the present invention, while can be used for wearer and adjusting man-machine system Posture facilitates the triggering of the movement of different phase in walking period, and stability is good, is convenient for wearer's autonomous control.
Four, the sensor threshold value of motion triggers can be adjusted as needed in the present invention, adapt to different wearers Motion requirement.
Detailed description of the invention
Fig. 1 is a certain rehabilitation type lower limb exoskeleton overall structure figure that can apply control method of the present invention.
Fig. 2 is that can apply the angle signal of a certain rehabilitation type lower limb exoskeleton of control method of the present invention during exercise Figure.
Fig. 3 is the control flow chart of control method of the present invention.
Can to apply a certain rehabilitation type lower limb exoskeleton of control method of the present invention, hip joint and knee close Fig. 4 during exercise Angle curve when section movement.
Description of symbols in figure:
1, trunk module, 2, thigh module, 3, calf module, 4, sensing shoes, 5, hip joint actuator, 6, knee joint execution Device, 7, elbow turn, 21, left thigh module, 22, right thigh module, 31, left leg module, 32, right leg module, 41, left sensing Shoes, 42, right sensing shoes, 51, left hip joint actuator, 52, right hip joint actuator, 61, left knee joint actuator, 62, right knee Joint actuator, 71, left elbow turn, 72, right elbow turn, 81, trunk inertial sensor, 82, thigh inertial sensor, 83, shank it is used Property sensor, 84, elbow turn inertial sensor, 85, sensing shoe pressure sensor, 86, elbow turn pressure sensor, 821, left thigh it is used Property sensor, 822, right thigh inertial sensor, 831, left leg inertial sensor, 832, right leg inertial sensor, 841, Left elbow turns inertial sensor, 842, right elbow turn inertial sensor, 851, left sensing shoe pressure sensor, 852, right sensing shoe pressure Sensor, 861, left elbow turn pressure sensor, 862, right elbow turn pressure sensor.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
The present invention solves the technical problem of the effective controls realized to rehabilitation type lower limb exoskeleton walking movement, lead to The posture information of the inertial sensor being set on lower limb exoskeleton and pressure sensor acquisition system is crossed, row system is turned into elbow Balance control, fusion multi-sensor data identification wearer motion intention, triggering joint actuator movement, realize safety, just Prompt walking movement autonomous control.
As shown in Figures 1 to 4, a kind of rehabilitation type lower limb exoskeleton provided by the invention includes trunk module 1, thigh module 2, calf module 3, sensing shoes 4, elbow turn 7, this rehabilitation type lower limb exoskeleton passes through trunk module 1, thigh module 2, calf module 3, the flexible fabric bandage and human body sensed on shoes 4 is fixed, and rehabilitation type lower limb exoskeleton is at least equipped with an example at hip joint Such as using motor as the hip joint actuator 5 of power source, includes left hip joint actuator 51 and right hip joint actuator 52, closed in knee It is at least equipped with one at section for example using motor as the knee joint actuator 6 of power source, includes left knee joint actuator 61 and right knee Joint actuator 62, at least provided with a trunk inertial sensor 81 in trunk module 1, thigh module 2 includes left thigh mould Block 21 and right thigh module 22, at least provided with a left thigh inertial sensor 821, right thigh module in left thigh module 21 At least provided with a right thigh inertial sensor 822 on 22, calf module 3 includes left leg module 31 and right leg module 32, at least provided with a left leg inertial sensor 831 in left leg module 31, at least provided with one in right leg module 32 A right leg inertial sensor 832, sensing shoes 4 include left sensing shoes 41 and right sensing shoes 42, and left sensing shoes 41 are at least in front and back A left sensing shoe pressure sensor 851 is respectively arranged in sole, and at least a right sensing is respectively arranged in front and back sole in right sensing shoes 42 Shoe pressure sensor 852, elbow turn 7 comprising left elbow turn 71 and right elbow turn 72, left elbow turns 71 tops and turns at least provided with a left elbow Pressure sensor 861 is turned at least provided with a left elbow in inertial sensor 841, lower end, and right elbow turns 72 tops at least provided with one Right elbow turns inertial sensor 842, and lower end turns pressure sensor 862 at least provided with a right elbow, passes through joint actuator 5 and 6 Make rehabilitation type lower limb exoskeleton Hip Angle θHWith knee joint angle θKOr torque is according to sensor 81,82,83,84,85,86 The change of data and change, by the data of sensor 81,82,83,84,85,86 compared with given threshold, and when reaching threshold value It triggers joint actuator 5 and 6 to act, exports corresponding joint angles or torque in the different phase of walking period, complete to take a step Movement；
In this example, as the inertial sensor 81,82,83,84 of angular transducer, it is so structured that it is one-dimensional, two-dimentional or Three-dimensional acceleration transducer, gyroscope or magnetic field sensor, same type inertial sensor can be set in the same part (example Such as trunk module 1) on, different types of inertial sensor (such as acceleration transducer and gyroscope) also can be set same On component, sensing shoe pressure sensor 85 is it is so structured that resistance-type diaphragm pressure sensor or hose type oil liquid pressure sensing Device, elbow, which turns pressure sensor 86, can be structured as the force snesor or other feasible sides that high rigidity spring is combined with linear potentiometer Case；
Trunk inertial sensor 81 is for seeking absolute angle angle value θ of the trunk module 1 relative to center of gravity lineB, left thigh is used Property sensor 821 for seeking absolute angle angle value θ of the left thigh module 21 relative to center of gravity lineLT, right thigh inertial sensor 822 For seeking absolute angle angle value θ of the right thigh module 22 relative to center of gravity lineRT, left leg inertial sensor 831 is for seeking a left side Absolute angle angle value θ of the calf module 31 relative to center of gravity lineLS, right leg inertial sensor 832 is for seeking right leg module 32 Absolute angle angle value θ relative to center of gravity lineRS, left elbow turns inertial sensor 841 and turns 71 relative to center of gravity line for seeking left elbow Absolute angle angle value θLC, right elbow turns inertial sensor 842 for seeking the absolute angle angle value θ that right elbow turns 72 relative to center of gravity lineRC, Center of gravity line straight down, perpendicular to the earth, left Hip Angle value θLHBy the absolute angle angle value θ of left thigh module 21LTIt is small with a left side The absolute angle angle value θ of leg module 31LSCalculating is sought, right Hip Angle value θRHBy the absolute angle angle value θ of right thigh module 22RT With the absolute angle angle value θ of right leg module 32RSCalculating is sought, and the pressure sensor on left sensing shoes 41 is for seeking left sensing shoes The pressure value F of 41 forefootsLtWith the pressure value F of hind pawLh, the right pressure sensor sensed on shoes 42 is for seeking right sensing The pressure value F of 42 forefoot of shoesRtWith the pressure value F of hind pawRh, the left elbow that left elbow turns 71 lower ends turns pressure sensor 861 and is used for Seek the pressure value F that left elbow turns 71LC, the right elbow that right elbow turns 72 lower ends turn pressure sensor 862 for seek turning right 72 pressure Value FRC；
1 absolute angle angle value θ of trunk moduleBMeet or exceed given threshold α1, and the pressure value of left sensing 41 forefoot of shoes FLtMeet or exceed given threshold Zt, the pressure value F of hind pawLhMeet or exceed given threshold Zh, right 42 forefoot of sensing shoes Pressure value FRtMeet or exceed given threshold Zt, the pressure value F of hind pawRhMeet or exceed given threshold Zh, left elbow turns 71 Pressure value FLC72 pressure value F is turned with right elbowRCMeet or exceed given threshold Zc, left elbow turns 71 absolute angle angle value θLC 72 absolute angle angle value θ is turned with right elbowRCMeet or exceed threshold alpha2, and left elbow turns 71 absolute angle angle value θLCIt is turned greater than right elbow 72 absolute angle angle value θRC(i.e. θLC>θRC) when, it triggers right hip joint actuator 52 and right knee joint actuator 62 executes swing phase Movement, right leg enter recovery phase, right 42 hind paw pressure value F of sensing shoesRhIt is initially increased to by zero or is more than given threshold Zh When, it triggers right hip joint actuator 52 and right knee joint actuator 62 executes support phase movement, right leg enters driving phase；
1 absolute angle angle value θ of trunk moduleBMeet or exceed given threshold α1, and the pressure value of left sensing 41 forefoot of shoes FLtMeet or exceed given threshold Zt, the pressure value F of hind pawLhMeet or exceed given threshold Zh, right 42 forefoot of sensing shoes Pressure value FRtMeet or exceed given threshold Zt, the pressure value F of hind pawRhMeet or exceed given threshold Zh, left elbow turns 71 Pressure value FLC72 pressure value F is turned with right elbowRCMeet or exceed given threshold Zc, left elbow turns 71 absolute angle angle value θLC 72 absolute angle angle value θ is turned with right elbowRCMeet or exceed threshold alpha2, and right elbow turns 72 absolute angle angle value θRCIt is turned greater than left elbow 71 absolute angle angle value θLC(i.e. θRC>θLC) when, it triggers left hip joint actuator 51 and left knee joint actuator 61 executes swing phase Movement, left leg enter recovery phase, left 42 hind paw pressure value F of sensing shoesLhIt is initially increased to by zero or is more than given threshold Zh When, it triggers left hip joint actuator 51 and left knee joint actuator 61 executes support phase movement, left leg enters driving phase；
Hip joint actuator 5 and knee joint actuator 6 execute corresponding movement according to the result that sensor signal merges and control System, exports support phase part (leading portion) curve of Fig. 4 Hip Angle and knee joint angle curve, hip joint angle in driving phase Degree is gradually decrease to minimum value, and knee joint angle first remains unchanged substantially and is gradually decrease to minimum value again, exports in recovery phase Swing phase part (back segment) curve of Fig. 4 Hip Angle and knee joint angle curve, Hip Angle quickly increase to maximum The initial value of support phase is gradually decrease to after value again, knee joint angle is gradually decrease to support phase after quickly increasing to maximum value again Initial value, make rehabilitation type lower limb exoskeleton complete walking movement.

Claims (9)

1. a kind of rehabilitation type lower limb exoskeleton, which is characterized in that the lower limb exoskeleton includes a pair of elbow Abduction (7), trunk module (1), controller on trunk module (1) is set and is connect respectively with trunk module (1) and the identical ectoskeleton machine of structure Tool leg, every ectoskeleton pedipulator include that sequentially connected thigh module (2), hip joint actuator (5), knee close from top to bottom Save actuator (6), calf module (3) and sensing shoes (4), the trunk module (1), thigh module (2) and calf module (3) On be equipped with inertial sensor, the sensing shoes (4) and elbow Abduction (7) are equipped with pressure sensor, the inertial sensor, Pressure sensor, hip joint actuator (5) and knee joint actuator (6) are connect with controller respectively.
2. a kind of rehabilitation type lower limb exoskeleton according to claim 1, which is characterized in that before the sensing shoes (4) It is respectively equipped with pressure sensor on sole and hind paw, or in the uniformly distributed multiple pressure sensors of entire foot palm surface, it is described (7) lower end elbow Abduction is equipped with pressure sensor.
3. a kind of rehabilitation type lower limb exoskeleton according to claim 1, which is characterized in that the inertial sensor is one Dimension, two dimension or three dimension acceleration sensor, gyroscope or magnetic field sensor, to obtain the absolute angle between center of gravity line.
4. a kind of rehabilitation type lower limb exoskeleton according to claim 2, which is characterized in that the pressure in sensing shoes (4) passes Sensor is resistance-type diaphragm pressure sensor or hose type oil liquid pressure sensor, and the pressure sensor of elbow Abduction (7) lower end is logical The force snesor that excessively high rigid spring is combined with linear potentiometer.
5. a kind of using the control method according to any one of claims 1-4 for rehabilitation type lower limb exoskeleton, feature It is, comprising the following steps:
1) trunk module is obtained in real time respectively relative to the absolute angle angle value of center of gravity line, thigh module relative to the absolute of center of gravity line Angle value, calf module turn the absolute angle angle value relative to center of gravity line relative to the absolute angle angle value of center of gravity line, elbow, sense on shoes Pressure value and the pressure value that turns of elbow；
2) Hip Angle value and knee joint angle are calculated；
3) it carries out judging hip joint actuator and knee joint actuator according to the angle threshold of setting and the pressure threshold of setting Whether act, completes gait stability control.
6. a kind of control method according to claim 5, which is characterized in that in the step 2), the hip joint Absolute angle angle value and thigh module of the angle by trunk module relative to center of gravity line are made relative to the absolute angle angle value of center of gravity line Difference is sought, knee joint angle by thigh module relative to center of gravity line absolute angle angle value and calf module relative to center of gravity line Absolute angle angle value is sought as difference, and the Hip Angle and knee joint angle are held respectively as hip joint actuator and knee joint The feedback of row device, it is ensured that control precision, in support phase and swing phase respectively using corresponding angle curve as expected angle value.
7. a kind of control method according to claim 5, which is characterized in that in the step 3), hip joint actuator The specific judgment method whether acted with knee joint actuator are as follows:
A) meet when simultaneously:
Absolute angle angle value θ of the trunk module relative to center of gravity lineBMeet or exceed given threshold α1；
The pressure value F of left sensing shoes forefootLtMeet or exceed given threshold Zt, the pressure value F of hind pawLhIt meets or exceeds and sets Determine threshold value Zh, the pressure value F of right sensing shoes forefootRtMeet or exceed given threshold Zt, the pressure value F of hind pawRhReach or More than given threshold Zh；
The pressure value F that left elbow turnsLCThe pressure value F turned with right elbowRCMeet or exceed given threshold Zc, left elbow turns relative to center of gravity The absolute angle angle value θ of lineLCThe absolute angle angle value θ relative to center of gravity line is turned with right elbowRCMeet or exceed threshold alpha2, and left elbow turns Absolute angle angle value θ relative to center of gravity lineLCThe absolute angle angle value θ relative to center of gravity line is turned greater than right elbowRC,
Right hip joint actuator is triggered at this time and right knee joint actuator executes swing phase movement, right leg enters recovery phase, when Right sensing shoes hind paw pressure value FRhIncreased to by zero or is more than given threshold ZhWhen, it triggers right hip joint actuator and right knee closes It saves actuator and executes support phase movement, right leg enters driving phase；
B) meet when simultaneously:
Absolute angle angle value θ of the trunk module relative to center of gravity lineBMeet or exceed given threshold α1；
The pressure value F of left sensing shoes forefootLtMeet or exceed given threshold Zt, the pressure value F of hind pawLhIt meets or exceeds and sets Determine threshold value Zh, the pressure value F of right sensing shoes forefootRtMeet or exceed given threshold Zt, the pressure value F of hind pawRhReach or More than given threshold Zh；
The pressure value F that left elbow turnsLCThe pressure value F turned with right elbowRCMeet or exceed given threshold Zc, left elbow turns relative to center of gravity The absolute angle angle value θ of lineLCThe absolute angle angle value θ relative to center of gravity line is turned with right elbowRCMeet or exceed threshold alpha2, and right elbow turns Absolute angle angle value θ relative to center of gravity lineRCThe absolute angle angle value θ relative to center of gravity line is turned greater than left elbowLC,
Left hip joint actuator is triggered at this time and left knee joint actuator executes swing phase movement, and left leg enters recovery phase, left Sense shoes hind paw pressure value FLhIt is initially increased to by zero or is more than given threshold ZhWhen, trigger left hip joint actuator and left knee Joint actuator executes support phase movement, and left leg enters driving phase.
8. a kind of control method according to claim 7, which is characterized in that when the pressure value that elbow turns meets or exceeds setting After threshold value, hip joint actuator and knee joint actuator are according to angle-data and pressure data triggering corresponding actions.
9. a kind of control method according to claim 5, which is characterized in that each component of lower limb exoskeleton is relative to center of gravity line Absolute angle and the threshold values of joint angles different values is adjusted in the different phase of walking period, be set as just in support phase Beginning threshold value is set as another group of threshold value in swing phase to trigger the conversion of support phase to swing phase, to trigger swing phase to branch Initial threshold when supportting the conversion of phase, and being reset to support phase on triggering, the pressure threshold that sensing shoes and the elbow of setting turn Value is adjusted according to the weight of wearer, sensing shoes pressure when dressing rehabilitation type lower limb exoskeleton and be in four-footed holding state It is its pressure threshold that force value and elbow, which turn pressure value, to adapt to the wearer of different building shape.
CN201810890096.1A 2018-08-07 2018-08-07 A kind of rehabilitation type lower limb exoskeleton and its control method Pending CN109044743A (en)

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CN110721055A (en) * 2019-10-17 2020-01-24 深圳市迈步机器人科技有限公司 Control method of lower limb walking aid exoskeleton robot and exoskeleton robot
CN111604890A (en) * 2019-12-30 2020-09-01 合肥工业大学 Motion control method suitable for exoskeleton robot
TWI704911B (en) * 2019-07-22 2020-09-21 緯創資通股份有限公司 Exoskeleton wear management system and exoskeleton wear management method
CN112809651A (en) * 2019-11-15 2021-05-18 深圳市英汉思动力科技有限公司 Power-assisted exoskeleton control method, power-assisted exoskeleton control system and computer equipment
CN114073631A (en) * 2020-08-13 2022-02-22 深圳市英汉思动力科技有限公司 Self-adaptive control method and device for power-assisted exoskeleton
CN114642573A (en) * 2021-04-20 2022-06-21 安杰莱科技(杭州)有限公司 Exoskeleton for rehabilitation
CN114642573B (en) * 2021-04-20 2024-04-23 安杰莱科技(杭州)有限公司 Exoskeleton for rehabilitation

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI704911B (en) * 2019-07-22 2020-09-21 緯創資通股份有限公司 Exoskeleton wear management system and exoskeleton wear management method
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CN110721055B (en) * 2019-10-17 2021-11-02 深圳市迈步机器人科技有限公司 Control method of lower limb walking aid exoskeleton robot and exoskeleton robot
CN112809651A (en) * 2019-11-15 2021-05-18 深圳市英汉思动力科技有限公司 Power-assisted exoskeleton control method, power-assisted exoskeleton control system and computer equipment
CN112809651B (en) * 2019-11-15 2021-10-29 深圳市英汉思动力科技有限公司 Power-assisted exoskeleton control method, power-assisted exoskeleton control system and computer equipment
CN111604890A (en) * 2019-12-30 2020-09-01 合肥工业大学 Motion control method suitable for exoskeleton robot
CN114073631A (en) * 2020-08-13 2022-02-22 深圳市英汉思动力科技有限公司 Self-adaptive control method and device for power-assisted exoskeleton
CN114642573A (en) * 2021-04-20 2022-06-21 安杰莱科技(杭州)有限公司 Exoskeleton for rehabilitation
CN114642573B (en) * 2021-04-20 2024-04-23 安杰莱科技(杭州)有限公司 Exoskeleton for rehabilitation

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Application publication date: 20181221