CN109079763A - The wearable flexible assistant to walking robot control system of one kind and control method - Google Patents
The wearable flexible assistant to walking robot control system of one kind and control method Download PDFInfo
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- CN109079763A CN109079763A CN201811266431.7A CN201811266431A CN109079763A CN 109079763 A CN109079763 A CN 109079763A CN 201811266431 A CN201811266431 A CN 201811266431A CN 109079763 A CN109079763 A CN 109079763A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a kind of wearable flexible assistant to walking robot control system and control methods.The system includes power supply, motor driver, leash, force snesor, textile tapes, gyroscope, driving device, force snesor amplifier and controller；Controller and motor driver are placed in user waist position；Two gyroscopes are individually positioned in user or so back of thighs middle position by textile tapes, and gyroscope is perpendicular to ground when user stands；Two driving devices are left and right symmetrically arranged on the adjustable waist band of user waist, and each driving device is connect with one end of a leash, and the other end of leash is placed on user's knee joint；Each leash disconnects, and gap is connected by force snesor；Controller is connect with motor driver, gyroscope and force snesor amplifier respectively；Motor driver is connect with driving device；Force snesor is connect with force snesor amplifier.This method power-assisted stage is swing phase, saves the energy.
Description
Technical field
The present invention relates to Robot Control Technology, specifically a kind of wearable flexible assistant to walking robot control system and
Control method.
Background technique
With the increase at age, the elderly's physically-draining, muscular strength decline lead to dyskinesia, and the elderly becomes more next
Outdoor activities are not liked more.And with the reduction of outdoor activities, lower extremity movement function can decline therewith, in cycles, pernicious to follow
Ring generates many physical problems.People's demands for quality of life are getting higher and higher now, and old man should improve walking ability, increases
Add stroll, both tempered body, also increases social activities.The rapid development of lower limb assistance exoskeleton technology can improve old age
The lower limb function of people enhances its walking ability, improves the Quality of rehabilitation of dyskinesia suffering limb.It is forged by the rehabilitation in life
Walking ability can be improved in refining, extends life-span, and assistance type lower limb exoskeleton is a kind of by subject's wearing, passes through meter
The control of calculation machine, sensory perceptual system information collection with merge, the technologies such as man-machine interface, walking power-assisted be provided or is born a heavy burden for user support
The man-machine electric system of power-assisted.Exoskeleton system can perceive the motion state of human body, identification motion intention, cooperate with user
It moves and real time kinematics auxiliary is provided.That there are structures is stiff, heavy for current rigid walking auxiliary, coordinates bad lack with people
Point, and danger may be fallen down since external interference easily causes.Flexible walking auxiliary lacks the control optimized accordingly simultaneously
System, to be adjusted for different users and situation.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide the wearable flexible walking of one kind and helps
Power robot control system and control method.
The present invention solves the problems, such as that the technical solution of the systems technology is to provide a kind of wearable flexible assistant to walking machine
People's control system, it is characterised in that the system include power supply, motor driver, leash, force snesor, textile tapes, gyroscope,
Driving device, force snesor amplifier and controller；
The controller and motor driver are placed in user waist position；Two gyroscopes are put respectively by textile tapes
It sets in user or so back of thighs middle position, gyroscope is perpendicular to ground when user stands；Two driving devices or so
It is symmetrically mounted on the adjustable waist band of user waist, each driving device is connect with one end of a leash, leash
The other end be placed on user's knee joint；Each leash disconnects, and gap is connected by force snesor；The control
Device is connect with motor driver, gyroscope and force snesor amplifier respectively；The motor driver is connect with driving device；Institute
Force snesor is stated to connect with force snesor amplifier；Power supply is that controller and motor driver are powered.
The technical solution that the present invention solves the method system problem is to provide a kind of wearable flexible assistant to walking machine
The control method of people, it is characterised in that method includes the following steps:
Step 1, installation control system: controller and motor driver are placed in user waist position；Two gyroscopes
It is individually positioned at user or so hip joint by textile tapes, acquires the gait feature information of user in real time, measure human body
The real-time angular velocity information of hip joint；Two driving devices are left and right symmetrically arranged on the adjustable waist band of user waist, often
A driving device is connect with one end of a leash, and the other end of leash is placed on user's knee joint；Each traction
Band disconnects, and gap is connected by force snesor；Force snesor is used to measure the value of thrust of leash；Controller respectively with electricity
Machine driver, gyroscope are connected with force snesor amplifier；Motor driver is connect with driving device；Force snesor and power sense
The connection of device amplifier, force snesor amplifier is used to amplify voltage signal, and signal is passed in controller；Power supply is controller
It powers with motor driver；
Step 2 obtains angular velocity signal and handles: gyroscope acquires the original angular speed letter of user's hip joint in real time
Number, and denoising is carried out to original angular velocity signal, obtain angular velocity signal；
Step 3 obtains angle signal and handles: the angular velocity signal that step 2 obtains is passed through control in the control period
Device carries out Integral Processing and obtains the original angle signal curve of direction of advance；There is the zero point of integral in original angle signal curve
Drift phenomenon, solution are: when starting test, gyroscope first remain stationary state 2-3s, finds zero point, works as subsequent time
This moment numerical value can be become 0 when null offset by force, obtain angle signal curve；
Step 4, gait test and analyze: according to the gait feature of human hip, angle signature tune in a gait cycle
There are two wave crest and a troughs for line tool；When user's walking heel lands, the angle of hip joint is in first wave crest, foot
Trough is in when point lifts；The angle signal that the angular velocity signal and step 3 obtained by step 2 obtains judges angle signal
Trough, record current time i1And angle, θmin1；When user moves to next adjacent trough, moment i is recorded2And more
New angle, θmin2, therefore the gait cycle T=of user controls period × (i2-i1)；Gait is calculated with first three gait cycle
The average value in period predicts next gait cycleWhen user moves to first wave crest,
Record moment i3And angle, θmax, therefore the swing phase cycle T of userb=control period × (i3-i1)；The period of record at this time
Number, periodicity, that is, step number N；The a length of L of user's leg is preset, step-length D=L × (sin θ is calculatedmax-sinθmin1), step
Row compares R=D/N；
The waveform generation of step 5, power: power-assisting robot provides power-assisted in swing phase for user's both legs, pulling force
Time graph are as follows:Wherein -1≤α≤1, t are to subtract previous trough at current time
Moment, α are power-assisted waveform parameter, and A is maximum pull；When the value of parameter alpha is from 1 to -1, power-assisted waveform can change, wave crest
At the time of can successively prolong afterwards；Controller real-time perfoming judges that power-assisted effect is best when what value α take using α as the gait analysis of parameter,
And the adaptive change of parameter is carried out, obtain optimal power-assisted waveform；
Step 6, control driving device: force snesor acquires the actual forces signal in leash in real time, by actual forces and step
Rapid 5 obtained optimal power-assisted waveforms fully enter in controller, using the PSMC algorithm in controller, obtain PWM duty cycle
It controls driving device, and then leash is pulled to generate power-assisted, so that actual forces follow optimal power-assisted waveform, realize walk help control
System.
Compared with prior art, the beneficial effects of the invention are that:
1, this method power-assisted stage is swing phase, and support phase not power-assisted, such power-assisted is most effective, saves the energy, most
The active movement ability of limits exciting human.
2, this method has adaptive, self study and autonomous optimal control parameter ability.For different user and
Different speed, system real-time perfoming control power-assisted waveform as target value using α as the gait analysis of parameter, by walking ratio R,
Power-assisted size, power-assisted moment, power-assisted waveform are adjusted, guarantees that power-assisted effect is optimal, comfortable, safety improves the walking spy of user
It seeks peace quality of life.
3, PSMC (sliding formwork control based on the agency) algorithm used in system, this method combine PID control and sliding formwork
The advantages of control, not only ensure that tracking accuracy, but also be able to achieve the smooth response to disturbance, ensure that the safety of user itself.
4, the system structure is simple, easy to wear, and measurement is accurate；It is contacted using compliant member with user, increases people
The comfort of body；Small in size, light weight alleviates weight bearing sense.
Detailed description of the invention
Fig. 1 is the structure chart of the wearable flexible assistant to walking robot of the present invention；(in figure: 1, power supply, 2, motor driven
Device, 3, leash, 4, force snesor, 5, textile tapes, 6, gyroscope, 7, motor, 8, force snesor amplifier, 9, controller)
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the claim of this application processed.
The present invention provides a kind of wearable flexible assistant to walking robot control system (abbreviation system, referring to Fig. 1),
It is characterized in that the system includes power supply 1, motor driver 2, leash 3, force snesor 4, textile tapes 5, gyroscope 6, driving dress
Set 7, force snesor amplifier 8 and controller 9；
The controller 9 and motor driver 2 are placed in user waist position；Two gyroscopes 6 are divided by textile tapes 5
It is not placed on user or so back of thighs middle position (preferably at hip joint), gyroscope 6 is perpendicular to ground when user stands
Face measures the real-time angular velocity information of human hip for acquiring the gait feature information of user in real time；The waist of user
Portion is fixed with adjustable waist band；Two driving devices 7 are left and right symmetrically arranged on adjustable waist band, each driving device 7 and one
One end of a leash 3 connects, and the other end of leash 3 is placed on user's knee joint；Each leash 3 disconnects, and breaks
The place of opening is connected by force snesor 4, and open position prevents from influencing each other close to 3 middle part of leash and far from driving device 7；Power
Sensor 4 is used to measure the value of thrust of leash 3；The controller 9 respectively with motor driver 2, gyroscope 6 and force snesor
Amplifier 8 connects；The motor driver 2 is connect with driving device 7；The force snesor 4 connects with force snesor amplifier 8
It connects, force snesor amplifier 8 is used to amplify voltage signal, and signal is passed in controller 9；Power supply 1 is controller 9 and motor
Driver 2 is powered.
The gyroscope 6 uses mpu9050 chip, is a 9 axis motion tracer, using standard IIC communications protocol；
The driving device 7 uses motor；
For the controller 9 using the myRIO-1900 of NI company, core chips is Xilinx Zynq-7010, the chip
It is integrated with 667MHz double-core ARM Cortex-A9 processor and comprising 28K logic unit, 80 DSP slices, 16 DMA
The FPGA in channel.
It is special invention also provides a kind of control method (abbreviation method) of wearable flexible assistant to walking robot
Sign be method includes the following steps:
Step 1, installation control system: controller 9 and motor driver 2 are placed in user waist position；Two gyros
Instrument 6 is individually positioned in user or so back of thighs middle position (preferably at hip joint) by textile tapes 5, and acquisition uses in real time
The gait feature information of person measures the real-time angular velocity information of human hip；Two driving devices 7, which are left and right symmetrically arranged, to be made
On the adjustable waist band of user's waist, each driving device 7 is connect with one end of a leash 3, and the other end of leash 3 is put
It sets on user's knee joint；Each leash 3 disconnects, and gap is connected by force snesor 4, and open position is close to traction
3 middle part of band and separate driving device 7, prevent from influencing each other；Force snesor 4 is used to measure the value of thrust of leash 3；Controller 9
It is connect respectively with motor driver 2, gyroscope 6 and force snesor amplifier 8；Motor driver 2 is connect with driving device 7；Power
Sensor 4 is connect with force snesor amplifier 8, and force snesor amplifier 8 is used to amplify voltage signal, and signal is passed to control
In device 9；Power supply 1 is that controller 9 and motor driver 2 are powered；
Step 2 obtains angular velocity signal and handles: gyroscope 6 acquires the original angular speed letter of user's hip joint in real time
Number because user tests on a treadmill, running machine motor has very strong electromagnetic interference, to original signal generate compared with
It is strong to influence, it is therefore desirable to denoising to be carried out to original angular velocity signal, specifically: original angular velocity signal is input to control
Denoising is carried out by low-pass filtering in the Butterworth filter of device 9, obtains angular velocity signal；
Preferably, the sample frequency of Butterworth filter be 1000Hz, cutoff frequency 30Hz；
Step 3 obtains angle signal and handles: because only needing to obtain the angle of direction of advance, step 2 being obtained
Angular velocity signal control the period in by controller 9 progress Integral Processing obtain the original angle signature tune of direction of advance
Line；There is the null offset phenomenon of integral in original angle signal curve, solution is: when starting test, gyroscope 6 is first
State 2-3s (preferably 3 seconds) are remain stationary, zero point is found, this moment numerical value can be become by force when subsequent time null offset
0, obtain angle signal curve；It is corresponding with the sample frequency of Butterworth filter to control the period；
Preferably, period=0.5ms, 1ms or 2ms is controlled；
Step 4, gait test and analyze: according to the gait feature of human hip, angle signature tune in a gait cycle
There are two wave crest and a troughs for line tool；When user's walking heel lands, the angle of hip joint is in first wave crest, foot
Trough is in when point lifts；The angle signal that the angular velocity signal and step 3 obtained by step 2 obtains may determine that angle
The trough of signal records current time i1And angle, θmin1；When user moves to next adjacent trough, moment i is recorded2
And update angle, θmin2, therefore the gait cycle T=of user controls period × (i2-i1)；It is calculated with first three gait cycle
The average value of gait cycle predicts next gait cycle, i.e.,When user moves to first
When wave crest, moment i is recorded3And angle, θmax, therefore the swing phase cycle T of userb=control period × (i3-i1)；Record this
When periodicity, i.e. step number N；The a length of L of user's leg is preset, step-length D=L × (sin θ is calculatedmax-sinθmin1),
Walking ratio R=D/N；
The waveform generation of step 5, power: power-assisting robot provides power-assisted in swing phase for user's both legs, pulling force
Time graph are as follows:Wherein -1≤α≤1, t are to subtract previous trough at current time
Moment, α are power-assisted waveform parameter, and A is maximum pull；Parameter alpha can change the timing diagram of pulling force, and the value of parameter alpha is from 1 to -1
When, power-assisted waveform can change, and wave crest at the time of can successively prolong afterwards；9 real-time perfoming of controller is using α as the gait of parameter point
Analysis judges that power-assisted effect is best when what value α take, and carries out the adaptive change of parameter, obtains optimal power-assisted waveform；
Be by the specific method of the gait analysis of parameter of α: Rtv is the walking ratio of healthy elderly, is control mesh with it
Mark, when walking ratio R that step 4 obtains and Rtv has larger difference, i.e., | R-Rtv | >=E, E=0.003, then next cycle helps
Reeb shape parameter becomes α+Δ α；Δ α=0.01；When walking ratio R and Rtv have smaller difference, i.e., | R-Rtv |≤E, E=0.003,
Then the power-assisted waveform parameter of next cycle is α；
Step 6, control driving device 7: the actual forces signal in acquisition leash 3 in real time of force snesor 4, by actual forces and
The optimal power-assisted waveform that step 5 obtains fully enters in controller 9, using the PSMC algorithm in controller 9, obtains PWM and accounts for
Sky compares to control driving device 7, and then leash 3 is pulled to generate power-assisted, so that actual forces follow optimal power-assisted waveform, realization is helped
Row control.
The present invention does not address place and is suitable for the prior art.
Claims (9)
1. a kind of wearable flexible assistant to walking robot control system, it is characterised in that the system includes power supply, motor driven
Device, leash, force snesor, textile tapes, gyroscope, driving device, force snesor amplifier and controller；
The controller and motor driver are placed in user waist position；Two gyroscopes are individually positioned in by textile tapes
User or so back of thighs middle position, gyroscope is perpendicular to ground when user stands；Two driving device bilateral symmetries
Be mounted on the adjustable waist band of user waist, each driving device is connect with one end of a leash, leash it is another
One end is placed on user's knee joint；Each leash disconnects, and gap is connected by force snesor；The controller point
It is not connect with motor driver, gyroscope and force snesor amplifier；The motor driver is connect with driving device；The power
Sensor is connect with force snesor amplifier；Power supply is that controller and motor driver are powered.
2. wearable flexible assistant to walking robot control system according to claim 1, it is characterised in that two gyros
Instrument is individually positioned at user or so hip joint by textile tapes.
3. wearable flexible assistant to walking robot control system according to claim 1, it is characterised in that the gyro
Instrument uses mpu9050 chip.
4. wearable flexible assistant to walking robot control system according to claim 1, it is characterised in that the driving
Device uses motor.
5. wearable flexible assistant to walking robot control system according to claim 1, it is characterised in that the control
Device uses the myRIO-1900 of NI company.
6. a kind of control method of wearable flexible assistant to walking robot, it is characterised in that method includes the following steps:
Step 1, installation control system: controller and motor driver are placed in user waist position；Two gyroscopes pass through
Textile tapes are individually positioned at user or so hip joint, acquire the gait feature information of user in real time, and measurement human body hip closes
The real-time angular velocity information of section；Two driving devices are left and right symmetrically arranged on the adjustable waist band of user waist, each drive
Dynamic device is connect with one end of a leash, and the other end of leash is placed on user's knee joint；Each leash is equal
It disconnects, gap is connected by force snesor；Force snesor is used to measure the value of thrust of leash；Controller drives with motor respectively
Dynamic device, gyroscope are connected with force snesor amplifier；Motor driver is connect with driving device；Force snesor is put with force snesor
Big device connection, force snesor amplifier is used to amplify voltage signal, and signal is passed in controller；Power supply is controller and electricity
The power supply of machine driver；
Step 2 obtains angular velocity signal and handles: gyroscope acquires the original angular velocity signal of user's hip joint in real time, and
Denoising is carried out to original angular velocity signal, obtains angular velocity signal；
Step 3 obtains angle signal and handles: the angular velocity signal that step 2 is obtained control the period in by controller into
Row Integral Processing obtains the original angle signal curve of direction of advance；There is the null offset of integral in original angle signal curve
Phenomenon, solution are: when starting test, gyroscope first remain stationary state 2-3s, zero point is found, when subsequent time zero point
This moment numerical value can be become 0 when drift by force, obtain angle signal curve；
Step 4, gait test and analyze: according to the gait feature of human hip, angle signal curve has in a gait cycle
There are two wave crest and a troughs；When user's walking heel lands, the angle of hip joint is in first wave crest, tiptoe lift
Trough is in when rising；The angle signal that the angular velocity signal and step 3 obtained by step 2 obtains judges the wave of angle signal
Paddy records current time i1And angle, θmin1；When user moves to next adjacent trough, moment i is recorded2And update angle
Spend θmin2, therefore the gait cycle T=of user controls period × (i2-i1)；Gait cycle is calculated with first three gait cycle
Average value predict next gait cycleWhen user moves to first wave crest, record
Moment i3And angle, θmax, therefore the swing phase cycle T of userb=control period × (i3-i1)；The periodicity of record at this time,
Periodicity, that is, step number N；The a length of L of user's leg is preset, step-length D=L × (sin θ is calculatedmax-sinθmin1), walking ratio
R=D/N；
The waveform generation of step 5, power: power-assisting robot provides power-assisted, the time of pulling force in swing phase for user's both legs
Curve are as follows:Wherein -1≤α≤1, t are when subtracting previous trough at current time
It carves, α is power-assisted waveform parameter, and A is maximum pull；When the value of parameter alpha is from 1 to -1, power-assisted waveform can change, wave crest
Moment can successively prolong afterwards；Controller real-time perfoming judges that power-assisted effect is best when what value α take using α as the gait analysis of parameter, and
The adaptive change for carrying out parameter, obtains optimal power-assisted waveform；
Step 6, control driving device: force snesor acquires the actual forces signal in leash in real time, and actual forces and step 5 are obtained
To optimal power-assisted waveform fully enter in controller, using the PSMC algorithm in controller, obtain PWM duty cycle to control
Driving device, and then leash is pulled to generate power-assisted, so that actual forces follow optimal power-assisted waveform, realize walk help control.
7. the control method of wearable flexible assistant to walking robot according to claim 6, it is characterised in that original
Angular velocity signal carries out denoising, specifically: original angular velocity signal is input in the Butterworth filter of controller
Denoising is carried out by low-pass filtering；The sample frequency of Butterworth filter is 1000Hz, cutoff frequency 30Hz.
8. the control method of wearable flexible assistant to walking robot according to claim 7, it is characterised in that control week
Phase is corresponding with the sample frequency of Butterworth filter.
9. the control method of wearable flexible assistant to walking robot according to claim 6, it is characterised in that step 5
In, be by the specific method of the gait analysis of parameter of α: the walking ratio Rtv with healthy elderly is control target, when step 4
Obtained walking ratio R and Rtv meets | R-Rtv | >=E, E=0.003, then the power-assisted waveform parameter of next cycle becomes α+Δ
α；Δ α=0.01；When walking ratio R and Rtv meet | R-Rtv |≤E, E=0.003, then the power-assisted waveform parameter of next cycle
For α.
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| CN114833804A (en) * | 2022-06-13 | 2022-08-02 | 山东瑞曼智能装备有限公司 | Active power assisting device and method suitable for multiple scenes |
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| CN112847398A (en) * | 2021-01-08 | 2021-05-28 | 北京工业大学 | Method for automatically protecting walking aid safety abnormity |
| CN114833804A (en) * | 2022-06-13 | 2022-08-02 | 山东瑞曼智能装备有限公司 | Active power assisting device and method suitable for multiple scenes |
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