CN109106558A - A kind of flexible joint exoskeleton robot and its control method - Google Patents
A kind of flexible joint exoskeleton robot and its control method Download PDFInfo
- Publication number
- CN109106558A CN109106558A CN201811043908.5A CN201811043908A CN109106558A CN 109106558 A CN109106558 A CN 109106558A CN 201811043908 A CN201811043908 A CN 201811043908A CN 109106558 A CN109106558 A CN 109106558A
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- Prior art keywords
- flexible joint
- rope
- controller
- joint
- motor
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H2201/0165—Damping, vibration related features
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
Abstract
The invention discloses a kind of flexible joint exoskeleton robots, comprising: motor；For controlling the controller of motor；The rope for realizing leg exercise is drawn by motor；It is connected to motor, and the location information of rope and the adjuster of force information can be fed back to controller；It is driven by rope and can be realized shank movement and the leg joint assembly of joint angle position information can be fed back to controller, the leg joint assembly is correspondingly arranged on two groups；The power supply powered to controller, adjuster, motor.The present invention discloses its control methods.The present invention not only substantially reduces the volume in joint, and reduces joint inertia, improves flexibility of joint, substantially improves user and dresses comforts of use.
Description
Technical field
The present invention relates to a kind of exoskeleton robots, more particularly, to a kind of flexible joint exoskeleton robot and its control
Method belongs to the field of medical instrument technology.
Background technique
Exoskeleton robot is widely used in clinical treatment field, can treat patient as a kind of emerging technology
Due to apoplexy, it is injured caused by upper and lower extremities dyskinesia problem.
Currently, used exoskeleton robot usually passes through joint drive mould by several rigid links in structure
Block connection, actuator (motor, hydraulic, air pressure etc.) band movable joint actuator, actuator driven joint link lever are set according to controller
Fixed algorithm movement.Rigid link structure is conducive to control joint angles and reaches pinpoint purpose.But it is clinically rigid
Joint causes joint impact larger, and user's wearing comfort sense is poor, in some instances it may even be possible to cause the secondary safety accidents such as pull in joint；Separately
On the one hand, rigid joint generally requires actuator and is directly mounted at joint position, this will increase joint inertia, and patient is made to feel tired
Labor.
Summary of the invention
To solve the deficiencies in the prior art, the purpose of the present invention is to provide one kind to enhance joints' compliance, reduces
Joint inertia, the flexible joint exoskeleton robot and its control method for improving user's wearing comfort degree.
In order to achieve the above objectives, the present invention adopts the following technical scheme that:
A kind of flexible joint exoskeleton robot characterized by comprising
Motor；
For controlling the controller of motor；
The rope for realizing leg exercise is drawn by motor；
It is connected to motor, and the location information of rope and the adjuster of force information can be fed back to controller；
It is driven by rope and can be realized shank movement and the leg joint group of joint angle position information can be fed back to controller
Part, the leg joint assembly are correspondingly arranged on two groups；
The power supply powered to controller, adjuster, motor.
Further, the bracing wire coding that the location information of rope can be fed back to controller is provided in above-mentioned adjuster
Device.
And the force snesor that the force information of rope can be fed back to controller is additionally provided in above-mentioned adjuster.
Further, above-mentioned leg joint assembly includes the first connecting rod that huckle is arranged in, calf is arranged in
Second connecting rod, the flexible joint component for being connected to first connecting rod with second connecting rod.
And the flexible joint component then include the joint encoders being sequentially coaxially arranged, the first linking arm of bracket,
Brake, the MR damper being connect with first connecting rod, fixator, belt wheel and bracket the second linking arm, the bracket
It is connect with second connecting rod, and the rope is then provided with two, it is solid after first connecting rod after being drawn by the adjuster
It is scheduled on belt wheel.
In addition, also at least provided with a pulley for being limited and being oriented to rope on the first connecting rod.
And two are additionally provided between first connecting rod for leg joint assembly to be fixed on hip and can realize that degree of enclosing is adjusted
Central regulating mechanism.
In order to realize the support and limit to leg, it is provided on above-mentioned first connecting rod, second connecting rod for leg
The angularity of the shield that portion is supported and limits, the shield is consistent with leg radian.
In addition, in order to save space, above-mentioned motor, adjuster, controller and power supply are integrated in a control cabinet.
The present invention discloses a kind of control method based on above-mentioned flexible joint exoskeleton robot, including it is following
Step:
S1, user's setting: including but is not limited to 1) to set gait control parameter (such as step-length, step height, leg speed degree), 2) initialization
Rope tension, the damped coefficient of flexible joint component, 3) each joint Angle Position zero；
S2, information feedback: the location information of the rope of adjuster detection and the joint angle position of force information and flexible joint component
Confidence breath is transmitted to controller, and controller controls the damping force of flexible joint component according to the information being collected into；
S3, assign instruction: after flexible joint exoskeleton robot integrality adjusts, controller assigns instruction, motor work
Make, rope movement is driven by adjuster, and then flexible joint component is driven to realize servo motion.
The invention has the beneficial effects that: the present invention passes through the flexible connection of control section and mechanical part, passes through rope
Power, position feedback information dynamically track and adjusting joint angles, while using MR damper according to different joint phases
Angle applies different damping, to achieve the purpose that joint angles are flexible controllable.The present invention not only substantially reduces the body in joint
Product, and joint inertia is reduced, flexibility of joint is improved, user is substantially improved and dresses comforts of use.
Detailed description of the invention
Fig. 1 is first shaft side figure of one embodiment of the invention；
Fig. 2 is second shaft side figure of one embodiment of the invention；
Fig. 3 is the front view of one embodiment of the invention；
Fig. 4 is the structural schematic diagram of flexible joint component of the present invention.
The meaning of appended drawing reference in figure:
1, control cabinet 2, central regulating mechanism 3, rope 4, pulley
5, first connecting rod 6, shield 7, second connecting rod
8, flexible joint component 80, fixator 81, belt wheel 82, pivot
83, bracket 84, brake 85, joint encoders
86, MR damper 9, controller 10, power supply 11, adjuster
12, motor.
Specific embodiment
Specific introduce is made to the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is first shaft side figure of one embodiment of the invention；Fig. 2 is second shaft side figure of one embodiment of the invention；Fig. 3 is
The front view of one embodiment of the invention.
As shown in Figure 1-Figure 3: flexible joint exoskeleton robot of the present invention includes two large divisions, and first part is
Control section, second part are that mechanical part, control section and mechanical part are connected to by rope progress flexibility, and realize control
Motion control of the part to mechanical part.
Wherein, control section includes controller 9, power supply 10, motor 12, adjuster 11, motor 12 and coupled tune
Section device 11 is symmetrically arranged with two groups, respectively corresponds the two legs of the pending rehabilitation training of patient, and controller 9, power supply 10, motor
12, adjuster 11 are integrated in jointly in control cabinet 1, and power supply is controller 9, motor 12, the power supply of adjuster 11, and adjuster 11
On be provided with can to controller 9 feed back rope 3 location information draw wire encoder and feedback rope 3 force information power pass
Sensor realizes the accurate power control of rope for feeding back tension information.
And mechanical part is then leg joint assembly, specifically includes and the first connecting rod 5 of huckle is arranged in, is arranged in shank
The second connecting rod 7 in portion, the flexible joint component 8 for being connected to first connecting rod 5 with second connecting rod 7, and flexible joint component 8 has packet
Include the first linking arm, the brake 84, the magnetic connecting with first connecting rod 5 of the joint encoders 85, bracket 83 that are sequentially coaxially arranged
Rheological damper 86, fixator 80, belt wheel 81 and bracket 83 the second linking arm, bracket 83 connect with second connecting rod 7, and at this
In embodiment, bracket 83 is a u-bracket, and rope 3 is provided with two, solid after first connecting rod 5 after being drawn by adjuster 11
It is scheduled on belt wheel 81.The nearly motor side of first connecting rod 5 is arranged in pulley 4 for rope 3 to be limited and is oriented to, and is used for
The shield 6 for being supported and limiting to leg is provided with 4 altogether in the present embodiment, is separately positioned on two first connecting rods 5, two
On second connecting rod 7, and the angularity of shield 6 is consistent with leg radian.
The specific control method of flexible joint exoskeleton robot described in the present embodiment are as follows: used in controller 9
Family setting: setting such as step-length, step height, leg speed degree gait control parameter, tension, the MR damper 86 for initializing rope 3
Damped coefficient, 3) each joint Angle Position zero.The location information of draw wire encoder detection rope 3 in adjuster 11, power pass
Sensor detects the force information of rope 3, and the joint encoders 85 in flexible joint component 8 detect the angle of flexible joint component 8, on
It states information and is transferred to controller 9, controller 9 controls MR damper according to the information being collected into and information set by user
86 adjustment damping forces；After flexible joint exoskeleton robot integrality adjusts, controller 9 assigns instruction, motor 12(sheet
Motor used in embodiment is servo motor) work, drive rope 3 to move by adjuster 11, rope 3 is with movable belt pulley 81 with respect to pivot
Axis 82 rotates, while bracket 83 being driven to rotate, and then realizes that second connecting rod 7 is realized and move up and down, and realizes that entire driving is flexible and closes
The servo motion for saving component 8, to realize the rehabilitation exercise of calf.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the above embodiments do not limit the invention in any form, all obtained by the way of equivalent substitution or equivalent transformation
Technical solution is fallen within the scope of protection of the present invention.
Claims (10)
1. a kind of flexible joint exoskeleton robot characterized by comprising
Motor；
For controlling the controller of motor；
The rope for realizing leg exercise is drawn by motor；
It is connected to motor, and the location information of rope and the adjuster of force information can be fed back to controller；
It is driven by rope and can be realized shank movement and the leg joint of joint angle position information can be fed back to controller
Component, the leg joint assembly are correspondingly arranged on two groups；
The power supply powered to controller, adjuster, motor.
2. a kind of flexible joint exoskeleton robot according to claim 1, which is characterized in that set in the adjuster
It is equipped with the draw wire encoder that the location information of rope can be fed back to controller.
3. a kind of flexible joint exoskeleton robot according to claim 1 or 2, which is characterized in that the tune machine
Inside it is provided with the force snesor that the force information of rope can be fed back to controller.
4. a kind of flexible joint exoskeleton robot according to claim 1, which is characterized in that the leg joint group
Part includes the first connecting rod that huckle is arranged in, the second connecting rod that calf is arranged in, is connected to first connecting rod with second connecting rod
Flexible joint component.
5. a kind of flexible joint exoskeleton robot according to claim 4, which is characterized in that the flexible joint group
Part include the joint encoders being sequentially coaxially arranged, the first linking arm of bracket, brake, connect with first connecting rod it is magnetorheological
Damper, fixator, belt wheel and bracket the second linking arm, the bracket is connect with second connecting rod, and the rope is set
Two are equipped with, after being drawn by the adjuster, is fixed on belt wheel after first connecting rod.
6. a kind of flexible joint exoskeleton robot according to claim 5, which is characterized in that on the first connecting rod
Also at least provided with a pulley for being limited and being oriented to rope.
7. a kind of flexible joint exoskeleton robot according to claim 5 or 6, which is characterized in that two first connecting rods it
Between be additionally provided with for leg joint assembly is fixed on hip and can realize degree of enclosing adjust central regulating mechanism.
8. a kind of flexible joint exoskeleton robot according to claim 5 or 6, which is characterized in that described first connects
Be provided with the shield for being supported and limiting to leg on bar, second connecting rod, the angularity of the shield with
Leg radian is consistent.
9. a kind of flexible joint exoskeleton robot according to claim 1, which is characterized in that the motor is adjusted
Device, controller and power supply are integrated in a control cabinet.
10. a kind of control based on flexible joint exoskeleton robot described in the claims of any one of claim 1,2,4-6,9
Method processed, which comprises the following steps:
S1, user's setting: including but is not limited to 1) to set gait control parameter, 2) initialize rope tension, flexible joint component
Damped coefficient, 3) each joint Angle Position zero；
S2, information feedback: the location information of the rope of adjuster detection and the joint angle position of force information and flexible joint component
Confidence breath is transmitted to controller, and controller controls the damping force of flexible joint component according to the information being collected into；
S3, assign instruction: after flexible joint exoskeleton robot integrality adjusts, controller assigns instruction, motor work
Make, rope movement is driven by adjuster, and then flexible joint component is driven to realize servo motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043908.5A CN109106558A (en) | 2018-09-07 | 2018-09-07 | A kind of flexible joint exoskeleton robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043908.5A CN109106558A (en) | 2018-09-07 | 2018-09-07 | A kind of flexible joint exoskeleton robot and its control method |
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| Publication Number | Publication Date |
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| CN109106558A true CN109106558A (en) | 2019-01-01 |
Family
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| CN201811043908.5A Pending CN109106558A (en) | 2018-09-07 | 2018-09-07 | A kind of flexible joint exoskeleton robot and its control method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955286A (en) * | 2019-04-26 | 2019-07-02 | 哈尔滨工业大学（深圳） | Rope drives flexible robot's experiment porch |
| CN110076820A (en) * | 2019-03-13 | 2019-08-02 | 东北大学 | A kind of bionic machine person joint containing elasticity in parallel |
| CN110898394A (en) * | 2019-11-26 | 2020-03-24 | 新疆医科大学第四附属医院 | Lower limb rehabilitation device |
| CN110916970A (en) * | 2019-11-18 | 2020-03-27 | 南京伟思医疗科技股份有限公司 | Device and method for realizing cooperative motion of weight-reducing vehicle and lower limb robot through communication |
| CN110934715A (en) * | 2019-11-18 | 2020-03-31 | 南京伟思医疗科技股份有限公司 | Control system and method for realizing cooperative motion of lower limb robot and weight reduction vehicle |
| CN110946742A (en) * | 2019-12-02 | 2020-04-03 | 南京伟思医疗科技股份有限公司 | Device and method for assisting lower limb robot to transfer gravity center by aid of weight reduction vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076820A (en) * | 2019-03-13 | 2019-08-02 | 东北大学 | A kind of bionic machine person joint containing elasticity in parallel |
| CN109955286A (en) * | 2019-04-26 | 2019-07-02 | 哈尔滨工业大学（深圳） | Rope drives flexible robot's experiment porch |
| CN110916970A (en) * | 2019-11-18 | 2020-03-27 | 南京伟思医疗科技股份有限公司 | Device and method for realizing cooperative motion of weight-reducing vehicle and lower limb robot through communication |
| CN110934715A (en) * | 2019-11-18 | 2020-03-31 | 南京伟思医疗科技股份有限公司 | Control system and method for realizing cooperative motion of lower limb robot and weight reduction vehicle |
| CN110916970B (en) * | 2019-11-18 | 2021-09-21 | 南京伟思医疗科技股份有限公司 | Device and method for realizing cooperative motion of weight-reducing vehicle and lower limb robot through communication |
| CN110898394A (en) * | 2019-11-26 | 2020-03-24 | 新疆医科大学第四附属医院 | Lower limb rehabilitation device |
| CN110946742A (en) * | 2019-12-02 | 2020-04-03 | 南京伟思医疗科技股份有限公司 | Device and method for assisting lower limb robot to transfer gravity center by aid of weight reduction vehicle |
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