CN109108939A - A kind of lower limb exoskeleton is help the disabled the embedded control system of healing robot - Google Patents
A kind of lower limb exoskeleton is help the disabled the embedded control system of healing robot Download PDFInfo
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- CN109108939A CN109108939A CN201810908099.3A CN201810908099A CN109108939A CN 109108939 A CN109108939 A CN 109108939A CN 201810908099 A CN201810908099 A CN 201810908099A CN 109108939 A CN109108939 A CN 109108939A
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- module
- dsp
- micro controller
- disabled
- arm
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Classifications
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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
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Abstract
The present invention relates to motion planning and robot control technical fields, especially a kind of lower limb exoskeleton is help the disabled the embedded control system of healing robot, including server/information management PC, ARM touch screen module, DSP micro controller module, pressure acquisition module, gyro module, crutch control module, motor driver module, the ARM touch screen module and server/information management PC carry out information exchange, ARM touch screen and DSP micro controller module communication link, it is used for transmission data and instruction, the DSP micro controller module respectively with crutch control module, pressure acquisition module, it is connected between gyro module and motor driver module by CAN bus, it is received or sent for data and instruction, the present invention realizes the modularization of control system, portability and effective pipe to information Reason.
Description
Technical field
The present invention relates to motion planning and robot control technical field, specific field is that a kind of lower limb exoskeleton is help the disabled rehabilitation machine
The embedded control system of people.
Background technique
Ectoskeleton is a kind of man-machine integration intelligent machine device dressed to people, it is by the intelligence and mechanical device of the mankind
" physical strength " be combined together, control mechanical device by the intelligence of people, completed by mechanical device only lean on people itself energy
Power can not unaided task.Lower limb exoskeleton is a kind of man-machine system for assisting people to walk, it is sufficient by people and two
Walking robot is combined together, and the walking of robot is controlled using the motion control capabilities of people, simplifies autonomous formula
The most commonly seen gait planning of biped robot and gait stability problem, while it provides power association again for the walking of the mankind
It helps, the ability and speed of enhancing mankind's walking, can especially alleviate people and easily go out in big weight bearing with when walking for a long time
Existing feeling of fatigue, expands the motion range of the mankind significantly, therefore can be used for the various aspects such as military affairs, scientific investigation, tourism, traffic, has wide
General application prospect.The physical disabilities as caused by various natural calamities, disease and traffic accident are also year by year at the same time
Increase, either the elderly or lower limb disability people, their scope of activities are all limited by very large, this is just substantially reduced
Their quality of life and life freedom degree.With the appearance of ectoskeleton, power-assisted walking function of helping the disabled can increase old age
The scope of activities of people and disabled person improve their freedom of action degree, improve their quality of life, them is helped preferably to melt
Enter society.
Exoskeleton robot is researched and developed, Embedded Motion Control System is one of key technology, directly determines ectoskeleton
Practical performance.In addition, the superiority and inferiority of control system determines robustness, safety and the practicability of whole system simultaneously for reality
The application of existing ectoskeleton, the miniaturization of control system, portability, is easily installed and maintenance becomes more and more important, this is just
It is required that driving control system is accomplished small in size as far as possible on the premise of ensuring performance, wiring is simple, easy to maintain.
Existing rehabilitation ectoskeleton embedded system or use PC machine are as motion controller and human-computer interaction interface
It unites bulky, it is not readily portable；By bracket, biggish device assists being not easy to using ectoskeleton equipment in equal volume
User carries out outdoor rehabilitation training.
Summary of the invention
It helps the disabled the embedded control system of healing robot the purpose of the present invention is to provide a kind of lower limb exoskeleton, with solution
Certainly systems bulky in the prior art, it is not readily portable, it biggish device is assisted using dermoskeleton in equal volume by bracket
The problem of bone equipment, the person of being not convenient to use carries out outdoor rehabilitation training.
To achieve the above object, the healing robot the invention provides the following technical scheme: a kind of lower limb exoskeleton is help the disabled
Embedded control system, including server/information management PC, ARM touch screen module, DSP micro controller module, pressure acquisition mould
Block, gyro module, crutch control module, motor driver module, the ARM touch screen module and server/information management
PC carries out information exchange, ARM touch screen and DSP micro controller module communication link, is used for transmission data and instruction, the DSP
Micro controller module is respectively between crutch control module, pressure acquisition module, gyro module and motor driver module
It is connected by CAN bus, is received or sent for data and instruction.
Preferably, the ARM touch screen module includes ARM microprocessor, LCD module, USB module, WIFI module；
The data terminal of the ARM microprocessor is connect with WIFI module and USB module respectively, and ARM microprocessor passes through
WIFI module and USB module and server/information management PC carry out information exchange；
The data terminal communication link of the LCD module and ARM microprocessor, it is raw for kinematic parameter input, movement instruction
At the display with transmission, motion state；
The ARM microprocessor and DSP micro controller module communication connection, are used for transmission data and instruction to DSP micro-control
Device module processed.
Preferably, the DSP micro controller module includes DSP microprocessor, CAN interface module, DSP microprocessor
With ARM microprocessor communication link, for receiving kinematic parameter, movement instruction, CAN interface module is connected to the micro- place DSP
Manage device data terminal, for respectively by CAN bus connection crutch control module, pressure acquisition module, gyro module and
Motor driver module.
Preferably, the ARM touch screen module and DSP micro controller module include Zigbee module, and the ARM is touched
Pass through Zigbee module communication link between panel module and DSP micro controller module.
Preferably, the motor driver module includes servo-driver, encoder, and the servo-driver passes through CAN
Bus receives the multiaxial motion that the motion control instruction driving motor that DSP micro controller module issues realizes exoskeleton robot,
The encoder feeds back to servo-driver by the location information during acquisition motor movement, realizes motor movement position
Accurate control.
Preferably, the pressure acquisition module uses diaphragm pressure sensor, is acquired and is dressed by diaphragm pressure sensor
The plantar pressure information of person is simultaneously converted into digital quantity and is uploaded to DSP micro controller module by CAN bus.
Preferably, the gyro module is electronic gyroscope chip, acquires robot appearance by electronic gyroscope chip
State information is uploaded to DSP micro controller module by CAN bus.
Preferably, the crutch control module includes key, will control information by key and pass through CAN bus to DSP
Micro controller module sends ectoskeleton motion state switching command to change the motion state of ectoskeleton.
Preferably, the motion state includes walking, receives step standing, is adjusted to prepare walking states.
Preferably, the server/information management PC sends the movement number to come up from ARM touch screen by receiving
According to storage data and the rehabilitation state for analyzing ectoskeleton user carry out reasonable analysis simultaneously to the rehabilitation strategies of user
Rehabilitation strategies adjusted and rehabilitation report are sent to ARM touch screen, for rehabilitation therapist and user with reference to improvement rehabilitation
Plan.
Compared with prior art, the beneficial effects of the present invention are: realizing the modularization of control system, portability and right
Effective management of information；Realize in outdoor carry out rehabilitation training also available visual status information and more accurate
Rehabilitation training control plan.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention；
Fig. 2 is DSP microprocessor main program flow chart of the invention；
Fig. 3 is ARM touch screen main program flow chart of the invention；
Fig. 4 is crutch control module main program flow chart of the invention.
In figure: 1, server/information management PC；2, ARM touch screen module；3, DSP micro controller module；4, pressure acquisition
Module；5, gyro module；6, crutch control module；7, motor driver module；8, ARM microprocessor；9, LCD module；10,
USB module；11, WIFI module；12, DSP microprocessor；13, CAN interface module；14, Zigbee module；15, servo is driven
Dynamic device；16, encoder.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution: a kind of lower limb exoskeleton is help the disabled the embedded of healing robot
Control system, including server/information management PC 1, ARM touch screen module 2, DSP micro controller module 3, pressure acquisition module
4, gyro module 5, crutch control module 6, motor driver module 7, the ARM touch screen module 2 and server/message tube
It manages PC 1 and carries out information exchange, ARM touch screen and 3 communication link of DSP micro controller module, be used for transmission data and instruction, institute
State DSP micro controller module 3 respectively with crutch control module 6, pressure acquisition module 4, gyro module 5 and motor driver
It is connected between module 7 by CAN bus, is received or sent for data and instruction.
The ARM touch screen module 2 includes ARM microprocessor 8, LCD module 9, USB module 10, WIFI module 11；
The data terminal of the ARM microprocessor 8 is connect with WIFI module 11 and USB module 10 respectively, ARM microprocessor 8
Information exchange is carried out by WIFI module 11 and USB module 10 and server/information management PC 1；
The data terminal communication link of the LCD module 9 and ARM microprocessor 8, for kinematic parameter input, movement instruction
It generates and sends, the display of motion state；
The ARM microprocessor 8 and 3 communication connection of DSP micro controller module, it is micro- to DSP to be used for transmission data and instruction
Controller module 3.
The DSP micro controller module 3 includes DSP microprocessor 12, CAN interface module 13, DSP microprocessor 12
With 8 communication link of ARM microprocessor, for receiving kinematic parameter, movement instruction, it is micro- that CAN interface module 13 is connected to DSP
The data terminal of processor 12, for connecting crutch control module 6, pressure acquisition module 4, gyroscope mould by CAN bus respectively
Block 5 and motor driver module 7.
The ARM touch screen module 2 and DSP micro controller module 3 include Zigbee module 14, the ARM touch screen
Pass through 14 communication link of Zigbee module between module 2 and DSP micro controller module 3.
The motor driver module 7 includes servo-driver 15, encoder 16, and the servo-driver 15 passes through CAN
Bus receives the multiaxial motion that the motion control instruction driving motor that DSP micro controller module 3 issues realizes exoskeleton robot,
The encoder 16 feeds back to servo-driver 15 by the location information during acquisition motor movement, realizes motor movement position
The accurate control set.
The pressure acquisition module 4 uses diaphragm pressure sensor, and the foot of wearer is acquired by diaphragm pressure sensor
Base pressure force information is simultaneously converted into digital quantity and is uploaded to DSP micro controller module 3 by CAN bus.
The gyro module 5 is electronic gyroscope chip, acquires robot posture information by electronic gyroscope chip
DSP micro controller module 3 is uploaded to by CAN bus.
The crutch control module 6 includes key, will control information by key and pass through CAN bus to DSP microcontroller
Device module 3 sends ectoskeleton motion state switching command to change the motion state of ectoskeleton.
The motion state includes walking, receives step standing, is adjusted to prepare walking states.
The server/information management PC 1 sends the exercise data to come up, storage from ARM touch screen by receiving
Data and the rehabilitation state for being used to analyze ectoskeleton user, after the rehabilitation strategies of user are carried out reasonable analysis and will be adjusted
Rehabilitation strategies and rehabilitation report be sent to ARM touch screen, for rehabilitation therapist and user with reference to improving rehabilitation programme.
By the technical program, as shown in Figures 2 to 4, the specific control of embedded control system of the present invention is realized, host computer
ARM touch screen module system initialization, creation thread, realize multi-task scheduling.There is in real time operation in 8 module of ARM microprocessor
Operating system (Linux) is responsible for the scheduling of multitask and the execution of task, and passes through CAN bus to slave computer DSP microcontroller
Module 3 sends the control instruction and control parameter for having format.8 module of ARM microprocessor also receives slave computer simultaneously
The lower limb exoskeleton that DSP micro controller module 3 returns is help the disabled motion state, location parameter, the posture in each joint of healing robot
Equal relevant parameters.The data storage that host computer ARM microprocessor module receives these, passes through when needed
WIFI or USB is uploaded to server/information management PC 1, instructs for PC analysis rehabilitation training state to formulate reasonable rehabilitation
Practice plan.Slave computer DSP micro controller module 3 is responsible for receiving control instruction and control parameter from host computer, according to the rules
Agreement data are converted, each servo-driver 15 is sent to by CAN bus.DSP micro controller module 3 is executing fortune
Also lower limb exoskeleton is read from pressure acquisition module 4, gyro module 5 in real time while dynamic control instruction to help the disabled rehabilitation machine
The pressure of people, attitude parameter read the location parameter fed back by encoder 16 from driver, and these information are stored
Come, feeds back to host computer ARM microprocessor module when ARM request exercise data uploads.Crutch module realizes convenient behaviour
Make, by simple button operation, realizes that ectoskeleton is help the disabled three kinds of motion states of healing robot auxiliary people's walking, including prepare
Walking states, walking states receive step standing state.
Concrete operation step:
Step 1 powers on each hierarchical system initialization, selects ARM touch screen control or crutch control；
Step 2, if selection ARM touch screen control, configuring area configure human parameters, kinematic parameter (step-length, step be high,
Leg speed), left and right leg pressure threshold value, left and right gyroscope angle threshold values, pressing motion control instruction, (motor is enabled, motor disability, quasi-
Standby walking, walking are received to walk and be stood) button, DSP microcontroller is sent to by Zigbee module 14 according to format；
If selecting the control of crutch module, then it represents that executed according to configured parameter and (repeatedly train institute for same user
With), three kinds of motion state switchings (preparation walking, receives step standing at walking) is realized by the single key on left-handed crutch, according to
The order parameter of format is sent to DSP microcontroller by CAN bus；
Step 3: DSP microcontroller receives the director data from ARM touch screen or the transmission of crutch module and executes accordingly
Program；First supplemental characteristic is written in reservoir if receiving the configuration parameter data from ARM touch screen；If receiving
The motion control instruction of ARM touch screen or crutch module then converts data according to the agreement of regulation, is sent out by CAN bus
Give each servo-driver 15；
Step 4: DSP micro controller module 3 will also be in real time from pressure acquisition module while executing motion control instruction
4, gyro module 5 reads lower limb exoskeleton and helps the disabled the pressure of healing robot, attitude parameter, reads from driver by encoding
The location parameter that device 16 is fed back carries out gait switching according to these information, and these information is stored, and requests to transport in ARM
Dynamic data feed back to host computer ARM microprocessor module when upload.
Step 5: it is micro- to receive slave computer DSP by sending exercise data uploading instructions to DSP for 8 module of ARM microprocessor
The lower limb exoskeleton that controller module 3 returns is help the disabled the correlations such as motion state, location parameter, posture in each joint of healing robot
Parameter, to the end of rehabilitation training or free time is uploaded onto the server/information management PC 1 by WIFI or USB.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
- The embedded control system of healing robot 1. a kind of lower limb exoskeleton is help the disabled, it is characterised in that: including server/information Manage PC, ARM touch screen module, DSP micro controller module, pressure acquisition module, gyro module, crutch control module, electricity Machine Drive Module, the ARM touch screen module and server/information management PC carry out information exchange, ARM touch screen and DSP Micro controller module communication link, is used for transmission data and instruction, and the DSP micro controller module controls mould with crutch respectively It is connected between block, pressure acquisition module, gyro module and motor driver module by CAN bus, for data and is referred to Order receives or sends.
- The embedded control system of healing robot 2. a kind of lower limb exoskeleton according to claim 1 is help the disabled, feature Be: the ARM touch screen module includes ARM microprocessor, LCD module, USB module, WIFI module；The data terminal of the ARM microprocessor is connect with WIFI module and USB module respectively, and ARM microprocessor passes through WIFI mould Block and USB module and server/information management PC carry out information exchange；The data terminal communication link of the LCD module and ARM microprocessor, for kinematic parameter input, movement instruction generate and It sends, the display of motion state；The ARM microprocessor and DSP micro controller module communication connection, are used for transmission data and instruction to DSP microcontroller Module.
- The embedded control system of healing robot 3. a kind of lower limb exoskeleton according to claim 2 is help the disabled, feature Be: the DSP micro controller module includes DSP microprocessor, CAN interface module, DSP microprocessor and the micro- place ARM Device communication link is managed, for receiving kinematic parameter, movement instruction, CAN interface module is connected to the data of DSP microprocessor End, for connecting crutch control module, pressure acquisition module, gyro module and motor driver by CAN bus respectively Module.
- The embedded control system of healing robot 4. a kind of lower limb exoskeleton according to claim 3 is help the disabled, feature Be: the ARM touch screen module and DSP micro controller module include Zigbee module, the ARM touch screen module with Pass through Zigbee module communication link between DSP micro controller module.
- The embedded control system of healing robot 5. a kind of lower limb exoskeleton according to claim 1 is help the disabled, feature Be: the motor driver module includes servo-driver, encoder, and the servo-driver receives DSP by CAN bus The motion control instruction driving motor that micro controller module issues realizes that the multiaxial motion of exoskeleton robot, the encoder are logical The location information crossed during acquiring motor movement feeds back to servo-driver, realizes the accurate control of motor movement position.
- The embedded control system of healing robot 6. a kind of lower limb exoskeleton according to claim 1 is help the disabled, feature Be: the pressure acquisition module uses diaphragm pressure sensor, is pressed by the vola that diaphragm pressure sensor acquires wearer Force information is simultaneously converted into digital quantity and is uploaded to DSP micro controller module by CAN bus.
- The embedded control system of healing robot 7. a kind of lower limb exoskeleton according to claim 1 is help the disabled, feature Be: the gyro module is electronic gyroscope chip, acquires robot posture information by electronic gyroscope chip and passes through CAN bus is uploaded to DSP micro controller module.
- The embedded control system of healing robot 8. a kind of lower limb exoskeleton according to claim 1 is help the disabled, feature Be: the crutch control module includes key, will control information by key and pass through CAN bus to DSP microcontroller mould Block sends ectoskeleton motion state switching command to change the motion state of ectoskeleton.
- The embedded control system of healing robot 9. a kind of lower limb exoskeleton according to claim 8 is help the disabled, feature Be: the motion state includes walking, receives step standing, is adjusted to prepare walking states.
- The embedded control system of healing robot 10. a kind of lower limb exoskeleton according to claim 1 is help the disabled, feature Be: the server/information management PC sends the exercise data to come up from ARM touch screen by receiving, and stores data And for analyzing the rehabilitation state of ectoskeleton user, reasonable analysis is carried out to the rehabilitation strategies of user and by health adjusted Multiple strategy and rehabilitation report are sent to ARM touch screen, for rehabilitation therapist and user with reference to improvement rehabilitation programme.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810908099.3A CN109108939A (en) | 2018-08-10 | 2018-08-10 | A kind of lower limb exoskeleton is help the disabled the embedded control system of healing robot |
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| CN201810908099.3A CN109108939A (en) | 2018-08-10 | 2018-08-10 | A kind of lower limb exoskeleton is help the disabled the embedded control system of healing robot |
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| WO2023000716A1 (en) * | 2021-07-19 | 2023-01-26 | 天津大学 | Wearable fracture reduction and rehabilitation robot control system and control method |
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