CN109745205A - A kind of multiple information acquisition system of wearable lower limb exoskeleton - Google Patents
A kind of multiple information acquisition system of wearable lower limb exoskeleton Download PDFInfo
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- CN109745205A CN109745205A CN201910100814.5A CN201910100814A CN109745205A CN 109745205 A CN109745205 A CN 109745205A CN 201910100814 A CN201910100814 A CN 201910100814A CN 109745205 A CN109745205 A CN 109745205A
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Abstract
A kind of multiple information acquisition system of wearable lower limb exoskeleton, including the thigh in ectoskeleton or so, the data acquisition node of the location arrangements such as shank and vola, data acquisition node is responsible for the data collection task of all the sensors near its installation position, data acquisition of the above data acquisition node for all the sensors near its installation position, data are sent the data to by CAN bus connection between data acquisition node and acquire host node, data acquire acquisition of the host node for sensing data near waist, and receive by CAN bus come data, upper PC machine is sent by the data of all acquisitions by WIFI, stored and realized that curve is shown, the present invention uses distributed arrangement, alleviate the function burden of data acquisition host node, it is routed and debugs and is more convenient, extension sensor It is simpler, avoid the problem that wire transmission causes ectoskeleton motion range limited.
Description
Technical field
The invention belongs to the data acquisition technology field of wearable ectoskeleton, in particular to a kind of wearable lower limb exoskeleton
Multiple information acquisition system.
Background technique
The sensor data acquisition of wearable ectoskeleton can provide necessary feedback information for control ectoskeleton movement, together
When data store and show in upper PC machine, enable experimenter and physiatrician during outer skeleton motion, in real time
Monitor the status information of ectoskeleton.In addition to this, the data stored can be also used for the scientific research of ectoskeleton.
The sensor data acquisition of current existing wearable ectoskeleton, is mostly designed for respective demand for control
Centralized data collection system, the conducting wire of sensor requires to be connected on the collection plate of concentration by leg everywhere for leg,
When number of sensors is more, cabling quantity can be very more, not only bad for the beauty of wiring, also result in investigation sensor hardware
It is very cumbersome when problem.Meanwhile such system structure, sensor extension is at high cost, even to redesign completely sometimes
One new data collection system, could meet demand.
The sensor data acquisition of current existing wearable ectoskeleton, mostly uses the mode of wire transmission will be collected
All data are sent to host computer and are stored and shown, this also can receive reluctantly in the ectoskeleton debugging stage, but in dermoskeleton
When bone carries out business application, use is very inconvenient, and be easy to cause the generation of contingency.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to propose a kind of wearable lower limb exoskeleton
Multiple information acquisition system is routed and extends more convenient, avoids wire transmission and cause ectoskeleton motion range is limited to ask
Topic, have it is easy to use, be convenient for debugging feature.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of multiple information acquisition system of wearable lower limb exoskeleton including upper PC machine 3, is mounted on the waist of ectoskeleton
Data acquisition host node 5, the left leg thigh data acquisition node 4 being mounted at the thigh rod piece of the left leg of ectoskeleton, installation in portion
Left leg shank data acquisition node 2 at the shank rod piece of the left leg of ectoskeleton is mounted at the shank rod piece of the left leg of ectoskeleton
Left leg foot data acquisition node 1, be mounted at the thigh rod piece of the right leg of ectoskeleton right leg thigh data acquisition node 6,
The shank bar for being mounted on the right leg shank data acquisition node 7 at the shank rod piece of the right leg of ectoskeleton, being mounted on the right leg of ectoskeleton
Right leg foot data acquisition node 8 at part；
Above data acquisition node for its installation position nearby all the sensors data acquisition, data acquisition node it
Between by CAN bus connection send the data to data acquire host node 5, data acquire host node 5 for waist nearby pass
The acquisition of sensor data, and receive by CAN bus come data, upper PC is sent for the data of all acquisitions by WIFI
Machine 3 is stored and is realized that curve is shown.
It is described that CAN bus is replaced with any one in I2C bus, spi bus, 232 buses, 485 buses.
The data acquisition host node 5 includes microprocessor collection plate, 9 axis IMU sensors, myoelectric sensor, CAN receipts
Hair device and serial ports turn WIFI module；9 axis IMU sensors be used to acquire acceleration of the waist in outer skeleton motion, angular speed and
Angle；Myoelectric sensor is for acquiring myoelectricity value of the human body in outer skeleton motion；CAN transceiver is used to acquire with other data
Node communication；Serial ports turns WIFI module and is converted to WIFI signal by the data that serial ports is sent for will tie up processor collection plate,
It is transferred to upper PC machine 3；The data acquisition host node 5 uses STM32F429 core board, passes through internal included CAN
Controller receives the data that other data acquisition nodes are sent by CAN bus by CAN transceiver module TJA1050；It is logical
It crosses serial ports and receives the acceleration that a 9 axis IMU sensor JY901 are sent, angular speed and angle information；Included by inside
12 AD acquire voltage swing of the 8 road myoelectric sensors after signal amplification circuit；By serial ports by all numbers received
According to turning WIFI module ESP8266-12F by serial ports, be sent in host computer PC in the form of WIFI data.
The left leg thigh data acquisition node 4, left leg shank data acquisition node 2, right leg thigh data acquisition section
Point 6 and right leg shank data acquisition node 7 include microprocessor collection plate, 9 axis IMU sensors, interaction force snesor and CAN
Transceiver；9 axis IMU sensors are for acquiring acceleration, angular speed and angle of the leg in outer skeleton motion；Reciprocal force sensing
Device is used to acquire direction and the size of interaction force of the human body in outer skeleton motion between leg and ectoskeleton；CAN transmitting-receiving
Device is used to communicate with other data acquisition nodes；The left leg thigh data acquisition node 4, left leg shank data acquisition node
2, right leg thigh data acquisition node 6 and right leg shank data acquisition node 7 are all made of STM32F103 core board, pass through string
Mouth receives the acceleration that a 9 axis IMU sensor JY901 are sent, angular speed and angle information；Pass through I/O port simulative serial port
Mode receives the reciprocal force size information that two interactive force snesors are sent；By the included CAN controller in inside, pass through
Data are sent to data by CAN bus and acquire host node by CAN transceiver module TJA1050.
The left leg foot data acquisition node 1, right leg foot data acquisition node 8 include that microprocessor acquires
Plate, 9 axis IMU sensors, vola diaphragm pressure sensor and CAN transceiver；9 axis IMU sensors are for acquiring foot in dermoskeleton
Acceleration, angular speed and angle in bone movement；Vola diaphragm pressure sensor is for acquiring the human body foot in outer skeleton motion
The size of interaction force between bottom and ectoskeleton；CAN transceiver is used to communicate with other data acquisition nodes；The left side
Leg foot data acquisition node 1, right leg foot data acquisition node 8 use STM32F103 core board, receive one by serial ports
Acceleration, angular speed and the angle information that a 9 axis IMU sensor JY901 is sent；Pass through 12 included AD of inside, acquisition
Voltage swing of 3, the vola diaphragm pressure sensor after signal amplification circuit；Pass through the included CAN controller in inside, warp
CAN transceiver module TJA1050 is crossed, data are sent to data by CAN bus and acquire host node.
The left leg thigh data acquisition node 4, left leg shank data acquisition node 2, left leg foot data acquisition section
The core that point 1, right leg thigh data acquisition node 6, right leg shank data acquisition node 7, right leg foot data acquisition node 8 use
Core is any a single-chip microcontroller product with CAN controller, serial ports and I/O port.
The upper PC machine 3 for real-time storage and is shown outer using the laptop with WIFI linkage function
The multivariate data of bone, and there is data analysis and processing function.
The beneficial effects of the present invention are:
The present invention uses distributed arrangement, and each data acquisition node undertakes the data acquisition function of a part,
This mode alleviates the function burden of data acquisition host node；When needing to extend more multisensor, acquired compared with centralization
Mode is also generally not easy to limit more than the function quantity of node.It is connected between each data acquisition node using CAN bus,
Four lines such as power supply line, ground wire, CAN_H line, CAN_L line are only needed, when whole system increases number of sensors, data acquisition
Number of conductors between node not will increase, and existing data collection system then needs to increase to the line of data acquisition module
Quantity is made troubles.Therefore, using data collection system of the invention, wiring is more convenient, and extension sensor is also simpler
It is single.Data acquire host node and wirelessly send upper PC machine for all data, avoid wire transmission and cause
The limited problem of ectoskeleton motion range also avoids when offline storage data cause debugging the external skeletal status of experimenter not
Clear problem, so that ectoskeleton debugging is more convenient.
Detailed description of the invention
Fig. 1 is the scheme of installation of all data acquisition nodes.
Fig. 2 is the schematic block circuit diagram of data acquisition host node.
Fig. 3 is the schematic block circuit diagram of leg data acquisition node.
Fig. 4 is the schematic block circuit diagram of foot data acquisition node.
In figure, 1. left leg foot data acquisition nodes, 2. left leg shank data acquisition nodes, 3. upper PC machine, 4. left legs
Thigh data acquisition node, 5. data acquire host node, 6. right leg thigh data acquisition nodes, 7. right leg shank data acquisition sections
Point, 8. right leg foot data acquisition nodes.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Referring to Fig. 1, a kind of multiple information acquisition system of wearable lower limb exoskeleton, including upper PC machine 3, data acquisition
Host node 5, left leg thigh data acquisition node 4, left leg shank data acquisition node 2, left leg foot data acquisition node 1 are right
Leg thigh data acquisition node 6, right leg shank data acquisition node 7, right leg foot data acquisition node 8；Ectoskeleton it is each
It is connected between data acquisition node by CAN bus, data acquisition host node 5 is sent the data of all acquisitions to by WIFI
Upper PC machine 3.
The CAN bus can be replaced I2C bus, spi bus, 232 buses, any one in 485 buses.
The data acquisition host node 5 is mounted on the waist of ectoskeleton, and left leg thigh data acquisition node 4 is mounted on outer
At the thigh rod piece of the left leg of bone, left leg shank data acquisition node 2 is mounted at the shank rod piece of the left leg of ectoskeleton, left leg foot
Portion's data acquisition node 1 is mounted at the shank rod piece of the left leg of ectoskeleton, and right leg thigh data acquisition node 6 is mounted on ectoskeleton
At the thigh rod piece of right leg, right leg shank data acquisition node 7 is mounted at the shank rod piece of the right leg of ectoskeleton, right leg foot number
It is mounted on according to acquisition node 8 at the shank rod piece of the right leg of ectoskeleton；These data acquisition nodes are responsible for its installation position institute nearby
There is the data collection task of sensor.The collected data of these data acquisition nodes are sent to by way of CAN bus
Data acquire host node.Data acquire host node in addition to receive by CAN bus come data acquisition node data, be also responsible for
The acquisition of sensing data near waist.All data summarized, turn WIFI module by serial ports, are transmitted to upper PC machine, into
Row storage and realization curve are shown.
The upper PC machine 3 has WIFI linkage function, for real using the small new-tide 5000 of laptop association
When store and show the multivariate data of ectoskeleton, and there is data analysis and processing function.
Referring to fig. 2, data acquisition host node 5 includes microprocessor collection plate, 9 axis IMU sensors, myoelectricity sensing
Device, CAN transceiver and serial ports turn WIFI module；9 axis IMU sensors be used to acquire acceleration of the waist in outer skeleton motion,
Angular speed and angle；Myoelectric sensor is for acquiring myoelectricity value of the human body in outer skeleton motion；CAN transceiver is used for other
Data acquisition node communication；Serial ports turns WIFI module for being converted to dimension processor collection plate by the data that serial ports is sent
WIFI signal is transferred to upper PC machine 3.
The data acquire host node 5, and core is one piece of STM32F429 core board, pass through internal included CAN control
Device processed receives the data that other data acquisition nodes are sent by CAN bus by CAN transceiver module TJA1050；Pass through
Serial ports receives the acceleration that a 9 axis IMU sensor JY901 are sent, angular speed and angle information；12 carried by inside
Position AD acquires voltage swing of the 8 road myoelectric sensors after signal amplification circuit；By serial ports by all numbers received
According to turning WIFI module ESP8266-12F by serial ports, be sent in host computer PC in the form of WIFI data.
The serial ports turns WIFI module and is also possible in addition to ESP8266-12F, and any a other serial ports turn WIFI mould
Block.
Referring to Fig. 3, the left leg thigh data acquisition node 4, left leg shank data acquisition node 2, right leg thigh number
It include microprocessor collection plate, 9 axis IMU sensors, reciprocal force biography according to acquisition node 6 and right leg shank data acquisition node 7
Sensor and CAN transceiver；9 axis IMU sensors are for acquiring acceleration, angular speed and angle of the leg in outer skeleton motion；
Interaction force snesor be used for acquire interaction force of the human body in outer skeleton motion between leg and ectoskeleton direction and greatly
It is small；CAN transceiver is used to communicate with other data acquisition nodes.
The left leg thigh data acquisition node 4, left leg shank data acquisition node 2, right leg thigh data acquisition section
Point 6 and right leg shank data acquisition node 7, core are one piece of STM32F103 core boards, receive a 9 axis IMU by serial ports
The acceleration that sensor JY901 is sent, angular speed and angle information；By way of I/O port simulative serial port, two friendships are received
The reciprocal force size information that mutual force snesor is sent；By the included CAN controller in inside, by CAN transceiver module
Data are sent to data by CAN bus and acquire host node by TJA1050.
The left leg thigh data acquisition node 4, left leg shank data acquisition node 2, left leg foot data acquisition node
1, the core that right leg thigh data acquisition node 6, right leg shank data acquisition node 7, right leg foot data acquisition node 8 use
Plate can be except STM32F103, and outside STM32F429, any a single-chip microcontroller with CAN controller, serial ports and I/O port is produced
Product.
Referring to fig. 4, the left leg foot data acquisition node 1, right leg foot data acquisition node 8 include micro process
Device collection plate, 9 axis IMU sensors, vola diaphragm pressure sensor and CAN transceiver；9 axis IMU sensors are for acquiring foot
Acceleration, angular speed and angle in outer skeleton motion；Vola diaphragm pressure sensor is for acquiring in outer skeleton motion
The size of interaction force between Human Sole and ectoskeleton；CAN transceiver is used to communicate with other data acquisition nodes.
The left leg foot data acquisition node 1, right leg foot data acquisition node 8 use STM32F103 core board,
It receives acceleration, angular speed and the angle information that a 9 axis IMU sensor JY901 are sent by serial ports；Certainly by inside
12 AD of band acquire voltage swing of 3, the vola diaphragm pressure sensor after signal amplification circuit；It is included by inside
CAN controller data are sent to data by CAN bus and acquire host node by CAN transceiver module TJA1050.
The CAN bus transceiver can be any a other CAN bus transceivers in addition to TJA1050.
The 9 axis IMU gyroscope JY901 module can also change any a gyroscope mould that data are sent by serial ports into
Block.
Further, 12 AD are carried in addition to similar STM32F103, STM32F429 etc. are internal, CAN controller
Outside chip, the mode of discrete component also can be used, build the circuit of same architecture.
Claims (7)
1. a kind of multiple information acquisition system of wearable lower limb exoskeleton, which is characterized in that including upper PC machine (3), installation
Ectoskeleton waist data acquisition host node (5), be mounted on the left leg of ectoskeleton thigh rod piece at left leg thigh data
Acquisition node (4), is mounted on dermoskeleton at the left leg shank data acquisition node (2) being mounted at the shank rod piece of the left leg of ectoskeleton
Left leg foot data acquisition node (1) at the shank rod piece of the left leg of bone, the right side being mounted at the thigh rod piece of the right leg of ectoskeleton
Leg thigh data acquisition node (6), the right leg shank data acquisition node (7) being mounted at the shank rod piece of the right leg of ectoskeleton,
The right leg foot data acquisition node (8) being mounted at the shank rod piece of the right leg of ectoskeleton；
Data of the above data acquisition node for all the sensors near its installation position acquire, between data acquisition node
Data acquisition host node (5) is sent the data to by CAN bus connection, data acquire host node (5) and nearby pass for waist
The acquisition of sensor data, and receive by CAN bus come data, upper PC is sent for the data of all acquisitions by WIFI
Machine (3) is stored and is realized that curve is shown.
2. a kind of multiple information acquisition system of wearable lower limb exoskeleton according to claim 1, which is characterized in that institute
It states with any one replacement CAN bus in I2C bus, spi bus, 232 buses, 485 buses.
3. a kind of multiple information acquisition system of wearable lower limb exoskeleton according to claim 1, which is characterized in that institute
Data acquisition host node (5) stated includes microprocessor collection plate, 9 axis IMU sensors, myoelectric sensor, CAN transceiver and string
Mouth turns WIFI module；9 axis IMU sensors are for acquiring acceleration, angular speed and angle of the waist in outer skeleton motion；Myoelectricity
Sensor is for acquiring myoelectricity value of the human body in outer skeleton motion；CAN transceiver is used to communicate with other data acquisition nodes；
Serial ports turns WIFI module for dimension processor collection plate to be converted to WIFI signal by the data that serial ports is sent, and is transferred to upper
PC machine (3)；Data acquisition host node (5) uses STM32F429 core board, the CAN controller carried by inside,
By CAN transceiver module TJA1050, the data that other data acquisition nodes are sent by CAN bus are received；It is connect by serial ports
Receive the acceleration that a 9 axis IMU sensor JY901 are sent, angular speed and angle information；12 AD carried by inside,
Acquire voltage swing of the 8 road myoelectric sensors after signal amplification circuit；By serial ports by all data received, pass through
Serial ports turns WIFI module ESP8266-12F, is sent in host computer PC in the form of WIFI data.
4. a kind of multiple information acquisition system of wearable lower limb exoskeleton according to claim 1, which is characterized in that institute
The left leg thigh data acquisition node (4) stated, left leg shank data acquisition node (2), right leg thigh data acquisition node (6) and
Right leg shank data acquisition node (7) includes that microprocessor collection plate, 9 axis IMU sensors, interaction force snesor and CAN are received
Send out device；9 axis IMU sensors are for acquiring acceleration, angular speed and angle of the leg in outer skeleton motion；Interaction force snesor
For acquiring direction and the size of interaction force of the human body in outer skeleton motion between leg and ectoskeleton；CAN transceiver
For being communicated with other data acquisition nodes；The left leg thigh data acquisition node (4), left leg shank data acquisition node
(2), right leg thigh data acquisition node (6) and right leg shank data acquisition node (7) are all made of STM32F103 core board,
The acceleration that a 9 axis IMU sensor JY901 are sent, angular speed and angle information are received by serial ports；It is simulated by I/O port
The mode of serial ports receives the reciprocal force size information that two interactive force snesors are sent；Pass through the included CAN control in inside
Data are sent to data by CAN bus and acquire host node by device by CAN transceiver module TJA1050.
5. a kind of multiple information acquisition system of wearable lower limb exoskeleton according to claim 1, which is characterized in that institute
Left leg foot data acquisition node (1), the right leg foot data acquisition node (8) stated include microprocessor collection plate, 9 axis
IMU sensor, vola diaphragm pressure sensor and CAN transceiver；9 axis IMU sensors are for acquiring foot in outer skeleton motion
In acceleration, angular speed and angle；Vola diaphragm pressure sensor is for acquiring in outer skeleton motion Human Sole and outer
The size of interaction force between bone；CAN transceiver is used to communicate with other data acquisition nodes；The left leg foot
Data acquisition node (1), right leg foot data acquisition node (8) use STM32F103 core board, receive one by serial ports
Acceleration, angular speed and the angle information that 9 axis IMU sensor JY901 are sent；Pass through 12 included AD of inside, acquisition foot
Voltage swing of 3, the bottom diaphragm pressure sensor after signal amplification circuit；By the included CAN controller in inside, pass through
Data are sent to data by CAN bus and acquire host node by CAN transceiver module TJA1050.
6. a kind of multiple information acquisition system of wearable lower limb exoskeleton according to claim 1, which is characterized in that institute
The left leg thigh data acquisition node (4) stated, left leg shank data acquisition node (2), left leg foot data acquisition node (1),
Right leg thigh data acquisition node (6), right leg shank data acquisition node (7), right leg foot data acquisition node (8) use
Core board is any a single-chip microcontroller product with CAN controller, serial ports and I/O port.
7. a kind of multiple information acquisition system of wearable lower limb exoskeleton according to claim 1, which is characterized in that institute
The upper PC machine (3) stated for real-time storage and shows the more of ectoskeleton using the laptop with WIFI linkage function
Metadata, and there is data analysis and processing function.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910203A (en) * | 2021-11-11 | 2022-01-11 | 电子科技大学 | Rehabilitation type exoskeleton device |
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| CN106691454A (en) * | 2015-11-13 | 2017-05-24 | 深圳市肯綮科技有限公司 | Human lower-limb motion assisting device |
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Application publication date: 20190514 |