CN110236890A - Control device for exoskeleton robot - Google Patents
Control device for exoskeleton robot Download PDFInfo
- Publication number
- CN110236890A CN110236890A CN201810186282.7A CN201810186282A CN110236890A CN 110236890 A CN110236890 A CN 110236890A CN 201810186282 A CN201810186282 A CN 201810186282A CN 110236890 A CN110236890 A CN 110236890A
- Authority
- CN
- China
- Prior art keywords
- module
- communication module
- controller
- signal
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 3
- 238000004891 communication Methods 0.000 claims description 136
- 230000006698 induction Effects 0.000 claims description 28
- 230000033001 locomotion Effects 0.000 claims description 24
- 230000000087 stabilizing effect Effects 0.000 claims description 24
- 230000002045 lasting effect Effects 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 210000003423 ankle Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 210000003127 knee Anatomy 0.000 description 3
- 238000005266 casting Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
Abstract
The invention discloses a kind of control devices for exoskeleton robot, it is electrically connected at the control system of exoskeleton robot, the control instruction signal control exoskeleton robot work that control system is exported according to control device, control device includes: first control unit and PC control unit；First control unit includes: the first key module and the first controller；First key module exports the first trigger signal；First controller is electrically connected at the first key module, and the first controller receives and processes after the first key module exports the first trigger signal and exports the first command signal；PC control unit is electrically connected at the first controller and control system, and PC control unit exports the first control instruction signal after receiving and processing the first command signal, and control system receives and controls exoskeleton robot work according to the first control instruction signal.
Description
Technical field
The present invention relates to a kind of control devices for exoskeleton robot.
Background technique
Restore the highly desirable of the walking person that is lower limb paralysis.Currently used method is using lower limb orthosis, including RGO
(The reciprocating gait orthosis, interaction gait walking orthoses), HKAFO (The hip knee ankle
Foot orthosis, hip-knee-ankle-foot orthosis), KAFO (The knee ankle foot orthosis, knee ankle foot distortion rectification
Device), AFO (The ankle foot orthosis, ankle-foot orthosis) etc. merges and walks by common walk helper.
Ectoskeleton auxiliary moving machine device people quickly grows in the world in recent years, it is already possible to add patient using robot and turn
Cane realizes walking auxiliary walking.The clinical value of this kind of robot has gained universal acceptance, but domestic ectoskeleton and intelligence
The equipment and technologies such as crutch can be assisted still to lag.
The prior art mostly passes through screen control, mobile phone control and computer control and controls exoskeleton robot, but
That control model is single, when exoskeleton robot be in electromagnetic conditions compare evil omit under conditions of, cause signal transmit shakiness
Fixed, What is more the case where also will cause signal interruption；The control of existing exoskeleton robot is all by entourage simultaneously
It manipulating, user is merely able to passive movement, when exoskeleton robot starts or stops movement, user and entourage's
Degree of cooperation is just particularly important, and degree of cooperation is low, the using effect of influence user that will be very big, for making for user
It is caused a hidden trouble with safety；Therefore based on aforementioned situation develop one kind can by user's Self-operating and can be used it is wired or
Wirelessly control exoskeleton robot motion state and motor pattern control device have become one it is urgently to be solved
Problem.
Summary of the invention
Therefore, technical problem to be solved by the present invention lies in providing a kind of control device for exoskeleton robot,
It is electrically connected at the control system of exoskeleton robot, wherein the control that the control system is exported according to the control device
Command signal controls the exoskeleton robot work, and the control device includes:
First control unit, comprising:
First key module exports the first trigger signal；
First controller, is electrically connected at first key module, and first controller receives simultaneously
It handles after first key module exports first trigger signal and exports the first command signal；
PC control unit is electrically connected at first controller and the control system, the PC control
Unit exports the first control instruction signal after receiving and processing first command signal, and the control system receives and according to institute
It states the first control instruction signal and controls the exoskeleton robot work.
Above-mentioned control device, wherein further include:
Second control unit, comprising:
Second key module exports the second trigger signal；
Second controller is electrically connected at second key module and the PC control unit,
After the second controller receives and processes the second key module output second trigger signal
The second command signal is exported, after the PC control unit receives and processes second command signal
The second control instruction signal is exported, the control system receives and according to the second control instruction signal
Control the exoskeleton robot work.
Above-mentioned control device, wherein the first control unit further includes the first power module and the first power management
Module, first power module are electrically connected at first power management module, and first power management module is electrical
It is connected to first controller, first power module provides electric energy, the first power supply pipe for first controller
Reason module provides stable charging voltage when charging for first power module；Second control unit includes second source
Module and second source management module, the second power supply module are electrically connected at the second source management module, and described
Two power management modules are electrically connected at the second controller, and the second power supply module provides electricity for the second controller
Can, the second source management module provides stable charging voltage when charging for the second power supply module.
Above-mentioned control device, wherein the first control unit further includes the first Voltage stabilizing module, the first pressure stabilizing mould
Block is electrically connected at first power management module and first controller；Second control unit includes the second pressure stabilizing
Module, second Voltage stabilizing module are electrically connected at the second source management module and the second controller.
Above-mentioned control device, wherein the first control unit further includes the first communication module, and second control is single
Member includes the second communication module, and the PC control unit includes third communication module, first communication module and described
Second communication module is electrically connected at the third communication module, passes through first communication module, second communication module
And the third communication module between the first control unit, second control unit and the PC control unit into
The transmission of row signal.
Above-mentioned control device, wherein first communication module includes the first wire communication module and the first channel radio
Interrogate module；Second communication module includes the second wire communication module and the second wireless communication module；The third communicates mould
Block includes third wire communication module and third wireless communication module, the first wire communication module and second cable modem
News module is electrically connected at the third wire communication module, first wireless communication module and the second wireless telecommunications mould
Block is electrically connected at the third wireless communication module.
Above-mentioned control device, wherein first key module exports the first wake-up signal, and first controller connects
Receive the work shape that the first wire communication module and first wireless communication module are detected after first wake-up signal
State, and select to transmit signal by the first wire communication module or first wireless communication module.
Above-mentioned control device, wherein second key module exports the second wake-up signal, and the second controller connects
Receive the work shape that the second wire communication module and second wireless communication module are detected after second wake-up signal
State, and select to transmit signal by the second wire communication module or second wireless communication module.
Above-mentioned control device, wherein the PC control unit includes UART module, and the UART module electrically connects
It is connected to the control system, the UART module exports the first control instruction signal to the control system, the UART
Module exports the second control instruction signal to the control system.
Above-mentioned control device, wherein the PC control unit further includes MP3 module and voice playing module, institute
It states control system and the exoskeleton robot is controlled according to the first control instruction signal or the second control instruction signal
After completing a movement, the control system also exports the instruction completion signal of the corresponding movement, and the UART module also receives
To the MP3 module, the MP3 module is stored with corresponding to the exoskeleton robot for output after described instruction completes signal
Multiple voice signals of multiple movements, the MP3 module complete the signal output correspondingly voice according to described instruction
Signal to the voice playing module, the voice playing module plays the voice signal.
Above-mentioned control device, wherein further include the first crutch body and the second crutch body, the first control unit
It is installed in first crutch body, second control unit is installed in second crutch body.
Above-mentioned control device, wherein further include first shell, be installed in first crutch body, described first
Key module, the first controller, the first wireless communication module, the first Voltage stabilizing module, the first power management module, the first power supply mould
Block and the first wire communication module are set in the first shell.
Above-mentioned control device, wherein further include second shell, be installed in second crutch body, described second
Key module, second controller, the second wireless communication module, the second Voltage stabilizing module, second source management module, second source mould
Block and the second wire communication module are set in the second shell.
Above-mentioned control device, wherein the first control unit further includes first pressure induction module, first pressure
Power induction module is electrically connected at first controller, and first controller detects after receiving first wake-up signal
Whether the first pressure induction module receives lasting pressure, when the first pressure induction module receives lasting pressure
When power, the first controller work, otherwise the first controller suspend mode；Second control unit further includes second pressure
Induction module, the second pressure induction module are electrically connected at the second controller, and the second controller receives institute
Detect whether the second pressure induction module receives lasting pressure after stating the second wake-up signal, when the second pressure sense
When module being answered to receive lasting pressure, the second controller work, the otherwise second controller suspend mode.
The present invention is directed to the prior art its effect and is:
1, control device of the invention enables a user to be completed according to self-demand active control exoskeleton robot
Movement, and then promote the using effect of user and the safety of user；
2, the motion state that wired or wireless mode controls exoskeleton robot can be used in control device of the invention
And motor pattern, and user can switch in wired and wireless mode, so that control device can overcome
Environmental disturbances enhance the applicability of exoskeleton robot；
3, control device and crutch body are combined as a whole by control device of the invention, greatly strengthen user just
Benefit.
Detailed description of the invention
Fig. 1-2 is the overall structure diagram of control device of the present invention；
Fig. 3 is the partial enlargement diagram of control device in Fig. 2；
Fig. 4 is the schematic diagram of internal structure of control device in Fig. 1-2.
Wherein, appended drawing reference are as follows:
First crutch body 11
Armrest part 111
First control unit 12
First key module 121
First controller 122
First power management module 123
First Voltage stabilizing module 124
First communication module 125
First wire communication module 1251
First wireless communication module 1252
First pressure induction module 126
First power module 127
Second crutch body 21
Second control unit 22
Second key module 221
Second controller 222
Second source management module 223
Second Voltage stabilizing module 224
Second communication module 225
Second wire communication module 2251
Second wireless communication module 2252
Second pressure induction module 226
Second power supply module 227
PC control unit 13
Third communication module 131
Third wire communication module 1311
Third wireless communication module 1312
UART module 132
MP3 module 133
Voice playing module 134
First shell 14
Second shell 24
Power supply indicator 128,228
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing: the present embodiment is with skill of the present invention
Implemented under premised on art scheme, give embodiment and operating process, but protection scope of the present invention be not limited to it is following
Embodiment.
Fig. 1-4 is please referred to, Fig. 1-2 is the overall structure diagram of control device of the present invention；Fig. 3 is control device in Fig. 2
Partial enlargement diagram；Fig. 4 is the schematic diagram of internal structure of control device in Fig. 1-2, and arrow direction is signal transmission in figure
Direction.Wherein, in the present embodiment with by first control unit and the second control unit be installed in respectively the first crutch body and
It is preferable embodiment in second crutch body, but the present invention is not limited thereto, it in other embodiments can also be by first
Control unit and the second control unit are installed in respectively in first-hand ring body and second-hand's ring body.
As shown in Figs 1-4, the present invention is used for the control device of exoskeleton robot, is electrically connected at exoskeleton robot
Control system 3, the control instruction signal control exoskeleton robot that control system 3 is exported according to control device work, control dress
Set includes: the first crutch body 11, first control unit 12 and PC control unit 13；First control unit 12 is installed in
In one crutch body 11, first control unit includes: the first key module 121 and the first controller 122；First key module
121 the first trigger signals of output；First controller 122 is electrically connected at the first key module 121, and the first controller 122 receives
And the first command signal is exported after handling the first trigger signal of the first key module 121 output；13 electricity of PC control unit
Property is connected to the first controller 122 and control system 3 repeatedly, and PC control unit 13 receives and processes defeated after the first command signal
First control instruction signal out, control system 3 receive and control exoskeleton robot work according to the first control instruction signal.
Further, control device, further includes: the second crutch body 21 and the second control unit 22；Second control unit
22 are installed in the second crutch body 21, and the second control unit 22 includes: the second key module 221 and second controller 222；The
Two key modules 221 export the second trigger signal；Second controller 222 is electrically connected at the second key module 221 and host computer
Control unit 13, second controller 222 receive and process output second after the second key module 221 exports the second trigger signal and refer to
The second control instruction signal, control system 3 are exported after enabling signal, PC control unit 13 receive and process the second command signal
It receives and exoskeleton robot work is controlled according to the second control instruction signal.
Wherein, in the present embodiment the first key module 121 and the second key module 221 include be a key, but
The present invention is not limited thereto.
Still further, first control unit 12 further include the first power module 127, the first power management module 123 and
First Voltage stabilizing module 124, the first power module 127 are electrically connected at the first power management module 123, the first power management module
123 are electrically connected at the first Voltage stabilizing module 124, and the first Voltage stabilizing module 124 is electrically connected at the first controller 122, the first power supply
Module 127 is that the first controller 122 provides electric energy, and the first power management module 123 provides when charging for the first power module 127
Stable charging voltage, the first Voltage stabilizing module 124 provide stable outside for the detection of the electricity of the first power management module 123
Reference voltage and normal working voltage is provided for the first controller 122；Second control unit 22 include second power supply module 227,
Second source management module 223 and the second Voltage stabilizing module 224, second power supply module 227 are electrically connected at second source management mould
Block 223, second source management module 223 are electrically connected at the second Voltage stabilizing module 224, and the second Voltage stabilizing module 224 is electrically connected at
Second controller 222, second power supply module 227 are that second controller 222 provides electric energy, and second source management module 223 is the
Two power modules 227 provide stable charging voltage when charging, the second Voltage stabilizing module 224 is second source management module 223
The detection of electricity provides stable external reference voltage and provides normal working voltage for second controller 222.
Further, first control unit 12 further includes the first communication module 125, and the second control unit 22 includes second
Communication module 225, PC control unit 13 include third communication module 131, the first communication module 125 and the second communication module
225 are electrically connected at third communication module 131, communicate mould by the first communication module 125, the second communication module 225 and third
Block 131 carries out signal transmission between first control unit 12, the second control unit 22 and PC control unit 13.Wherein,
One communication module 125 includes the first wire communication module 1251 and the first wireless communication module 1252；Second communication module 225 packet
Include the second wire communication module 2251 and the second wireless communication module 2252；Third communication module 131 includes third wire communication
Module 1311 and third wireless communication module 1312.First key module 121 also exports the first wake-up signal, the first controller
122 receive the first controller 122 entrance normal mode of operation and the first wire communication module of detection after the first wake-up signal
1251 and first wireless communication module 1252 working condition, and select wireless by the first wire communication module 1251 or first
Communication module 1252 transmits signal；Second key module 221 exports the second wake-up signal, and second controller 222 receives second
Second controller 222 enters normal mode of operation and detects the second wire communication module 2251 and the second channel radio after wake-up signal
The working condition of module 2252 is interrogated, and selects to transmit by the second wire communication module 2251 or the second wireless communication module 2252
Signal.For example, when the first controller 122 detects that the first wire communication module 1251 is connected by way of wired connection
Afterwards, the selection of the first controller 122 transmits signal by the first wire communication module 1251, when the first controller 122 is not detected
After first wire communication module 1251 is connected by way of wired connection, the selection of the first controller 122 passes through the first channel radio
It interrogates module 1252 and transmits signal；When second controller 222 detects the side that the second wire communication module 2251 passes through wired connection
Formula connection after, second controller 222 selection by the first wire communication module 1251 transmit signal, when second controller 222 not
After detecting that the second wire communication module 2251 is connected by way of wired connection, the selection of second controller 222 passes through second
Wireless communication module 2252 transmits signal.
Wherein, in the present embodiment, the first wire communication module 1251 and the second wire communication module 2251 are electrically connected
In third wire communication module 1311；First wireless communication module 1252 and the second wireless communication module 2252 are electrically connected at
Three wireless communication modules 1312, and do not communicated between the first wire communication module 1251 and the second wire communication module 2251, the
It is not communicated between one wireless communication module 1252 and the second wireless communication module 2252, to reduce first control unit 12 and second
Signal interference between control unit 22, but the present invention is not limited thereto.
It is worth noting that, in this embodiment with the first wire communication module 1251, the second wire communication module 2251 and
Third wire communication module 1311 is RS485 wire communication module, with the first wireless communication module 1252, the second wireless telecommunications mould
Block 2252 and third wireless communication module 1312 are that Zigbee wireless communication module is preferable embodiment, but the present invention is not
As limit.
Also further, PC control unit 13 includes UART module 132, MP3 module 133 and voice playing module
134, UART modules 132 are electrically connected at control system 3, and UART module 132 exports the first control instruction signal and the second control
Command signal is to control system 3；Control system 3 controls ectoskeleton according to the first control instruction signal or the second control instruction signal
After robot completes a movement, control system 3 also exports the instruction completion signal of the corresponding movement, and UART module 132 also connects
To MP3 module 133, MP3 module 133 is stored with multiple movements corresponding to exoskeleton robot for output after receiving instruction completion signal
Multiple voice signals, MP3 module 133 according to instruction completion signal export correspondingly voice signal to voice playing module
134, voice playing module 134 plays voice signal, to realize the real-time voice casting of exoskeleton robot movement.Wherein with
Voice playing module 134 is that loudspeaker are preferable embodiment, but the present invention is not limited thereto.
Wherein, control device further includes first shell 14, is installed in the first crutch body 11, the first key module 121,
First controller 122, the first wireless communication module 1251, the first Voltage stabilizing module 124, the first power management module 123, first have
Line communication module 1252 and the first power module 127 are set in first shell 14；Control device further includes second shell 24, dress
In the second crutch body 21, the second key module 221, second controller 222, the second wireless communication module 2251, second
Voltage stabilizing module 224, second power supply module 227, the second wire communication module 2252 and second source management module 223 are set to
In two shells 24.
Further, first control unit 12 further includes first pressure induction module 126, first pressure induction module
125 are installed in the upper of the first crutch body 11, and first pressure induction module 126 is electrically connected at the first controller 122, the first control
Device 122 processed also detects whether first pressure induction module 126 receives lasting pressure after receiving the first wake-up signal, when
When one pressure sensitive module 126 receives lasting pressure, the work of the first controller 122, otherwise 122 suspend mode of the first controller；
Second control unit 22 further includes second pressure induction module 226, and second pressure induction module 226 is installed in the second crutch body
21 it is upper, second pressure induction module 226 is electrically connected at second controller 222, and second controller 222 receives the second wake-up
Also detect whether second pressure induction module 226 receives lasting pressure after signal, when second pressure induction module 226 receives
When to lasting pressure, second controller 222 works, otherwise 222 suspend mode of second controller.Wherein in the present embodiment, with
It is preferable embodiment that one pressure sensitive module 126 and second pressure induction module 226, which are respectively a key, but the present invention is simultaneously
It is not limited.
Wherein in the present embodiment, the armrest part 111 of the first crutch body 11 is installed in first pressure induction module 125
On, it is preferable embodiment that second pressure induction module 226, which is installed on the armrest part 211 of the second crutch body 21, but this
Invention is not limited thereto.
The specific work process of control device of the present invention is illustrated below in conjunction with Fig. 1-4.Wherein dermoskeleton in the present embodiment
The motion state of bone robot includes that movement executes and act stopping；The motor pattern of exoskeleton robot include stand up, walk,
It sits down, go upstairs and goes downstairs, but the present invention is not limited thereto.
One, the selection of communication mode, the present invention have wire communication mode and wireless communication mode:
1, wireless mode
Wiring is not needed, robot power supply is opened, presses the first key module 121, it can normal use.
When controlling using wireless mode, the first key module 121 is pressed, the first controller 122 is waken up work, works as order
After execution, the first controller 122 enters sleep state, to achieve the purpose that reduce power consumption.
2, wired mode
It needs to have the first wire communication module 1252 and third wire communication module 132, second by two helixes
Line communication module 2252 and third wire communication module 132 connect, and after connecting, need to consolidate the plug on crutch using bandage
It is fixed, avoid crutch using when pull and shake.
When being controlled using wired mode, exoskeleton robot can give the first power module 127 and second power supply module 227 certainly
Dynamic charging, can with while with while fill, solve the problems, such as that the first controller 122 and second controller 222 are not available because of out of power；
The use of wired mode is also avoided that because signal interference causes wireless mode can not work normally simultaneously.
Two, robot manipulation's mode
1, first control unit 12 is defined as the operating mode of selection exoskeleton robot:
Pattern switching is carried out by the first key module 121, voice playing module 134 can all carry out corresponding language when switching
Sound casting.First key module 121 has two kinds of working methods of long-pressing and short-press.When short-press, operating mode transfer sequence is
Stand-walk-sit down-go upstairs-go downstairs-it stands up；It is long on time, operating mode transfer sequence be stand up-going downstairs-go upstairs-
Sit down-walk-it stands up.
2, the second control unit 22 is defined as selection motion state, when the first key module 121 selects the operating mode that stands up
When, exoskeleton robot then executes movement of standing up after pressing the second key module 221, after pressing the second key module 221 again
Exoskeleton robot stops movement of standing up.In actual use, it in order to guarantee user's safety, may be alternatively provided as pressing for the first time
After second key module 221 voice playing module 134 play " PLSCONFM is stood up " voice signal, press for the second time second by
Exoskeleton robot then executes movement of standing up after key module 221.
In another embodiment of the invention, voice playing module 134 plays after pressing the second key module 221 for the first time
The voice signal of " PLSCONFM is stood up " is pressed after the second key module 221 for the second time when second pressure induction module 226 detects
Movement of standing up then is executed to exoskeleton robot when having pressure value.
In one more embodiment of the present invention, voice playing module 134 is played after pressing the second key module 221 for the first time
After the voice signal of " PLSCONFM is stood up ", while pressing ectoskeleton machine after the first key module 121 and the second key module 221
Device people then executes movement of standing up.
3, under walking mode, in order to cope with emergency, the first key module 121 or the second key module no matter are pressed
221, exoskeleton robot all can hard stop, and be restored to upright state.
4, it charges
When the first power module 127 and low 227 electricity of second power supply module, voice playing module 134 plays voice automatically
Signal reminds user's charging.
When charging is required, it can choose there are two types of charging modes: external USB power source charges mode and control device and machine
Charging modes when device people's wired connection.Power supply indicator 128,228 has been also equipped in first shell 14 and second shell 24.
External USB power source charges mode: after plugging USB line, just coming into charged state, when charging, power supply indicator
128,228 flashing indicates that electricity is full of, crutch can sleep mode automatically if power supply indicator 128,228 is always on.
In conclusion control device through the invention, enables a user to first according to self-demand active control
Exoskeleton robot execution, and then promote the using effect of user and the safety of user；Secondly by can make
Control the motion state and motor pattern of exoskeleton robot with wired or wireless mode, and user can in wired and
It is switched in wireless mode, so that control device can overcome environmental disturbances, enhances the applicability of exoskeleton robot；
It is combined as a whole finally by by control device and crutch body, greatly strengthens the convenience of user.
Although the present invention is disclosed above with above-described embodiment, however, it is not to limit the invention, belonging to the present invention
Related technical personnel in technical field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations,
Therefore protection scope of the present invention is subject to the protection scope defined depending on appended claims.
Claims (14)
1. a kind of control device for exoskeleton robot, is electrically connected at the control system of exoskeleton robot, feature
It is, the control system controls the exoskeleton robot according to the control instruction signal that the control device exports and works,
The control device includes:
First control unit, comprising:
First key module exports the first trigger signal；
First controller, is electrically connected at first key module, first controller receive and process described first by
Key module exports the first command signal after exporting first trigger signal；
PC control unit is electrically connected to first controller and the control system, the PC control list repeatedly
Member exports the first control instruction signal after receiving and processing first command signal, and the control system receives and according to described
First control instruction signal controls the exoskeleton robot work.
2. control device as described in claim 1, which is characterized in that further include:
Second control unit, comprising:
Second key module exports the second trigger signal；
Second controller is electrically connected at second key module and the PC control unit,
The second controller receives and processes output second after second key module exports second trigger signal and refers to
The second control instruction signal, institute are exported after enabling signal, the PC control unit receive and process second command signal
Control system is stated to receive and control the exoskeleton robot work according to the second control instruction signal.
3. control device as claimed in claim 2, which is characterized in that the first control unit further includes the first power module
And first power management module, first power module are electrically connected at first power management module, first electricity
Source control module is electrically connected at first controller, and first power module provides electric energy for first controller,
First power management module provides stable charging voltage when charging for first power module；Second control is single
Member includes second power supply module and second source management module, and the second power supply module is electrically connected at the second source pipe
Module is managed, the second source management module is electrically connected at the second controller, and the second power supply module is described the
Two controllers provide electric energy, and the second source management module provides stable charging electricity when charging for the second power supply module
Pressure.
4. control device as claimed in claim 3, which is characterized in that the first control unit further includes the first pressure stabilizing mould
Block, first Voltage stabilizing module are electrically connected at first power management module and first controller；Second control
Unit processed includes the second Voltage stabilizing module, and second Voltage stabilizing module is electrically connected at the second source management module and described the
Two controllers.
5. control device as claimed in claim 4, which is characterized in that the first control unit further includes the first communication mould
Block, second control unit include the second communication module, and the PC control unit includes third communication module, and described the
One communication module and second communication module are electrically connected at the third communication module, by first communication module,
Second communication module and the third communication module the first control unit, second control unit and it is described on
Signal transmission is carried out between the machine control unit of position.
6. control device as claimed in claim 5, which is characterized in that first communication module includes the first wire communication mould
Block and the first wireless communication module；Second communication module includes the second wire communication module and the second wireless communication module；
The third communication module includes third wire communication module and third wireless communication module, the first wire communication module and
The second wire communication module is electrically connected at the third wire communication module, first wireless communication module and described
Second wireless communication module is electrically connected at the third wireless communication module.
7. control device as claimed in claim 6, which is characterized in that first key module exports the first wake-up signal,
First controller detects the first wire communication module and described first wirelessly after receiving first wake-up signal
The working condition of communication module, and select through the first wire communication module or first wireless communication module transmission letter
Number.
8. control device as claimed in claim 7, which is characterized in that second key module exports the second wake-up signal,
The second controller detects the second wire communication module and described second wirelessly after receiving second wake-up signal
The working condition of communication module, and select through the second wire communication module or second wireless communication module transmission letter
Number.
9. control device as claimed in claim 2, which is characterized in that the PC control unit includes UART module, institute
It states UART module and is electrically connected at the control system, the UART module exports the first control instruction signal to the control
System processed, the UART module export the second control instruction signal to the control system.
10. control device as claimed in claim 9, which is characterized in that the PC control unit further include MP3 module and
Voice playing module, the control system control institute according to the first control instruction signal or the second control instruction signal
After stating one movement of exoskeleton robot completion, the control system also exports the instruction completion signal of the corresponding movement, described
UART module also receives output after described instruction completes signal, and, to the MP3 module, the MP3 module is stored with corresponding to described
Multiple voice signals of multiple movements of exoskeleton robot, the MP3 module complete signal output and its according to described instruction
Accordingly the voice signal to the voice playing module, the voice playing module plays the voice signal.
11. control device as claimed in claim 8, which is characterized in that it further include the first crutch body and the second crutch body,
The first control unit is installed in first crutch body, and second control unit is installed in the second crutch sheet
On body.
12. control device as claimed in claim 10, which is characterized in that further include first shell, be installed in described first and turn
On cane ontology, first key module, the first controller, the first wireless communication module, the first Voltage stabilizing module, the first power supply pipe
Reason module, the first power module and the first wire communication module are set in the first shell.
13. control device as claimed in claim 10, which is characterized in that further include second shell, be installed in described second and turn
On cane ontology, second key module, second controller, the second wireless communication module, the second Voltage stabilizing module, second source pipe
Reason module, second power supply module and the second wire communication module are set in the second shell.
14. control device as claimed in claim 2, which is characterized in that the first control unit further includes first pressure sense
Module is answered, the first pressure induction module is electrically connected at first controller, and first controller receives described
Detect whether the first pressure induction module receives lasting pressure after first wake-up signal, when the first pressure incudes
When module receives lasting pressure, the first controller work, otherwise the first controller suspend mode；Second control
Unit further includes second pressure induction module, and the second pressure induction module is electrically connected at the second controller, described
Second controller detects whether the second pressure induction module receives lasting pressure after receiving second wake-up signal
Power, when the second pressure induction module receives lasting pressure, the second controller work, otherwise second control
Device suspend mode processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810186282.7A CN110236890B (en) | 2018-03-07 | Control device for exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810186282.7A CN110236890B (en) | 2018-03-07 | Control device for exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110236890A true CN110236890A (en) | 2019-09-17 |
| CN110236890B CN110236890B (en) | 2024-04-23 |
Family
ID=
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604890A (en) * | 2019-12-30 | 2020-09-01 | 合肥工业大学 | Motion control method suitable for exoskeleton robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791255A (en) * | 2010-03-08 | 2010-08-04 | 上海交通大学 | Walk-aiding exoskeleton robot system and control method |
| KR20120057081A (en) * | 2010-11-26 | 2012-06-05 | 주식회사 바이오닉스 | Intellectual exoskeleton robot system for assisting daily life and rehabilitation training and control method therof |
| CN103586867A (en) * | 2013-11-11 | 2014-02-19 | 北京航空航天大学 | Electric control system of multi-freedom-degree wearable lower limb external skeleton robot |
| CN106325273A (en) * | 2016-08-22 | 2017-01-11 | 中国科学院合肥物质科学研究院 | Multi-phase gait switching control system and control method for power-assisted exoskeleton robot |
| CN106510985A (en) * | 2016-10-26 | 2017-03-22 | 北京理工大学 | Rehabilitation and walking exoskeleton robot based on master-slave control |
| CN206764764U (en) * | 2017-02-24 | 2017-12-19 | 北京大艾机器人科技有限公司 | Drive dynamic control device and there is its exoskeleton robot |
| CN107714400A (en) * | 2017-09-19 | 2018-02-23 | 安徽工程大学 | Guide the intelligent crutch control method of lower limb exoskeleton power-assisting robot walking |
| CN208677867U (en) * | 2018-03-07 | 2019-04-02 | 北京大艾机器人科技有限公司 | Control device for exoskeleton robot |
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791255A (en) * | 2010-03-08 | 2010-08-04 | 上海交通大学 | Walk-aiding exoskeleton robot system and control method |
| KR20120057081A (en) * | 2010-11-26 | 2012-06-05 | 주식회사 바이오닉스 | Intellectual exoskeleton robot system for assisting daily life and rehabilitation training and control method therof |
| CN103586867A (en) * | 2013-11-11 | 2014-02-19 | 北京航空航天大学 | Electric control system of multi-freedom-degree wearable lower limb external skeleton robot |
| CN106325273A (en) * | 2016-08-22 | 2017-01-11 | 中国科学院合肥物质科学研究院 | Multi-phase gait switching control system and control method for power-assisted exoskeleton robot |
| CN106510985A (en) * | 2016-10-26 | 2017-03-22 | 北京理工大学 | Rehabilitation and walking exoskeleton robot based on master-slave control |
| CN206764764U (en) * | 2017-02-24 | 2017-12-19 | 北京大艾机器人科技有限公司 | Drive dynamic control device and there is its exoskeleton robot |
| CN107714400A (en) * | 2017-09-19 | 2018-02-23 | 安徽工程大学 | Guide the intelligent crutch control method of lower limb exoskeleton power-assisting robot walking |
| CN208677867U (en) * | 2018-03-07 | 2019-04-02 | 北京大艾机器人科技有限公司 | Control device for exoskeleton robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604890A (en) * | 2019-12-30 | 2020-09-01 | 合肥工业大学 | Motion control method suitable for exoskeleton robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105943207B (en) | One kind is based on idiodynamic intelligent artificial limb kinematic system and its control method | |
| CN104949707B (en) | Motion monitoring device and method based on information push | |
| EP3121706A1 (en) | Control method and control system for working mode of mobile device | |
| CN105249612A (en) | Multi-functional smart insoles and smart shoes | |
| CN102813971B (en) | Wireless remote-control electronic cupping system | |
| CN205795414U (en) | For eliminating the intelligent pillow of sleep snoring | |
| CN110134229A (en) | A kind of wearable device and activity data acquisition method | |
| CN104242426A (en) | Wearable electronic device and control method and system of wearable electronic device | |
| CN106267730B (en) | A kind of intelligence limb motion supervision instrument and application process | |
| CN108509048A (en) | A kind of control device and its control method of smart machine | |
| CN109154844A (en) | Control the communication pattern between master computer and detachable peripheral | |
| CN208677867U (en) | Control device for exoskeleton robot | |
| CN110236890A (en) | Control device for exoskeleton robot | |
| CN202652263U (en) | Embedded remote medical monitoring system based on wireless sensor network | |
| WO2022041758A1 (en) | Intelligent detection clothing for wireless charging and method | |
| CN102091357A (en) | Wireless communication sensor network-based electronic cupping system | |
| CN107397614A (en) | A kind of lower artificial limb with parameter monitoring function | |
| CN206060715U (en) | A kind of Intelligent touch remote switch | |
| CN208080640U (en) | A kind of intelligence magnetic therapy shoe | |
| CN106406133A (en) | Smart control robot and smart device control system | |
| KR20130116654A (en) | Smart mobile phone case | |
| CN110236890B (en) | Control device for exoskeleton robot | |
| CN105186615B (en) | Intelligent power supply module | |
| CN206559139U (en) | A kind of operation power stops power transmission computer supervisory control system | |
| CN203677291U (en) | Novel oral-cavity comprehensive treatment equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |