CN110292508A - A kind of exoskeleton rehabilitation robot control system - Google Patents
A kind of exoskeleton rehabilitation robot control system Download PDFInfo
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- CN110292508A CN110292508A CN201910594747.7A CN201910594747A CN110292508A CN 110292508 A CN110292508 A CN 110292508A CN 201910594747 A CN201910594747 A CN 201910594747A CN 110292508 A CN110292508 A CN 110292508A
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- chip microcontroller
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- exoskeleton
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- 210000003141 lower extremity Anatomy 0.000 claims abstract description 28
- 208000020442 loss of weight Diseases 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 19
- 230000008447 perception Effects 0.000 claims abstract description 7
- 210000002414 leg Anatomy 0.000 claims description 18
- 210000000629 knee joint Anatomy 0.000 claims description 11
- 210000004394 hip joint Anatomy 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 210000000988 bone and bone Anatomy 0.000 claims description 5
- 210000003871 fifth metatarsal bone Anatomy 0.000 claims description 5
- 210000001906 first metatarsal bone Anatomy 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 2
- 210000001203 second metatarsal bone Anatomy 0.000 claims description 2
- 210000001624 hip Anatomy 0.000 claims 1
- 238000012549 training Methods 0.000 abstract description 7
- 230000005021 gait Effects 0.000 description 10
- 210000002683 foot Anatomy 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 244000309466 calf Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 210000001872 metatarsal bone Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of exoskeleton rehabilitation robot control systems, including mobile platform system, lower limb exoskeleton system and data terminal, in which: the mobile platform system includes single-chip microcontroller one, hub motor and loss of weight system；The lower limb exoskeleton system includes ontology-driven system, single-chip microcontroller two and perception control system.This control system has well solved the hysteresis quality problem of ectoskeleton, realizes man-machine consistency；The use scope of ectoskeleton is widened；Solves the problems such as patient and doctor, the information mutual communication and patient's training of patient and family members are experienced.
Description
Technical field
The present invention relates to a kind of exoskeleton rehabilitation robot control systems.
Background technique
Currently, domestic lower limb exoskeleton robot control system is passively patient to be driven to transport according to normal gait mostly
It is dynamic.Patient has serious discomfort, only simply allows the movement of bone machinery, and there is no realize and one of patient's walking
Synchronism and harmony, that is, the gait of patient is not predicted, it is controlled in real time according to the concrete condition of patient
Lower limb exoskeleton has a serious hysteresis quality problem.On the other hand, only single lower limb exoskeleton, applicable patient
Range relative narrowness.In addition, one of patients ' recovery effect is not summarized, feeds back and recorded, rehabilitation cannot be formulated in doctor
Certain suggestion is provided when plan.And the weight reducing device of configuration, driving motor movement is single, not according to Rehabilitation situation
Or degree of fatigue operation.
Summary of the invention
In view of the above shortcomings of the prior art, the technical problem to be solved in the present invention is to provide a kind of exoskeleton rehabilitation machines
People's control system.
The technical solution adopted by the present invention is that:
A kind of exoskeleton rehabilitation robot control system, including mobile platform system, lower limb exoskeleton system and data are whole
End, in which:
The mobile platform system includes single-chip microcontroller one, hub motor and loss of weight system, and the hub motor is mounted on shifting
On the downside of moving platform, for driving mobile platform mobile, the loss of weight system includes loss of weight motor and tension sensor, the loss of weight
On a mobile platform for driving weight reducing device to move up and down, the tension sensor is mounted on the two of mobile platform for motor installation
Side；The installation of single-chip microcontroller one on a mobile platform, passes through respective motor with above-mentioned hub motor and loss of weight motor respectively
Driver connection, the can interface of the specially described single-chip microcontroller one are electrically connected the can interface of each motor driver, and each motor drives
Dynamic device is connect with each motor by power supply line, line of codes and signal wire；
The lower limb exoskeleton system includes that ontology-driven system, single-chip microcontroller two and perception control system, the ontology drive
Dynamic system includes left and right knee joint motor, left and right hip joint motor, the single-chip microcontroller two respectively with left and right knee joint motor, left and right
Hip joint motor is connected by respective motor driver, and the can interface of the specially described single-chip microcontroller two is electrically connected each motor
The can interface of driver, each motor driver are connect with each motor by power supply line, line of codes and signal wire；The perception control
System processed includes angular transducer, force snesor, accelerometer, diaphragm pressure sensor, and the angular transducer is mounted on down
At the left and right knee joint of limb ectoskeleton and left and right hip joint, the force snesor be mounted on for connect lower limb exoskeleton it is big,
On on the inside of the bandage of shank bar and the large and small leg of patient, the accelerometer is mounted on the large and small leg for connecting lower limb exoskeleton
On on the outside of the bandage of bar and the large and small leg of patient, the diaphragm pressure sensor is mounted on the sole of lower limb exoskeleton；
The tension sensor passes through RS485 communication connection by transmitter and single-chip microcontroller two；The angular transducer with
Pass through I between single-chip microcontroller one2C communication connection；The diaphragm pressure sensor turns voltage module by resistance and single-chip microcontroller one connects
It connects, VCC, GND, AO interface that wherein+the 3.3V of single-chip microcontroller one, GND, PA6 interface turn voltage module with resistance respectively are connect；Institute
It states force snesor serial ports and is electrically connected one serial ports of single-chip microcontroller；Pass through I between the accelerometer and single-chip microcontroller one2C communication connection；Institute
It states single-chip microcontroller one to connect with single-chip microcontroller two by serial communication, the single-chip microcontroller one, single-chip microcontroller two and data terminal communication connection.
Preferably, the force snesor is located at front side and the rear side of the large and small leg of patient, the accelerometer be located at patient it is big,
The left or right side of shank.
Preferably, the diaphragm pressure sensor is separately mounted to the first metatarsal bone head of the sole of lower limb exoskeleton,
Among two caput metatarsales, third to fifth metatarsal bone head and in the middle part of heel.
Preferably, the SCM system is using stm32f407 series as central processing unit.
Preferably, the accelerometer uses JY901 module.
Preferably, the diaphragm pressure sensor uses FSR402 diaphragm pressure sensor.
Preferably, the tension sensor uses miniature pull pressure sensor DYLY-106.
Preferably, the angular transducer uses ADXL345 gradient angular transducer.
Preferably, the host computer is tablet computer or mobile phone terminal.
Preferably, the hub motor uses 5 cun of twin shaft wheel hub servo motors.
Preferably, the single-chip microcontroller one, single-chip microcontroller two are communicated by WiFi or bluetooth or local area network and data terminal respectively
Connection.
Compared with prior art, the beneficial effects of the present invention are:
1, existing technology is passively to drive patient according to normal gait motion mostly.Patient, which has, serious does not relax
Suitable sense, only simply allows the movement of bone machinery, and there is no the synchronisms and harmony realized and patient walks, that is,
The gait of patient is not predicted, lower limb exoskeleton is controlled according to the concrete condition of patient in real time, it is tight with one
The hysteresis quality problem of weight.On the other hand, only single lower limb exoskeleton, applicable patient's range relative narrowness.In addition, not having
One of patients ' recovery effect is summarized, fed back and recorded, doctor can not also recognize the rehabilitation data of patient in real time, cannot
Certain suggestion is provided when doctor formulates rehabilitation programme, can not preferably set training program.The present invention passes through mobile platform
System can be carried out for the higher patient of patient's grade using having widened the use scope of lower limb exoskeleton；Pass through multisensor
The information of acquisition is analyzed, handles and is predicted to the stride of patient, cadence, posture and human-computer interaction power etc., and ectoskeleton is reduced
The hysteresis quality of movement realizes the consistent of man-machine movement, so that patient has more comfortable experience sense.And for doctor, pass through
Data terminal can understand the training data of the various aspects of patient, and the system is carried out by the historic training data to patient
Analysis handles training effect and the suggestion of training time, intensity for providing patient.Doctor can be arranged different by host computer
The adjustable gait training demand for adapting to different people of the information such as parameter such as angle, speed, human-computer interaction power.
2, this control system has well solved the hysteresis quality problem of ectoskeleton, realizes man-machine consistency；It has widened outer
The use scope of bone；Solves the problems such as patient and doctor, the information mutual communication and patient's training of patient and family members are experienced.
Detailed description of the invention
Fig. 1 is the structure composition figure of control system of the present invention；
Fig. 2 is the scheme of installation for perceiving multiple sensors in control system；
Fig. 3 is the operation schematic diagram of control system of the present invention.
Specific embodiment
Technology contents, construction feature, the objects and the effects for detailed description technical solution, below in conjunction with specific reality
It applies example and attached drawing is cooperated to be explained in detail.
Embodiment 1
A kind of exoskeleton rehabilitation robot control system, as shown in Figure 1, including mobile platform system, lower limb exoskeleton system
System and data terminal, in which:
The mobile platform system includes single-chip microcontroller one, hub motor and loss of weight system, and the hub motor is mounted on shifting
On the downside of moving platform, for driving mobile platform mobile, the loss of weight system includes loss of weight motor and tension sensor, the loss of weight
On a mobile platform for driving weight reducing device to move up and down, the tension sensor is mounted on the two of mobile platform for motor installation
Side；The installation of single-chip microcontroller one on a mobile platform, passes through respective motor with above-mentioned hub motor and loss of weight motor respectively
Driver connection, the can interface of the specially described single-chip microcontroller one are electrically connected the can interface of each motor driver, and each motor drives
Dynamic device is connect with each motor by power supply line, line of codes and signal wire；
The lower limb exoskeleton system includes that ontology-driven system, single-chip microcontroller two and perception control system, the ontology drive
Dynamic system includes left and right knee joint motor, left and right hip joint motor, the single-chip microcontroller two respectively with left and right knee joint motor, left and right
Hip joint motor is connected by respective motor driver, and the can interface of the specially described single-chip microcontroller two is electrically connected each motor
The can interface of driver, each motor driver are connect with each motor by power supply line, line of codes and signal wire；As shown in Fig. 2,
The perception control system includes angular transducer, force snesor, accelerometer, diaphragm pressure sensor, the angle sensor
Device is mounted at the left and right knee joint of lower limb exoskeleton and left and right hip joint, and the force snesor is mounted on for connecting outside lower limb
On on the inside of the large and small leg bar of bone and the bandage of the large and small leg of patient, it is particularly located at front side and the rear side of the large and small leg of patient, it is described
Accelerometer is mounted on the outside of the bandage of the large and small leg bar for connecting lower limb exoskeleton and the large and small leg of patient, is particularly located at
The left or right side of the large and small leg of patient: it is located at left side on left side leg, is located at right side in right side leg；The diaphragm pressure passes
Sensor is mounted on the sole of lower limb exoskeleton；
The tension sensor passes through RS485 communication connection by transmitter and single-chip microcontroller two；The angular transducer with
Pass through I between single-chip microcontroller one2C communication connection；The diaphragm pressure sensor turns voltage module by resistance and single-chip microcontroller one connects
It connects, VCC, GND, AO interface that wherein+the 3.3V of single-chip microcontroller one, GND, PA6 interface turn voltage module with resistance respectively are connect；Institute
It states force snesor serial ports and is electrically connected one serial ports of single-chip microcontroller；Pass through I between the accelerometer and single-chip microcontroller one2C communication connection；Institute
It states single-chip microcontroller one to connect with single-chip microcontroller two by serial communication, the single-chip microcontroller one, single-chip microcontroller two and data terminal communication connection.
In the present embodiment, the diaphragm pressure sensor is separately mounted to the first metatarsal bone of the sole of lower limb exoskeleton
Among head, second metatarsal bone head, third to fifth metatarsal bone head and in the middle part of heel, wherein fifth metatarsal bone head is away from the distance on rear side of heel
≈ foot length * 72%, first metatarsal bone head is away from the distance ≈ foot length * 64% on rear side of heel.In conjunction with the corresponding foot of shoes codes different in national standard
Long and foot breadth, can be obtained the distance on rear side of different foot lengths and the corresponding first metatarsal bone of foot breadth and fifth metatarsal bone head to heel, that is, knows
The position of its four measurement point in vola of the patient of different foot lengths；The SCM system is using stm32f407 series as center
Processor, the accelerometer use JY901 module, and the diaphragm pressure sensor uses FSR402 diaphragm pressure sensor,
The tension sensor uses miniature pull pressure sensor DYLY-106, and the angular transducer uses ADXL345 gradient angle
Sensor is spent, the host computer is tablet computer or mobile phone terminal, and the hub motor is using 5 cun of twin shaft wheel hub servo electricity
Machine, the single-chip microcontroller one, single-chip microcontroller two pass through WiFi and data terminal communication connection respectively.Vola is installed by diaphragm pressure sensing
Force snesor is installed in the front and back side of device, thigh and mid calf, for measuring the measurement of human-computer interaction power；Thigh and mid calf
Single side face installation accelerometer for measuring gait situation；Setting angle sensor measurement joint angle at hip joint and knee joint
Degree variation.
When work, such as indicated at 3, by WIFI to single-chip microcontroller two, single-chip microcontroller one passes through host computer input loss of weight value first
Control loss of weight motor slings people, stops completing loss of weight when tension sensor registration reaches input loss of weight value, then host computer
Initial gait curvilinear correlation parameter is inputted by WiFi to single-chip microcontroller one, single-chip microcontroller a pair of ontology-driven system assigns instruction control
Motor positive and inverse and revolving speed at hip joint and knee joint obtain this current exoskeleton by the angular transducer of joint
Gait information, then sensory perceptual system merges multi-sensor information by Kalman filtering, artificial neural network by each sensor
Gait information after obtaining 0.5 second later is compared with the current gait information that ontology-driven system obtains, anti-by deviation
It feeds single-chip microcontroller one, single-chip microcontroller one continues through the motor positive and inverse and revolving speed of ontology-driven system call interception joint, single-chip microcontroller
One with single-chip microcontroller two communicate through a serial port, current information is passed into single-chip microcontroller two, single-chip microcontroller two adjusts hub motor
Revolving speed come with ectoskeleton carry out speed matching.
Claims (10)
1. a kind of exoskeleton rehabilitation robot control system, which is characterized in that including mobile platform system, lower limb exoskeleton system
And data terminal, in which:
The mobile platform system includes single-chip microcontroller one, hub motor and loss of weight system, and the hub motor is mounted on mobile flat
On the downside of platform, for driving mobile platform mobile, the loss of weight system includes loss of weight motor and tension sensor, the loss of weight motor
On a mobile platform for driving weight reducing device to move up and down, the tension sensor is mounted on the two sides of mobile platform for installation；
The installation of single-chip microcontroller one on a mobile platform, passes through respective motor driven with above-mentioned hub motor and loss of weight motor respectively
Device connection, the can interface of the specially described single-chip microcontroller one are electrically connected the can interface of each motor driver, each motor driver
It is connect with each motor by power supply line, line of codes and signal wire；
The lower limb exoskeleton system includes ontology-driven system, single-chip microcontroller two and perception control system, the ontology-driven system
System includes left and right knee joint motor, left and right hip joint motor, and the single-chip microcontroller two is closed with left and right knee joint motor, left and right hip respectively
Section motor is connected by respective motor driver, and the can interface of the specially described single-chip microcontroller two is electrically connected each motor driven
The can interface of device, each motor driver are connect with each motor by power supply line, line of codes and signal wire；Perception control system
System includes angular transducer, force snesor, accelerometer, diaphragm pressure sensor, and the angular transducer is mounted on outside lower limb
At the left and right knee joint of bone and left and right hip joint, the force snesor is mounted on the large and small leg for connecting lower limb exoskeleton
On on the inside of the bandage of bar and the large and small leg of patient, the accelerometer be mounted on large and small leg bar for connecting lower limb exoskeleton with
On on the outside of the bandage of the large and small leg of patient, the diaphragm pressure sensor is mounted on the sole of lower limb exoskeleton；
The tension sensor passes through RS485 communication connection by transmitter and single-chip microcontroller two；The angular transducer and monolithic
Pass through I between machine one2C communication connection；The diaphragm pressure sensor turns voltage module by resistance and connect with single-chip microcontroller one,
VCC, GND, AO interface that+3.3V, GND, PA6 interface of middle single-chip microcontroller one turn voltage module with resistance respectively are connect；The power
Sensor serial ports is electrically connected one serial ports of single-chip microcontroller；Pass through I between the accelerometer and single-chip microcontroller one2C communication connection；The list
Piece machine one is connect with single-chip microcontroller two by serial communication, the single-chip microcontroller one, single-chip microcontroller two and data terminal communication connection.
2. a kind of exoskeleton rehabilitation robot control system according to claim 1, which is characterized in that the force snesor position
Front side and rear side in the large and small leg of patient, the accelerometer are located at the left or right side of the large and small leg of patient.
3. a kind of exoskeleton rehabilitation robot control system according to claim 1, which is characterized in that the diaphragm pressure passes
Sensor is separately mounted among the first metatarsal bone head, second metatarsal bone head, third to fifth metatarsal bone head of the sole of lower limb exoskeleton
And in the middle part of heel.
4. a kind of exoskeleton rehabilitation robot control system according to claim 1, which is characterized in that the SCM system
Using stm32f407 series as central processing unit.
5. a kind of exoskeleton rehabilitation robot control system according to claim 1, which is characterized in that the accelerometer is adopted
With JY901 module.
6. a kind of exoskeleton rehabilitation robot control system according to claim 1, which is characterized in that the diaphragm pressure passes
Sensor uses FSR402 diaphragm pressure sensor；The tension sensor uses miniature pull pressure sensor DYLY-106.
7. a kind of exoskeleton rehabilitation robot control system according to claim 1, which is characterized in that the angular transducer
Using ADXL345 gradient angular transducer.
8. a kind of exoskeleton rehabilitation robot control system according to claim 1, which is characterized in that the host computer is flat
Plate computer or mobile phone terminal.
9. a kind of exoskeleton rehabilitation robot control system according to claim 1, which is characterized in that the hub motor is adopted
With 5 cun of twin shaft wheel hub servo motors.
10. a kind of exoskeleton rehabilitation robot control system according to claim 1, which is characterized in that the single-chip microcontroller one,
Single-chip microcontroller two passes through WiFi or bluetooth or local area network and data terminal communication connection respectively.
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| CN110916970A (en) * | 2019-11-18 | 2020-03-27 | 南京伟思医疗科技股份有限公司 | Device and method for realizing cooperative motion of weight-reducing vehicle and lower limb robot through communication |
| CN110974608A (en) * | 2019-12-06 | 2020-04-10 | 宿州学院 | One-dimensional force sensing system of exoskeleton device for lower limb rehabilitation training |
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