CN110802603A - 一种主动式腰部助力外骨骼控制系统以及控制方法 - Google Patents
一种主动式腰部助力外骨骼控制系统以及控制方法 Download PDFInfo
- Publication number
- CN110802603A CN110802603A CN201911222758.9A CN201911222758A CN110802603A CN 110802603 A CN110802603 A CN 110802603A CN 201911222758 A CN201911222758 A CN 201911222758A CN 110802603 A CN110802603 A CN 110802603A
- Authority
- CN
- China
- Prior art keywords
- executing
- condition
- leg
- right leg
- left leg
- 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 title claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000003993 interaction Effects 0.000 claims abstract description 11
- 230000003183 myoelectrical effect Effects 0.000 claims abstract description 11
- 210000002414 leg Anatomy 0.000 claims description 117
- 210000004394 hip joint Anatomy 0.000 claims description 79
- 230000000630 rising effect Effects 0.000 claims description 24
- 210000001624 hip Anatomy 0.000 claims description 14
- 238000009499 grossing Methods 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 9
- 238000010586 diagram Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 230000010354 integration Effects 0.000 abstract description 2
- 238000011160 research Methods 0.000 abstract description 2
- 230000005021 gait Effects 0.000 description 5
- 230000006378 damage Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911222758.9A CN110802603B (zh) | 2019-12-03 | 2019-12-03 | 一种主动式腰部助力外骨骼控制系统以及控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911222758.9A CN110802603B (zh) | 2019-12-03 | 2019-12-03 | 一种主动式腰部助力外骨骼控制系统以及控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110802603A true CN110802603A (zh) | 2020-02-18 |
CN110802603B CN110802603B (zh) | 2022-07-12 |
Family
ID=69492422
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201911222758.9A Expired - Fee Related CN110802603B (zh) | 2019-12-03 | 2019-12-03 | 一种主动式腰部助力外骨骼控制系统以及控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110802603B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114762644A (zh) * | 2021-01-04 | 2022-07-19 | 纬创资通股份有限公司 | 行动辅助装置以及其驱动方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101791255A (zh) * | 2010-03-08 | 2010-08-04 | 上海交通大学 | 助行外骨骼机器人系统及控制方法 |
CN106325273A (zh) * | 2016-08-22 | 2017-01-11 | 中国科学院合肥物质科学研究院 | 助力外骨骼机器人的多相位步态切换控制系统及其控制方法 |
CN107753241A (zh) * | 2017-11-20 | 2018-03-06 | 中航创世机器人(东莞)有限公司 | 一种下肢康复治疗智能外骨骼机器人的控制方法 |
CN109434806A (zh) * | 2018-10-15 | 2019-03-08 | 孙红梅 | 一种辅助搬运的可穿戴智能设备控制方法 |
CN110103215A (zh) * | 2019-04-12 | 2019-08-09 | 上海中研久弋科技有限公司 | 多节点协同感知外骨骼神经控制系统、方法、设备和介质 |
CN110385697A (zh) * | 2019-07-16 | 2019-10-29 | 北京机械设备研究所 | 外骨骼的控制方法及装置 |
-
2019
- 2019-12-03 CN CN201911222758.9A patent/CN110802603B/zh not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101791255A (zh) * | 2010-03-08 | 2010-08-04 | 上海交通大学 | 助行外骨骼机器人系统及控制方法 |
CN106325273A (zh) * | 2016-08-22 | 2017-01-11 | 中国科学院合肥物质科学研究院 | 助力外骨骼机器人的多相位步态切换控制系统及其控制方法 |
CN107753241A (zh) * | 2017-11-20 | 2018-03-06 | 中航创世机器人(东莞)有限公司 | 一种下肢康复治疗智能外骨骼机器人的控制方法 |
CN109434806A (zh) * | 2018-10-15 | 2019-03-08 | 孙红梅 | 一种辅助搬运的可穿戴智能设备控制方法 |
CN110103215A (zh) * | 2019-04-12 | 2019-08-09 | 上海中研久弋科技有限公司 | 多节点协同感知外骨骼神经控制系统、方法、设备和介质 |
CN110385697A (zh) * | 2019-07-16 | 2019-10-29 | 北京机械设备研究所 | 外骨骼的控制方法及装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114762644A (zh) * | 2021-01-04 | 2022-07-19 | 纬创资通股份有限公司 | 行动辅助装置以及其驱动方法 |
CN114762644B (zh) * | 2021-01-04 | 2024-05-10 | 纬创资通股份有限公司 | 行动辅助装置以及其驱动方法 |
Also Published As
Publication number | Publication date |
---|---|
CN110802603B (zh) | 2022-07-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106325273B (zh) | 助力外骨骼机器人的多相位步态切换控制系统及其控制方法 | |
US10512583B2 (en) | Forward or rearward oriented exoskeleton | |
CN203020441U (zh) | 一种类人机器人脚 | |
CN103802907A (zh) | 类人机器人脚 | |
CN102431604A (zh) | 具有双足步行与轮式移动互变功能的仿人机器人 | |
CN106737584A (zh) | 一种基于空心驱动器、微型驱动器的人形机器人 | |
CN103722550A (zh) | 外骨骼机器人的嵌入式系统 | |
CN110802603B (zh) | 一种主动式腰部助力外骨骼控制系统以及控制方法 | |
CN105446345A (zh) | 仿人双足机器人控制系统 | |
CN207329166U (zh) | 一种自动行走载货箱 | |
EP0856457A3 (en) | Gait generation system of legged mobile robot | |
CN108214458B (zh) | 可穿戴上肢机械臂 | |
CN110721055B (zh) | 下肢助行外骨骼机器人的控制方法及外骨骼机器人 | |
CN206932110U (zh) | 带刹车外转子直流一体电机 | |
Long et al. | Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification | |
Yu et al. | Gesture-based telemanipulation of a humanoid robot for home service tasks | |
CN110561391B (zh) | 用于下肢外骨骼系统的惯性信息前馈控制装置及控制方法 | |
CN102722186A (zh) | 一种基于语音识别的移动伺服平台及语音控制方法 | |
KR101814732B1 (ko) | 기립보조장치 및 이를 포함하는 시스템 | |
CN204488503U (zh) | 单手柄控制的履带底盘式高空作业平台行走和转向系统 | |
CN114750133B (zh) | 一种腰部外骨骼机器人系统及其助力控制方法 | |
CN104526697A (zh) | 排泄辅助机器人 | |
Wang et al. | Research on a kind of leg-wheel stair-climbing wheelchair | |
CN2807312Y (zh) | 一种嵌入式智能轮椅控制装置 | |
Lee et al. | Walking-support robot system for walking rehabilitation: design and control |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20200227 Address after: 215000 22 / F, 19 aigehao Road, Weitang Town, Xiangcheng District, Suzhou City, Jiangsu Province Applicant after: SINOMACH INTELLIGENCE TECHNOLOGY Co.,Ltd. Applicant after: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES Address before: 215000 22 / F, 19 aigehao Road, Weitang Town, Xiangcheng District, Suzhou City, Jiangsu Province Applicant before: SINOMACH INTELLIGENCE TECHNOLOGY Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220712 |
|
CF01 | Termination of patent right due to non-payment of annual fee |