CN110974631B - Asymmetric lower limb exoskeleton robot and control method - Google Patents
Asymmetric lower limb exoskeleton robot and control method Download PDFInfo
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- 230000033001 locomotion Effects 0.000 claims abstract description 161
- 210000004394 hip joint Anatomy 0.000 claims abstract description 73
- 210000000629 knee joint Anatomy 0.000 claims abstract description 73
- 230000005021 gait Effects 0.000 claims abstract description 25
- 210000001624 hip Anatomy 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims description 66
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- 206010008129 cerebral palsy Diseases 0.000 abstract description 6
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- 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
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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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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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
- 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
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
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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
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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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
- 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
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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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
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Abstract
The invention discloses an asymmetric lower limb exoskeleton robot.A data acquisition leg and the upper part of a powered leg are movably connected to a waist fixing device; detecting knee joint movement data and hip joint movement data by a data acquisition leg; the powered leg provides power and drives the powered leg to move; a first plantar pressure sensor is arranged on the first sensing shoe; the second sole pressure sensor is arranged on the second sensing shoe. According to the asymmetric lower limb exoskeleton robot and the control method, unilateral active movement/unilateral passive movement can be realized, so that when a cerebral palsy hemiplegic patient is rehabilitated, the movement of a healthy lateral leg is minimally influenced by a diseased lateral leg, the rehabilitation effect is improved, and the rehabilitation is beneficial to the recovery of normal gait of the patient; meanwhile, the coordination control of the powered legs can be realized, the gait acquisition function is realized, and complete reference data is provided for a later diagnosis and rehabilitation scheme.
Description
Technical Field
The invention relates to the field of rehabilitation medical and engineering instruments, in particular to an asymmetric lower limb exoskeleton robot and a control method.
Background
At present, a plurality of exoskeleton robots facing the rehabilitation field are available in the market, and basically have symmetrical structures. However, for many patients with cerebral palsy and hemiplegia, this structure is not suitable for the following reasons:
when a cerebral palsy hemiplegia patient is rehabilitated, a healthy side leg can normally walk, an affected side leg usually needs to be assisted to walk, and when the existing exoskeleton robot is used, the healthy side leg is also interfered by the weight and inertia of an exoskeleton, so that the gait of the healthy side leg is influenced; meanwhile, the exoskeleton robot with the symmetrical structure needs to be provided with a mechanical switching structure or a follow-up control system, the mechanical switching structure is large in size, and the follow-up control system is difficult and lags behind.
Disclosure of Invention
The invention aims to solve the technical problem that when the existing exoskeleton robot is used, a side-building leg is interfered by the weight and inertia of an exoskeleton to influence the gait of the side-building leg, and provides an asymmetric lower limb exoskeleton robot and a control method thereof to solve the problem.
The invention is realized by the following technical scheme:
an asymmetric lower limb exoskeleton robot comprises a waist fixing device, a data acquisition leg, a powered leg, a first sensing shoe and a second sensing shoe; the upper parts of the data acquisition legs and the powered legs are movably connected to the waist fixing device, the first sensing shoes are mounted at the lower parts of the data acquisition legs, and the second sensing shoes are mounted at the bottoms of the powered legs; the data acquisition leg detects knee joint movement data and hip joint movement data; the powered legs provide power and drive the powered legs to move; a first plantar pressure sensor is arranged on the first sensing shoe; and a second plantar pressure sensor is arranged on the second sensing shoe.
When the device is applied, the data acquisition leg can be fixed on the healthy side leg in use, so that the data acquisition of the healthy side leg during walking is realized, and a basis is provided for the movement of the powered leg, the data acquisition leg only performs data acquisition without power, and the powered leg provides power, so that the unilateral active movement/unilateral passive movement can be realized, the movement of the healthy side leg is minimally influenced by the affected side leg when the cerebral palsy and hemiplegia patient is rehabilitated, the rehabilitation effect is improved, and the patient can recover normal gait; meanwhile, the first plantar pressure sensor and the second plantar pressure sensor are arranged in the gait rehabilitation device, and the first plantar pressure sensor, the second plantar pressure sensor and data collected by the data collection leg can realize coordination control of the powered leg, realize a gait collection function and provide complete reference data for a later diagnosis and rehabilitation scheme.
Further, the data acquisition leg comprises a first limb segment and a second limb segment; the powered leg comprises a third limb segment and a fourth limb segment; the upper part of the first limb segment is movably connected with the waist fixing device, the upper part of the second limb segment is movably connected with the lower part of the first limb segment, and the first sensing shoe is arranged on the lower part of the second limb segment; third limb section upper portion swing joint in waist fixing device, just third limb section upper portion swing joint in third limb section lower part, second sensing shoes install in fourth limb section lower part.
Furthermore, the upper part of the first limb segment is movably connected to the waist fixing device and provided with a hip joint data acquisition encoder, and the upper part of the second limb segment is movably connected to the lower part of the first limb segment and provided with a knee joint data acquisition encoder; the upper part of the third limb section is movably connected to the waist fixing device and is provided with a hip joint driving mechanism, and the upper part of the third limb section is movably connected to the lower part of the third limb section and is provided with a knee joint driving mechanism; the waist fixing device is provided with a main control module, and the main control module receives signals of the first sole pressure sensor, the second sole pressure sensor, the hip joint data acquisition encoder and the knee joint data acquisition encoder and controls the movement of the hip joint driving mechanism and the knee joint driving mechanism.
When the leg with the power is applied, the main objects of data acquisition on the leg with the power are the movement of the hip joint and the movement of the knee joint, and the main movement on the leg with the power is also the movement of the hip joint and the movement of the knee joint. The hip joint driving mechanism and the knee joint driving mechanism generally need to comprise a motor, an incremental encoder, an absolute encoder and a speed reducer, the motor realizes driving, and the incremental encoder and the absolute encoder are used as the driving of the motor to realize real-time position feedback of motion increment and motion trail. Meanwhile, the main control module is arranged on the waist fixing device, the main control module can work more stably when being far away from the movement mechanism, and the main control module receives detected data and realizes movement control of the powered legs according to the detected data or data preset by a user.
Furthermore, during exercise, the main control module judges the position of the center of gravity of exercise according to signals sent by the first plantar pressure sensor, the second plantar pressure sensor, the hip joint data acquisition encoder and the knee joint data acquisition encoder;
when the gravity center is on one side of the data acquisition leg, the main control module controls the powered leg to move according to the swing phase joint track information according to the preset swing phase joint track information;
when the gravity center is located on one side of the powered leg, the main control module controls the powered leg to move according to the support phase joint track information according to the preset support phase joint track information.
When the device is applied, the main control module has various motion modes, the motion mode of the powered leg adopts a preset motion mode, the auxiliary force of the exoskeleton on the human body is adjusted by adjusting control parameters, the preset swing phase joint track information and the preset support phase joint track information can be obtained by acquiring the information of normal gait, and the auxiliary rehabilitation can be realized when the gait of a patient cannot be mastered under the condition of long-term bed rest in the motion mode. Different joint track motions are set through different gravity center positions, so that the walking assistance is more effective and accurate.
Furthermore, the main control module is further configured to receive auxiliary force adjustment information of the user, and adjust torques of the hip joint driving mechanism and the knee joint driving mechanism according to the auxiliary force adjustment information and the weight information of the user.
When the invention is applied, the inventor finds that the auxiliary force adjustment is very important, different force adjustments can meet the requirements of different patients, and the invention can be suitable for patients with different recovery conditions, and the auxiliary force adjustment range is 0% to 100%. Wherein 100% of the auxiliary force is in a completely passive mode, the leg movement of the patient is completely driven by the powered leg, the powered leg moves according to the motion track instruction planned by the program, and the acting force applied to the machine by the leg of the patient is ignored; the 0% auxiliary force refers to a fully active mode, the motion trail of the powered leg completely follows the motion trail of the leg of the patient, and the power unit of the powered leg only provides force to overcome the moment, inertia force and resistance generated by the gravity and mass of the power unit. The remaining percentage of the assist force setting and so on represent the percentage of force required by the powered leg to provide the current motion.
Furthermore, during exercise, the main control module judges the position of the center of gravity of exercise according to signals sent by the first plantar pressure sensor, the second plantar pressure sensor, the hip joint data acquisition encoder and the knee joint data acquisition encoder;
when the gravity center is on one side of the data acquisition leg, the main control module judges the motion track of the data acquisition leg as supporting motion data according to signals sent by the first plantar pressure sensor, the hip joint data acquisition encoder and the knee joint data acquisition encoder, and generates a mirror image supporting signal after carrying out mirror image processing on the supporting motion data; when the gravity center is positioned on one side of the leg with power, the main control module judges the motion track of the data acquisition leg as swing motion data according to signals sent by the first plantar pressure sensor, the hip joint data acquisition encoder and the knee joint data acquisition encoder, and generates mirror image swing signals after mirror image processing is carried out on the swing motion data;
when the gravity center is on one side of the data acquisition leg, the main control module controls the hip joint driving mechanism and the knee joint driving mechanism to drive the powered leg to move according to the mirror image swing signal; when the gravity center is positioned on one side of the powered leg, the main control module controls the hip joint driving mechanism and the knee joint driving mechanism to drive the powered leg to move according to the mirror image supporting signal.
When the device is applied, the main control module has various motion modes, wherein the motion mode is a mirror image mode, the mirror image mode realizes the motion coordination of legs of a patient in the rehabilitation process by simulating the motion of the side legs, the data information acquired on the data acquisition legs is subjected to mirror image processing, the mirror image refers to the generation of mirror image motion signals by mirroring the central axis of the whole structure, and then the motion of the powered legs is realized by using the mirror image motion signals.
A control method of an asymmetric lower limb exoskeleton robot comprises the following steps:
s1: dividing a single gait cycle into a support phase and a swing phase according to the motion state; the support phase is a data acquisition leg which is driven by a user to move, and the power leg provides support and auxiliary movement for the user; the swing phase provides power for the powered leg to carry out stepping movement of the powered leg;
s2: and selecting a motion mode of the powered leg, and controlling the motion of the powered leg in the supporting phase and the swinging phase according to the data acquired by the first plantar pressure sensor, the second plantar pressure sensor, the hip joint data acquisition encoder and the knee joint data acquisition encoder.
Further, step S2 includes the following sub-steps:
s211: when the motion mode of a powered leg is an active and passive mode, judging the motion gravity center position according to signals sent by a first plantar pressure sensor, a second plantar pressure sensor, a hip joint data acquisition encoder and a knee joint data acquisition encoder;
s212: when the gravity center is on one side of the data acquisition leg, judging that the powered leg is in a swing phase, and controlling the powered leg to move according to the swing phase joint track information according to the preset swing phase joint track information; and when the gravity center is positioned on one side of the powered leg, judging that the powered leg is positioned in the support phase, and controlling the powered leg to move according to the joint track information of the support phase according to the preset joint track information of the support phase.
Further, step S212 includes the following sub-steps:
receiving auxiliary force adjusting information of a user, and setting an initial impedance parameter according to the auxiliary force adjusting information and weight information of the user;
the output torque control of the hip joint driving mechanism and the knee joint driving mechanism is realized through the impedance control of the hip joint driving mechanism and the knee joint driving mechanism;
and detecting the actual position deviation of the hip joint driving mechanism and the knee joint driving mechanism in real time, and correcting the impedance control according to self-adaption law.
Further, step S2 includes the following sub-steps:
s221: when the motion mode of the powered leg is a mirror image mode, judging the motion gravity center position according to signals sent by the first plantar pressure sensor, the second plantar pressure sensor, the hip joint data acquisition encoder and the knee joint data acquisition encoder;
s222: when the gravity center is on one side of the data acquisition leg, the main control module judges the motion track of the data acquisition leg as supporting motion data according to signals sent by the first plantar pressure sensor, the hip joint data acquisition encoder and the knee joint data acquisition encoder, and generates a mirror image supporting signal after carrying out mirror image processing on the supporting motion data; when the gravity center is positioned on one side of the leg with power, the main control module judges the motion track of the data acquisition leg as swing motion data according to signals sent by the first plantar pressure sensor, the hip joint data acquisition encoder and the knee joint data acquisition encoder, and generates mirror image swing signals after mirror image processing is carried out on the swing motion data;
s223: when the gravity center is on one side of the data acquisition leg, the main control module controls the hip joint driving mechanism and the knee joint driving mechanism to drive the powered leg to move according to the mirror image swing signal; when the gravity center is positioned on one side of the powered leg, the main control module controls the hip joint driving mechanism and the knee joint driving mechanism to drive the powered leg to move according to the mirror image supporting signal;
s224: s222 and S223 are repeatedly performed until the movement ends.
Compared with the prior art, the invention has the following advantages and beneficial effects:
according to the asymmetric lower limb exoskeleton robot and the control method, unilateral active movement/unilateral passive movement can be realized, so that when a cerebral palsy hemiplegic patient is rehabilitated, the movement of a healthy lateral leg is minimally influenced by a diseased lateral leg, the rehabilitation effect is improved, and the rehabilitation is beneficial to the recovery of normal gait of the patient; meanwhile, the coordination control of the powered legs can be realized, the gait acquisition function is realized, and complete reference data is provided for a later diagnosis and rehabilitation scheme.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic diagram illustrating the steps of the active and passive modes of the present invention;
FIG. 4 is a schematic view of an auxiliary power adjustment step of the present invention;
FIG. 5 is a schematic diagram illustrating steps in the mirror mode according to the present invention.
Reference numbers and corresponding part names in the drawings:
1-waist fixing device, 2-data acquisition leg, 3-dynamic leg, 4-first sensing shoe, 5-second sensing shoe, 41-first sole pressure sensor, 51-second sole pressure sensor, 21-hip joint data acquisition encoder, 22-knee joint data acquisition encoder, 31-hip joint driving mechanism and 32-knee joint driving mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
As shown in fig. 1 and fig. 2, the asymmetric lower extremity exoskeleton robot of the present invention comprises a waist fixing device 1, a data collecting leg 2, a powered leg 3, a first sensing shoe 4 and a second sensing shoe 5; the upper parts of the data acquisition legs 2 and the powered legs 3 are movably connected to the waist fixing device 1, the first sensing shoes 4 are mounted at the lower parts of the data acquisition legs 2, and the second sensing shoes 5 are mounted at the bottoms of the powered legs 3; the data acquisition leg 2 detects knee joint movement data and hip joint movement data; the powered legs 3 provide power and drive the powered legs 3 to move; a first plantar pressure sensor 41 is arranged on the first sensing shoe 4; the second sensing shoe 5 is provided with a second plantar pressure sensor 51.
When the embodiment is implemented, the data acquisition leg 2 can be fixed on the side-strengthening leg in use, the power leg 3 can be fixed on the affected side leg in use, so that the data acquisition of the side-strengthening leg in walking is realized, a basis is provided for the movement of the power leg 3, the data acquisition leg 2 only performs data acquisition without power, and the power leg 3 provides power, so that the unilateral active movement/unilateral passive movement can be realized, and when a patient with cerebral palsy and hemiplegia rehabilitates, the influence of the affected side leg on the movement of the side-strengthening leg is minimal, the rehabilitating effect is improved, and the rehabilitation is favorable for the patient to rehabilitate normal gait; meanwhile, the first plantar pressure sensor and the second plantar pressure sensor are arranged in the gait rehabilitation device, and the first plantar pressure sensor 41, the second plantar pressure sensor 51 and the data acquired by the data acquisition leg 2 can realize the coordinated control of the powered leg 3, realize the gait acquisition function and provide complete reference data for a later diagnosis and rehabilitation scheme.
To further illustrate the operation of the present embodiment, the data acquisition leg 2 comprises a first limb segment and a second limb segment; the powered leg 3 comprises a third limb segment and a fourth limb segment; the upper part of the first limb segment is movably connected to the waist fixing device 1, the upper part of the second limb segment is movably connected to the lower part of the first limb segment, and the first sensing shoe 4 is arranged on the lower part of the second limb segment; third limb section upper portion swing joint in waist fixing device 1, just third limb section upper portion swing joint in third limb section lower part, second sensing shoes 5 install in fourth limb section lower part.
For further explaining the working process of the embodiment, a hip joint data acquisition encoder 21 is arranged at the position where the upper part of the first limb segment is movably connected to the waist fixing device 1, and a knee joint data acquisition encoder 22 is arranged at the position where the upper part of the second limb segment is movably connected to the lower part of the first limb segment; the upper part of the third limb segment is movably connected to the waist fixing device 1 and is provided with a hip joint driving mechanism 31, and the upper part of the third limb segment is movably connected to the lower part of the third limb segment and is provided with a knee joint driving mechanism 32; the waist fixing device 1 is provided with a main control module, and the main control module receives signals of the first plantar pressure sensor 41, the second plantar pressure sensor 51, the hip joint data acquisition encoder 21 and the knee joint data acquisition encoder 22 and controls the movement of the hip joint driving mechanism 31 and the knee joint driving mechanism 32.
In the implementation of the embodiment, the main objects of data acquisition on the leg 2 are the motion of the hip joint and the motion of the knee joint, and the main motion on the leg 3 with power is also the motion of the hip joint and the motion of the knee joint, so that the design can provide good reference for adjusting the normal gait of the patient, and the motion data acquisition of the motion of the hip joint and the motion of the knee joint can acquire the motion speed and the motion trail, so that the leg 3 with power is convenient to control, because the leg with power usually simulates the normal gait and can be realized by the mirror image of the data. The hip joint driving mechanism 31 and the knee joint driving mechanism 32 generally need to include a motor, an incremental encoder, an absolute encoder and a reducer, the motor realizes driving, and the incremental encoder and the absolute encoder are used as the driving of the motor to realize encoding of motion increment and motion trail. Meanwhile, the main control module is arranged on the waist fixing device 1, the main control module can work more stably when being far away from the movement mechanism, and the main control module receives detected data and realizes movement control of the powered legs according to the detected data or data preset by a user.
In order to further explain the working process of the embodiment, during exercise, the main control module judges the position of the center of gravity of the exercise according to signals sent by the first plantar pressure sensor 41, the second plantar pressure sensor 51, the hip joint data acquisition encoder 21 and the knee joint data acquisition encoder 22;
when the gravity center is on one side of the data acquisition leg 2, the main control module controls the powered leg 3 to move according to the swing phase joint track information according to the preset swing phase joint track information;
when the gravity center is located on one side of the powered leg 3, the main control module controls the powered leg 3 to move according to the supporting phase joint track information according to the preset supporting phase joint track information.
When the walking assisting device is implemented, the main control module has multiple motion forms, in one motion form, the motion mode of the powered legs 3 adopts a preset motion mode, the assisting force of the exoskeleton on the human body is adjusted by adjusting control parameters, and the preset swing phase joint track information and the preset support phase joint track information can be obtained by collecting information of normal gait. Different joint track motions are set through different gravity center positions, so that the walking assistance is more effective and accurate.
To further explain the working process of this embodiment, the main control module is further configured to receive auxiliary force adjustment information of the user, and adjust the torques of the hip joint driving mechanism 31 and the knee joint driving mechanism 32 according to the auxiliary force adjustment information and the weight information of the user.
When the embodiment is implemented, the inventor finds that the auxiliary force adjustment is very important, different force adjustments can meet the requirements of different patients, and the auxiliary force adjustment range is 0% to 100% and can be suitable for patients with different recovery conditions. Wherein 100% of the auxiliary force is in a completely passive mode, the leg movement of the patient is completely driven by the powered leg 3, the powered leg 3 moves according to the motion track instruction planned by the program, and the acting force applied to the machine by the leg of the patient is ignored; the 0% auxiliary force refers to a fully active mode, the motion trajectory of the powered leg 3 completely follows the motion trajectory of the patient's leg, and the power unit of the powered leg 3 provides only force to overcome the moment, inertia force and resistance generated by its own weight and mass. The remaining percentage of the assist force setting and so on represent the percentage of force required by the powered leg to provide the current motion.
In order to further explain the working process of the embodiment, during exercise, the main control module judges the position of the center of gravity of the exercise according to signals sent by the first plantar pressure sensor 41, the second plantar pressure sensor 51, the hip joint data acquisition encoder 21 and the knee joint data acquisition encoder 22;
when the gravity center is on one side of the data acquisition leg 2, the main control module judges the motion track of the data acquisition leg 2 as support motion data according to signals sent by the first plantar pressure sensor 41, the hip joint data acquisition encoder 21 and the knee joint data acquisition encoder 22, and generates mirror image support signals after carrying out mirror image processing on the support motion data; when the gravity center is on one side of the powered leg 3, the main control module judges the motion track of the data acquisition leg 2 as swing motion data according to signals sent by the first sole pressure sensor 41, the hip joint data acquisition encoder 21 and the knee joint data acquisition encoder 22, and generates mirror image swing signals after mirror image processing is carried out on the swing motion data;
when the gravity center is on one side of the data acquisition leg 2, the main control module controls the hip joint driving mechanism 31 and the knee joint driving mechanism 32 to drive the powered leg 3 to move according to the mirror image swing signal; when the gravity center is on one side of the powered leg 3, the main control module controls the hip joint driving mechanism 31 and the knee joint driving mechanism 32 to drive the powered leg 3 to move according to the mirror image supporting signal.
In the implementation of the embodiment, the main control module has a plurality of motion modes, wherein the motion mode is a mirror image mode, the mirror image mode realizes the motion coordination of the legs of the patient in the rehabilitation process by simulating the motion of the side legs, the data information acquired on the data acquisition legs 2 is subjected to mirror image processing, the mirror image is to generate a mirror image motion signal by mirroring the central axis of the whole structure, and then the powered legs 3 are moved by using the mirror image motion signal.
Example 2
The embodiment of the invention provides a control method of an asymmetric lower limb exoskeleton robot, which comprises the following steps:
s1: dividing a single gait cycle into a support phase and a swing phase according to the motion state; the support phase is a data acquisition leg 2 driven by a user to move, and the power leg 3 provides support and auxiliary movement for the user; the swing phase provides power for the powered leg 3 to carry out stepping movement of the powered leg 3;
s2: the motion mode of the powered leg 3 is selected, and the motion of the powered leg 3 in the support phase and the swing phase is controlled according to the data collected by the first plantar pressure sensor 41, the second plantar pressure sensor 51, the hip joint data collecting encoder 21 and the knee joint data collecting encoder 22.
To further illustrate the operation of the present embodiment, step S2 includes the following sub-steps:
s211: when the motion mode of the powered leg 3 is an active or passive mode, the motion gravity center position is judged according to signals sent by the first plantar pressure sensor 41, the second plantar pressure sensor 51, the hip joint data acquisition encoder 21 and the knee joint data acquisition encoder 22;
s212: when the gravity center is on one side of the data acquisition leg 2, judging that the powered leg 3 is in a swing phase, and controlling the powered leg 3 to move according to the swing phase joint track information according to the preset swing phase joint track information; and when the gravity center is positioned at one side of the powered leg 3, judging that the powered leg 3 is positioned in the support phase, and controlling the powered leg 3 to move according to the support phase joint track information according to the preset support phase joint track information.
To further illustrate the operation of the present embodiment, step S212 includes the following sub-steps:
receiving auxiliary force adjusting information of a user, and setting an initial impedance parameter according to the auxiliary force adjusting information and weight information of the user;
the output torque control of the hip joint driving mechanism 31 and the knee joint driving mechanism 32 is realized through the impedance control of the hip joint driving mechanism 31 and the knee joint driving mechanism 32;
the actual positional deviation of the hip joint drive mechanism 31 and the knee joint drive mechanism 32 is detected in real time, and the impedance control is corrected in accordance with the adaptive law.
To further illustrate the operation of the present embodiment, step S2 includes the following sub-steps:
s221: when the motion mode of the powered leg 3 is a mirror image mode, the motion gravity center position is judged according to signals sent by the first plantar pressure sensor 41, the second plantar pressure sensor 51, the hip joint data acquisition encoder 21 and the knee joint data acquisition encoder 22;
s222: when the gravity center is on one side of the data acquisition leg 2, the main control module judges the motion track of the data acquisition leg 2 as support motion data according to signals sent by the first plantar pressure sensor 41, the hip joint data acquisition encoder 21 and the knee joint data acquisition encoder 22, and generates mirror image support signals after carrying out mirror image processing on the support motion data; when the gravity center is on one side of the powered leg 3, the main control module judges the motion track of the data acquisition leg 2 as swing motion data according to signals sent by the first sole pressure sensor 41, the hip joint data acquisition encoder 21 and the knee joint data acquisition encoder 22, and generates mirror image swing signals after mirror image processing is carried out on the swing motion data;
s223: when the gravity center is on one side of the data acquisition leg 2, the main control module controls the hip joint driving mechanism 31 and the knee joint driving mechanism 32 to drive the powered leg 3 to move according to the mirror image swing signal; when the gravity center is on one side of the powered leg 3, the main control module controls the hip joint driving mechanism 31 and the knee joint driving mechanism 32 to drive the powered leg 3 to move according to the mirror image supporting signal;
example 3
In this embodiment, as shown in fig. 1 and 2, the exoskeleton is mainly divided into five parts, namely a lumbar support structure 1, a powered leg 3, a data acquisition leg 2, a first sensing shoe 4 and a second sensing shoe 5. The exoskeleton is designed asymmetrically, one leg is a powered leg 3 with a motor, and the other leg is a data acquisition leg 2 without a motor; the structure can be designed in such a way that the left leg is a powered leg 3 and the right leg is a data acquisition leg 2; the left leg can also be designed as a data acquisition leg 2, and the right leg is a powered leg 3.
The main control and the main battery of the whole exoskeleton are placed in the lumbar support structure 1, and the main control is responsible for controlling the powered joints of the exoskeleton, receiving feedback data of the sensors and processing the feedback data; the main battery is responsible for providing the power required by the exoskeleton.
In the using process, the data acquisition leg 3 is bound on the side-healthy leg of the user, the angle sensors arranged on the hip joint and the knee joint are used for acquiring the action data of the side-healthy leg, such as leg lifting, walking on the flat ground, going upstairs and downstairs and the like, and the action data is transmitted to the main control through the communication bus.
A plurality of force sensors are arranged on the front sole and the rear sole of each sensing shoe, and the force sensors can acquire the pressure change of the soles and feed back the pressure change to a master control through a communication bus.
The main control receives data fed back by the data acquisition leg and the sensing shoes, and controls the power leg to act in different modes and force after analysis and storage, wherein the action mode can be set manually or automatically generated by the fusion of the sensing data.
In the actual training process of the hemiplegic patient, the exoskeleton unpowered leg is worn on the healthy side of the patient, and the powered leg 3 is worn on the affected side of the patient. In the whole gait training process, a single gait cycle is divided into 2 parts of a support phase and a swing phase. For the powered leg, in the supporting phase, the powered leg provides power for the affected leg of the patient to support the weight of the patient and assist the patient to move with the forward movement of the center of gravity; in the swing phase, the powered leg provides power for the affected leg of the patient to assist the affected leg to swing forward to perform the stepping action. The unpowered leg is driven by the patient side-building leg, and the unpowered leg only provides a certain supporting force for the patient and the exoskeleton and does not provide any auxiliary power for the joint of the side-building leg.
The control mode of the exoskeleton is divided into an active and passive mode and a mirror mode, wherein the exoskeleton in the active and passive mode can adjust the assistance force of the exoskeleton on a human body by adjusting control parameters, and the exoskeleton in the mirror mode can adjust the motion mode of a powered leg according to personal information of a patient and the motion mode of a side-exercising (unpowered leg) so as to realize personalized gait training with high individual matching degree.
As shown in fig. 3, in active and passive mode the articulation motors of the exoskeleton powered legs will operate in the reference trajectory tracking mode and the unpowered legs will operate in the free swing mode;
1) the main control carries out data fusion analysis by receiving sensing data information such as angle data and posture data from the sensing shoes and the exoskeleton joints, and carries out calculation of the gravity center.
2) If the gravity center is on the healthy side, the powered leg should be in the swing phase, and at the moment, the master control controls the powered leg to move according to the preset support related joint track by sending preset joint track information to the powered leg.
3) If the gravity center is on the affected side, the powered leg is in the supporting phase, and at the moment, the master control controls the powered leg to move according to the preset swing related joint track by sending preset joint track information to the powered leg.
In the mode, the exoskeleton can control the auxiliary force by controlling the output torque of the motor of the powered leg according to the actual requirement of a patient, so that the active and passive control of the exoskeleton robot is realized. The active and passive control can change the output torque of the motor by changing the output current of the motor. The specific process is as follows:
the adjusting range of the auxiliary force is 0% to 100%. Wherein 100% of the auxiliary force is in a completely passive mode, the leg movement of the patient is completely driven by the power leg, the power leg moves according to the motion track instruction planned by the program, and the acting force applied by the leg of the patient to the machine is ignored; the 0% auxiliary force refers to a completely active mode, the motion trail of the power leg completely follows the motion trail of the leg of the patient, and the power unit of the power leg only provides force to overcome the moment, inertia force and resistance generated by the gravity and mass of the power leg. The rest percentage of the auxiliary force is set by analogy, and the rest percentage of the auxiliary force represents the percentage of the force required by the power leg to provide the current movement, and the specific implementation is shown in fig. 4:
(1) setting the servo control as an impedance control mode, and establishing a corresponding control relation of the position deviation and the force.
(2) And acquiring the set auxiliary force percentage and acquiring the weight information of the patient.
(3) And setting the initial impedance parameters of the controller according to the setting parameters.
(4) And after the movement starts, the joint reference position is sent to the driving unit, the actual position deviation is detected in real time, the impedance parameter and the target position of the controller are dynamically modified according to the position deviation and the self-adaptive law, and the real-time adjustment of the output force of the motor is realized. Thereby realizing the active control effect.
As shown in fig. 5, in the mirror image mode, the exoskeleton unpowered leg will work in the free swing mode, and the exoskeleton unpowered leg is driven by the patient's strong side leg to move, and meanwhile, the joint angle data collected in real time is sent to the master control; the joint motor of the exoskeleton with the power leg works in a reference track tracking mode, and a reference track is generated by unpowered leg joint angle data acquired in the previous movement period.
1) The main control carries out data fusion analysis by receiving sensing data information such as angle data and posture data from the sensing shoes and the exoskeleton joints, and carries out calculation of the gravity center.
2) If the gravity center is on the affected side, the unpowered leg is in the swing phase, the powered leg is in the support phase, the unpowered leg is driven by the patient to move at the moment, the unpowered leg data acquisition module acquires the joint angle data currently in the swing phase and sends the joint angle data to the master control in real time, and the master control performs filtering, cutting and other processing on the data and then stores the data. Meanwhile, the main control carries out mirror image processing according to the support phase joint track obtained from the unpowered leg in the previous gait cycle and sends the joint track to the powered leg, and the powered leg controls the joint motor to move according to the track.
3) If the gravity center is on the healthy side, the unpowered leg is in the supporting phase, the powered leg is in the swinging phase, the unpowered leg is driven by the patient to move at the moment, the unpowered leg data acquisition module acquires the joint angle data currently in the supporting phase and sends the joint angle data to the main control in real time, and the main control filters, cuts and the like the data and stores the data. Meanwhile, the main control carries out mirror image processing according to the swing phase joint track acquired from the unpowered leg in the previous gait cycle and sends the joint track to the powered leg, and the powered leg controls the joint motor to move according to the track.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. An asymmetric lower limb exoskeleton robot is characterized by comprising a waist fixing device (1), a data acquisition leg (2), a powered leg (3), a first sensing shoe (4) and a second sensing shoe (5); the upper parts of the data acquisition legs (2) and the powered legs (3) are movably connected to the waist fixing device (1), the first sensing shoes (4) are installed at the lower parts of the data acquisition legs (2), and the second sensing shoes (5) are installed at the bottoms of the powered legs (3); the data acquisition leg (2) detects knee joint movement data and hip joint movement data; the powered legs (3) provide power and drive the powered legs (3) to move; a first plantar pressure sensor (41) is arranged on the first sensing shoe (4); a second plantar pressure sensor (51) is arranged on the second sensing shoe (5);
the data acquisition leg (2) comprises a first limb segment and a second limb segment; the powered leg (3) comprises a third limb segment and a fourth limb segment; the upper part of the first limb segment is movably connected to the waist fixing device (1), the upper part of the second limb segment is movably connected to the lower part of the first limb segment, and the first sensing shoe (4) is installed on the lower part of the second limb segment; the upper part of the third limb section is movably connected to the waist fixing device (1), the upper part of the third limb section is movably connected to the lower part of the third limb section, and the second sensing shoe (5) is installed on the lower part of the third limb section;
a hip joint data acquisition coder (21) is arranged at the position, movably connected to the waist fixing device (1), of the upper part of the first limb segment, and a knee joint data acquisition coder (22) is arranged at the position, movably connected to the lower part of the first limb segment, of the upper part of the second limb segment; a hip joint driving mechanism (31) is arranged at the position, which is movably connected with the waist fixing device (1), of the upper part of the third limb section, and a knee joint driving mechanism (32) is arranged at the position, which is movably connected with the lower part of the third limb section, of the upper part of the third limb section; the waist fixing device (1) is provided with a main control module, and the main control module comprises a preset movement mode and a mirror movement mode;
when the robot moves in a preset movement mode, the main control module judges the movement gravity center position according to signals sent by the first plantar pressure sensor (41), the second plantar pressure sensor (51), the hip joint data acquisition encoder (21) and the knee joint data acquisition encoder (22);
when the gravity center is on one side of the data acquisition leg (2), the main control module controls the powered leg (3) to move according to the swing phase joint track information according to the preset swing phase joint track information;
when the gravity center is positioned at one side of the powered leg (3), the main control module controls the powered leg (3) to move according to the support phase joint track information according to the preset support phase joint track information;
when the robot moves in a mirror image movement mode, the main control module judges the movement gravity center position according to signals sent by the first plantar pressure sensor (41), the second plantar pressure sensor (51), the hip joint data acquisition encoder (21) and the knee joint data acquisition encoder (22);
when the gravity center is positioned at one side of the data acquisition leg (2), the main control module judges the movement track of the data acquisition leg (2) as support movement data according to signals sent by a first sole pressure sensor (41), a hip joint data acquisition encoder (21) and a knee joint data acquisition encoder (22), and generates mirror image support signals after carrying out mirror image processing on the support movement data;
when the gravity center is positioned on one side of the powered leg (3), the main control module judges the motion track of the data acquisition leg (2) as swing motion data according to signals sent by a first plantar pressure sensor (41), a hip joint data acquisition encoder (21) and a knee joint data acquisition encoder (22), and generates mirror image swing signals after mirror image processing is carried out on the swing motion data;
when the gravity center is on one side of the data acquisition leg (2), the main control module controls the hip joint driving mechanism (31) and the knee joint driving mechanism (32) to drive the powered leg (3) to move according to the mirror image swing signal; when the gravity center is positioned at one side of the powered leg (3), the main control module controls the hip joint driving mechanism (31) and the knee joint driving mechanism (32) to drive the powered leg (3) to move according to the mirror image supporting signal.
2. The asymmetric lower limb exoskeleton robot as claimed in claim 1, wherein the main control module is further configured to receive assistance force adjustment information of a user and adjust the torque of the hip joint driving mechanism (31) and the knee joint driving mechanism (32) according to the assistance force adjustment information and the weight information of the user.
3. A method of controlling an asymmetric lower extremity exoskeleton robot as claimed in either of claims 1 or 2, comprising the steps of:
s1: dividing a single gait cycle into a support phase and a swing phase according to the motion state; the support phase is a data acquisition leg (2) driven by a user to move, and the power leg (3) provides support and auxiliary movement for the user; the swing phase provides power for the powered leg (3) to carry out stepping movement of the powered leg (3);
s2: the motion mode of the powered leg (3) is selected, and the motion of the powered leg (3) in the support phase and the swing phase is controlled according to the data collected by the first plantar pressure sensor (41), the second plantar pressure sensor (51), the hip joint data collecting encoder (21) and the knee joint data collecting encoder (22).
4. The method of claim 3, wherein step S2 includes the following substeps:
s211: when the motion mode of the powered leg (3) is an active or passive mode, the motion gravity center position is judged according to signals sent by the first plantar pressure sensor (41), the second plantar pressure sensor (51), the hip joint data acquisition encoder (21) and the knee joint data acquisition encoder (22);
s212: when the gravity center is on one side of the data acquisition leg (2), judging that the powered leg (3) is in a swing phase, and controlling the powered leg (3) to move according to the swing phase joint track information according to the preset swing phase joint track information; when the gravity center is on one side of the powered leg (3), the powered leg (3) is judged to be in the supporting phase, and the powered leg (3) is controlled to move according to the supporting phase joint track information according to the preset supporting phase joint track information.
5. The method of claim 4, wherein step S212 comprises the sub-steps of:
receiving auxiliary force adjusting information of a user, and setting an initial impedance parameter according to the auxiliary force adjusting information and weight information of the user;
the output torque control of the hip joint driving mechanism (31) and the knee joint driving mechanism (32) is realized through the impedance control of the hip joint driving mechanism (31) and the knee joint driving mechanism (32);
actual position deviations of the hip joint drive mechanism (31) and the knee joint drive mechanism (32) are detected in real time, and the impedance control is corrected according to adaptive laws.
6. The method of claim 3, wherein step S2 includes the following substeps:
s221: when the motion mode of the powered leg (3) is a mirror image mode, judging the motion gravity center position according to signals sent by the first plantar pressure sensor (41), the second plantar pressure sensor (51), the hip joint data acquisition encoder (21) and the knee joint data acquisition encoder (22);
s222: when the gravity center is on one side of the data acquisition leg (2), the main control module judges the motion track of the data acquisition leg (2) as support motion data according to signals sent by a first plantar pressure sensor (41), a hip joint data acquisition encoder (21) and a knee joint data acquisition encoder (22), and generates mirror image support signals after mirror image processing is carried out on the support motion data; when the gravity center is positioned on one side of the powered leg (3), the main control module judges the motion track of the data acquisition leg (2) as swing motion data according to signals sent by a first plantar pressure sensor (41), a hip joint data acquisition encoder (21) and a knee joint data acquisition encoder (22), and generates mirror image swing signals after mirror image processing is carried out on the swing motion data;
s223: when the gravity center is on one side of the data acquisition leg (2), the main control module controls the hip joint driving mechanism (31) and the knee joint driving mechanism (32) to drive the powered leg (3) to move according to the mirror image swing signal; when the gravity center is positioned at one side of the powered leg (3), the main control module controls the hip joint driving mechanism (31) and the knee joint driving mechanism (32) to drive the powered leg (3) to move according to the mirror image supporting signal;
s224: s222 and S223 are repeatedly performed until the movement ends.
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| CN114642573B (en) * | 2021-04-20 | 2024-04-23 | 安杰莱科技(杭州)有限公司 | Exoskeleton for rehabilitation |
| CN113558886A (en) * | 2021-09-07 | 2021-10-29 | 布法罗机器人科技（成都）有限公司 | Wheelchair type walking aid |
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Denomination of invention: An asymmetric lower limb exoskeleton robot and its control method Granted publication date: 20220517 Pledgee: China Construction Bank Corporation Chengdu hi tech sub branch Pledgor: BUFFALO ROBOT TECHNOLOGY (CHENGDU) Co.,Ltd. Registration number: Y2024980005710 |