CN111067763A - Pressure detection device for exoskeleton robot - Google Patents
Pressure detection device for exoskeleton robot Download PDFInfo
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- CN111067763A CN111067763A CN201811214334.3A CN201811214334A CN111067763A CN 111067763 A CN111067763 A CN 111067763A CN 201811214334 A CN201811214334 A CN 201811214334A CN 111067763 A CN111067763 A CN 111067763A
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- pressure
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2201/5061—Force sensors
Abstract
The invention discloses a pressure detection device for an exoskeleton robot, wherein the exoskeleton robot comprises a waist mechanism, two lower limb mechanisms connected with the waist mechanism and a controller, the pressure detection device is arranged on the waist mechanism and/or at least one lower limb mechanism, the pressure detection device collects a plurality of pieces of pressure information of a user wearing or using the exoskeleton robot and then outputs the pressure information to the controller, and the controller displays the pressure information.
Description
Technical Field
The present invention relates to a pressure detection device for an exoskeleton robot, and more particularly, to a gas bag type pressure detection device for an exoskeleton robot.
Background
The existing pressure detection device for the exoskeleton robot is mostly used for detecting by using a sensor based on resistance or capacitance strain, and is mostly based on the detection of pressure information by directly making resistance, capacitance diaphragm deformation change resistance and capacitance under surface stress, but the mode is more suitable for detecting hard objects and requires a measured object to have better fitting degree with the sensor, but is difficult if the pressure of a flexible object is desired to be detected, and when the pressure detection device detects the pressure of the flexible object, extremely large errors are easily generated due to uneven stress, so that the detection precision is greatly reduced. Meanwhile, the sensor based on resistance or capacitance strain is also easily affected by the external environment during operation, such as air temperature, humidity and other environmental factors, which limits the use environment of the pressure detection device, thereby causing inconvenience to the user. Therefore, it is urgently needed to develop a pressure detection device for an exoskeleton robot, which overcomes the above defects.
Disclosure of Invention
In order to solve the problems of the prior art, an object of the present invention is to provide a pressure detection apparatus for an exoskeleton robot, the exoskeleton robot includes a waist mechanism, two lower limb mechanisms connected to the waist mechanism, and a controller, wherein the pressure detection apparatus is mounted on the waist mechanism and/or at least one of the lower limb mechanisms, the pressure detection apparatus collects a plurality of pressure information of a user wearing or using the exoskeleton robot and outputs the pressure information to the controller, and the controller displays the pressure information.
Each lower limb mechanism comprises a hip joint driving component, a thigh component, a knee joint driving component, a shank component, an ankle joint component and a foot component which are sequentially connected, the hip joint driving component is further connected to the waist mechanism, each lower limb mechanism further comprises at least one binding belt which is arranged on the thigh component and/or the shank component, the binding belt is used for fixing thighs or shanks of a user to the thigh component or the shank component correspondingly, and the pressure detection device is arranged on the inner side of the binding belt.
In the above pressure detection device, the waist mechanism includes a back cushion and a waist belt, the waist belt fixes the waist of the user on the back cushion, and the pressure detection device is further mounted on the back cushion.
The pressure detection device described above, wherein the pressure detection device includes:
the air bag is arranged on the inner side of the bandage or the cushion;
the air pressure detection module is arranged in the air bag and used for collecting air pressure information in the air bag;
and the control module is used for obtaining pressure information according to the air pressure information and then outputting the pressure information to the controller.
In the above pressure detection device, the pressure detection device further includes a temperature detection module disposed in the air bag, the temperature detection module detects temperature information inside the air bag and outputs the temperature information to the control module, and the control module obtains the pressure information according to the air pressure information and the temperature information and outputs the pressure information to the controller.
In the above pressure detection device, when the user wears the exoskeleton robot, the controller receives and displays the pressure information, so that the strap and the back cushion can be timely adjusted according to the pressure information.
In the pressure detection device, when the user uses the exoskeleton robot, the controller receives and judges whether the pressure information is in a normal pressure range, and when the pressure information is not in the normal pressure range, the controller outputs an alarm signal.
The pressure detection device further comprises a communication module, and wireless information transmission is performed between the control module and the controller.
The pressure detection device further comprises a power module electrically connected to the control module, the air pressure detection module and the temperature detection module.
In the pressure detection device, the air pressure detection module is an air pressure sensor, and the temperature detection module is a temperature sensor.
In the above pressure detection apparatus, the air pressure detection module and the temperature detection module are integrated into a whole and are an air pressure temperature sensor.
Compared with the prior art, the pressure detection device has the advantages of no requirements on the state of a detected object and the fitting degree of the sensor, high precision, high sensitivity and wide detection range. Meanwhile, when a user wears or uses the exoskeleton robot, the stress condition of the user in each direction of the binding band and the back cushion is detected, corresponding adjustment is convenient to carry out, and the impact resistance characteristic of the air bag can protect the human body.
Drawings
FIG. 1 is a schematic view of a pressure sensing device of the present invention mounted to an exoskeleton robot;
FIG. 2 is a schematic view of the structure of the pressure detecting device of the present invention mounted on the strap;
FIG. 3 is a schematic diagram of a pressure sensing device;
FIG. 4 is a schematic structural diagram of a first embodiment of a pressure detection device;
fig. 5 is a schematic structural diagram of a second embodiment of the pressure detection device.
Wherein the reference numerals are:
exoskeleton robot 1
Waist belt 112
Hip joint drive assembly 121
Knee joint drive assembly 123
Air pressure detection module 22
Detailed Description
The following detailed description is provided in conjunction with the accompanying drawings to better understand the aspects of the present disclosure, but the embodiments are not provided to limit the scope of the present disclosure.
Referring to fig. 1-3, fig. 1 is a schematic structural view of a pressure detection device of the present invention installed on an exoskeleton robot; FIG. 2 is a schematic view of the structure of the pressure detecting device of the present invention mounted on the strap; FIG. 3 is a schematic diagram of a pressure sensing device; fig. 4 is a schematic structural diagram of a first embodiment of the pressure detection device. As shown in fig. 1 to 4, the pressure detection device 2 for an exoskeleton robot 1 of the present invention includes a waist mechanism 11, two lower limb mechanisms 12 connected to the waist mechanism, and a controller 13, wherein the pressure detection device 2 is mounted on the waist mechanism 11 and/or at least one of the lower limb mechanisms 12, the pressure detection device 2 collects a plurality of pressure information of the exoskeleton robot 1 worn or used by a user and outputs the pressure information to the controller 13, and the controller displays the pressure information 13.
Each of the lower limb mechanisms 12 includes a hip joint driving component 121, a thigh component 122, a knee joint driving component 123, a shank component 124, an ankle joint component 125 and a foot component 126, which are connected in sequence, the hip joint driving component 121 is further connected to the waist mechanism 11, each of the lower limb mechanisms further includes at least one strap 127, the at least one strap 127 is mounted on the thigh component 122 and/or the shank component 124, the strap 127 fixes a thigh or a shank of a user on the thigh component 122 or the shank component 123, respectively, and the pressure detecting device is mounted on an inner side of the strap 127. The waist mechanism 11 includes a backrest 111 and a belt 112, the belt 112 fixes the waist of the user on the backrest 111, and the pressure detection device 2 is further mounted on the backrest 111.
It should be noted that in the present embodiment, the back cushion 111 and the binding band 127 are provided with a plurality of pressure detecting devices, but the number of the pressure detecting devices is not limited in the present invention, and the designer can increase or decrease the number of the pressure detecting devices according to the user's requirement.
Further, the pressure detection device 2 includes: an air bag 21, an air pressure detection module 22 (air pressure sensor), a circuit board 23 and a control module 24; the air bag 21 is arranged on the inner side of the bandage 127 and/or the cushion; the air pressure detection module 22 is arranged in the air bag 21 and is arranged on the circuit board 23, and the air pressure detection module 22 acquires air pressure information in the air bag 21; the control module 24 (not shown) obtains pressure information according to the air pressure information and outputs the pressure information to the controller 13, when the exoskeleton robot 1 is worn by a user, the controller 13 receives and displays the pressure information, so that the tightness of the binding band 127 and the position of the back cushion can be adjusted in time according to the pressure information, when the exoskeleton robot 1 is used by the user, the controller 13 receives and judges whether the pressure information is within a normal pressure range, and when the pressure information is not within the normal pressure range, the controller 13 outputs an alarm signal, so that the functions of reminding when the pressure is too large or reminding when the pressure is suddenly stopped and uneven in stress can be realized, discomfort of the patient can be avoided by adjusting the tightness and the left and right directions of the binding band, and the training effect can be improved.
It should be noted that the present invention is not limited to the position of the control module 24, in one embodiment of the present invention, the control module 24 may be disposed on the outer side of the strap 127 or on the cushion 111, and in another embodiment of the present invention, the control module 24 may be integrated into the controller 13.
Still further, the pressure detection device 2 further includes a temperature detection module 25 disposed in the air bag 21 and mounted on the circuit board 23, the temperature detection module 25 detects temperature information inside the air bag 21 and outputs the temperature information to the control module 24 (not shown), and the control module 24 (not shown) obtains the pressure information according to the air pressure information and the temperature information and outputs the pressure information to the controller 13. That is, both the air pressure and the temperature information in the air bag 21 are transmitted to the corresponding control module 24. The control module 24 converts the air pressure and temperature information inside the air bag into pressure information on the outside of the binding band or the back cushion and transmits the pressure information to the controller 13. The temperature sensor has the function of correcting the result by measuring the real-time temperature, so that the pressure is prevented from generating errors on the measured value of the external pressure due to the change of the temperature, and the precision of the measured result is improved. In another embodiment of the present invention, the control module 24 may also transmit pressure information to the PC terminal.
In the present embodiment, the air pressure detecting module 22 is an air pressure sensor, and the temperature detecting module 25 is a temperature sensor, but the invention is not limited thereto.
Still further, the pressure detecting device 2 further includes a communication module 26 and a power module 27; the communication module 26 performs wireless information transmission between the control module 24 and the controller 13; the power module 25 is electrically connected to the control module 24, the air pressure detection module 22 and the temperature detection module 25, and the power module 25 provides power to each module.
It should be noted that although the present invention discloses wireless information transmission between the control module 24 and the controller 13 through the communication module 26, the present invention is not limited thereto, and in other embodiments, the communication module 26 may be omitted and connected through a signal transmission line instead, so as to enhance the anti-interference capability of the pressure detecting device.
Wherein, every pressure measurement device all can accomplish the pressure measurement function alone, and atmospheric pressure, temperature sensor and aerify, lead wire, sealed all can be placed to gasbag inside promptly, but whether specifically need realize its function, can be decided according to actual conditions. Meanwhile, at least one pressure detection device 2 and the binding belt 127 are integrated into a whole, so that the pressure detection device is composed of an outer layer of binding belt with toughness and rigidity and an inner air bag which can be freely taken down and adhered, the number of the adhered air bags can be selected according to actual conditions, and the positions of the air bags can be adjusted, so that the best pressure measurement effect can be achieved. In addition, at least one pressure detection device 2 is integrated with the back cushion 111 to form an integrated structure, once the pressure value of the back cushion is too large or too small, the patient can be attached to the back cushion with normal tightness by adjusting the tightness of the waistband, and the integrated structure can also be used for a cushion for measuring pressure of a wheelchair.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a second embodiment of a pressure detection device. The pressure detecting device shown in fig. 5 has substantially the same structure as the pressure detecting device shown in fig. 4, and therefore, the same parts are not described herein again, and different parts will now be described below. In the present embodiment, the air pressure detecting module 22 and the temperature detecting module 25 are integrated into a whole and are air pressure and temperature sensors.
In summary, the pressure detection device of the present invention has no requirement for the state of the object to be detected and the degree of adhesion of the sensor, and has the advantages of high precision, high sensitivity, and wide detection range. Meanwhile, when a user wears or uses the exoskeleton robot, the stress condition of the user in each direction of the binding band and the back cushion is detected, corresponding adjustment is convenient to carry out, and the impact resistance characteristic of the air bag can protect the human body.
Although the present disclosure has been described with reference to exemplary embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the disclosure, and therefore, the scope of the disclosure should be determined by that of the appended claims.
Claims (11)
1. The pressure detection device is characterized in that the pressure detection device is arranged on the waist mechanism and/or at least one lower limb mechanism, the pressure detection device collects a plurality of pieces of pressure information when a user wears or uses the exoskeleton robot and then outputs the pressure information to the controller, and the controller displays the pressure information.
2. The pressure detecting device of claim 1, wherein each of the lower limb mechanisms comprises a hip joint driving component, a thigh component, a knee joint driving component, a shank component, an ankle joint component and a foot component, which are connected in sequence, the hip joint driving component is further connected to the waist mechanism, each of the lower limb mechanisms further comprises at least one strap mounted on the thigh component and/or the shank component, the strap fixes the thigh or the shank of the user to the corresponding thigh component or the shank component, and the pressure detecting device is mounted on the inner side of the strap.
3. The pressure detecting device of claim 2, wherein the waist mechanism comprises a backrest and a belt for securing the waist of the user to the backrest, and the pressure detecting device is further mounted on the backrest.
4. The pressure detection apparatus according to claim 3, characterized in that the pressure detection apparatus comprises:
the air bag is arranged on the inner side of the bandage and/or the cushion;
the air pressure detection module is arranged in the air bag and used for collecting air pressure information in the air bag;
and the control module is used for obtaining pressure information according to the air pressure information and then outputting the pressure information to the controller.
5. The pressure detecting device according to claim 4, further comprising a temperature detecting module disposed in the air bag, wherein the temperature detecting module detects temperature information inside the air bag and outputs the temperature information to the control module, and the control module obtains the pressure information according to the air pressure information and the temperature information and outputs the pressure information to the controller.
6. The pressure sensing device of claim 5 wherein the controller receives and displays the pressure information when the exoskeleton robot is worn by a user so that the straps and the back pads can be adjusted in time based on the pressure information.
7. The pressure sensing device of claim 5 wherein the controller receives and determines if the pressure information is within a normal pressure range when the user is using the exoskeleton robot, and outputs an alarm signal when the pressure information is not within the normal pressure range.
8. The pressure sensing device of claim 5, further comprising a communication module for wirelessly communicating information between the control module and the controller.
9. The pressure detecting device of claim 8, further comprising a power module electrically connected to the control module, the air pressure detecting module, and the temperature detecting module.
10. The pressure detection device of claim 5, wherein the air pressure detection module is an air pressure sensor and the temperature detection module is a temperature sensor.
11. The pressure detecting device of claim 5, wherein the air pressure detecting module and the temperature detecting module are integrated into a whole and are air pressure temperature sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811214334.3A CN111067763A (en) | 2018-10-18 | 2018-10-18 | Pressure detection device for exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811214334.3A CN111067763A (en) | 2018-10-18 | 2018-10-18 | Pressure detection device for exoskeleton robot |
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| CN111067763A true CN111067763A (en) | 2020-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811214334.3A Pending CN111067763A (en) | 2018-10-18 | 2018-10-18 | Pressure detection device for exoskeleton robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112656638A (en) * | 2020-11-23 | 2021-04-16 | 中山市沃倍特智能医疗器械股份有限公司 | Waist booster |
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| US20160158087A1 (en) * | 2013-08-10 | 2016-06-09 | Imobility Inc. | Portable human exoskeleton system |
| CN105796286A (en) * | 2016-02-23 | 2016-07-27 | 东南大学 | Method for controlling lower limb exoskeleton robot through air bag sensor |
| CN106092379A (en) * | 2016-06-14 | 2016-11-09 | 中国科学院合肥物质科学研究院 | A kind of ectoskeleton disabled aiding robot inflated type pressure transducer |
| CN107101776A (en) * | 2017-06-19 | 2017-08-29 | 深圳市沃特沃德股份有限公司 | Force measuring method, device and dynamometer |
| CN108186295A (en) * | 2018-02-13 | 2018-06-22 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the lower limb structure component of the exoskeleton robot of simulation of human body design |
| CN108283569A (en) * | 2017-12-27 | 2018-07-17 | 北京精密机电控制设备研究所 | A kind of exoskeleton robot control system and control method |
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2018
- 2018-10-18 CN CN201811214334.3A patent/CN111067763A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160158087A1 (en) * | 2013-08-10 | 2016-06-09 | Imobility Inc. | Portable human exoskeleton system |
| CN105796286A (en) * | 2016-02-23 | 2016-07-27 | 东南大学 | Method for controlling lower limb exoskeleton robot through air bag sensor |
| CN106092379A (en) * | 2016-06-14 | 2016-11-09 | 中国科学院合肥物质科学研究院 | A kind of ectoskeleton disabled aiding robot inflated type pressure transducer |
| CN107101776A (en) * | 2017-06-19 | 2017-08-29 | 深圳市沃特沃德股份有限公司 | Force measuring method, device and dynamometer |
| CN108283569A (en) * | 2017-12-27 | 2018-07-17 | 北京精密机电控制设备研究所 | A kind of exoskeleton robot control system and control method |
| CN108186295A (en) * | 2018-02-13 | 2018-06-22 | 中山市沃倍特智能医疗机器人股份有限公司 | Meet the lower limb structure component of the exoskeleton robot of simulation of human body design |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112656638A (en) * | 2020-11-23 | 2021-04-16 | 中山市沃倍特智能医疗器械股份有限公司 | Waist booster |
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