CN111773036A - Lower limb assistance soft robot and control method thereof - Google Patents
Lower limb assistance soft robot and control method thereof Download PDFInfo
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- CN111773036A CN111773036A CN202010668957.9A CN202010668957A CN111773036A CN 111773036 A CN111773036 A CN 111773036A CN 202010668957 A CN202010668957 A CN 202010668957A CN 111773036 A CN111773036 A CN 111773036A
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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
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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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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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
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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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
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- A61H2201/1238—Driving means with hydraulic or pneumatic 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
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- Pain & Pain Management (AREA)
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Abstract
The invention provides a lower limb assistance soft robot and a control method thereof, wherein the robot comprises: the pneumatic artificial muscle component comprises an air source, at least one flow control piece, a first driving piece, a second driving piece, at least two pneumatic artificial muscle components, a first control unit, a second control unit and a signal converter connected with the first control unit; the first control unit controls the output air pressure in the artificial muscle component, and meanwhile, the second control unit sends a switch signal to control the driving piece to drive the artificial muscle component to inflate and deflate. The robot provided by the embodiment of the invention controls the amount of gas flowing in the muscle part of the human body and the charging and discharging of the gas in the muscle part of the human body, provides biological torque for the walking of the ankle of the human body, and realizes the assistance of the joint movement of the lower limb. The robot and the control method thereof provided by the embodiment realize lower limb assistance based on the pneumatic artificial muscle, so the assistance conversion efficiency is high, and convenience is provided for the walking of a user.
Description
Technical Field
The invention relates to the technical field of wearable robots, in particular to a lower limb assistance soft robot and a control method thereof.
Background
In the prior art, most wearable soft robots for ankle rehabilitation adopt a wire drive system or linear pneumatic artificial muscles as drivers, the tail ends of the drivers need to be fixed at corresponding body parts, such as feet, shanks, thighs and the like, and the drivers perform linear stretching motion to assist the corresponding body parts to rotate (i.e. to change angles), so that rotation assistance is provided for lower limb joints (such as hip joints and ankle joints) adjacent to the body parts during walking. However, the structure and method for providing "rotational power assistance" to the lower limb joint, which is the power assistance in the above method, is an indirect power assistance method, and needs to be converted from "linear driving" to "rotational power assistance", which makes the power assistance conversion efficiency low, and causes inconvenience in wearing.
Therefore, the prior art is subject to further improvement.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a lower limb assistance soft robot and a control method thereof, and overcomes the defect of low assistance conversion efficiency when the assistance soft robot in the prior art adopts an indirect assistance method to realize assistance.
In a first aspect, the present embodiment discloses a lower limb assisting soft robot, wherein, include: a control system and a pneumatic system;
the pneumatic system comprises: the pneumatic artificial muscle component comprises an air source, at least one flow control piece connected to an air outlet end of the air source, a first driving piece and a second driving piece connected to an output end of the flow control piece, and at least two pneumatic artificial muscle components;
the control system includes: the device comprises a first control unit, a second control unit and a signal converter connected with the first control unit;
the first control unit generates an air pressure control signal with a preset value, the air pressure control signal is sent to the first driving piece through the signal converter, and meanwhile, the second control unit generates a switching signal according to the received angle change information of the ankle joint in the gait cycle and transmits the switching signal to the second driving piece;
the first driving piece and the second driving piece control the output air pressure in the artificial muscle component according to the received air pressure control signal and drive the artificial muscle component to inflate and deflate according to the received switch signal.
Optionally, artificial muscle part includes elasticity strain layer and fixed layer, the elasticity strain layer contains a plurality of inflatable chambers that link up mutually through the air flue, fixed layer with the elasticity strain layer is laminated mutually, is used for injecing the deformation volume of elasticity strain layer.
Optionally, a plurality of inflation chambers set up side by side, and the fixed bed sets up the bottom on elasticity strain layer, and when a plurality of inflation chambers were the gas state, the overall structure of artificial muscle part was the curved structure, and when a plurality of inflation chambers were the state of not inflating, the overall structure of artificial muscle part was the cuboid structure.
Optionally, the second control unit includes: the control chip, a relay connected with the control chip and a boosting module respectively connected to two ends of the relay and the driving piece;
the relay generates a switching signal according to the information sent by the control chip and sends the switching signal to the boosting module;
and the boosting module boosts the voltage of the driving piece.
Optionally, the flow control member is a proportional valve, the first driving member and the second driving member are solenoid valves, and the signal converter is a PWM-to-analog converter.
Optionally, the first driving member comprises: the valve comprises a first valve port, a third valve port and a second valve port, wherein the first valve port and the third valve port are symmetrically arranged, and the second valve port is arranged between the first valve port and the third valve port; the second drive member includes: the valve comprises a fourth valve opening, a sixth valve opening and a fifth valve opening, wherein the fourth valve opening and the sixth valve opening are symmetrically arranged, and the fifth valve opening is arranged between the fourth valve opening and the sixth valve opening; wherein the third valve port is connected to a fifth valve port; the first valve port is connected with the flow control element, and the sixth valve is connected with the pneumatic artificial muscle component.
Optionally, the robot further comprises: an elastic fabric bag for assembling the artificial muscle component; the length of the elastic fabric bag is matched with that of the artificial muscle component.
In a second aspect, the present embodiment further discloses a method for controlling a lower limb assistance soft robot, wherein the method applied to the lower limb assistance soft robot includes:
the first control unit generates an air pressure control signal with a preset value and sends the air pressure control signal to the first driving piece, and the first driving piece and the second driving piece control the size of output air pressure in the artificial muscle part according to the received air pressure control signal;
meanwhile, the second control unit generates a switching signal according to the received angle change information of the ankle joint in the gait cycle and transmits the switching signal to the second driving piece; the first driving piece and the second driving piece drive the artificial muscle part to inflate and deflate according to the received switch signal.
Optionally, the second control unit includes: the control device comprises a control chip and a relay connected with the control chip;
the step that the second control unit generates the switching signal according to the received angle change information of the ankle joint in the gait cycle comprises the following steps:
if the dorsiflexion angle of the ankle joint in each gait cycle changes, the relay sends out a switch signal for controlling the first driving piece to be powered on and the second driving piece to be powered off;
if the plantar flexion angle of the ankle joint in each gait cycle changes, the relay sends out a switch signal for controlling the second driving piece to be electrified and the first driving piece to be deenergized.
Optionally, the step of driving the artificial muscle member to inflate and deflate by the first driving member and the second driving member according to the received switch signal comprises:
when the first driving piece is electrified and the second driving piece is not electrified, the first valve port and the third valve port of the first driving piece are communicated, the second valve port is closed tightly, the fifth valve port and the sixth valve port of the second driving piece are communicated, the fourth valve port is closed tightly, and at the moment, the artificial muscle component is in an inflation state;
when the first driving piece is in power-off state and the second driving piece is in power-on state, the first valve opening of the first driving piece is communicated with the second valve opening, the third valve opening is tightly closed, the fourth valve opening of the second driving piece is communicated with the sixth valve opening, the fifth valve opening is tightly closed, and at the moment, the artificial muscle component is in a deflation state.
The invention has the beneficial effects that the invention provides a lower limb assistance soft robot and a control method thereof, and the robot comprises: the pneumatic artificial muscle component comprises an air source, at least one flow control piece, a first driving piece, a second driving piece, at least two pneumatic artificial muscle components, a first control unit, a second control unit and a signal converter connected with the first control unit; the first control unit controls the output air pressure in the artificial muscle component, and meanwhile, the second control unit sends a switch signal to control the driving piece to drive the artificial muscle component to inflate and deflate. The soft robot provided by the embodiment of the invention controls the gas amount in the muscle part of the human body and controls the charging and discharging of the gas in the muscle part of the human body, so that the biological moment is provided for the ankle of the human body when the human body walks, and the lower limb joint motion is assisted. The robot and the control method thereof provided by the embodiment realize lower limb assistance based on the pneumatic artificial muscle, so the assistance conversion efficiency is high, and convenience is provided for the walking of a user.
Drawings
Fig. 1 is a structural schematic block diagram of the lower limb assistance software robot provided by the invention;
FIG. 2 is a schematic structural diagram of a soft robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of the connection of the first and second drive members in an embodiment of the present invention;
FIG. 4a is a schematic view of the overall structure of an embodiment of the pneumatic artificial muscle of the present invention when it is not inflated;
FIG. 4b is a schematic diagram of the structure of an embodiment of the invention in which the pneumatic artificial muscle single chamber is not inflated;
FIG. 4c is a schematic diagram of the structure of the pneumatic artificial muscle of the embodiment of the invention when three adjacent single chambers are inflated
FIG. 5 is a schematic structural diagram of the pneumatic artificial muscle of the embodiment of the invention after being inflated integrally;
FIG. 6 is a schematic view of the external mold structure of the PAM top layer in an embodiment of the present invention;
FIG. 7 is a schematic view of a PAM base mold in an embodiment of the present invention;
FIG. 8 is a schematic view of the internal mold structure of the PAM top layer in an embodiment of the present invention;
FIG. 9 is a flowchart illustrating the steps of a method for controlling the lower-limb power-assisted soft robot according to an embodiment of the present invention;
FIG. 10 is a graph showing a 2.5s/GC ankle curve change in the example of the present invention
FIG. 11A 2s/GC ankle curve change chart in the example of the present invention
FIG. 12A 67s/GC ankle curve changing chart in the example of the invention
FIG. 13 PAM control strategy diagram of 2.5s/GC in example of the present invention
FIG. 14 PAM control strategy diagram of 2s/GC in example of the present invention
FIG. 15 PAM control strategy diagram of 1.67s/GC in example of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
With the development of science and technology, robots have been widely used in the medical and health fields. And in particular, wearable robotics, has been applied to a variety of human-machine cooperation scenarios, such as assistance or enhancement of human walking and handling capabilities, medical rehabilitation after stroke or paralysis, and the like. However, conventional wearable robots are all made of rigid materials. One typical application is in lower extremity exoskeleton robots. The lower limb exoskeleton robot is mainly used for strengthening and recovering lower limb strength. Functionally, the lower extremity exoskeleton robot can help a person who loses walking ability to walk, or assist in stroke or gait rehabilitation after surgery. However, such wearable robots are generally bulky and heavy, the rigid materials of the wearable robots can cause wearing problems or control errors to cause injury to human bodies, and the lower-limb exoskeleton robot systems are still expensive at present. Therefore, the exoskeleton robot is mainly used for paralyzed patients at present, and is rarely used for assisting patients with abnormal gait or reduced gait stability caused by aging, weakness, diseases (such as Parkinson's disease and diabetes) and the like.
In recent years, a soft robot has become a research focus internationally as a new robot technology. A soft robot refers to a robot system constructed by soft materials (such as fluid, gel, elastic polymer, etc.) which are easy to deform. The bionic performance of the material is an important design index, usually has the elastic property matched with biological tissues, and is very portable. Compared with the traditional rigid robot, the flexible robot has higher degree of freedom and can actively or passively change the form of the robot according to the external environment. At present, some wearable soft robots are applied, mainly used in the fields of military affairs and medical rehabilitation, and can enhance or assist human expressive force. The wearable soft robot not only can reduce the physical injury possibly caused to the limbs of people, but also is more suitable for wearing. The simple manufacturing procedure of the software robot reduces the manufacturing cost and shortens the development cycle of products. Different software actuators can be customized by 3D printing techniques to have geometries that accommodate different human muscles and bones. Therefore, the wearable soft robot is applied to improving the gait stability of the old people, and has wide application prospect undoubtedly.
For example, harvard university has developed a multi-joint wearable soft robot. As shown in fig. 1, this robot system provides auxiliary torque to the wearer's ankles and buttocks during walking. The wearable soft robot adopts a flexible human-computer interface and utilizes a wire drive system to generate stretching force parallel to muscles. This system is lightweight and does not restrict the kinematics of the wearer's limbs and does not alter the wearer's natural motion pattern.
Similarly, a team at the university of metoprolol in the card studied a wearable soft robot for ankle rehabilitation. The device takes Mckkiben pneumatic artificial muscle as a driver, designs inspiration from a biological musculoskeletal system of human feet and shanks, simulates the form and the function of a biological muscle-tendon-ligament structure, and can actively assist the ankle joint assistance.
However, the soft robots have a limitation in that they mostly use a wire-driven system or linear pneumatic artificial muscles as drivers. The ends of the drivers are fixed at the corresponding body parts, such as the feet, the shanks, the thighs and the like, and the drivers are linearly stretched to assist the corresponding body parts to rotate (i.e. to change angles), so that the power assisting structure and the method for providing the 'rotational power assisting force' for the lower limb joints adjacent to the body parts during walking are an indirect power assisting method, and the power assisting structure and the method need to be converted from the 'linear driving' into the 'rotational power assisting force', so that the power assisting conversion effect is not high.
In order to overcome the defect of low power-assisted conversion efficiency of the soft robot, the embodiment of the invention provides the lower limb power-assisted soft robot and the control method thereof.
Specifically, the lower limb body assistance soft robot provided by the embodiment mainly comprises a control system and a pneumatic system; wherein the pneumatic system comprises: the pneumatic artificial muscle component comprises a gas source, at least one flow control piece connected to a gas outlet end of the gas source and used for controlling the flow of gas, a first driving piece and a second driving piece connected to the output end of the flow control piece, and at least two pneumatic artificial muscle components; the first driving piece and the second driving piece are used for controlling the flowing direction of the gas flowing out of the gas source. The control system includes: the device comprises a first control unit, a second control unit and a signal converter connected with the first control unit; the first control unit is used for sending an air pressure control signal, the air pressure control signal is used for controlling the flow of air, and the second control unit is used for generating a switching signal according to the received angle change information of the ankle joint in the gait cycle and transmitting the switching signal to the second driving piece.
Furthermore, the pneumatic artificial muscle part is worn on the ankle of a human body, a plurality of cavities similar to air bags are arranged in the pneumatic artificial muscle part, and the flexion force generated in the cavities in two different states of inflation or deflation is used for assisting the movement of joints of the lower limbs, so that the walking of patients is assisted. The first driving piece and the second driving piece are connected in series, and are used for controlling the size of output air pressure in the artificial muscle component according to the received air pressure control signal and driving the artificial muscle component to inflate and deflate according to the received switch signal.
The lower limb assisting soft robot and the control method thereof according to the present invention will be explained in more detail with reference to the accompanying drawings.
The embodiment discloses a lower limb assistance soft robot, as shown in fig. 1, including: a control system 10 and a pneumatic system 20.
The pneumatic system 20 comprises: the pneumatic artificial muscle system comprises an air source 210, at least one flow control member 220 connected to an air outlet end of the air source 210, a first driving member 230 and a second driving member 240 connected to output ends of the flow control member 220, and at least two pneumatic artificial muscle members PAM 250;
the control system 10 includes: a first control unit 110, a second control unit 130, a signal converter 120 connected with the first control unit 110;
the first control unit 110 generates a pneumatic control signal of a predetermined value and transmits the pneumatic control signal to the first driving member 230 through the signal converter 120, and the second control unit 130 generates a switching signal according to the received angle change information of the ankle joint in the gait cycle and transmits the switching signal to the second driving member 240;
the first and second actuators 230 and 240 control the magnitude of the output air pressure in the artificial muscle part according to the received air pressure control signal and drive the artificial muscle part PAM250 to inflate and deflate according to the received switch signal.
In one embodiment, as shown in fig. 2 and 3, the pneumatic system uses an air compressor as the air source, and a proportional valve (flow control) is connected to the air outlet of the air compressor. The proportional valve is controlled by the signal of the singlechip, and the accurate control of the output air pressure is realized. The output end of the proportional valve is connected with 4 two-position three-way electromagnetic valves which respectively control the inflation and deflation of 4 Pneumatic Artificial Muscles (PAM). The control system has two independent control units, and the two independent control units are based on an Arduino-Uno R3 chip. The first control unit is used for generating a PWM signal with a preset value, the PWM signal is converted into an Analog signal through a PWM-to-Analog converter, and the proportional valve is controlled, so that the output air pressure is adjusted. And the other control unit is connected to a relay, generates a switch signal through the angle change information of the ankle joint in the gait cycle, and controls the switch of the normally closed two-position three-way electromagnetic valve, so that the inflation and deflation of the PAM are controlled. In the specific method, as shown in fig. 5, two normally closed two-position three-way solenoid valves are connected in series, and two sections of the two normally closed two-position three-way solenoid valves are respectively connected with an air source (inflation) and PAM. When the electromagnetic valve I is electrified, the valve ports 1 and 3 are communicated, the valve port 2 is tightly closed, the electromagnetic valve II is electrified, the valve ports 1 and 2 are communicated, and the valve port 3 is tightly closed, the PAM is in an inflated state; when the electromagnetic valve I is powered off, the valve ports 1 and 2 are communicated, the valve port 3 is tightly closed, the electromagnetic valve II is powered off, the valve ports 1 and 2 are communicated, and the valve port 3 is tightly closed, PAM is in a holding state; when the electromagnetic valve I is de-energized, the valve ports 1 and 2 are communicated, the valve port 3 is tightly closed, the electromagnetic valve II is energized, the valve ports 1 and 3 are communicated, and the valve port 2 is tightly closed, the PAM is in an air-bleeding state.
The pneumatic artificial muscle adopted by the invention is based on PneuNet (pneumatic network) software actuator developed by Whitesids research group of Harvard university. This PAM consists of a multi-chamber structure and is connected by an internal through-channel. The pneumatic artificial muscle adopts different material combinations, generates deformation and simultaneously generates yield force by utilizing the stress-strain characteristics of different materials under the condition of ventilation, and realizes the bionic function similar to 'muscle-tendon'.
Specifically, as shown in fig. 4a, 4b, 4c and 5, the artificial muscle component includes an elastic strain layer 410 and a fixed layer 420 (as shown in fig. 4a), the elastic strain layer 410 includes a plurality of air-filled chambers communicated through air passages, and the fixed layer 420 is attached to the elastic strain layer 420 for limiting the deformation amount of the elastic strain layer. The plurality of inflatable chambers are arranged side by side, the fixing layer is arranged at the bottom of the elastic strain layer, and when the plurality of inflatable chambers are in an inflated state, the integral structure of the artificial muscle component is in a bent structure (as shown in fig. 4b and fig. 5), and when the plurality of inflatable chambers are in an uninflated state, the integral structure of the artificial muscle component is in a cuboid structure (as shown in fig. 4 c). When inflated and pressurized, as shown in figure 5, the stretchable chambers expand and compress against each other, while the inextensible anchoring layer of the base limits the deformation, thereby causing the entire pneumatic artificial muscle to bend and generate a buckling force by this deformation and the compression between the chambers.
During specific implementation, the deformation time and the force generation size of the PAM can be controlled by adjusting the inflation time and the air pressure, and the generated bending force is used for assisting the movement of the joints of the lower limbs, so that the function of assisting the patient to walk is realized.
The schematic structural diagrams of the PAM production model are shown in fig. 6 to 8. Under the same air pressure, the higher the height of the PAM cavity is, or the more the number of the PAM cavities is, the better the PAM bending effect is. While the better the bending effect, the greater the moment provided by the PAM. Because the moment provided by the PAM may be smaller than the biological moment generated by the human ankle when walking, in the application scenario of the research, the greater the moment provided by the PAM is, the more likely it is to have a significant effect on improving the walking stability of the elderly.
On the other hand, in order to provide assistance to the ankle joint without generating side effects that hinder the motion of the ankle joint, PAM needs to change its assistance state (i.e., inflate/deflate) according to the kinematics of the ankle joint in each gait cycle, and thus PAM needs to rapidly deform and recover the deformation in a short time (about 1-2 seconds per gait cycle). While the rate of deformation depends on the volume of the air cells and the input air pressure level, less air cells or less volume will cause faster deformation. In addition to the considerations of wearability and wearing comfort, a PAM must be small and lightweight.
Therefore, the height, the length, the width of whole PAM cavity, inlayer, bottom, the thickness at top, the number of cavity need be according to wearable nature, can provide the size and the deformation rate of moment and carry out balanced design. The research designs a plurality of PAM dimension specifications according to the foot measurement science of the old people in China and the simulation analysis of the moment and the deformation rate. After several attempts, the dimensions of the final design are shown in table 1.
Thereafter, according to this design size, a PAM mold map was designed using SolidWorks, the mold design including a top mold and a bottom mold, as shown in fig. 6-8. The top mold comprises a top outer mold and a top inner mold as shown in fig. 6 and 8, respectively. The bottom mold is shown in fig. 7. In specific implementation, the PAM mold can be manufactured by using a 3D printing technology.
TABLE 1 PAM sizing Table
In one embodiment, the second control unit comprises: the control chip, a relay connected with the control chip and a boosting module respectively connected to two ends of the relay and the driving piece;
the relay generates a switching signal according to the information sent by the control chip and sends the switching signal to the boosting module;
the boosting module boosts the voltage of the driving piece, namely, boosts the voltage at two ends of the electromagnetic valve, so that normal operation of the first electromagnetic valve and the second electromagnetic valve is guaranteed.
Optionally, the first driving member comprises: the valve comprises a first valve port, a third valve port and a second valve port, wherein the first valve port and the third valve port are symmetrically arranged, and the second valve port is arranged between the first valve port and the third valve port; the second drive member includes: the valve comprises a fourth valve opening, a sixth valve opening and a fifth valve opening, wherein the fourth valve opening and the sixth valve opening are symmetrically arranged, and the fifth valve opening is arranged between the fourth valve opening and the sixth valve opening; wherein the third valve port is connected to a fifth valve port; the first valve port is connected with the flow control element, and the sixth valve is connected with the pneumatic artificial muscle component.
For easy wearing, the robot further includes: an elastic fabric bag for assembling the artificial muscle component; the length of the elastic fabric bag is matched with that of the artificial muscle component.
In order to transmit the bending force generated by PAM to ankle joint more effectively to provide assistance and reduce the limit to the biomechanics of the ankle self-movement, PAM is respectively packed into an elastic fabric pocket completely consistent with the size of the elastic fabric pocket and sewed on both sides of a pair of sports socks. Pockets made of elastic fabric can prevent the PAM from exploding due to excessive inflation pressure.
In the present embodiment, on the basis of the disclosure of the soft body robot, a control method of a lower limb assisting soft body robot is also disclosed, as shown in fig. 9, the method applied to the lower limb assisting soft body robot includes the following steps:
step S11, starting the gas source to emit gas, and generating a gas pressure control signal with a preset value by the first control unit;
step S12, the first control unit sends the air pressure control signal to the first driving piece;
step S13, the first driving element and the second driving element control the output air pressure in the artificial muscle component according to the received air pressure control signal;
and step S21, the second control unit generates a switch signal according to the received angle change information of the ankle joint in the gait cycle;
step S22, the second control unit transmitting the switch signal to the second driving member;
and step S23, the first driving element and the second driving element drive the artificial muscle component to inflate and deflate according to the received switch signal.
The above steps may be performed simultaneously or separately according to the need of the assistance force required during walking.
Further, the second control unit includes: the control device comprises a control chip and a relay connected with the control chip;
the step that the second control unit generates the switching signal according to the received angle change information of the ankle joint in the gait cycle comprises the following steps:
if the dorsiflexion angle of the ankle joint in each gait cycle changes, the relay sends out a switch signal for controlling the first driving piece to be powered on and the second driving piece to be powered off;
if the plantar flexion angle of the ankle joint in each gait cycle changes, the relay sends out a switch signal for controlling the second driving piece to be electrified and the first driving piece to be deenergized.
Specifically, the step of driving the artificial muscle member to inflate and deflate by the first driving member and the second driving member according to the received switching signal comprises the steps of:
when the first driving piece is electrified and the second driving piece is not electrified, the first valve port and the third valve port of the first driving piece are communicated, the second valve port is closed tightly, the fifth valve port and the sixth valve port of the second driving piece are communicated, the fourth valve port is closed tightly, and at the moment, the artificial muscle component is in an inflation state;
when the first driving piece is in power-off state and the second driving piece is in power-on state, the first valve opening of the first driving piece is communicated with the second valve opening, the third valve opening is tightly closed, the fourth valve opening of the second driving piece is communicated with the sixth valve opening, the fifth valve opening is tightly closed, and at the moment, the artificial muscle component is in a deflation state.
The drive of the wearable lower limb soft robot mainly comes from the angle deformation of PAM, and the PAM is helpful for dorsiflexion of the ankle joint when being bent. The control strategy for PAM is based on the angular change in ankle dorsiflexion and plantarflexion within each gait cycle. Ankle dorsiflexion indicates upward movement of the foot and ankle plantarflexion indicates downward movement of the foot.
Gait data of 13 normal subjects (without considering differences of sex, height, weight and the like) are randomly selected from the ankle joint angle changing curve. Three different walking frequencies, 48Bpm, 60Bpm and 72Bpm (times/min), correspond to 2.5s/GC (seconds/gait cycle), 2s/GC and 1.67s/GC, respectively. The subject was required to walk three times for each walking frequency. Figures 10, 2-17, 2-18 show ankle angle change curves at three different walking frequencies. Wherein the thin line is the average curve for each subject and the thick line is the ankle joint fitted curve for 13 subjects. The dashed lines indicate heel strike, i.e., the beginning and end of the gait cycle. Human kinematics stipulates that when a human body stands vertically, the vertical 90 degrees of the sole and the shank are 0 degree of the ankle joint angle and less than 90 degrees, and the ankle joint angle is a positive value.
The drive of the wearable lower limb soft robot mainly comes from the angle deformation of PAM, and the PAM is helpful for dorsiflexion of the ankle joint when being bent. The control strategy for PAM is based on the angular change in ankle dorsiflexion and plantarflexion within each gait cycle. Ankle dorsiflexion indicates upward movement of the foot and ankle plantarflexion indicates downward movement of the foot.
Gait data of 13 normal subjects (without considering differences of sex, height, weight and the like) are randomly selected from the ankle joint angle changing curve. Three different walking frequencies, 48Bpm, 60Bpm and 72Bpm (times/min), correspond to 2.5s/GC (seconds/gait cycle), 2s/GC and 1.67s/GC, respectively. The subject was required to walk three times for each walking frequency. Fig. 10, fig. 11, and fig. 12 show ankle angle change curves at three different walking frequencies. Wherein the thin line is the average curve for each subject and the thick line is the ankle joint fitted curve for 13 subjects. The dashed lines indicate heel strike, i.e., the beginning and end of the gait cycle. Human kinematics stipulates that when a human body stands vertically, the vertical 90 degrees of the sole and the shank are 0 degree of the ankle joint angle and less than 90 degrees, and the ankle joint angle is a positive value.
The inflation and deflation of the PAM is controlled by ankle joint angle changes. The wearable soft robot assists the ankle in dorsiflexion movement in the walking process. When the ankle joint angle is increased in the walking process of a person, the ankle dorsiflexion movement process is realized, PAM needs to be inflated and deformed, and a certain moment is provided to help the ankle dorsiflexion movement; when the ankle joint angle is reduced, the PAM needs to be deflated and restored so as not to impede the plantar flexion of the ankle. The control strategy of PAM at three different walking frequencies can be derived from the kinematics of the ankle during walking by the human body as shown in fig. 13 to 15. In the figure, the inflation and deflation process is marked by the angle change of the left ankle joint, and similarly, the inflation and deflation process is also marked by the angle change of the right ankle joint, and the control strategy is written into the singlechip control chip.
Experiments show that the wearable lower limb assistance software robot provided by the embodiment can have a remarkable improvement effect on the gait variability of the old. Gait variability refers to the standard deviation of the step size and the step width of a person walking. The gait characteristic is a common index for describing gait characteristics, and the step length standard deviation can measure the stability of human motion in the sagittal plane direction; the standard deviation of step width can measure the stability of human motion in the coronal direction.
Through experimental design, the left heel contact time of a testee is taken as the initial point of a gait cycle, the initial point of the gait cycle is determined by plantar pressure data measured by a professional treadmill, and when the heel contacts the ground, the professional treadmill acquires the plantar pressure data to determine the initial point of the gait cycle. Since the professional treadmill and the optical motion capture system are recording data synchronously, the start of the cycle of the optical motion capture system can also be determined. The step length and the step width are calculated by the coordinates of the heel Marker point. The stepsize is the sum of the absolute value of the difference in coordinates of the heel Marker points of the two feet and the change in tread distance (running speed multiplied by the time interval between the two steps). The step width is the absolute value of the difference between the coordinate values of the left and right directions of the heels. And selecting 30 gait cycles after the 10 th cycle in the normal walking process of the subject, and respectively calculating the standard deviation of the step length and the step width of the left foot and the right foot. To avoid confusing the difference between steps due to variations caused by asymmetry between left and right step sizes, the step size standard deviation calculates the composite variance by the following formula:
wherein SDCombination of Chinese herbs、SDLeft side ofAnd SDRight sideThe integrated standard deviation, the left foot step length standard deviation and the right foot step length standard deviation are respectively expressed.
The experiments compare three conditions of walking without using the robot, walking with the wearable robot but without assistance and walking with the wearable robot for assistance, and the results show that the gait variability of the old people with high falling risk is obviously improved under the condition of assistance provided by the wearable robot, and the usability and the effect of the system are proved.
The invention provides a lower limb assistance soft robot and a control method thereof, wherein the robot comprises: the pneumatic artificial muscle component comprises an air source, at least one flow control piece, a first driving piece, a second driving piece, at least two pneumatic artificial muscle components, a first control unit, a second control unit and a signal converter connected with the first control unit; the first control unit controls the output air pressure in the artificial muscle component, and meanwhile, the second control unit sends a switch signal to control the driving piece to drive the artificial muscle component to inflate and deflate. The soft robot provided by the embodiment of the invention controls the gas amount in the muscle part of the human body and controls the charging and discharging of the gas in the muscle part of the human body, so that the biological moment is provided for the ankle of the human body when the human body walks, and the lower limb joint motion is assisted. The robot and the control method thereof provided by the embodiment realize lower limb assistance based on the pneumatic artificial muscle, so the assistance conversion efficiency is high, and convenience is provided for the walking of a user.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.
Claims (10)
1. A lower limb assistance soft robot is characterized by comprising: a control system and a pneumatic system;
the pneumatic system comprises: the pneumatic artificial muscle component comprises an air source, at least one flow control piece connected to an air outlet end of the air source, a first driving piece and a second driving piece connected to an output end of the flow control piece, and at least two pneumatic artificial muscle components;
the control system includes: the device comprises a first control unit, a second control unit and a signal converter connected with the first control unit;
the first control unit generates an air pressure control signal with a preset value, the air pressure control signal is sent to the first driving piece through the signal converter, and meanwhile, the second control unit generates a switching signal according to the received angle change information of the ankle joint in the gait cycle and transmits the switching signal to the second driving piece;
the first driving piece and the second driving piece control the output air pressure in the artificial muscle component according to the received air pressure control signal and drive the artificial muscle component to inflate and deflate according to the received switch signal.
2. The lower limb assistance soft robot of claim 1, wherein the artificial muscle component comprises an elastic strain layer and a fixed layer, the elastic strain layer comprises a plurality of inflation chambers communicated through air passages, and the fixed layer is attached to the elastic strain layer and used for limiting the deformation amount of the elastic strain layer.
3. The lower limb assistance soft robot of claim 2, wherein the inflation chambers are arranged side by side, the fixing layer is arranged at the bottom of the elastic strain layer, when the inflation chambers are in an inflated state, the overall structure of the artificial muscle component is in a curved structure, and when the inflation chambers are in an uninflated state, the overall structure of the artificial muscle component is in a cuboid structure.
4. The lower extremity assisted soft robot of claim 1, wherein the second control unit comprises: the control chip, the relay connected with the control chip and the boosting module respectively connected to the relay and the two ends of the second driving piece are connected;
the relay generates a switching signal according to the information sent by the control chip and sends the switching signal to the boosting module;
and the boosting module boosts the voltages of the first driving part and the second driving part.
5. The lower extremity assist soft robot of claim 4, wherein the flow control is a proportional valve, the first and second actuators are solenoid valves, and the signal converter is a PWM to analog converter.
6. The lower extremity assisted soft robot of claim 4 or 5, wherein the first drive member comprises: the valve comprises a first valve port, a third valve port and a second valve port, wherein the first valve port and the third valve port are symmetrically arranged, and the second valve port is arranged between the first valve port and the third valve port; the second drive member includes: the valve comprises a fourth valve opening, a sixth valve opening and a fifth valve opening, wherein the fourth valve opening and the sixth valve opening are symmetrically arranged, and the fifth valve opening is arranged between the fourth valve opening and the sixth valve opening; wherein the third valve port is connected to a fifth valve port; the first valve port is connected with the flow control element, and the sixth valve is connected with the pneumatic artificial muscle component.
7. The lower extremity assisted soft robot of claim 6, further comprising: an elastic fabric bag for assembling the artificial muscle component; the length of the elastic fabric bag is matched with that of the artificial muscle component.
8. A control method of a lower limb assistance software robot, applied to the lower limb assistance software robot according to claim 1, comprising:
the first control unit generates an air pressure control signal with a preset value and sends the air pressure control signal to the first driving piece, and the first driving piece and the second driving piece control the size of output air pressure in the artificial muscle component according to the received air pressure control signal;
meanwhile, the second control unit generates a switching signal according to the received angle change information of the ankle joint in the gait cycle and transmits the switching signal to the second driving piece; the first driving piece and the second driving piece drive the artificial muscle part to inflate and deflate according to the received switch signal.
9. The method for controlling the lower limb assistance soft robot according to claim 8, wherein the second control unit includes: the control device comprises a control chip and a relay connected with the control chip;
the step that the second control unit generates the switching signal according to the received angle change information of the ankle joint in the gait cycle comprises the following steps:
if the dorsiflexion angle of the ankle joint in each gait cycle changes, a switch signal for controlling the first driving part to be powered on and the second driving part to be powered off is sent;
if the plantar flexion angle of the ankle joint in each gait cycle changes, a switch signal for controlling the second driving part to be powered on and the first driving part to be powered off is sent.
10. The method as claimed in claim 8 or 9, wherein the step of driving the artificial muscle part to inflate and deflate according to the received switching signal by the first driving member and the second driving member comprises:
when the first driving piece is electrified and the second driving piece is not electrified, the first valve port and the third valve port of the first driving piece are communicated, the second valve port is closed tightly, the fifth valve port and the sixth valve port of the second driving piece are communicated, the fourth valve port is closed tightly, and at the moment, the artificial muscle component is in an inflation state;
when the first driving piece is in power-off state and the second driving piece is in power-on state, the first valve opening of the first driving piece is communicated with the second valve opening, the third valve opening is tightly closed, the fourth valve opening of the second driving piece is communicated with the sixth valve opening, the fifth valve opening is tightly closed, and at the moment, the artificial muscle component is in a deflation state.
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