CN112060060B - Active and passive hybrid driven lower limb power-assisted exoskeleton robot and control method - Google Patents
Active and passive hybrid driven lower limb power-assisted exoskeleton robot and control method Download PDFInfo
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- CN112060060B CN112060060B CN202010999905.XA CN202010999905A CN112060060B CN 112060060 B CN112060060 B CN 112060060B CN 202010999905 A CN202010999905 A CN 202010999905A CN 112060060 B CN112060060 B CN 112060060B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 15
- 210000000689 upper leg Anatomy 0.000 claims abstract description 149
- 210000000629 knee joint Anatomy 0.000 claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 210000004394 hip joint Anatomy 0.000 claims abstract description 32
- 210000001624 hip Anatomy 0.000 claims abstract description 31
- 210000002414 leg Anatomy 0.000 claims abstract description 31
- 238000005452 bending Methods 0.000 claims abstract description 16
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 14
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims abstract description 9
- 210000002683 foot Anatomy 0.000 claims abstract description 6
- 241001227561 Valgus Species 0.000 claims abstract description 3
- 241000469816 Varus Species 0.000 claims abstract description 3
- 230000033001 locomotion Effects 0.000 claims description 41
- 230000008275 binding mechanism Effects 0.000 claims description 24
- 230000003993 interaction Effects 0.000 claims description 12
- 244000309466 calf Species 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000000284 resting effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 description 5
- 230000008093 supporting effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000010428 Muscle Weakness Diseases 0.000 description 1
- 206010028372 Muscular weakness Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000003108 foot joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of exoskeleton robots, and particularly relates to a lower limb power-assisted exoskeleton robot driven by active and passive hybrid and a control method. The waist and hip support is driven passively and comprises an adjustable waist support and a hip joint power-assisted spring mechanism, and the hip joint power-assisted spring mechanism realizes the bending/stretching of two hip joints; each leg mechanism comprises a knee joint driving motor, a harmonic reducer, a knee joint angle sensor, an ankle joint spherical hinge and a foot; the knee joint is bent/stretched through the knee joint driving motor and the harmonic reducer; the dorsi-extension/plantarflexion, varus/valgus and rotation actions of the ankle joint are realized through the ankle joint ball joint. The thigh hip joint adopts the coil spring mechanism to realize passive driving of the hip joint, adopts the motor to realize active driving of the knee joint, reduces the complexity, the structure and the control easiness of the lower limb power-assisted exoskeleton robot system on the premise of ensuring the load capacity of a wearer.
Description
Technical Field
The invention belongs to the field of exoskeleton robots, and particularly relates to a lower limb power-assisted exoskeleton robot driven by active and passive hybrid and a control method.
Background
The lower limb exoskeleton robot is a wearable intelligent power assisting device, and can assist a human body to walk, carry and the like by performing cooperative movement with a wearer, so that fatigue and damage brought by movement to the human body are reduced, and the function of the human body is improved. The application field is very wide, and in the military field, the movement flexibility, maneuverability, load bearing capacity and the like of soldiers can be improved; in the medical field, the rehabilitation training of patients with lower limb muscle weakness and hemiplegia can be helped; in the civil field, the utility model can help the wearer to improve the capability of carrying heavy objects, improve the walking durability, and the like. Currently, exoskeleton robots are heavy in structure, poor in wearing comfort, complex in control system and the like, and still have a need for solving the problems.
The Chinese patent application with the application number of 201610520405.7 discloses a lower limb power-assisted mechanical exoskeleton which simulates the leg structure of a human body, and mechanical legs are arranged on the left side and the right side of the leg of the human body, but the anthropomorphic design mode enables the acting force of a load to act outside a sole supporting surface, so that the force transmission design is unreasonable, the power-assisted effect is general, and meanwhile, the patent application does not have the mechanical leg length adjusting function, and has poor adaptability to a wearer; moreover, the hinged mechanical joint structure cannot meet the motion requirement of a human body, and motion interference between human and machine exists; in addition, the knee joint driving mechanism of the lower limb power-assisted mechanical exoskeleton of the patent application adopts cable driving, and has the advantages of complex mechanism design, high manufacturing and assembling difficulties and poor control precision.
As disclosed in the chinese patent application with application number 201710568000.5, the wearable exoskeleton walking aid for lower limbs has motors added to both hip joints and knee joints, and drivers, circuit boards and the like are mounted on the rod pieces of the upper and lower legs, so that the overall exoskeleton is heavy; at the same time, the control system of the exoskeleton is also complex due to the introduction of a large number of motors in this patent application.
The Chinese patent application with the application number of 201811075244.0 discloses a passive exoskeleton device of hip and knee joints based on time-sharing regulation and control of a clutch, wherein the hip joint and the knee joint of the exoskeleton are driven passively by a flexible lasso, and the patent application has a more overhanging structure for arranging ropes, so that the exoskeleton has poor fitting degree with a human body, and is easy to interfere with the human body in the movement process; meanwhile, the patent application does not design a foot supporting structure, has no supporting effect on the load, also increases the burden of a human body, and is more easy to cause fatigue.
Disclosure of Invention
The invention aims to provide a lower limb power-assisted exoskeleton robot driven by a hybrid mode, which solves the problems of redundant driving, complex structure and heavy weight of the existing exoskeleton robot.
The technical solution for realizing the purpose of the invention is as follows: the lower limb power-assisted exoskeleton robot comprises a waist and hip support and two groups of leg mechanisms, wherein the two groups of leg mechanisms are symmetrically arranged on the waist and hip support;
the waist and hip support is driven passively and comprises an adjustable waist support and a hip joint power-assisted coil spring mechanism, and the hip joint power-assisted coil spring mechanism realizes the bending/stretching of two hip joints;
each leg mechanism comprises a knee joint driving motor, a harmonic reducer, a knee joint angle sensor, an ankle joint spherical hinge and a foot;
the knee joint is bent/stretched through the knee joint driving motor and the harmonic reducer;
the dorsi-extension/plantarflexion, varus/valgus and rotation actions of the ankle joint are realized through the ankle joint ball joint.
Further, the hip joint power-assisted coil spring mechanism comprises a shell, a power-assisted coil spring, a coil spring connecting piece, a square shaft and an output rod;
the inner end of the power-assisted coil spring is connected with a coil spring connecting piece, the outer end of the power-assisted coil spring is arranged in a groove on the adjustable waist frame, the coil spring connecting piece, the square shaft and the output rod are connected in sequence and fixed by adopting a fastening nut, and the output rod is rotationally connected by taking the center of a hip joint as a rotating shaft;
when the angle of the output rod changes, a power-assisted coil spring in the passive hip joint power-assisted coil spring mechanism is driven and starts to store energy; when the output rod angle tends to recover, the stored power of the power-assisted coil spring in the passive hip joint power-assisted coil spring mechanism is released, and power assistance is provided for the hip joint.
Further, each leg mechanism further comprises an upper thigh bar, a leg shell, a thigh securing and binding mechanism, a lower thigh bar, an upper shank bar, a shank securing and binding mechanism, and a lower shank bar;
the lower part of the upper thigh rod is provided with a plurality of pin holes in the length direction, the upper part of the lower thigh rod is provided with a plurality of pin holes in the length direction, the connection in the length direction of the upper thigh rod and the lower thigh rod is realized through a thigh fixing binding mechanism, and the adjustment of the thigh length is realized through the connection with different pin holes;
the lower part of going up the shank pole is equipped with a plurality of length direction's pinhole, the upper portion of lower shank pole is equipped with a plurality of length direction's pinhole, and it is connected with lower shank pole length direction to realize going up shank pole through shank fixed binding mechanism, and through the adjustable with different pinhole connection realization shank length.
Further, the thigh fixing and binding mechanism comprises a thigh adjusting pull ring, a thigh return spring, a thigh fixing pin shell, a thigh binding shaft end clamp spring, a thigh binding shaft and a thigh binding block;
the thigh fixing pin sequentially passes through the thigh fixing pin, the thigh return spring and the thigh fixing pin shell, the thigh adjusting pull ring is arranged at the tail end, and two ends of the thigh return spring are respectively contacted with the thigh fixing pin and the thigh fixing pin shell;
after the thigh fixing binding mechanism is arranged on the upper thigh rod, the thigh fixing pin is inserted into the pin holes on the thigh rod and the lower thigh rod under the action of the thigh return spring, and the upper thigh rod and the lower thigh rod are connected in the length direction.
Furthermore, the thigh binding blocks are used for realizing the wearing fixation on the thigh through thigh binding, and the thigh binding is provided with a film pressure sensor for collecting human interaction force.
Further, the knee joint driving motor and the harmonic reducer are respectively connected with the lower thigh rod and the upper shank rod;
the knee joint angle sensor comprises an angle sensor, a coupler, a coding shaft seat and a flange plate;
the angle sensor is arranged on the motor shell, two ends of the coupler are respectively connected with the coding shaft and the shaft of the angle sensor through fastening nuts, the coding shaft is connected with the coding shaft seat through interference fit, the coding shaft seat is connected with the flange plate through bolts, the flange plate rotates along with the rotation when the human body articulates, and the coding shaft penetrates through a hollow motor shaft of the knee joint driving motor to transmit knee joint position angle information back to the knee joint angle sensor.
Further, the shank fixing and binding mechanism comprises a shank adjusting pull ring, a shank return spring, a shank fixing pin shell, a shank binding shaft end clamp spring, a shank binding shaft and a shank binding block;
the shank adjusting pull ring, the shank return spring, the shank fixing pin shell, the shank binding shaft end clamp spring, the shank binding shaft and the shank binding block are sequentially arranged on the upper shank rod, the shank fixing pin sequentially penetrates through the shank fixing pin, the shank return spring and the shank fixing pin shell, the shank adjusting pull ring is arranged at the tail end of the shank fixing pin, and two ends of the shank return spring are respectively contacted with the shank fixing pin and the shank fixing pin shell;
after the shank fixing and binding mechanism is arranged on the upper shank, the fixing pin is inserted into the pin holes on the shank and the lower shank under the action of the shank return spring, and the upper shank and the lower shank are connected in the length direction.
Furthermore, the two shank binding blocks realize the wearing fixation on the shank through shank binding, and a film pressure sensor for collecting human interaction force is arranged on the shank binding.
Further, the lower thigh rod is a bending plate, and the lower bending direction of the lower thigh rod faces to the outer side; the upper shank rod is a bending plate, and the upper bending direction of the upper shank rod faces to the inner side.
The control method of the lower limb power-assisted exoskeleton robot by utilizing the active and passive hybrid driving comprises the following steps:
step (1): after wearing the lower limb power assisting exoskeleton robot, the robot is started, a standing and resting state is maintained for a plurality of times, the length of each rod of the leg mechanism is adjusted to adapt to the height of the wearer, and initial information of the knee joint angle sensor and the film pressure sensor is synchronously acquired, so that the step (2) is carried out;
step (2): the wearer moves, the man-machine interaction force information of the wearer is collected through the film pressure sensor arranged on the thigh and calf binding blocks, and the step (3) is carried out;
step (3): judging the movement intention of a wearer according to the acquired man-machine interaction force information, amplifying the movement intention, acquiring the movement information required by the knee joint of the active-passive hybrid driven lower limb assistance exoskeleton robot, and turning to the step (4);
step (4): controlling corresponding joint actuators to output according to the movement information required by the knee joint, and monitoring whether the movement information of the leg mechanism is correct or not in real time by utilizing a knee joint angle sensor (9) so as to ensure that the movement states of the active and passive hybrid driven lower limb assisting exoskeleton robot are the same as the movement states of a wearer, and turning to the step (5);
step (5): returning to the step (2), realizing continuous movement between the wearer and the active-passive hybrid driven lower limb assistance exoskeleton robot.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The lower limb power-assisted exoskeleton robot has the advantages that the lower limb power-assisted exoskeleton robot system is simple in structure and easy to control, the complexity of the lower limb power-assisted exoskeleton robot system is reduced on the premise that the load capacity of a wearer is guaranteed, the lower limb power-assisted exoskeleton robot system is simple in structure and easy to control, the motor is used for enhancing the motor function of the wearer, and the fatigue of the human body is reduced;
(2) The joint is arranged on the basis of human engineering, can follow/drive a human body to realize various movements, and one side of the lower thigh rod and the upper shank rod, which is close to the motor, is provided with a certain bend, so that the exoskeleton robot is more attached to the outline of the outer side of the leg of the human body, and meanwhile, the exoskeleton robot cannot interfere with the human body in the movement process;
(3) The length of the rod piece of the thigh and the shank is adjusted and fixed in a pin connection mode, so that matching between the exoskeleton robot and wearers with different heights can be realized, the whole adjusting process is quick and reliable due to the spring mechanism, and the wearing comfort is improved;
(4) The hip joint adopts a coil spring mechanism to carry out passive power assistance, so that the introduction of a motor and a speed reducer is reduced, and the overall complexity of the exoskeleton robot system can be reduced on the basis of providing a better power assistance effect for the joint;
(5) The knee joint is actively driven by adopting the motor and the speed reducer, and the required human knee joint movement information can be accurately obtained through the use of a small amount of sensors, and the control difficulty can be reduced;
(6) The invention can realize the assistance of the load of the wearer, assist the movement of personnel needing to carry out load walking, such as soldiers, firefighters and the like, reduce the fatigue of human bodies, has wide application range, can be suitable for different occasions and has wide prospect;
(7) The control method of the invention is to collect human interaction force through the film pressure sensors arranged on the binding of the big and small legs, judge the movement intention by using the interaction force, control the movement of the invention, and take the information of the angle sensor as feedback to realize the movement matching of the invention and the wearer.
Drawings
Fig. 1 is an axial schematic view of the whole mechanism of the active-passive hybrid driving lower limb assisting exoskeleton robot.
Fig. 2 is a front view of the active-passive hybrid driven lower limb assistance exoskeleton robot of the present invention.
Fig. 3 is a side view of the active-passive hybrid driven lower limb assist exoskeleton robot of the present invention.
Fig. 4 is an exploded view of the hip joint power assisted coil spring mechanism of the present invention.
Fig. 5 is an exploded view of the thigh securing binding mechanism of the present invention.
Fig. 6 is an exploded view of the knee joint of the present invention.
Fig. 7 is an exploded view of the calf securing binding mechanism of the invention.
Fig. 8 is a flow chart of a control method of the active-passive hybrid driving lower limb assisting exoskeleton robot.
Reference numerals illustrate:
1-adjustable waist frame, 2-hip joint assistance coil spring mechanism, 3-upper thigh rod, 4-leg shell, 5-thigh fixing and binding mechanism, 6-lower thigh rod, 7-knee joint driving motor, 8-harmonic reducer, 9-knee joint angle sensor, 10-upper shank rod, 11-shank fixing and binding mechanism, 12-lower shank rod, 13-ankle joint spherical hinge, 14-foot, 2-1-shell, 2-2-assistance coil spring, 2-3-coil spring connecting rod, 2-4-square shaft, 2-5-output rod, 5-1-thigh adjusting pull ring, 5-2-thigh return spring, the leg fixing device comprises a 5-3-thigh fixing pin, a 5-4 thigh fixing pin, a 5-5-thigh fixing pin shell, a 5-6-thigh binding shaft end clamp spring, a 5-7-thigh binding shaft, a 5-8-thigh binding block, a 9-1-angle sensor, a 9-2-coupler, a 9-3-coding shaft, a 9-4-coding shaft seat, a 9-5-flange plate, a 11-1-shank adjusting pull ring, a 11-2-shank return spring, a 11-3-shank fixing pin, a 11-4-shank fixing pin, a 11-5-shank fixing pin shell, a 11-6-shank binding shaft end clamp spring, a 11-7-shank binding shaft and a 11-8-shank binding block.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1-3, the lower limb power-assisted exoskeleton robot with active and passive hybrid driving comprises a waist and hip support and two groups of leg mechanisms, wherein the two groups of leg mechanisms are symmetrically arranged on the waist and hip support, the waist and hip support comprises an adjustable waist frame 1 and a hip power-assisted coil spring mechanism 2, the leg mechanisms comprise an upper thigh rod 3, a leg shell 4, a thigh fixing binding mechanism 5, a lower thigh rod 6, a knee joint driving motor 7, a harmonic reducer 8, a knee joint angle sensor 9, an upper shank rod 10, a shank fixing binding mechanism 11, a lower shank rod 12, an ankle joint spherical hinge 13 and a foot 14, the adjustable waist frame 1, the hip power-assisted coil spring mechanism 2, the upper thigh rod 3, the lower thigh rod 6, the upper shank rod 10, the lower shank rod 12 and the foot 14 are sequentially connected, the knee joint driving motor 7 and the harmonic reducer 8 are respectively connected with the lower thigh rod 6 and the upper shank rod 10, and the final bending and rolling motions of the exoskeleton robot can realize two-back and/or hip joint bending motions and two-out/or hip joint bending motions by bending and final bending and/or foot joints of the human body.
As shown in fig. 4, the passive hip joint power-assisted coil spring mechanism 2 comprises a shell 2-1, a power-assisted coil spring 2-2, a coil spring connecting piece 2-3, a square shaft 2-4 and an output rod 2-5, wherein the inner end of the power-assisted coil spring 2-2 is connected with the coil spring connecting piece 2-3 through a bolt, the outer end of the power-assisted coil spring is arranged in a groove on the adjustable waist frame 1, the coil spring connecting piece 2-3, the square shaft 2-4 and the output rod (2-5) are connected in turn and fixed by adopting a fastening nut, the output rod is rotationally connected by taking the hip joint center as a rotating shaft, and when the angle of the output rod changes, the power-assisted coil spring 2-2 in the passive hip joint power-assisted coil spring mechanism 2 is driven and starts to store energy; when the output rod angle tends to return, the stored capacity of the power-assisted coil spring 2-2 in the passive hip joint power-assisted coil spring mechanism 2 will be released, thereby providing power assistance to the hip joint.
As shown in fig. 5, the thigh fixing and binding mechanism 5 comprises a thigh adjusting pull ring 5-1, a thigh return spring 5-2, a thigh fixing pin 5-3, a thigh fixing pin 5-4, a thigh fixing pin housing 5-5, a thigh binding shaft end snap spring 5-6, a thigh binding shaft 5-7 and a thigh binding block 5-8, wherein the thigh adjusting pull ring 5-1, the thigh return spring 5-2, the thigh fixing pin 5-3, the thigh fixing pin 5-4, the thigh fixing pin housing 5-5, the thigh binding shaft end snap spring 5-6, the thigh binding shaft 5-7 and the thigh binding block 5-8 are sequentially mounted on the upper thigh rod 3, the thigh fixing pin 5-3 sequentially penetrates through the thigh fixing pin 5-4, the thigh return spring 5-2 and the thigh fixing pin housing 5-5, the thigh adjusting pull ring 5-1 is arranged at the tail end, the two ends of the thigh reset spring 5-2 are respectively contacted with the thigh fixing pin 5-4 and the thigh fixing pin shell 5-5, the thigh fixing pin 5-4 sequentially passes through the pin holes on the upper thigh rod 3 and the lower thigh rod 6 and is pressed, the thigh fixing pin 5-4 can be pulled out from the pin holes on the lower thigh rod 6 by pulling the thigh adjusting pull ring 5-1, the lower thigh rod 6 shell can slide between the upper thigh rod 3 and the leg shell 4 which are connected by bolts at the moment, the thigh adjusting pull ring 5-1 is released after the thigh is adjusted to a proper length, the thigh fixing pin 5-4 is inserted into the corresponding pin holes on the lower thigh rod 6 under the action of the thigh reset spring 5-2, the whole thigh rod length adjusting process is completed, thigh binding blocks 5-8 are fastened to the thigh of the wearer by means of straps for fixation.
As shown in fig. 6, the active knee joint comprises a lower thigh rod 6, a knee joint driving motor 7, a harmonic reducer 8, a knee joint angle sensor 9 and an upper shank rod 10, the knee joint angle sensor 9 comprises an angle sensor 9-1, a coupler 9-2, a coding shaft 9-3, a coding shaft seat 9-4 and a flange plate 9-5, the angle sensor 9-1 is arranged on a motor shell, two ends of the coupler 9-2 are respectively connected with the shaft of the coding shaft 9-3 and the shaft of the angle sensor 9-1 through fastening nuts, the shaft of the coding shaft 9-3 is connected with the coding shaft seat 9-4 through interference fit, the coding shaft seat 9-4 and the flange plate 9-5 are connected through bolts, the flange plate 9-5 rotates along with the joint, the hollow motor shaft of the knee joint driving motor 7 passes through the hollow motor shaft of the knee joint driving motor to transmit the knee joint position angle information back to the angle sensor 9-1, the film pressure sensor is arranged on the shank sensor 11-8, when the knee joint moves, the driver judges that the knee joint signals are transmitted to the knee joint through the shaft seat 9-4, and then the human body passes through the flange plate 9-5 to the shaft seat 9-5 when the knee joint moves, the human body is connected with the shaft seat 9-4, and the human body is connected with the upper shank shaft of the upper shank rod through the flange plate, and the upper shank rod is intended to drive the joint, and the upper shank rod is connected with the upper shank rod, and the upper shank rod is connected.
As shown in fig. 7, the shank fixation binding mechanism 11 comprises a shank adjustment tab 11-1, a shank return spring 11-2, a shank fixation pin 11-3, a shank fixation pin 11-4, a shank fixation pin shell 11-5, a shank binding shaft end snap spring 11-6, a shank binding shaft 11-7 and a shank binding block 11-8, wherein the shank adjustment tab 11-1, the shank return spring 5-2, the shank fixation pin 5-3, the shank fixation pin 5-4, the shank fixation pin shell 11-5, the shank binding shaft end snap spring 11-6, the shank binding shaft 11-7 and the shank binding block 11-8 are sequentially mounted on the upper shank 10, the shank fixation pin 11-3 sequentially passes through the shank fixation pin 11-4, the shank return spring 11-2 and the shank fixation pin shell 11-5, the lower leg adjusting tab 11-1 is installed at the end, both ends of the lower leg return spring 11-2 are respectively contacted with the lower leg fixing pin 11-4 and the lower leg fixing pin shell 11-5, the lower leg fixing pin 11-4 passes through the pin holes on the upper and lower leg bars 10 and 12 in turn and is compressed, the lower leg fixing pin 11-4 can be pulled out from the pin holes on the lower leg bar 12 by pulling the lower leg adjusting tab 11-1, at this time, the lower leg bar 12 can slide between the upper leg bar 10 and the leg shell 4 which are connected by bolts, the lower leg adjusting tab 11-1 is released after being adjusted to a proper length, the lower leg fixing pin 11-4 is inserted into the corresponding pin holes on the lower leg bar 12 under the action of the lower leg return spring 11-2, the whole length adjusting process of the lower leg bar is completed, the shank-binding block 11-8 is bound to the wearer's shank by a binding band for fixation.
Fig. 8 is a schematic diagram of a control flow of a lower limb assistance exoskeleton robot driven by active and passive hybrid driving, and is a control method of a lower limb assistance exoskeleton robot driven by active and passive hybrid driving, which comprises the following steps:
step 1, after wearing a lower limb power-assisted exoskeleton robot driven by active and passive hybrid, starting up, keeping standing still for a plurality of times, adjusting the length of each rod of a leg mechanism to adapt to the height of the wearer, and synchronously acquiring initial information of a knee joint angle sensor and a film pressure sensor, and turning to step 2;
step 2, the wearer moves, and the man-machine interaction force information of the wearer is collected through a film pressure sensor arranged on the thigh-and-calf binding block, and the step 3 is shifted to;
step 3, judging the movement intention of a wearer according to the acquired man-machine interaction force information, amplifying the movement intention, acquiring the movement information required by the knee joint of the active-passive hybrid-driven lower limb assistance exoskeleton robot, and switching to step 4;
step 4, controlling the corresponding joint actuator to output according to the movement information required by the knee joint, and monitoring whether the movement information of the leg mechanism is correct or not in real time by utilizing an angle sensor so as to ensure that the movement states of the active and passive hybrid driven lower limb assisting exoskeleton robot are the same as the movement states of a wearer, and turning to step 5;
and 5, returning to the step 2, and realizing continuous movement between the wearer and the active-passive hybrid driven lower limb assistance exoskeleton robot.
Claims (1)
1. The control method of the active-passive hybrid-driven lower limb assistance exoskeleton robot is characterized in that the active-passive hybrid-driven lower limb assistance exoskeleton robot comprises a waist and hip support and two groups of leg mechanisms, wherein the two groups of leg mechanisms are symmetrically arranged on the waist and hip support;
the waist and hip support is driven passively and comprises an adjustable waist support (1) and a hip joint power-assisted coil spring mechanism (2), wherein the hip joint power-assisted coil spring mechanism (2) realizes the bending/stretching of two hip joints;
each leg mechanism comprises a knee joint driving motor (7), a harmonic reducer (8), a knee joint angle sensor (9), an ankle joint spherical hinge (13) and a foot (14);
the knee joint is bent/stretched through a knee joint driving motor (7) and a harmonic reducer (8);
the dorsi-extension/plantarflexion, varus/valgus and rotation actions of the ankle joint are realized through the ankle joint ball joint (13);
the hip joint power-assisted coil spring mechanism (2) comprises a shell (2-1), a power-assisted coil spring (2-2), a coil spring connecting piece (2-3), a square shaft (2-4) and an output rod (2-5);
the inner end of the power-assisted coil spring (2-2) is connected with the coil spring connecting piece (2-3), the outer end of the power-assisted coil spring is arranged in a groove on the adjustable waist frame (1), the coil spring connecting piece (2-3), the square shaft (2-4) and the output rod (2-5) are connected in sequence and fixed by adopting a fastening nut, and the output rod (2-5) is rotationally connected by taking the center of a hip joint as a rotating shaft;
when the angle of the output rod (2-5) changes, a power-assisted coil spring (2-2) in the passive hip joint power-assisted coil spring mechanism (2) is driven and starts to store energy; when the angle of the output rod tends to recover, the stored capacity of the power-assisted coil spring (2-2) in the passive hip joint power-assisted coil spring mechanism (2) is released to provide power for the hip joint;
each leg mechanism further comprises an upper thigh rod (3), a leg shell (4), a thigh fixing binding mechanism (5), a lower thigh rod (6), an upper shank rod (10), a shank fixing binding mechanism (11) and a lower shank rod (12);
the lower part of the upper thigh rod (3) is provided with a plurality of pin holes in the length direction, the upper part of the lower thigh rod (6) is provided with a plurality of pin holes in the length direction, the upper thigh rod (3) and the lower thigh rod (6) are connected in the length direction through a thigh fixing and binding mechanism (5), and the thigh length is adjustable through the connection with different pin holes;
the lower part of the upper shank (10) is provided with a plurality of pin holes in the length direction, the upper part of the lower shank (12) is provided with a plurality of pin holes in the length direction, the connection in the length direction of the upper shank (10) and the lower shank (12) is realized through a shank fixing and binding mechanism (11), and the adjustment of the shank length is realized through the connection with different pin holes;
the thigh fixing and binding mechanism (5) comprises a thigh adjusting pull ring (5-1), a thigh reset spring (5-2), a thigh fixing pin (5-3), a thigh fixing pin (5-4), a thigh fixing pin shell (5-5), a thigh binding shaft end clamp spring (5-6), a thigh binding shaft (5-7) and a thigh binding block (5-8);
the thigh adjusting pull ring (5-1), the thigh reset spring (5-2), the thigh fixing pin (5-3), the thigh fixing pin (5-4), the thigh fixing pin shell (5-5), the thigh binding shaft end clamp spring (5-6), the thigh binding shaft (5-7) and the thigh binding block (5-8) are sequentially arranged on the upper thigh rod (3), the thigh fixing pin (5-3) sequentially penetrates through the thigh fixing pin (5-4), the thigh reset spring (5-2) and the thigh fixing pin shell (5-5), the thigh adjusting pull ring (5-1) is arranged at the tail end of the thigh reset spring (5-2), and two ends of the thigh reset spring (5-2) are respectively contacted with the thigh fixing pin (5-4) and the thigh fixing pin shell (5-5);
after the thigh fixing and binding mechanism (5) is arranged on the upper thigh rod (3), the thigh fixing pin (5-4) is inserted into pin holes on the upper thigh rod (3) and the lower thigh rod (6) under the action of the thigh return spring (5-2), and the upper thigh rod (3) and the lower thigh rod (6) are connected in the length direction;
the two thigh binding blocks (5-8) are used for realizing the wearing fixation on the thigh through thigh binding, and a film pressure sensor for collecting human interaction force is arranged on the thigh binding;
the knee joint driving motor (7) and the harmonic reducer (8) are respectively connected with the lower thigh rod (6) and the upper shank rod (10);
the knee joint angle sensor (9) comprises an angle sensor (9-1), a coupler (9-2), a coding shaft (9-3), a coding shaft seat (9-4) and a flange plate (9-5);
the angle sensor (9-1) is arranged on the motor shell, two ends of the coupler (9-2) are respectively connected with the coding shaft (9-3) and the shaft of the angle sensor (9-1) by adopting fastening nuts, the coding shaft (9-3) is connected with the coding shaft seat (9-4) by interference fit, the coding shaft seat (9-4) and the flange plate (9-5) are connected by adopting bolts, the flange plate (9-5) rotates along with the joint movement of a human body, and the coding shaft (9-3) passes through a hollow motor shaft of the knee joint driving motor (7) to transmit knee joint position angle information back to the angle sensor (9-1);
the shank fixing and binding mechanism (11) comprises a shank adjusting pull ring (11-1), a shank reset spring (11-2), a shank fixing pin (11-3), a shank fixing pin (11-4), a shank fixing pin shell (11-5), a shank binding shaft end clamp spring (11-6), a shank binding shaft (11-7) and a shank binding block (11-8);
the shank adjusting pull ring (11-1), the shank adjusting pull ring (11-2), the shank adjusting spring (11-3), the shank adjusting pull ring (11-4), the shank fixing pin shell (11-5), the shank binding shaft end clamp spring (11-6), the shank binding shaft (11-7) and the shank binding block (11-8) are sequentially arranged on the upper shank rod (10), the shank adjusting pull ring (11-3) sequentially penetrates through the shank fixing pin (11-4), the shank adjusting spring (11-2) and the shank fixing pin shell (11-5), the shank adjusting pull ring (11-1) is arranged at the tail end of the shank adjusting pull ring, and two ends of the shank adjusting spring (11-2) are respectively contacted with the shank fixing pin (11-4) and the shank fixing pin shell (11-5);
after the shank fixing and binding mechanism (11) is arranged on the upper shank (10), the shank fixing pin (11-4) is inserted into pin holes on the upper shank (10) and the lower shank (12) under the action of the shank return spring (11-2), and the upper shank (10) and the lower shank (12) are connected in the length direction;
the two shank binding blocks (11-8) are used for realizing the wearing fixation on the shank through shank binding, and a film pressure sensor for collecting human interaction force is arranged on the shank binding;
the lower thigh rod (6) is a bending plate, and the lower bending direction of the lower thigh rod (6) faces to the outer side; the upper shank (10) is a bending plate, and the upper bending direction of the upper shank (10) faces inwards;
the method comprises the following steps:
step (1): after wearing the lower limb power assisting exoskeleton robot, the robot is started, a standing and resting state is maintained for a plurality of times, the length of each rod of the leg mechanism is adjusted to adapt to the height of the wearer, and initial information of the knee joint angle sensor and the film pressure sensor is synchronously acquired, so that the step (2) is carried out;
step (2): the wearer moves, the man-machine interaction force information of the wearer is collected through the film pressure sensor arranged on the thigh and calf binding blocks, and the step (3) is carried out;
step (3): judging the movement intention of a wearer according to the acquired man-machine interaction force information, amplifying the movement intention, acquiring the movement information required by the knee joint of the active-passive hybrid driven lower limb assistance exoskeleton robot, and turning to the step (4);
step (4): controlling corresponding joint actuators to output according to the movement information required by the knee joint, and monitoring whether the movement information of the leg mechanism is correct or not in real time by utilizing a knee joint angle sensor (9) so as to ensure that the movement states of the active and passive hybrid driven lower limb assisting exoskeleton robot are the same as the movement states of a wearer, and turning to the step (5);
step (5): returning to the step (2), realizing continuous movement between the wearer and the active-passive hybrid driven lower limb assistance exoskeleton robot.
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