CN112891151A - Intelligent walking aid with multi-sensor information fusion - Google Patents
Intelligent walking aid with multi-sensor information fusion Download PDFInfo
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 24
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- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 17
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 claims description 8
- 229920003002 synthetic resin Polymers 0.000 claims description 7
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- 210000004394 hip joint Anatomy 0.000 abstract description 8
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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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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Abstract
The invention discloses an intelligent walking aid with multi-sensor information fusion, which comprises two thigh wearing mechanisms, a waist wearing mechanism, two servo motors, matched intelligent shoes and a leg posture detection module attached to the position of a user shank. This intelligence of multisensor information fusion assistor that walks, helping hand equipment is small, can hold in 800mm 350mm 200 mm's cuboid, and helping hand equipment light in weight, the whole weight of ectoskeleton is about 3KG and hip joint output torque is enough, can reach 50N m, can reach comparatively ideal helping hand effect, and intelligent degree is high, and the man-machine harmony is good, and helping hand equipment is with low costs, satisfies general consumer's consumption demand.
Description
Technical Field
The invention relates to the technical field of walking assistance equipment, in particular to an intelligent walking assistance device with multi-sensor information fusion.
Background
With the increasing aging of China, the lower limb movement dysfunction caused by hemiplegia, joint diseases and the like is more and more common, the patients often have the problems of difficult walking and even incapability of self-care in life and the like, and generally need to be taken care of by nursing staff (or family members), but under the trend of increasing aging, the shortage of the nursing staff is a real and long-term problem. How to use advanced scientific technology to alleviate the contradiction becomes a problem to be urgently solved in the current society. The assistor device utilizes advanced materials, intelligent control and other technologies, can effectively assist the physically disabled patients to walk, improves the life quality of the patients, and indirectly promotes the social harmony and stability and the economic development. Some auxiliary device products are already available in the market at present, but the problems of high price, inconvenience in wearing and the like exist, and the actual effect is not satisfactory.
The individual difference between different patients is large, and the walking aid can provide assistance force in a targeted manner according to the actual conditions of different patients, so that the aim of assisting on demand is finally fulfilled. This requires that the robot have both a reasonable mechanical structure and an intelligent control algorithm. As a typical human-computer interaction system, the walking aid needs to have a high level of intelligence, which necessarily relies on the overall perception of the sensing system. Data of the sensing system is often multifaceted, and comprises multimode information such as the own state of a patient, the working state of a robot, the interaction force between the human and the machine, and how to carry out intelligent control according to the information, so that the guarantee of the human-machine coordination becomes a key scientific problem, and the key for improving the product performance is also provided.
ExoMotus as a lower limb walking aid was introduced in 2019 by Fourier intelligent exoskeleton Inc. in ChinaTMThe robot adopts a modular structure design of a biped robot, carries a motion controller, a multidimensional force sensor and an integrated flexible joint which are independently researched and developedThe motor, which takes the walking function as the core, provides the power of advancing. The exoskeleton is made of aluminum alloy and carbon fiber materials, is compact in structure, has the total weight of 18KG, and can realize the functions of rehabilitation training, personal walking aid and the like. However, like most products, it has the problems of heavy weight, large volume, inconvenient transportation and wearing, high price and the like, and the actual effect is not ideal
The main disadvantages of the prior art include 1) the existing products are generally large in size and inconvenient to carry and wear; 2) the existing product generally has larger weight, and the wearer has heavier burden; 3) the existing walking assistor has low intelligent degree and poor man-machine coordination.
On the basis of scientifically designing the structure of the walking aid, the active movement intention of the patient is scientifically predicted based on a multi-sensing data fusion technology, so that the assistance effect of the walking aid is highly matched with the actual demand graph of the wearer, and the goal of man-machine integration is realized.
The invention adopts a direct current motor and a harmonic reducer as power sources, reduces the weight to the minimum under the condition of meeting the output torque, adopts ABS synthetic resin to process the wearing part of the assistor interacting with the human body, has high strength, good toughness and light weight, adds a soft lining inside the wearing mechanism, utilizes a magic tape to paste a soft composite fabric on the surface of the synthetic resin, prevents the local pressure of the human body and the assistor from being overlarge during the movement process, ensures the comfort, adopts 6061 aluminum alloy as a connecting part of the motor and the wearing part, reduces the weight while ensuring the strength, adopts bolt connection between the part and the motor and between the part, designs mechanical limit and installs a limit switch at the hip joint position part according to the movement angle of the lower limb joint of the human body, furthest ensures the safety during the power assisting process, and has the whole weight of about 3KG, the volume is small, the hip joint can be contained in a cuboid with 800mm 350mm 200mm, the maximum output torque of the hip joint can reach 50N m, the cost is about 8000 yuan, and a more ideal power assisting effect can be achieved.
In addition, the wearable leg posture detection assembly and the pressure-sensitive sensing foot bottom assembly are arranged, the walking state of a wearer can be monitored in real time, the movement intention of the wearer can be analyzed through the monitoring result, the joint motor is controlled to output proper position and moment, and the purpose of keeping high man-machine coordination is achieved.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the intelligent walking aid with multi-sensor information fusion, which has the advantages of simpler structure, more convenient use and better man-machine coordination.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an intelligent walking aid with multi-sensor information fusion comprises two thigh wearing mechanisms, a waist wearing mechanism, two servo motors, matched intelligent shoes and a leg posture detection module attached to the shank part of a user, wherein the waist wearing mechanism and the two thigh wearing mechanisms are both fixedly connected with a first connecting rod through a fourth bolt, the bottom ends of the first connecting rods fixedly arranged at the two sides of the waist wearing mechanism are fixedly connected with a second connecting rod through a third bolt, the top ends of the first connecting rods fixedly arranged on the two thigh wearing mechanisms are fixedly connected with a third connecting rod through a third bolt, one side of the third connecting rod is fixedly arranged on a fixed shell of the servo motor through a second bolt, one side of the second connecting rod is fixedly arranged on an output shaft of the servo motor through the first bolt, and two limit switches are fixedly arranged on the inner side of a shell of the servo motor, and a pressure-sensitive array insole is fixedly arranged on the inner sole of the matched intelligent shoe.
Preferably, two limit protrusions matched with the limit switches are fixedly installed on the surface, close to the servo motor, of the third connecting rod.
Preferably, the material of first connecting rod is 6061 aluminum alloy, adopts digit control machine tool processing, sets up the length adjustment groove that adapts to different wearers on the first connecting rod, and two thighs dress mechanism and waist dress mechanism all set up 8 lines 3 countersunk holes that are listed as with the position that first connecting rod links to each other to satisfy the regulation needs of different positions.
Preferably, the second connecting rod and the third connecting rod are made of 6061 aluminum alloy, two holes, connected with the first connecting rod, of the second connecting rod and the third connecting rod are threaded holes, other holes are through holes, grooves matched with the first connecting rod are formed in the second connecting rod and the third connecting rod, the first connecting rod is inserted into the grooves of the second connecting rod and the third connecting rod respectively, and the third connecting rod is fixedly connected with the threaded holes through third bolts.
Preferably, the thigh wearing mechanism and the waist wearing mechanism are made of ABS synthetic resin, and the lining is pasted with soft composite fabric by using magic tapes, so that comfort is guaranteed.
Preferably, the matched intelligent shoes and the leg posture detection module are in data interaction with a control panel of the assistant device in a wireless communication mode.
Preferably, the pressure-sensitive array insole is used for detecting pressure values received by different areas of the insole, transmitting the detected pressure values to the control board of the auxiliary main unit, and reflecting a phase angle corresponding to a gait cycle of a user at present.
Preferably, the leg posture detection module is used for detecting and outputting the knee joint angle of the user.
Preferably, the limit switch is used for sending a movement stop signal, so that the movement travel of the two thigh wearing mechanisms is limited, and the safety is ensured on the premise of providing assistance.
Preferably, the first bolt is a cross countersunk bolt using M3 × 10, the second bolt and the third bolt are both hexagon socket flat head bolts using M3 × 12, and the fourth bolt is a hexagon socket flat head bolt using M6 × 15.
(III) advantageous effects
The invention provides an intelligent walking aid with multi-sensor information fusion. Compared with the prior art, the method has the following beneficial effects:
(1) the intelligent walking aid with multi-sensor information fusion has the advantages that the weight is reduced to the minimum under the condition of meeting the output torque by adopting the direct current motor to be matched with the harmonic reducer as a power source, the wearing part of the aid interacting with a human body is processed by ABS synthetic resin, the strength is high, the toughness is good, the weight is light, the inner side of a wearing mechanism is additionally provided with a soft lining, a soft composite fabric is attached to the surface of the synthetic resin by using a magic tape, the local pressure of the human body and the aid is prevented from being too high in the movement process, the comfort is ensured, the connecting part of the motor and the wearing part is made of 6061 aluminum alloy, the weight is reduced while the strength is ensured, the parts and the motor are connected by bolts, the mechanical limit is designed and the limit switch is installed at the position of the hip joint according to the movement angle of the lower limb joint of the human body, and the safety in the, the walking assistor has the advantages that the whole weight is about 3KG, the size is small, the walking assistor can be contained in a cuboid with the length of 800mm 350mm 200mm, the maximum output torque of the hip joint can reach 50N m, the cost is about 8000 yuan, a relatively ideal power assisting effect can be achieved, the power assisting equipment is low in cost, and the consumption requirements of general consumers are met.
(2) This multisensor information fusion's intelligence assistor that walks, the shank gesture determine module and the pressure sensitive sensing sole assembly of wearing formula have been equipped with, can carry out real-time supervision to the walking state of wearing person, can assay wearing person's motion intention through the monitoring result to control joint motor output suitable position and moment, reach the purpose that keeps high man-machine harmony, this is compared and has apparent technological breakthrough in current product, and intelligent degree is high, and man-machine harmony is good.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural view of a supporting intelligent shoe, a pressure-sensitive array insole and a leg posture detection module according to an embodiment of the invention;
FIG. 3 is an exploded view of the structure of an embodiment of the present invention;
FIG. 4 is a schematic view of a first extreme motion position state of the left leg and the right leg of the hip joint assist device in accordance with an embodiment of the present invention;
fig. 5 is a schematic diagram of the second extreme motion position states of the left leg and the right leg of the hip joint power-assisted device according to the embodiment of the invention.
In the figure, 1-a first connecting rod, 2-a second connecting rod, 3-a third connecting rod, 4-a thigh wearing mechanism, 5-a waist wearing mechanism, 6-a servo motor, 7-a limit switch, 8-a first bolt, 9-a second bolt, 10-a third bolt, 11-a fourth bolt, 12-a matched intelligent shoe, 13-a pressure-sensitive array insole and 14-a leg posture detection module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, an embodiment of the present invention provides a technical solution: an intelligent walking aid with multi-sensor information fusion comprises two thigh wearing mechanisms 4, a waist wearing mechanism 5, two servo motors 6, matched intelligent shoes 12 and a leg posture detection module 14 attached to the shank part of a user, wherein the model of the servo motors 6 is 40CB010C-500000, the waist wearing mechanism 5 and the two thigh wearing mechanisms 4 are fixedly connected with a first connecting rod 1 through a fourth bolt 11, the bottom ends of the first connecting rods 1 fixedly arranged at the two sides of the waist wearing mechanism 5 are fixedly connected with a second connecting rod 2 through a third bolt 10, the top ends of the first connecting rods 1 fixedly arranged on the two thigh wearing mechanisms 4 are fixedly connected with a third connecting rod 3 through a third bolt 10, one side of the third connecting rod 3 is fixedly arranged on a fixed shell of the servo motor 6 through a second bolt 9, one side of the second connecting rod 2 is fixedly arranged on an output shaft of the servo motor 6 through a first bolt 8, and two limit switches 7 are fixedly arranged on the inner side of the shell of the servo motor 6, and a pressure-sensitive array insole 13 is fixedly arranged on the inner lining of the matched intelligent shoe 12.
In the embodiment of the invention, two limit protrusions matched with the limit switch 7 are fixedly arranged on the surface of the third connecting rod 3 close to the servo motor 6.
In the embodiment of the invention, the first connecting rod 1 is made of 6061 aluminum alloy and is machined by a numerical control machine, length adjusting grooves suitable for different wearers are formed in the first connecting rod 1, and 8 rows by 3 columns of counter bores are formed in the positions where the two thigh wearing mechanisms 4 and the waist wearing mechanism 5 are connected with the first connecting rod 1, so that the adjusting requirements of different positions are met.
In the embodiment of the invention, the second connecting rod 2 and the third connecting rod 3 are made of 6061 aluminum alloy, two holes of the second connecting rod 2 and the third connecting rod 3, which are respectively connected with the first connecting rod 1, are threaded holes, other holes are through holes, grooves matched with the first connecting rod 1 are arranged on the second connecting rod 2 and the third connecting rod 3, the first connecting rod 1 is respectively inserted into the grooves of the second connecting rod 2 and the third connecting rod 3, and the threaded holes are fixedly connected by using a third bolt 10.
In the embodiment of the invention, the thigh wearing mechanism 4 and the waist wearing mechanism 5 are made of ABS synthetic resin, and the linings are both adhered with soft composite fabric by using magic tapes, so that the comfort is ensured.
In the embodiment of the invention, the matched intelligent shoes 12 and the leg posture detection module 14 are in data interaction with the control panel of the auxiliary main unit in a wireless communication mode.
In the embodiment of the invention, the pressure-sensitive array insole 13 is used for detecting the pressure values received by different areas of the insole and transmitting the detected pressure values to the control board of the auxiliary main unit, so that the phase angle corresponding to the gait cycle of the user at present can be reflected.
In the embodiment of the present invention, the leg posture detecting module 14 is used for detecting and outputting the knee joint angle of the user.
In the embodiment of the invention, the limit switch 7 is used for sending a movement stop signal to limit the movement strokes of the two thigh wearing mechanisms 4 and ensure the safety on the premise of providing assistance.
In the embodiment of the present invention, the first bolt 8 is a cross countersunk bolt using M3 × 10, the second bolt 9 and the third bolt 10 are both hexagon socket head bolts using M3 × 12, and the fourth bolt 11 is a hexagon socket head bolt using M6 × 15.
When the auxiliary device is used, firstly, the thigh wearing mechanism 4 and the waist wearing mechanism 5 are respectively worn on the waist and two thigh parts of a user and are respectively fixed with buckles on the thigh wearing mechanism 4 and the waist wearing mechanism 5 through tightening belts, after the wearing is finished, the user can operate the control switch to start the servo motor 6 to start working, the servo motor 6 can respectively drive the thigh wearing mechanism 4 and the waist wearing mechanism 5 to rotate relatively through the first connecting rod 1, the second connecting rod 2 and the third connecting rod 3, so that the auxiliary user can walk in an assisting mode, after a protrusion on the third connecting rod 3 abuts against the limit switch 7, the fact that the relative included angle between the second connecting rod 2 and the third connecting rod 3 reaches the maximum limit phase angle is shown, the controller can control the servo motor 6 to stop rotating, the assisting is finished, and the user is protected.
And those not described in detail in this specification are well within the skill of those in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a multisensor information fusion's intelligence assistor that walks which characterized in that: wear mechanism (5), two servo motor (6), supporting intelligent shoes (12) and attached shank gesture detection module (14) in user's shank position including two thigh wearing mechanisms (4), waist, wear all through fourth bolt (11) first connecting rod (1) of fixedly connected with on mechanism (5) and two thigh wearing mechanisms (4), and fixed mounting passes through third bolt (10) fixedly connected with second connecting rod (2) in the bottom of wearing first connecting rod (1) of mechanism (5) both sides in the waist, fixed mounting is two the top of first connecting rod (1) on thigh wearing mechanism (4) passes through third bolt (10) fixedly connected with third connecting rod (3), and one side of third connecting rod (3) passes through second bolt (9) fixed mounting on the fixed casing of servo motor (6), one side of second connecting rod (2) is passed through first bolt (8) fixed mounting and is defeated in servo motor (6) and is failed On going out the axle, and servo motor (6) casing inboard fixed mounting have two limit switch (7), fixed mounting has pressure sensitive array shoe-pad (13) on the inside lining bottom of supporting intelligent shoes (12).
2. The intelligent walking aid with multi-sensor information fusion according to claim 1, wherein: two limiting bulges matched with the limiting switch (7) are fixedly arranged on the surface, close to the servo motor (6), of the third connecting rod (3).
3. The intelligent walking aid with multi-sensor information fusion according to claim 1, wherein: the material of first connecting rod (1) is 6061 aluminum alloy, adopts numerical control machine tool machining, has seted up the length adjustment groove that adapts to different wearers on first connecting rod (1), and two thighs wearing mechanism (4) and waist wear mechanism (5) and the continuous position of first connecting rod (1) and all seted up 8 lines 3 countersunk holes of row.
4. The intelligent walking aid with multi-sensor information fusion according to claim 1, wherein: the material of the second connecting rod (2) and the third connecting rod (3) is 6061 aluminum alloy, two holes respectively connected with the first connecting rod (1) of the second connecting rod (2) and the third connecting rod (3) are threaded holes, other holes are through holes, and grooves matched with the first connecting rod (1) are formed in the second connecting rod (2) and the third connecting rod (3), the first connecting rod (1) is respectively inserted into the grooves of the second connecting rod (2) and the third connecting rod (3), and the third connecting rod (10) is fixedly connected with the threaded holes.
5. The intelligent walking aid with multi-sensor information fusion according to claim 1, wherein: the thigh wearing mechanism (4) and the waist wearing mechanism (5) are made of ABS synthetic resin, and the linings are made of soft composite fabric by using magic tapes.
6. The intelligent walking aid with multi-sensor information fusion according to claim 1, wherein: the matched intelligent shoes (12) and the leg posture detection module (14) are in data interaction with a control panel of the assistant main unit in a wireless communication mode.
7. The intelligent walking aid with multi-sensor information fusion according to claim 6, wherein: the pressure-sensitive array insole (13) is used for detecting pressure values borne by different areas of the insole and transmitting the detected pressure values to the control panel of the auxiliary main unit, so that a phase angle corresponding to a gait cycle of a user at present can be reflected.
8. The intelligent walking aid with multi-sensor information fusion according to claim 6, wherein: the leg posture detection module (14) is used for detecting and outputting the knee joint angle of the user.
9. The intelligent walking aid with multi-sensor information fusion according to claim 1, wherein: the limit switch (7) is used for sending a motion stop signal to limit the motion stroke of the two thigh wearing mechanisms (4).
10. The intelligent walking aid with multi-sensor information fusion according to claim 1, wherein: the first bolt (8) is a cross countersunk bolt employing M3 x 10, and the second bolt (9) and the third bolt (10) are both hexagon socket flat head bolts employing M3 x 12, and the fourth bolt (11) is a hexagon socket flat head bolt employing M6 x 15.
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| CN202110066733.5A CN112891151A (en) | 2021-01-19 | 2021-01-19 | Intelligent walking aid with multi-sensor information fusion |
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| CN107998609A (en) * | 2018-01-04 | 2018-05-08 | 浙江大学城市学院 | A kind of auxiliary walking exoskeleton robot system based on Multi-sensor Fusion |
| CN108161905A (en) * | 2018-01-10 | 2018-06-15 | 安徽工程大学 | A kind of stiffness variable lower limb exoskeleton power-assisting robot |
| CN109172289A (en) * | 2018-10-16 | 2019-01-11 | 合肥工业大学 | Hip joint healing ectoskeleton and its motion control method based on multifunction drive |
| CN112060055A (en) * | 2020-05-25 | 2020-12-11 | 浙江大学 | Wearable walking assistance robot and hybrid assistance control method thereof |
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