CN114851172A - Human-computer interaction force detection device of exoskeleton robot - Google Patents
Human-computer interaction force detection device of exoskeleton robot Download PDFInfo
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- CN114851172A CN114851172A CN202210623809.4A CN202210623809A CN114851172A CN 114851172 A CN114851172 A CN 114851172A CN 202210623809 A CN202210623809 A CN 202210623809A CN 114851172 A CN114851172 A CN 114851172A
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- exoskeleton
- pressure sensor
- supporting rod
- thigh
- mounting block
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention belongs to the field of robots or medical equipment, and particularly provides a human-computer interaction force measuring device for an exoskeleton robot, which is used for solving the problems of poor stability and low accuracy of the existing human-computer interaction force detection mode. According to the invention, the detection structure formed by the pressure sensor, the first pressure sensor mounting block and the second pressure sensor mounting block is adopted to convert irregular human-computer interaction force between a human body and the exoskeleton in binding into pressure between the two pressure sensor mounting blocks, and the pressure measurement is convenient and the sensitivity is higher, namely, the accuracy, the effectiveness and the real-time performance of interaction force detection are greatly improved; meanwhile, the thigh exoskeleton supporting rod and the shank exoskeleton supporting rod are connected through the bearing, so that the measurement error caused by the self gravity of the thigh exoskeleton supporting rod and the measurement error caused by the rotation friction between the thigh exoskeleton supporting rod and the shank exoskeleton supporting rod are reduced, and the accuracy of interaction force detection is further improved.
Description
Technical Field
The invention belongs to the field of robots or medical equipment, relates to human-computer interaction force measurement, and particularly provides a human-computer interaction force measuring device for an exoskeleton robot.
Background
The wearable exoskeleton robot can reduce the load of a human body, so that the energy consumption of the human body during walking is reduced, and the effect of assisting power is achieved. The active exoskeleton robot is driven by a motor or other driving devices, so a human-computer interaction force detection structure needs to be designed between a human body and the exoskeleton robot to detect human-computer interaction force in real time, so that assistance and protection effects are achieved, otherwise the exoskeleton robot possibly blocks the motion of the human body and brings inconvenience to a wearer. How to accurately measure the human-computer interaction force in real time is a difficulty in application of the wearable exoskeleton and a key technology for realizing the power-assisted effect of the wearable exoskeleton robot. The accuracy, effectiveness and real-time performance of detection of the interaction force guarantee the coordination and consistency of the exoskeleton robot and human motion, at present, a pressure sensor is mostly placed at an exoskeleton binding part in the detection mode of the interaction force, and the human muscle tissue is a soft tissue, so the detection method cannot accurately detect the human-computer interaction force and has poor stability.
Disclosure of Invention
The invention aims to provide a human-computer interaction force detection device of an exoskeleton robot aiming at the problems of poor stability and low accuracy of the existing human-computer interaction force detection mode so as to improve the accuracy, effectiveness and real-time performance of interaction force detection.
In order to achieve the purpose, the invention adopts the technical scheme that:
a human-computer interaction force detection device of an exoskeleton robot comprises: the device comprises a thigh exoskeleton supporting rod, a shank exoskeleton supporting rod, a thigh exoskeleton far end binding, a thigh exoskeleton near end binding, a shank exoskeleton far end binding, a shank exoskeleton near end binding, a driving motor, a pressure sensor, a first pressure sensor mounting block, a second pressure sensor mounting block, a bearing, a motor shell and a control circuit; the thigh exoskeleton far end binding and the thigh exoskeleton near end binding are respectively connected to the far end and the near end of the thigh exoskeleton supporting rod and are positioned on two sides of the thigh exoskeleton supporting rod, and the shank exoskeleton far end binding and the shank exoskeleton near end binding are respectively connected to the far end and the near end of the shank exoskeleton supporting rod and are positioned on two sides of the shank exoskeleton supporting rod;
the thigh exoskeleton supporting rod is characterized in that a motor shell is fixedly connected with a driving motor, an output shaft of the driving motor is fixedly connected with a shank exoskeleton supporting rod, a bearing mounting hole is formed in the thigh exoskeleton supporting rod, a bearing outer ring is in interference fit with the bearing mounting hole in the thigh exoskeleton supporting rod, and a bearing inner ring is in interference fit with the output shaft of the driving motor; two ends of the pressure sensor are respectively and fixedly connected with a first pressure sensor mounting block and a second pressure sensor mounting block, the first pressure sensor mounting block is fixedly connected with the thigh exoskeleton supporting rod, and the second pressure sensor mounting block is fixedly connected with the motor shell; the control circuit controls the drive motor based on the detection result of the pressure sensor.
Furthermore, the first pressure sensor mounting block and the second pressure sensor mounting block are made of the same parts and are composed of mounting bases and mounting plates which are perpendicular to each other, the mounting plates are correspondingly connected with the pressure sensors, and the mounting bases are correspondingly connected with thigh exoskeleton supporting rods or motor shells.
Furthermore, the control circuit is arranged in the protective shell and is fixedly connected with the thigh exoskeleton supporting rod through a bolt.
The invention has the beneficial effects that:
the invention provides a human-computer interaction force detection device of an exoskeleton robot, which adopts a detection structure consisting of a pressure sensor, a first pressure sensor mounting block and a second pressure sensor mounting block to convert irregular human-computer interaction force between a human body and an exoskeleton bound into pressure between the first pressure sensor mounting block and the second pressure sensor mounting block, wherein the pressure measurement is convenient, the sensitivity is higher, and the accuracy, the effectiveness and the real-time property of interaction force detection are greatly improved; meanwhile, the thigh exoskeleton supporting rod is connected with the output shaft of the driving motor through the bearing, so that the measurement error caused by the gravity of the thigh exoskeleton supporting rod to the pressure sensor and the measurement error caused by the rotation friction between the thigh exoskeleton supporting rod and the output shaft of the driving motor to the pressure sensor can be reduced through the bearing, and the accuracy of interaction force detection is further improved.
Drawings
Fig. 1 is a schematic overall structure diagram of the exoskeleton robot human-computer interaction force detection device.
Fig. 2 is a schematic structural explosion diagram of the exoskeleton robot human-computer interaction force detection device.
Fig. 3 is a schematic diagram of a human-computer interaction force detection structure in the exoskeleton robot human-computer interaction force detection device.
Detailed Description
In order to make the objects, technical solutions and technical effects of the present invention more clearly apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
Example 1
The embodiment provides an exoskeleton robot human-computer interaction force detection device, the structure of which is shown in fig. 1 and 2, and the exoskeleton robot human-computer interaction force detection device specifically includes: the device comprises a thigh exoskeleton supporting rod, a shank exoskeleton supporting rod, a thigh exoskeleton far end binding, a thigh exoskeleton near end binding, a shank exoskeleton far end binding, a shank exoskeleton near end binding, a driving motor, a pressure sensor, a first pressure sensor mounting block, a second pressure sensor mounting block, a bearing, a motor shell and a control circuit; the thigh exoskeleton far end binding and the thigh exoskeleton near end binding are respectively connected to the far end and the near end of a thigh exoskeleton supporting rod through bolts and are positioned on two sides of the thigh exoskeleton supporting rod, and the shank exoskeleton far end binding and the shank exoskeleton near end binding are respectively connected to the far end and the near end of a shank exoskeleton supporting rod through bolts and are positioned on two sides of the shank exoskeleton supporting rod;
the motor shell is connected with the driving motor through a bolt, an output shaft of the driving motor is connected with the shank exoskeleton supporting rod through a bolt and then is connected with the bearing inner ring (in interference fit), a bearing mounting hole is formed in the shank exoskeleton supporting rod, and the bearing outer ring is arranged in the bearing mounting hole (in interference fit); two ends of the pressure sensor are respectively connected with the first pressure sensor mounting block and the second pressure sensor mounting block through bolts, the first pressure sensor mounting block is connected with the thigh exoskeleton supporting rod through bolts, and the second pressure sensor mounting block is connected with the motor shell through bolts; the control circuit controls the driving motor based on the detection result feedback of the pressure sensor, and the control circuit is connected with the thigh exoskeleton supporting rod in the protective shell through a bolt.
Furthermore, the first pressure sensor mounting block and the second pressure sensor mounting block are the same parts, and for convenience of description, the parts are described as two parts, namely, a mounting base and a mounting plate, which are perpendicular to each other, wherein the mounting plate is correspondingly connected with the pressure sensor, and the mounting base is correspondingly connected with the thigh exoskeleton supporting rod or the motor housing, as shown in fig. 3.
It should be noted that: the far end of the thigh exoskeleton supporting rod is far away from one end of the driving motor, the near end of the thigh exoskeleton supporting rod is close to one end of the driving motor, and the far end of the thigh exoskeleton supporting rod is far away from one end of the driving motor, and the near end of the thigh exoskeleton supporting rod is close to one end of the driving motor; the driving motor, the pressure sensor, the first pressure sensor mounting block, the second pressure sensor mounting block, the motor shell and the control circuit are all positioned on the side face of the wearer; in addition, the driving motor and the motor shell can be bonded through structural adhesive, and the pressure sensor is connected with the first pressure sensor mounting block and the second pressure sensor mounting block through bolts.
In terms of working principle:
the human-computer interaction force detection device of the exoskeleton robot comprises the following working processes: when the wearer intends to exercise, the legs and thighs can rotate relatively only by overcoming the damping of the motor, in the process, the strength of the thighs or the shanks of the human body can extrude the thigh binding or the shank binding, because the shank binding and shank exoskeleton supporting rod is fixedly connected with the output shaft of the motor, the thigh binding and thigh exoskeleton supporting rod is connected with the driving motor through the first pressure sensor mounting block, the pressure sensor, the second pressure sensor mounting block and the motor shell, therefore, the output shaft of the driving motor has a tendency to rotate relative to the driving motor, namely, the force generated by the thigh and the shank is converted into the rotation tendency of the output shaft of the driving motor, because the motor has damping, the torque which hinders rotation can be generated, the torque can be converted into the pressure which can be measured by the pressure sensor through the detection device, and the detection process of the human-computer interaction force is completed. In the process, irregular human-computer interaction force between a human body and the exoskeleton is converted into pressure between the first pressure sensor mounting block and the second pressure sensor mounting block through a detection structure (shown in figure 3) formed by the pressure sensor, the first pressure sensor mounting block and the second pressure sensor mounting block, the pressure measurement is convenient, the sensitivity is high, and the accuracy, the effectiveness and the real-time performance of interaction force detection are greatly improved; in addition, the measuring error caused by the gravity of the thigh exoskeleton supporting rod to the pressure sensor and the measuring error caused by the rotation friction between the thigh exoskeleton supporting rod and the motor output shaft to the pressure sensor can be reduced through the bearing, and the accuracy of interaction force detection is further improved.
While the invention has been described with reference to specific embodiments, any feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise; all of the disclosed features, or all of the method or process steps, may be combined in any combination, except mutually exclusive features and/or steps.
Claims (3)
1. A human-computer interaction force detection device of an exoskeleton robot comprises: the device comprises a thigh exoskeleton supporting rod, a shank exoskeleton supporting rod, a thigh exoskeleton far end binding, a thigh exoskeleton near end binding, a shank exoskeleton far end binding, a shank exoskeleton near end binding, a driving motor, a pressure sensor, a first pressure sensor mounting block, a second pressure sensor mounting block, a bearing, a motor shell and a control circuit; the thigh exoskeleton far end binding and the thigh exoskeleton near end binding are respectively connected to the far end and the near end of the thigh exoskeleton supporting rod and are positioned on two sides of the thigh exoskeleton supporting rod, and the shank exoskeleton far end binding and the shank exoskeleton near end binding are respectively connected to the far end and the near end of the shank exoskeleton supporting rod and are positioned on two sides of the shank exoskeleton supporting rod;
the thigh exoskeleton supporting rod is provided with a bearing mounting hole, a bearing outer ring is in interference fit with the bearing mounting hole on the thigh exoskeleton supporting rod, and a bearing inner ring is in interference fit with the driving motor output shaft; two ends of the pressure sensor are respectively connected with the first pressure sensor mounting block and the second pressure sensor mounting block, the first pressure sensor mounting block is fixedly connected with the thigh exoskeleton supporting rod, and the second pressure sensor mounting block is fixedly connected with the motor shell; the control circuit controls the drive motor based on the detection result of the pressure sensor.
2. The exoskeleton robot human-computer interaction force detection device as claimed in claim 1, wherein the first pressure sensor mounting block and the second pressure sensor mounting block are of the same structure and are composed of mutually perpendicular mounting bases and mounting plates, the mounting plates are correspondingly connected with the pressure sensors, and the mounting bases are correspondingly connected with the thigh exoskeleton supporting rods or the motor housings.
3. A human-computer interaction force detection apparatus for an exoskeleton robot as claimed in claim 1 wherein said control circuit is housed within a protective case and is fixedly connected to the thigh exoskeleton support bars by bolts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210623809.4A CN114851172A (en) | 2022-06-02 | 2022-06-02 | Human-computer interaction force detection device of exoskeleton robot |
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| CN202210623809.4A CN114851172A (en) | 2022-06-02 | 2022-06-02 | Human-computer interaction force detection device of exoskeleton robot |
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| CN108161983A (en) * | 2018-02-09 | 2018-06-15 | 武汉沃森拓客科技有限公司 | Healing robot joint arrangement |
| CN109746940A (en) * | 2019-01-14 | 2019-05-14 | 电子科技大学 | A kind of device for testing single-DOF-joint torque |
| CN111693181A (en) * | 2020-05-20 | 2020-09-22 | 南京航空航天大学 | Man-machine one-dimensional interaction force measuring sensor and measuring method for lower limb exoskeleton |
| CN112060060A (en) * | 2020-09-22 | 2020-12-11 | 南京理工大学 | Active-passive hybrid-driven lower limb assistance exoskeleton robot and control method |
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2022
- 2022-06-02 CN CN202210623809.4A patent/CN114851172A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101242517B1 (en) * | 2012-10-16 | 2013-03-12 | 엘아이지넥스원 주식회사 | Wearable robotic system and control method thereof |
| CN105643609A (en) * | 2016-04-14 | 2016-06-08 | 哈尔滨工业大学 | Human-machine mutual force detection device |
| CN107115191A (en) * | 2017-04-27 | 2017-09-01 | 北京航空航天大学 | A kind of leg device with interaction measurement of force suitable for lower limb rehabilitation exoskeleton robot |
| CN107252210A (en) * | 2017-05-12 | 2017-10-17 | 武汉理工大学 | A kind of wearable seat automatically controlled and application method |
| CN108144264A (en) * | 2018-02-09 | 2018-06-12 | 武汉沃森拓客科技有限公司 | Mechanical arm for rehabilitation training and healing robot |
| CN108161983A (en) * | 2018-02-09 | 2018-06-15 | 武汉沃森拓客科技有限公司 | Healing robot joint arrangement |
| CN109746940A (en) * | 2019-01-14 | 2019-05-14 | 电子科技大学 | A kind of device for testing single-DOF-joint torque |
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| CN112060060A (en) * | 2020-09-22 | 2020-12-11 | 南京理工大学 | Active-passive hybrid-driven lower limb assistance exoskeleton robot and control method |
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