CN115213870A - Power-assisted exoskeleton equipment, control method thereof and power-assisted exoskeleton system - Google Patents
Power-assisted exoskeleton equipment, control method thereof and power-assisted exoskeleton system Download PDFInfo
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- CN115213870A CN115213870A CN202210878591.7A CN202210878591A CN115213870A CN 115213870 A CN115213870 A CN 115213870A CN 202210878591 A CN202210878591 A CN 202210878591A CN 115213870 A CN115213870 A CN 115213870A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention belongs to the technical field of power-assisted exoskeletons, and particularly discloses a power-assisted exoskeletons device, a control method thereof and a power-assisted exoskeletons system. The power-assisted exoskeleton device comprises a main body structure, two thigh connecting structures, a driving structure, a first motion detection part, two second motion detection parts and a controller, wherein the main body structure is provided with a connecting part for connecting with a trunk of a user; the driving structures are arranged on the main body structure and are respectively connected with the two thigh connecting structures in a one-to-one correspondence manner through two transmission parts so as to drive the two thigh connecting structures to move through the driving structures; the first motion detection component is arranged on the main body structure; the two second motion detection parts are correspondingly arranged on the two thigh connecting structures one by one; the controller is in communication connection with the first motion detection component, the two second motion detection components and the driving structure. The technical scheme of the invention solves the problem of poor coordination between the power-assisted exoskeleton and a human body in the related art when in use.
Description
Technical Field
The invention belongs to the technical field of power-assisted exoskeletons, and particularly relates to a power-assisted exoskeletons device, a control method thereof and a power-assisted exoskeletons system.
Background
The power-assisted exoskeleton is a man-machine integrated cooperative system, and can combine the load bearing capacity of a machine with the intelligence of a person to enhance the movement and load bearing capacity of the person, reduce muscle fatigue and improve the working efficiency. The power-assisted exoskeleton has good application prospects in various fields such as military, medical treatment and industry, and has great help significance in improving soldier combat ability, assisting disabled people in moving, improving worker operation efficiency and the like.
The prior art power-assisted exoskeletons still have a plurality of defects, which cause great limitation to the application of the power-assisted exoskeletons. For example, the assisting exoskeleton in the related art cannot accurately sense the motion state of a user, so that the assisting exoskeleton and the human body have poor coordination when working cooperatively, and the assisting exoskeleton has the problems of complex structural design, and poor use reliability.
Disclosure of Invention
The invention aims to provide a power-assisted exoskeleton device, a control method thereof and a power-assisted exoskeleton system, and aims to solve the problem that in the related art, the coordination between a power-assisted exoskeleton and a human body is poor when the power-assisted exoskeleton is used.
In order to realize the purpose, the invention adopts the following technical scheme:
according to one aspect of the present invention there is provided a power-assisted exoskeleton device comprising: a main body structure having a connection portion for connection with a user's torso; the thigh connecting structures are two, and the two thigh connecting structures are used for being correspondingly connected to two legs of a user; the driving structures are arranged on the main body structure and are respectively connected with the two thigh connecting structures in a one-to-one correspondence manner through two transmission pieces so as to drive the two thigh connecting structures to move through the driving structures; a first motion detection member mounted to the body structure; the two second motion detection parts are arranged on the two thigh connecting structures in a one-to-one correspondence manner; and the controller is in communication connection with the first motion detection component, the two second motion detection components and the driving structure.
Further, the first motion detection component includes a first IMU sensor and the second motion detection component includes a second IMU sensor.
Further, the first motion detection part further includes an angular displacement sensor.
Furthermore, the second motion detection component further comprises a tension sensor, and the tension sensor is connected with the corresponding transmission part and the thigh connecting structure so as to detect the tension applied by the transmission part to the thigh connecting structure.
Further, the power-assisted exoskeleton device comprises a connecting piece, and the two thigh connecting structures are flexibly connected with the main body structure through the connecting piece.
Further, the main body structure comprises a bionic structure back frame; and/or the thigh connecting structure is a flexible binding structure.
Further, the transmission member is a bowden cable.
According to another aspect of the present invention, there is provided a method of controlling a power-assisted exoskeleton device, suitable for use in a power-assisted exoskeleton device as described above, the method comprising: acquiring detection data of a first motion detection component and a second motion detection component of a power-assisted exoskeleton device; determining the motion state of the user according to the detection data; generating a control instruction according to the motion state; and sending the control command to a drive structure of the power-assisted exoskeleton device.
Further, according to the motion state, generating a control instruction, comprising: generating a power-assisting instruction for the corresponding thigh connecting structure under the condition that any one leg of the user enters a supporting state; generating a power-assisting stopping instruction for a corresponding thigh connecting structure when the motion of any one leg of the user reaches a preset state; wherein the predetermined state comprises a predetermined proportion of the movement of the leg reaching a full step period, or the leg entering a pendulum motion.
Further, according to the motion state, generating a control instruction, comprising: according to the formula
Generating a control instruction; wherein, F order Is a control instruction; t is the moment of the current gait cycle; k is a preset slope coefficient; b is an initial preset value of the power-assisted instruction; t is the time length of the last gait cycle; alpha is a preset proportionality coefficient.
According to another aspect of the present invention, there is provided a powered exoskeleton system including the powered exoskeleton device described above, wherein a controller of the powered exoskeleton device stores a computer program that, when executed by the controller, implements a method of controlling the powered exoskeleton device described above.
The power-assisted exoskeleton equipment applying the technical scheme of the invention comprises a main body structure, two thigh connecting structures, a driving structure, a first motion detection part, two second motion detection parts and a controller, wherein the main body structure is provided with a connecting part for connecting with the trunk of a user; two thigh connecting structures for connecting to respective legs of a user; the driving structures are arranged on the main body structure and are respectively connected with the two thigh connecting structures in a one-to-one correspondence manner through two transmission parts so as to drive the two thigh connecting structures to move through the driving structures; the first motion detection component is mounted on the main body structure; the two second motion detection parts are correspondingly arranged on the two thigh connecting structures one by one; the controller is in communication connection with the first motion detection component, the two second motion detection components and the driving structure. When the power-assisted exoskeleton adopting the structural design is used, the motion state of the trunk part of a user is detected through the first detection part arranged on the main body structure, the motion states of two legs of the user are detected through the second detection part arranged on the thigh connecting structure, and the controller can better sense the current motion situation of the user through combining the motion states of the trunk part and the two legs of the user, so that a control instruction is sent out more pertinently to control the driving structure to work, the power-assisted exoskeleton and the user to move more coordinately, the problem that the power-assisted exoskeleton in the related technology is poor in coordination with a human body when being used due to inaccurate perception of the motion state of the user is solved, and the power-assisted exoskeleton adopting the structural design is simple in structure and is beneficial to improving the convenience and the reliability of use.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the assisted exoskeleton device of the present invention;
figure 2 is a schematic diagram of an embodiment of a method of controlling the power-assisted exoskeleton device of the present invention.
Wherein the figures include the following reference numerals:
1. a body structure; 2. a thigh link structure; 3. a drive structure; 4. a transmission member; 5. a connecting member; 6. and a signal transmission line.
Detailed Description
The advantages and features of the present invention will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings and detailed description of specific embodiments of the invention. It should be noted that the drawings are in simplified form and are not to precise scale, which are provided for convenience and clarity in order to facilitate the description of the embodiments of the invention.
It should be noted that, for clarity of description of the present invention, various embodiments are specifically described to further illustrate different implementations of the present invention, wherein the embodiments are illustrative and not exhaustive. In addition, for simplicity of description, the contents mentioned in the previous embodiments are often omitted in the following embodiments, and therefore, the contents not mentioned in the following embodiments may be referred to the previous embodiments accordingly.
As shown in FIG. 1, one embodiment of the present invention provides a power-assisted exoskeleton device comprising: a main body structure 1, wherein the main body structure 1 is provided with a connecting part used for connecting with the trunk of a user; two thigh connecting structures 2, the two thigh connecting structures 2 being for connecting to two legs of a user respectively; the driving structures 3 are arranged on the main body structure 1, and the driving structures 3 are respectively connected with the two thigh connecting structures 2 through two transmission pieces 4 in a one-to-one correspondence manner so as to drive the two thigh connecting structures 2 to move through the driving structures 3; a first motion detection means mounted to the main body structure 1; two second motion detection parts which are installed on the two thigh connecting structures 2 in a one-to-one correspondence; and the controller is in communication connection with the first motion detection part, the two second motion detection parts and the driving structure 3.
The power-assisted exoskeleton device comprises a main body structure 1, two thigh connecting structures 2, a driving structure 3, a first motion detection part, two second motion detection parts and a controller, wherein the main body structure 1 is provided with a connecting part for connecting with the trunk of a user; two thigh connecting structures 2 for connecting to two legs of a user, respectively; the driving structures 3 are arranged on the main body structure 1, and the driving structures 3 are respectively connected with the two thigh connecting structures 2 through the two transmission pieces 4 in a one-to-one correspondence manner so as to drive the two thigh connecting structures 2 to move through the driving structures 3; the first motion detection part is mounted on the main body structure 1; the two second motion detection parts are arranged on the two thigh connecting structures 2 in a one-to-one correspondence manner; the controller is in communication connection with the first motion detection component, the two second motion detection components and the driving structure 3. When the power-assisted exoskeleton adopting the structural design is used, the motion state of the trunk part of a user is detected through the first detection part arranged on the main body structure 1, the motion states of two legs of the user are detected through the second detection part arranged on the thigh connecting structure 2, the controller can better sense the current motion situation of the user through combining the motion states of the trunk and the two legs of the user, so that a control instruction is sent more specifically to control the driving structure 3 to work, the power-assisted exoskeleton is more coordinated with the motion of the user, the problem that the power-assisted exoskeleton in the related technology is poor in coordination with a human body when the power-assisted exoskeleton is used due to inaccurate perception of the motion state of the user is solved, and the power-assisted exoskeleton adopting the structural design is simple in structure and is beneficial to improving the convenience and reliability of use.
The second detection part is connected with the controller through a signal transmission line 6.
In particular, the first motion detection component includes a first IMU sensor and the second motion detection component includes a second IMU sensor.
In this embodiment, the first motion detection unit includes a first IMU sensor, and the second motion detection unit includes a second IMU sensor, so that the motion acceleration of the trunk and the legs of the user can be conveniently obtained, and the accurate motion state of the user can be calculated.
As a preferred embodiment, the first motion detection means further comprises an angular displacement sensor. Under the condition that the first motion detection part further comprises an angular displacement sensor, the first motion detection part can detect the angular displacement of the trunk of the user, so that the control strategy is determined more reasonably by combining the angular displacement, and the coordination of the assisting exoskeleton equipment and the user during cooperative work is improved.
In particular, the second movement detection means also comprise a tension sensor connected both to the respective transmission element 4 and to the thigh connecting structure 2, to detect the tension applied by the transmission element 4 to the thigh connecting structure 2.
Through setting up force sensor, can detect the pulling force that driving medium 4 applyed to corresponding thigh coupling mechanism 2 in real time, the control strategy can be confirmed to the controller in combination with pulling force data, and this is favorable to further improving control accuracy, improves the safety in utilization, avoids damaging the ectoskeleton or damaging the human body because of the pulling force is too big.
The power-assisted exoskeleton device comprises a connecting piece 5, and the two thigh connecting structures 2 are flexibly connected with the main body structure 1 through the connecting piece 5.
Through setting up connecting piece 5, be connected two thigh connection structure 2 and major structure 1 as an organic whole for whole helping hand ectoskeleton equipment is the integral structure, is favorable to wearing and the wiring of equipment.
Specifically, the main body structure 1 includes a bionic structure back frame; and/or the thigh connecting structure 2 is a flexible binding structure.
Through set up bionic structure back of the body frame on major structure 1, can laminate with user's back better to with burden dispersion evenly at human back, reduce user's burden, improve and use the travelling comfort. The thigh connecting structure 2 is a flexible bandage structure, so that the weight of the thigh connecting structure can be effectively reduced, and the thigh connecting structure is attached to the surface of a human body like a piece of soft clothes, so that the arc shape and the comfort of the neck of the human body can be improved.
Specifically, the transmission part 4 is a Bowden cable, and the power is assisted to the human body by controlling the folding and unfolding of the Bowden cable so as to compensate muscle work consumption in the hip joint dorsiflexion process.
In this embodiment, driving force between drive structure 3 and thigh connection structure 2 is transmitted to driving medium 4 adoption bowden cable for helping hand ectoskeleton equipment is succinct light more, and the degree of freedom is higher, the flexibility is good, and this kind of flexible construction design can avoid the rigid structure to cause the condition of damage to human joint muscle effectively, improves human-computer interaction and experiences.
Based on the above description, it can be seen that the power-assisted exoskeleton device of the embodiment of the present invention reduces the weight of the exoskeleton and improves the flexibility of movement, comfort of wearing and flexibility based on the integrated design of the binding fabric design and driving of the flexible power-assisted exoskeleton; the human-computer coupling flexibility control realizes accurate identification of gait and motion modes and human body cooperation integrated self-adaptive control, and based on a human body motion mechanism, the human body walking type robot realizes acting assistance on muscle groups of a human body at different moments of a human body walking type cycle, relieves muscle fatigue, and improves assistance efficiency and human body endurance. The use process is that the sensor is arranged on the exoskeleton system, the flexible clothing weaving technology is utilized to bind the fabric on the human body (the thigh connecting structure 2 is bound on the thigh), the flexible clothing weaving technology follows the motion of the human body, the posture information of the human body is measured in real time (namely, the motion state of the human body is obtained), the assistance opportunity and the assistance size of the human-computer system are obtained based on the posture information, and an assistance instruction is generated; based on the human motion mechanism, the flexible exoskeleton is adaptively controlled according to the motion state of the human body and the muscle group needing to do work at different moments of walking of the human body, so that the real-time following and work assisting compensation of the motion of the human body are realized.
The embodiment of the power-assisted exoskeleton device with the structural design has the following advantages: 1) The weight is light, and the weight can be placed on the waist of a human body to reduce the motion inertia of the extremity; 2) The flexibility is large, and the device is easy to adapt to anatomical differences of different people and physiological joint changes of different motion modes of a wearer; 3) The assistance is more natural, and the pull force parallel to the muscles or the tendons of the human body can be provided instead of the joint rotating torque of the rigid lower limb exoskeleton; 4) The flexibility is good, and is more laminated with the human body, and it is more convenient nature to dress, can wear inside shoes and clothes even.
Another embodiment of the present invention, as shown in fig. 2, further provides a method of controlling a power-assisted exoskeleton device, which is suitable for use in the power-assisted exoskeleton device, the method comprising the steps of:
step S102, acquiring detection data of a first motion detection component and a second motion detection component of the assisting exoskeleton device;
step S104, determining the motion state of the user according to the detection data;
step S106, generating a control instruction according to the motion state;
step S108, sending the control command to the driving structure 3 of the assisted exoskeleton device.
The control method of the power-assisted exoskeleton device comprises the following steps: acquiring detection data of a first motion detection component and a second motion detection component of a power-assisted exoskeleton device; determining the motion state of the user according to the detection data; generating a control instruction according to the motion state; the control instruction is sent to the driving structure 3 of the assistance exoskeleton equipment, the motion state of a user is determined by combining detection data of the first motion detection part and the second motion detection part, and then the control instruction is generated to control the driving structure 3 to work, so that the motion condition of the user can be more accurately sensed, a more reasonable control strategy is formulated, the motion work assistance compensation is carried out on the user, and the coordination between the assistance exoskeleton equipment and a human body is improved while assistance is carried out. The motion state is state information related to the motion of the user, and may have various specific forms, such as a walking state, an exercise intention, an exercise posture, and the like.
Generating a control instruction according to the motion state, wherein the control instruction comprises the following steps: generating a power-assisting instruction for the corresponding thigh link 2 in the case that any one of the user's legs enters the supporting state; when the motion of any leg of the user reaches a preset state, generating a stop assisting instruction for the corresponding thigh connecting structure 2; wherein the preset state comprises that the movement of the leg reaches a preset proportion of a full step state period, or the leg enters a pendulum state.
In this embodiment, the power control duration period for the flexible, power-assisted exoskeleton is set to: starting from the support state to a gait cycle lasting a preset proportion or from the support state to the swing state. When the supporting state is detected to start, namely, the power-assisted control is started, the gait cycle of the preset proportion is continued or the pendulum dynamic state is detected, namely, the power assistance is stopped, the power-assisted exoskeleton equipment is in a free state, the power-assisted exoskeleton equipment is well adapted to the human motion physiology and the power-assisted mechanism of the flexible power-assisted exoskeleton design, the subjective feeling of a person can be effectively taken care of, and the use experience is improved. For example, in a preferred embodiment, the assistive control duration is from the support state to a gait cycle lasting 35%.
In this embodiment, in order to determine the control strategy more accurately, reasonably, and conveniently, the generating of the control command according to the motion state includes: according to the formula
Generating a control instruction; wherein, F order Is a control instruction; t is the moment of the current gait cycle; k is a preset slope coefficient; b is an initial preset value of the power-assisted instruction; t is the time length of the last gait cycle; alpha is a preset proportionality coefficient. Based on the motion state information, the assistance time and the assistance size of the human-computer system are obtained, and an assistance control instruction of the exoskeleton is generated; then according to the human motion mechanism, at different times in the human walking motion cycle, the exoskeleton is adaptively controlled according to different human motion states and acting muscle groupsThe real-time following and work assisting compensation of human body motion is realized, so that the human body motion energy consumption and muscle fatigue are reduced, the load bearing capacity is enhanced, and the human body motion function and endurance are improved.
In another embodiment of the present invention, a power-assisted exoskeleton system is further provided, where the power-assisted exoskeleton system includes the power-assisted exoskeleton device, and a controller of the power-assisted exoskeleton device stores a computer program, and the computer program is executed by the controller to implement the control method of the power-assisted exoskeleton device.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A power-assisted exoskeleton device comprising:
a body structure (1), the body structure (1) having a connection portion for connection with a user's torso;
-two thigh connecting structures (2), the thigh connecting structures (2) being for connection to two legs of a user, respectively;
the driving structures (3) are mounted on the main body structure (1), and the driving structures (3) are respectively connected with the two thigh connecting structures (2) through two transmission pieces (4) in a one-to-one correspondence manner so as to drive the two thigh connecting structures (2) to move through the driving structures (3);
a first motion detection means mounted to the main body structure (1);
two second motion detection parts mounted to the two thigh link structures (2) in a one-to-one correspondence;
and the controller is in communication connection with the first motion detection part, the two second motion detection parts and the driving structure (3).
2. The assisted exoskeleton device of claim 1 wherein the first motion detection component comprises a first IMU sensor and the second motion detection component comprises a second IMU sensor.
3. The powered exoskeleton device of claim 2 wherein the first motion detection component further comprises an angular displacement sensor.
4. A power-assisted exoskeleton device as claimed in claim 3 wherein the second motion detection means further comprises a tension sensor connected to both the respective transmission (4) and the thigh link structure (2) to detect the tension applied by the transmission (4) to the thigh link structure (2).
5. A powered exoskeleton device as claimed in any one of claims 1 to 4 wherein the powered exoskeleton device comprises a link (5) by which both of the thigh link structures (2) are flexibly connected to the body structure (1).
6. A powered exoskeleton device as claimed in any one of claims 1 to 4 wherein the body structure (1) comprises a biomimetic structural back frame; and/or the thigh connecting structure (2) is a flexible binding structure.
7. A power-assisted exoskeleton device as claimed in any one of claims 1 to 4 wherein the transmission (4) is a Bowden wire.
8. A method of controlling a power-assisted exoskeleton device as claimed in any one of claims 1 to 7, the method comprising:
acquiring detection data of a first motion detection component and a second motion detection component of the assistive exoskeleton device;
determining the motion state of the user according to the detection data;
generating a control instruction according to the motion state;
sending the control instructions to a drive structure (3) of the assisted exoskeleton device.
9. The method of controlling a powered exoskeleton device of claim 8 wherein generating control commands based on the motion state comprises:
generating a power-assistance command for the respective thigh link (2) in the case of a user's leg entering the supporting state;
when the movement of any leg of the user reaches a preset state, generating a stopping power-assisted instruction aiming at the corresponding thigh connecting structure (2);
wherein the preset state comprises that the motion of the leg reaches a preset proportion of a full-step period, or the leg enters a pendulum dynamic state.
10. The method of controlling a powered exoskeleton device of claim 8 wherein generating control commands based on the motion state comprises:
according to the formula
Generating the control instruction;
wherein, F order The control instruction is the control instruction; t is the moment of the current gait cycle; k is a preset slope coefficient; b is an initial preset value of the power-assisted instruction; t is the time length of the previous gait cycle; alpha is a preset proportionality coefficient.
11. A powered exoskeleton system comprising the powered exoskeleton device of any one of claims 1 to 7, a controller of the powered exoskeleton device having a computer program stored therein, the computer program when executed by the controller implementing the method of controlling the powered exoskeleton device of any one of claims 8 to 10.
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