CN115519563A - Control glove based on hip joint lifting assistance exoskeleton - Google Patents
Control glove based on hip joint lifting assistance exoskeleton Download PDFInfo
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- CN115519563A CN115519563A CN202211065785.1A CN202211065785A CN115519563A CN 115519563 A CN115519563 A CN 115519563A CN 202211065785 A CN202211065785 A CN 202211065785A CN 115519563 A CN115519563 A CN 115519563A
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 16
- 210000001624 hip Anatomy 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 12
- 210000001015 abdomen Anatomy 0.000 claims abstract description 5
- 210000000707 wrist Anatomy 0.000 claims abstract description 4
- 210000003811 finger Anatomy 0.000 claims description 38
- 210000003813 thumb Anatomy 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000005452 bending Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 claims description 3
- 210000003127 knee Anatomy 0.000 abstract description 3
- 210000001364 upper extremity Anatomy 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000002730 additional effect Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 206010049565 Muscle fatigue Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to control gloves based on a hip joint lifting assistance exoskeleton, and belongs to the field of intelligent equipment, robots and wearing equipment; the glove type pressure sensor comprises a glove, 5 flexible pressure sensors, 5 elastic sensors and a wireless communication module; wherein, the glove is of a 5-finger glove structure; 1 flexible pressure sensor is arranged at each finger belly of the glove; the back of each finger of the glove is provided with 1 elastic sensor; the wireless communication module is arranged at the wrist of the glove; the wearer wears the control gloves and external skeleton; the control glove and the external skeleton are communicated through a wireless communication module; the invention realizes a controllable and adjustable exoskeleton active power assisting method, and the moving exoskeleton active power assisting method can be used for reducing the waist and knee strain caused by long-time repeated operation of a wearer.
Description
Technical Field
The invention belongs to the field of intelligent equipment, robots and wearing equipment, and relates to control gloves based on a hip joint lifting assistance exoskeleton;
background
The carrying exoskeleton is a focused one in exoskeleton robot development, can realize function enhancement in working postures of carrying, lifting and the like through external assistance to a wearer, effectively relieves waist and knee strain and upper limb muscle fatigue caused by repeated operation, and can be applied to a plurality of scenes such as ammunition warehouses, military supplies, ship supplies and the like. The carrying exoskeleton which is published at present mainly adopts single-joint assistance, which comprises hip joint assistance (waist assistance) and shoulder-elbow joint assistance (upper limb assistance).
In practical application scenarios, bending to move and lifting the upper limbs are generally a complete and continuous process, and a wearer needs to continuously complete the operations of moving up, putting down, walking, moving up, lifting and placing, and the like, and the mutual switching among the operations. At present, the published carrying exoskeletons can not realize effective assistance in the whole process of carrying operation, and due to multiple interference of machinery, electricity and sensors, the exoskeletons are difficult to wear on a human body simultaneously and are stable and reliable to assist smoothly. Therefore, the technical blank of the transportation exoskeleton capable of realizing efficient walking assistance for the waist, the upper limbs and the walking at the same time is still provided.
Disclosure of Invention
The technical problem solved by the invention is as follows: the control gloves can overcome the defects of the prior art, the exoskeleton active assistance method can be controlled and adjusted, and the exoskeleton moving and lifting active assistance can be used for reducing the strain of waist and knees of a wearer caused by long-time repeated operation.
The technical scheme of the invention is as follows:
the control glove based on the hip joint lifting assisting exoskeleton comprises a glove, 5 flexible pressure sensors, 5 elastic sensors and a wireless communication module; wherein, the glove is in a 5-finger glove structure; 1 flexible pressure sensor is arranged at each finger belly of the glove; the back of each finger of the glove is provided with 1 elastic sensor; the wireless communication module is arranged at the wrist of the glove; the wearer wears the control gloves and external skeleton; the control glove and the external skeleton are communicated through the wireless communication module.
In the control glove based on the hip joint lifting assisting exoskeleton, the elastic sensor is of a strip-shaped structure and extends from the root of the finger to the tip of the finger along the finger direction.
In the control glove based on the hip joint lifting assistance exoskeleton, the flexible pressure sensor is used for measuring the pressure of each finger of a wearer; the elastic sensor realizes measurement of deformation generated by bending of each finger of a wearer.
In the control glove based on the hip joint lifting assistance exoskeleton, when a wearer lifts an object, the glove measures pressure data generated by hand action through the flexible pressure sensor; measuring deformation data generated by hand motion through an elastic sensor; meanwhile, the wireless communication module sends the pressure data and the deformation data to an external skeleton; the external skeleton is adaptively adjusted through the transmitted pressure data and deformation data to assist the wearer in carrying the object.
In the control glove based on the hip joint lifting assisting exoskeleton, the natural length of the elastic sensor is set to be L, and when a wearer makes a fist completely, namely the deformation amount of the elastic sensor is the largest, the length of the elastic sensor is 1.7L.
In the control glove based on the hip joint lifting assisting exoskeleton, the glove is divided into 3 motion stages according to pressure data and deformation data, namely an object grasping stage, an object lifting stage and a lifting completion stage; when the glove is in a gripping weight-bearing stage, the external skeleton is started; when the glove is in a carrying stage, the external skeleton assists the wearer according to a preset assistance curve; when the glove is in the lifting completion stage, the external skeleton stops assisting power.
In the control glove based on the hip joint lifting assisting exoskeleton, the determination conditions of the object gripping stage are as follows:
when the pressure data of the index finger, the middle finger and the ring finger of the glove reach preset pressure values, the lengths of the elastic sensors of the other four fingers except the thumb are all larger than 1.4L; and when the pressure of the thumb does not exceed the preset pressure value, the fact that the wearer grasps the object is judged, namely the object is about to be moved and lifted, and the external skeleton is started.
In the control glove based on the hip joint lifting assisting exoskeleton, the judgment conditions in the lifting stage are as follows:
on the basis of the stage of grasping the object, when the length of the elastic sensor of the thumb is larger than 1.5L and the pressure value of the thumb exceeds a preset pressure value, judging that the wearer enters a moving stage; the outer skeleton assists the wearer in carrying objects.
In the control glove based on the hip joint lifting assisting exoskeleton, the judgment conditions in the lifting completion stage are as follows:
when the hip joint angle of the external skeleton of the wearer is unfolded to 180 degrees, the moving is judged to be finished; or when the pressure value of the thumb is reduced to be lower than the preset pressure value from being more than or equal to the preset pressure value, the end of the carrying is judged.
In the control glove based on the hip joint lifting assistance exoskeleton, when the control glove is in a lifting stage, a method for assisting a wearer by an external skeleton comprises the following steps:
after the wearer has gripped the object, the external skeleton provides the assistance of the hip joint unfolding angle, namely the assistance of rising is provided for the wearer, and the assistance of lifting the object for the wearer is realized.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention is used as the combination of the external skeleton and the glove, so that a user can control the external skeleton without using a manipulator in advance when carrying out carrying operation, the carrying efficiency is improved, no additional action is required, and the carrying action can be actively triggered as long as the carrying action is normally carried out;
(2) Compared with the automatic triggering carrying mode, the invention avoids the user from being suddenly subjected to the carrying assistance, enables the user to have stronger flexibility, can trigger the carrying according to the self requirement at any time, and does not need to worry about the misjudgment problem of the automatic recognition mode;
(3) The exoskeleton robot can adjust the parameters of the exoskeleton through special hand motions, and can adjust the specific assistance parameters of the exoskeleton through specific instructions.
Drawings
FIG. 1 is a schematic representation of the palm side of a control glove of the present invention;
FIG. 2 is a schematic view of the back of the control glove of the present invention;
fig. 3 is a schematic diagram of the external bone assist of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides a control glove based on a hip joint lifting assistance exoskeleton, wherein the active control of the exoskeleton is mainly realized by a motor arranged on a hip joint for power increase, a wireless glove is used as a part of an exoskeleton sensing system, the motion state and an assistance starting point of a user are evaluated by monitoring the hand state, and meanwhile, a special instruction can be applied to the exoskeleton according to different postures of the hand, so that assistance torque is provided for a wearer to lift an object.
As shown in fig. 1 and 2, the control glove based on the hip joint lifting assisting exoskeleton specifically comprises a glove 1, 5 flexible pressure sensors 2, 5 elastic sensors 3 and a wireless communication module 4; wherein, the glove 1 is of a 5-finger glove structure; 1 flexible pressure sensor 2 is arranged at each finger belly of the glove 1; the back of each finger of the glove 1 is provided with 1 elastic sensor 3; the wireless communication module 4 is arranged at the wrist of the glove 1; the wearer wears the control gloves and external skeleton; the control glove and the external skeleton are communicated through the wireless communication module.
As shown in fig. 2, the elastic sensor 3 is an elongated structure, and the elastic sensor 3 extends from the base of the finger to the tip of the finger along the finger. The flexible pressure sensor 2 realizes measurement of the pressure of each finger of the wearer; the elastic sensor 3 realizes the measurement of the deformation generated by the bending of each finger of the wearer.
The invention is mainly based on wireless gloves, the wireless gloves mainly comprise 5 flexible pressure sensors arranged on the finger abdomen and 5 flexible strip-shaped elastic sensors arranged on the finger back, the flexible pressure sensors are used for monitoring the load in the hand of a user, and the flexible strip-shaped elastic sensors are used for monitoring the deformation caused by the bending of the fingers. The glove communicates with the exoskeleton via the wireless module.
The process of controlling the wireless communication between the glove and the external skeleton is as follows:
when a wearer lifts an object, the glove 1 measures pressure data generated by hand movement through the flexible pressure sensor 2; measuring deformation data generated by hand motion through the elastic sensor 3; meanwhile, the wireless communication module 4 sends the pressure data and the deformation data to an external skeleton; the external skeleton is adaptively adjusted through the transmitted pressure data and deformation data to assist the wearer in carrying the object.
The natural length of the elastic sensor 3 is set to L, and when the wearer makes a full fist, i.e., the amount of deformation of the elastic sensor 3 is the largest, the length of the elastic sensor 3 is set to 1.7L. The glove 1 is divided into 3 motion stages according to the pressure data and the deformation data, wherein the motion stages are an object grasping stage, an object moving stage and an object moving finishing stage; when the glove 1 is in the gripping weight stage, the external skeleton is activated; when the glove 1 is in the carrying stage, the external skeleton assists the wearer according to a preset assistance curve; when the glove 1 is in the lifting completion stage, the external skeleton stops assisting power.
During the carrying process, the glove can monitor the hand state through pressure data and deformation data generated by the hand motion. Because the gripping mode needs to be adjusted according to different loads, the exoskeleton controller can judge whether the carrying and lifting actions are suitable to be executed according to the hand data detected by the gloves.
The control glove can adjust the exoskeleton carrying moment according to the pressure value acquired by the finger pressure sensor, judge the hand gripping gesture according to the elastic sensor, evaluate whether carrying can be triggered, and avoid wrong judgment.
Meanwhile, the exoskeleton can be controlled according to special hand motions, and different modes can be switched by bending different fingers and applying pressure together with the thumb.
Wherein, for the first stage, the judgment conditions of the object grasping stage are as follows:
when the pressure data of the index finger, the middle finger and the ring finger of the glove 1 reach preset pressure values, the lengths of the elastic sensors 3 of the other four fingers except the thumb are all larger than 1.4L; and when the pressure of the thumb does not exceed the preset pressure value, the wearer is judged to have gripped the object, namely the carrying and the lifting are about to be carried out, and the external skeleton is started.
For the second stage, the judgment conditions of the moving stage are as follows:
on the basis of the stage of grasping the object, when the length of the elastic sensor 3 of the thumb is larger than 1.5L and the pressure value of the thumb exceeds a preset pressure value, judging that the wearer enters the stage of carrying; the outer skeleton assists the wearer in carrying objects. When in the moving and lifting stage, the method for assisting the wearer by the external skeleton comprises the following steps:
after the wearer grasps the object, the external skeleton provides assistance of the unfolding angle of the hip joint, namely the assistance of rising is provided for the wearer, and the assistance of lifting the object for the wearer is realized.
For the third stage, the judgment conditions of the carrying completion stage are as follows:
when the hip joint angle of the external skeleton of the wearer is unfolded to 180 degrees, the moving is judged to be finished; or when the pressure value of the thumb is reduced to be lower than the preset pressure value from being more than or equal to the preset pressure value, the end of the carrying is judged.
The specific process from the object grasping stage to the carrying stage and then to the carrying completion stage of the wearer is shown in fig. 3.
The invention is used as the combination of the external skeleton and the glove, so that the user can control the external skeleton without using a manipulator in advance when carrying out the carrying operation, the carrying efficiency is improved, no additional action is needed, and the carrying action can be actively triggered as long as the carrying action is normally carried out; compared with the automatic triggering carrying mode, the method avoids the user from being suddenly subjected to carrying assistance, enables the user to have stronger flexibility, can trigger carrying according to the self requirement at any time, and does not need to worry about the misjudgment problem of the automatic recognition mode; the exoskeleton hand control system can adjust parameters of the exoskeleton through special hand motions, and can adjust specific assistance parameters of the exoskeleton through specific instructions.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. Control gloves based on assistance exoskeleton is lifted to hip joint, its characterized in that: the glove comprises a glove (1), 5 flexible pressure sensors (2), 5 elastic sensors (3) and a wireless communication module (4); wherein, the glove (1) is of a 5-finger glove structure; 1 flexible pressure sensor (2) is arranged at each finger belly of the glove (1); the back of each finger of the glove (1) is provided with 1 elastic sensor (3); the wireless communication module (4) is arranged at the wrist of the glove (1); the wearer wears the control gloves and external skeleton; the control glove and the external skeleton are communicated through the wireless communication module.
2. The control glove based on a hip lifting assist exoskeleton of claim 1, wherein: the elastic sensor (3) is of a long strip-shaped structure, and the elastic sensor (3) is arranged from the root of the finger to the tip of the finger along the finger direction.
3. The control glove based on a hip lifting assist exoskeleton of claim 2, wherein: the flexible pressure sensor (2) is used for measuring the pressure of each finger of a wearer; the elastic sensor (3) realizes measurement of deformation generated by bending of each finger of a wearer.
4. The control glove based on a hip lifting assist exoskeleton of claim 3, wherein: when a wearer lifts an object, the glove (1) measures pressure data generated by hand movement through the flexible pressure sensor (2); measuring deformation data generated by hand motion through an elastic sensor (3); meanwhile, the wireless communication module (4) sends the pressure data and the deformation data to an external skeleton; the external skeleton is adaptively adjusted through the transmitted pressure data and deformation data to assist the wearer in carrying objects.
5. The control glove based on a hip lifting assist exoskeleton of claim 4, wherein: the natural length of the elastic sensor (3) is set to be L, and when a wearer makes a full fist, namely the deformation of the elastic sensor (3) is maximum, the length of the elastic sensor (3) is 1.7L.
6. The control glove based on a hip lifting assist exoskeleton of claim 5, wherein: the glove (1) is divided into 3 motion stages according to the pressure data and the deformation data, namely an object gripping stage, an object moving stage and an object moving finishing stage; when the glove (1) is in a gripping weight stage, the external skeleton is started; when the glove (1) is in a carrying stage, the external skeleton assists a wearer according to a preset assistance curve; when the glove (1) is in the lifting completion stage, the external skeleton stops assisting power.
7. The control glove based on a hip lifting assist exoskeleton of claim 6, wherein: the judgment conditions of the object gripping stage are as follows:
when the pressure data of the index finger, the middle finger and the ring finger of the glove (1) reach preset pressure values, the lengths of the elastic sensors (3) of the four fingers except the thumb are all larger than 1.4L; and when the pressure of the thumb does not exceed the preset pressure value, the wearer is judged to have gripped the object, namely the carrying and the lifting are about to be carried out, and the external skeleton is started.
8. The control glove based on a hip lifting assist exoskeleton of claim 6, wherein: the judgment conditions of the moving stage are as follows:
on the basis of the stage of grasping the object, when the length of the elastic sensor (3) of the thumb is larger than 1.5L and the pressure value of the thumb exceeds a preset pressure value, judging that the wearer enters the carrying stage; the outer skeleton assists the wearer in carrying objects.
9. The control glove based on a hip lifting assist exoskeleton of claim 6, wherein: the judgment conditions of the removal completion stage are as follows:
when the hip joint angle of the external skeleton of the wearer is unfolded to 180 degrees, the moving is judged to be finished; or when the pressure value of the thumb is reduced to be lower than the preset pressure value from being more than or equal to the preset pressure value, the end of the carrying is judged.
10. The control glove based on a hip lifting assist exoskeleton of claim 8, wherein: when in the moving stage, the method for assisting the wearer by the external skeleton comprises the following steps:
after the wearer has gripped the object, the external skeleton provides the assistance of the hip joint unfolding angle, namely the assistance of rising is provided for the wearer, and the assistance of lifting the object for the wearer is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211065785.1A CN115519563A (en) | 2022-08-31 | 2022-08-31 | Control glove based on hip joint lifting assistance exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211065785.1A CN115519563A (en) | 2022-08-31 | 2022-08-31 | Control glove based on hip joint lifting assistance exoskeleton |
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| Publication Number | Publication Date |
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| CN115519563A true CN115519563A (en) | 2022-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211065785.1A Pending CN115519563A (en) | 2022-08-31 | 2022-08-31 | Control glove based on hip joint lifting assistance exoskeleton |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103251419A (en) * | 2013-04-25 | 2013-08-21 | 西安交通大学苏州研究院 | Data gloves for function rehabilitation training and assessment of hands and monitoring method thereof |
| FR3062058A1 (en) * | 2017-01-23 | 2018-07-27 | Malik Bouteldja | GLOVE EXOSQUELETTE ROBOTISE WITH FORCE RETURN |
| CN109718063A (en) * | 2017-10-27 | 2019-05-07 | 松下知识产权经营株式会社 | Auxiliary device, householder method and program |
| CN211362243U (en) * | 2019-04-09 | 2020-08-28 | 华南理工大学 | Teleoperation system based on exoskeleton data gloves and teleoperation rod |
| KR20200131630A (en) * | 2019-05-14 | 2020-11-24 | (주) 풀다이브테크놀로지 | Glove for virtual reality system |
| CN113954052A (en) * | 2021-11-17 | 2022-01-21 | 黄河科技学院 | Wearable flexible arm exoskeleton pneumatic power assisting device |
| CN114601681A (en) * | 2021-10-30 | 2022-06-10 | 南京华骨科技有限公司 | Intelligent exoskeleton for rehabilitation of patient with paralyzed upper limbs |
| CN114952804A (en) * | 2022-07-13 | 2022-08-30 | 山东中科先进技术有限公司 | Exoskeleton integrated power assisting device and method |
-
2022
- 2022-08-31 CN CN202211065785.1A patent/CN115519563A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103251419A (en) * | 2013-04-25 | 2013-08-21 | 西安交通大学苏州研究院 | Data gloves for function rehabilitation training and assessment of hands and monitoring method thereof |
| FR3062058A1 (en) * | 2017-01-23 | 2018-07-27 | Malik Bouteldja | GLOVE EXOSQUELETTE ROBOTISE WITH FORCE RETURN |
| CN109718063A (en) * | 2017-10-27 | 2019-05-07 | 松下知识产权经营株式会社 | Auxiliary device, householder method and program |
| CN211362243U (en) * | 2019-04-09 | 2020-08-28 | 华南理工大学 | Teleoperation system based on exoskeleton data gloves and teleoperation rod |
| KR20200131630A (en) * | 2019-05-14 | 2020-11-24 | (주) 풀다이브테크놀로지 | Glove for virtual reality system |
| CN114601681A (en) * | 2021-10-30 | 2022-06-10 | 南京华骨科技有限公司 | Intelligent exoskeleton for rehabilitation of patient with paralyzed upper limbs |
| CN113954052A (en) * | 2021-11-17 | 2022-01-21 | 黄河科技学院 | Wearable flexible arm exoskeleton pneumatic power assisting device |
| CN114952804A (en) * | 2022-07-13 | 2022-08-30 | 山东中科先进技术有限公司 | Exoskeleton integrated power assisting device and method |
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