CN115674159A - Force feedback wearable flexible exoskeleton control method and device - Google Patents
Force feedback wearable flexible exoskeleton control method and device Download PDFInfo
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- CN115674159A CN115674159A CN202211351375.3A CN202211351375A CN115674159A CN 115674159 A CN115674159 A CN 115674159A CN 202211351375 A CN202211351375 A CN 202211351375A CN 115674159 A CN115674159 A CN 115674159A
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Abstract
The invention discloses a force feedback wearable flexible exoskeleton control method and a device, wherein the method comprises the following steps: acquiring an actual torque value actually generated by the rotation of the motor based on the set value requirement, and calculating the actual torque value and the set value to obtain a feedback torque value; acquiring angular acceleration, swing amplitude and swing frequency of a motion joint in a period, analyzing the angular acceleration, the swing frequency and the swing amplitude, and generating a set value according to an analysis result; and calculating to obtain a correction value according to the set value and the feedback torque value, and driving the motor to rotate according to the correction value so as to enable the actual torque value to approach the set value. The control method of the invention calculates the difference between the actual output torque of the motor-driven rotating system and the set value in real time, and calculates the corrected value and feeds the corrected value back to the correction control of the motor, so that the difference between the actual output torque of the motor-driven rotating system and the set value is reduced.
Description
Technical Field
The invention relates to the field of exoskeletons, in particular to a force feedback wearable flexible exoskeletons control method and device.
Background
In modern power transmission inspection and maintenance work, the inspection work of a high-voltage power transmission line is particularly important, and the power transmission line and a power transmission network must be periodically detected and maintained in order to ensure stable and safe operation of the power transmission line and the power transmission network. In the process of patrolling and examining the transmission line, the power grid patrols and examines and relies on the manual work to patrol and examine as leading, and the staff carries professional equipment to go deep into the high mountain canyon every day, and the mountain canyon is old forest even in the deep mountain, and the open country of walking is tens of kilometers on foot and arrives under each base iron tower, accomplishes and patrols and examines predetermined work, bumps into bad weather, still sticks to and patrols and examines the one-line, and the transmission of electricity is patrolled and examined the maintenance and is a labour that needs to walk on foot and live, and long distance patrols and examines the line and exists objectively.
The existing exoskeleton device is used for providing assistance for walking of a user, but is generally applied to rehabilitation therapy in the medical field, has rigid integral structure, is heavy, has limited joint angle, is inconvenient to move, and is not suitable for long-distance walking and climbing. In addition, in the conventional exoskeleton device, the set output power of the driving system is inconsistent with the power actually applied to the user due to the weight, muscle strength and activity habit of the user and the friction loss of the transmission system, and no solution is available in the prior art.
Disclosure of Invention
In view of the above technical problems, the present invention aims to provide a method and a device for controlling a force feedback wearable flexible exoskeleton.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to an aspect of the invention, a method of force feedback wearable flexible exoskeleton control is disclosed, the method comprising:
acquiring an actual torque value actually generated by the rotation of a motor based on a set value requirement, and calculating the actual torque value and the set value to obtain a feedback value;
acquiring angular acceleration, swing amplitude and swing frequency of a motion joint in a period, analyzing the angular acceleration, the swing frequency and the swing amplitude, and generating a set value according to an analysis result;
and calculating a correction value according to the set value and the feedback value, and driving the motor to rotate according to the correction value so as to enable the actual torque value to approach the set value.
Further, the actual torque value is detected by a torque sensor which is in a non-contact type.
Further, the analyzing the angular acceleration, the swing frequency, and the swing amplitude and generating the set value according to an analysis result specifically includes: calculating the root mean square value of the angular acceleration and the average value of the swing frequency and the swing amplitude; and acquiring a reference strategy for controlling the rotation of the motor, and substituting the root mean square value of the angular acceleration and the average value of the swing frequency and the swing amplitude into the reference strategy to acquire the set value.
Further, the benchmark strategy comprises: a relation between an average output torque of the motor and a root mean square of the angular acceleration; the relationship between the rotation frequency of the motor and the swing frequency; the number of turns of the motor is related to the swing amplitude.
Further, the calculating a correction value according to the set value and the feedback value includes: and superposing the feedback value and the set value to obtain the correction value.
According to another aspect of the invention, a wearable and flexible exoskeleton device with force feedback is disclosed, which comprises a carbon fiber connecting rod in a C shape, a power controller arranged on the carbon fiber connecting rod, and two drivers arranged on two sides of the carbon fiber connecting rod respectively, wherein each driver comprises a motor and a gear set, the gear set is arranged coaxially with a reel, the reel is in transmission connection with one or more leg straps through flexible ropes, a motion sensing module is arranged on each leg strap, and the carbon fiber connecting rod is fixed on the waist of a human body through a waistband arranged on the carbon fiber connecting rod, and the wearable and flexible exoskeleton device further comprises: the torque sensor is coaxially installed with the winding wheel and used for detecting an actual torque value which is actually generated by controlling the motor to rotate by the power controller based on a set value requirement and transmitting the actual torque value to the power controller, and the power controller calculates the actual torque value and the set value to obtain a feedback value; the motion sensing module is arranged in the leg bandage and at least comprises an angular acceleration sensor, the motion sensing module is used for measuring the angular acceleration, the swing amplitude and the swing frequency of the motion sensing module in a period and transmitting the angular acceleration, the swing amplitude and the swing frequency to the power controller, and the power controller analyzes the angular acceleration, the swing frequency and the swing amplitude and generates the set value according to the analysis result; and the power controller calculates a correction value according to the set value and the feedback value and drives the motor to rotate according to the correction value so as to enable the actual torque value to approach the set value.
Further, the torque sensor is contactless.
Further, the power controller analyzes the angular acceleration, the oscillation frequency, and the oscillation amplitude and generates the set value according to an analysis result, which specifically includes: calculating the root mean square value of the angular acceleration and the average value of the swing frequency and the swing amplitude; and acquiring a reference strategy for controlling the rotation of the motor, and substituting the root mean square value of the angular acceleration and the average value of the swing frequency and the swing amplitude into the reference strategy to acquire the set value.
Further, the benchmark strategy comprises: a relation between an average output torque of the motor and a root mean square of the angular acceleration; the relationship between the rotation frequency of the motor and the swing frequency; the number of revolutions of the motor and the swing amplitude.
Further, the calculating a correction value according to the set value and the feedback value includes: and superposing the feedback value and the set value to obtain the corrected value.
The technical scheme of the invention has the following beneficial effects:
the control method of the invention calculates the difference between the actual output torque of the motor-driven rotating system and the set value in real time, calculates the corrected value and feeds the corrected value back to the correction control of the motor, so that the difference between the actual output torque of the motor-driven rotating system and the set value is reduced, and the whole power assisting process is more suitable for the requirements of users. In addition, the angular acceleration, the swing amplitude and the swing frequency of the movable part in the period are detected by the motion sensing module, and set values are obtained through calculation, so that a user does not need to set a motion mode frequently.
The device adopts the flexible belt, the flexible connecting belt and the driver, utilizes the motor to drive the winding wheel to rotate so as to lead the leg binding belt to rise, further drives the hip joint of a user to move, provides the assistance required by walking and climbing of workers, and has lighter mass and larger movement angle so as to facilitate the climbing of the workers into the water.
Drawings
Fig. 1 is a flow chart of a method of controlling a force-feedback wearable flexible exoskeleton in an embodiment of the present description;
fig. 2 is a schematic structural diagram of a force-feedback wearable flexible exoskeleton device in an embodiment of the present description;
fig. 3 is a partial view of a driver in an embodiment of the present description.
Wherein the reference numbers indicate:
1. a carbon fiber connecting rod; 2. a power controller; 3. a driver; 31. a drive motor; 32. a gear set; 33. a winding wheel; 4. a flexible connecting band; 5. a leg strap; 6. a waist belt.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
As shown in fig. 1, embodiments of the present specification provide a method for controlling a wearable flexible exoskeleton with force feedback, the method including steps S101-S103:
in step S101, an actual torque value actually generated based on the motor rotation required by the set value is acquired, and the actual torque value and the set value are calculated to obtain a feedback value.
The exoskeleton system is used for improving the output torque of the motor, a transmission system with a plurality of groups of gear combinations can be usually adopted to amplify the output torque of the motor, however, due to the existence of friction and the problem of processing precision, the output torque of the transmission system is different from the theoretical torque, and due to the transmission relationship between the transmission system and a user, the transmission system also has loss when acting on a driven part of the user, and influences of different body types and different installation positions can also exist, the influences can not be uniformly quantized and can only be measured in actual use, therefore, a feedback value can be obtained by comparing the detected actual torque value with a theoretical set value.
In step S102, the angular acceleration, the wobble amplitude, and the wobble frequency of the kinematic joint in a cycle are acquired, the angular acceleration, the wobble frequency, and the wobble amplitude are analyzed, and a set value is generated from the analysis result.
The actual torque value is obtained mainly by obtaining the influence factor of the transmission system, and the actual torque value acting on the human body needs to be obtained from the angular acceleration, the swing frequency and the swing amplitude.
In step S103, a correction value is calculated based on the set value and the feedback value, and the motor is driven to rotate based on the correction value so that the actual torque value approaches the set value.
After analyzing the power consumed by the transmission system and the human body, parameters such as the torque, the rotating speed, the number of turns and the like of the motor can be improved in a targeted manner.
In one embodiment, the actual torque value is detected by a torque sensor that is non-contact.
In one embodiment, analyzing the angular acceleration, the swing frequency, and the swing amplitude and generating the setting value according to the analysis result specifically includes: calculating the root mean square value of the angular acceleration and the average values of the swing frequency and the swing amplitude; and acquiring a reference strategy for controlling the rotation of the motor, and substituting the root mean square value of the angular acceleration and the average value of the swing frequency and the swing amplitude into the reference strategy to obtain a set value.
Additionally, the benchmark strategy includes: the relation between the average output torque of the motor and the root mean square of the angular acceleration; the relationship between the rotation frequency and the swing frequency of the motor; the number of turns of the motor is related to the swing amplitude.
Additionally, calculating a correction value based on the set value and the feedback value includes: and superposing the feedback value and the set value to obtain a corrected value.
Based on the control method provided in the foregoing embodiment, the present invention further provides a wearable flexible exoskeleton device with force feedback, as shown in fig. 2, the wearable flexible exoskeleton device includes a C-shaped carbon fiber connecting rod 1, a power controller 2 disposed on the carbon fiber connecting rod 1, and two drivers 3 respectively disposed on two sides of the carbon fiber connecting rod 1, where the drivers 3 include a motor and a gear set 32, the gear set 32 is disposed coaxially with a winding wheel 33, the winding wheel 33 is in transmission connection with one or more leg straps 5 through a flexible rope, a motion sensing module is disposed on the leg straps 5, and the carbon fiber connecting rod 1 is fixed at the waist of a human body through a belt 6 disposed thereon, and further includes: the torque sensor is coaxially installed with the winding wheel 33 and used for detecting an actual torque value which is actually generated by the rotation of the motor controlled by the power controller 2 based on the set value requirement and transmitting the actual torque value to the power controller 2, and the power controller calculates the actual torque value and the set value to obtain a feedback value; the motion sensing module is arranged in the leg bandage 5 and at least comprises an angular acceleration sensor, the motion sensing module is used for measuring the angular acceleration, the swing amplitude and the swing frequency of the motion sensing module in a period and transmitting the angular acceleration, the swing amplitude and the swing frequency to the power controller 2, and the power controller 2 analyzes the angular acceleration, the swing frequency and the swing amplitude and generates a set value according to an analysis result; and the power controller 2 calculates a correction value according to the set value and the feedback value, and drives the motor 31 to rotate according to the correction value, so that the actual torque value tends to the set value.
Wherein the torque sensor is contactless.
In one embodiment, the power controller 2 analyzes the angular acceleration, the oscillation frequency, and the oscillation amplitude and generates the setting value according to the analysis result, and specifically includes: calculating the root mean square value of the angular acceleration and the average values of the swing frequency and the swing amplitude; and acquiring a reference strategy for controlling the rotation of the motor, and substituting the root mean square value of the angular acceleration and the average value of the swing frequency and the swing amplitude into the reference strategy to obtain a set value.
Additionally, the benchmark strategy includes: the relation between the average output torque of the motor and the root mean square of the angular acceleration; the relationship between the rotation frequency and the swing frequency of the motor; the number of turns of the motor is related to the swing amplitude.
In one embodiment, calculating the correction value based on the set value and the feedback value includes: and superposing the feedback value and the set value to obtain a corrected value.
From the above embodiments, the control method of the present invention calculates the difference between the actual output torque of the motor driven rotation system and the set value in real time, and calculates the correction value and feeds the correction value back to the correction control of the motor, so that the difference between the actual output torque of the motor driven rotation system and the set value is reduced, and the whole power assisting process is more suitable for the requirements of the user. In addition, the angular acceleration, the swing amplitude and the swing frequency of the movable part in the period are detected by the motion sensing module, and set values are obtained through calculation, so that a user does not need to set a motion mode frequently.
The device adopts the flexible belt 6, the flexible connecting belt 4 and the driver 3, and the motor drives the rolling wheel 33 to rotate so as to lead the leg binding bands 5 to rise, further drive the hip joints of a user to move, provide assistance required by walking and climbing of workers, and have lighter mass and larger movement angle so as to facilitate the climbing of the workers into the water.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention. Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims above, any of the claimed embodiments may be used in any combination. The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Claims (10)
1. A method of force feedback wearable flexible exoskeleton control, the method comprising:
acquiring an actual torque value actually generated by the rotation of a motor based on a set value requirement, and calculating the actual torque value and the set value to obtain a feedback value;
acquiring angular acceleration, swing amplitude and swing frequency of a motion joint in a period, analyzing the angular acceleration, the swing frequency and the swing amplitude, and generating a set value according to an analysis result;
and calculating a correction value according to the set value and the feedback value, and driving the motor to rotate according to the correction value so as to enable the actual torque value to approach the set value.
2. The method of force feedback wearable flexible exoskeleton control of claim 1 wherein the actual torque value is detected by a torque sensor that is non-contact.
3. The method of claim 1, wherein the analyzing the angular acceleration, the swing frequency, and the swing amplitude and generating the set point from the analysis comprises:
calculating the root mean square value of the angular acceleration and the average value of the swing frequency and the swing amplitude;
and acquiring a reference strategy for controlling the rotation of the motor, and substituting the root mean square value of the angular acceleration and the average value of the swing frequency and the swing amplitude into the reference strategy to acquire the set value.
4. The method of force-feedback wearable flexible exoskeleton control of claim 3 wherein the baseline strategy comprises:
a relation between an average output torque of the motor and a root mean square of the angular acceleration;
the relationship between the rotation frequency of the motor and the swing frequency;
the number of turns of the motor is related to the swing amplitude.
5. The method of force feedback wearable flexible exoskeleton control of claim 1, wherein said calculating a correction value from the set value and the feedback value comprises:
and superposing the feedback value and the set value to obtain the correction value.
6. The utility model provides a wearable flexible ectoskeleton device of force feedback, its characterized in that, including the carbon fiber connecting rod that is the C type, set up in power controller on the carbon fiber connecting rod, set up respectively in two drivers of carbon fiber connecting rod both sides, the driver includes motor and gear train, the gear train sets up with a reel is coaxial, the reel realizes the transmission hookup through flexible rope and one or more shank bandage, be provided with the motion sensing module on the shank bandage, the motion sensing module includes angular acceleration sensor at least, the carbon fiber connecting rod is fixed at the waist of human body through the waistband that sets up on it, still includes:
the torque sensor is coaxially installed with the winding wheel and used for detecting an actual torque value which is actually generated by controlling the motor to rotate by the power controller based on a set value requirement and transmitting the actual torque value to the power controller, and the power controller calculates the actual torque value and the set value to obtain a feedback value;
the motion sensing module is arranged in the leg bandage and at least comprises an angular acceleration sensor, the motion sensing module is used for measuring the angular acceleration, the swing amplitude and the swing frequency of the motion sensing module in a period and transmitting the angular acceleration, the swing amplitude and the swing frequency to the power controller, and the power controller analyzes the angular acceleration, the swing frequency and the swing amplitude and generates the set value according to the analysis result;
and the power controller calculates a correction value according to the set value and the feedback value and drives the motor to rotate according to the correction value so as to enable the actual torque value to approach the set value.
7. The force feedback wearable flexible exoskeleton device of claim 6 wherein the torque sensor is contactless.
8. The force feedback wearable flexible exoskeleton device of claim 6, wherein the power controller analyzes the angular acceleration, the swing frequency, and the swing amplitude and generates the set point from the analysis, comprising:
calculating the root mean square value of the angular acceleration and the average value of the swing frequency and the swing amplitude;
and acquiring a reference strategy for controlling the rotation of the motor, and substituting the root mean square value of the angular acceleration and the average value of the swing frequency and the swing amplitude into the reference strategy to acquire the set value.
9. The force-feedback wearable flexible exoskeleton device of claim 8, wherein the reference strategy comprises:
a relation between an average output torque of the motor and a root mean square of the angular acceleration;
the relationship between the rotation frequency of the motor and the swing frequency;
the number of revolutions of the motor and the swing amplitude.
10. The force feedback wearable flexible exoskeleton device of claim 6, wherein the calculating a correction value from the set value and the feedback value comprises:
and superposing the feedback value and the set value to obtain the corrected value.
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