CN116442202A - Waist boosting equipment control method based on back posture information - Google Patents
Waist boosting equipment control method based on back posture information Download PDFInfo
- Publication number
- CN116442202A CN116442202A CN202310720486.5A CN202310720486A CN116442202A CN 116442202 A CN116442202 A CN 116442202A CN 202310720486 A CN202310720486 A CN 202310720486A CN 116442202 A CN116442202 A CN 116442202A
- Authority
- CN
- China
- Prior art keywords
- moment
- angle
- thigh
- posture
- attitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 210000000689 upper leg Anatomy 0.000 claims abstract description 118
- 238000005452 bending Methods 0.000 claims abstract description 27
- 210000001624 hip Anatomy 0.000 claims description 44
- 238000013519 translation Methods 0.000 claims description 20
- 210000002414 leg Anatomy 0.000 claims description 16
- 206010049565 Muscle fatigue Diseases 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 8
- 230000000630 rising effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 4
- 206010050031 Muscle strain Diseases 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000000474 nursing effect Effects 0.000 description 2
- 230000004962 physiological condition Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 206010061218 Inflammation Diseases 0.000 description 1
- 206010030113 Oedema Diseases 0.000 description 1
- 206010069689 Spinal column injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000004054 inflammatory process Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035900 sweating Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a lumbar assisting equipment control method based on back posture information, which comprises the following steps: acquiring a back gesture angle and left and right thigh gesture angles at the current moment through a gesture sensor; judging whether the back posture angle at the current moment is smaller than a threshold value alpha 1 And whether the absolute value of the difference between the left and right thigh posture angles at the present moment is smaller than the threshold value alpha 2 The method comprises the steps of carrying out a first treatment on the surface of the Judging whether the average value of the gesture angles of the left and right thighs at the current moment is smaller than a threshold value alpha 3 The method comprises the steps of carrying out a first treatment on the surface of the In the bending mode, calculating to obtain back gesture angular velocity, left and right thigh gesture angular velocity and back phase angle; judging whether the back posture angle reaches an N-frame minimum value or not; judging whether the sum of the angular velocities of the left and right thighs is smaller than a threshold value alpha 4 And whether the back phase angle is greater than a threshold alpha 5 If yes, setting the expected moment to be larger than zero, and starting assisting; can provide assistance when the human body bends down to carry so as to relieve muscle fatigue,the working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of wearable power assisting equipment, in particular to a waist power assisting equipment control method based on back posture information.
Background
The waist booster is a wearable booster which integrates the bionic structure design, multi-sensing layout, gesture prediction, flexibility control and other robot technologies, can support knee joints, stretch hip joints and disperse waist pressure in the process of lifting a heavy object by bending a human body, and aims to relieve fatigue of waist and lower limb muscles and improve carrying operation efficiency. Waist power assisting equipment is generally divided into two types, namely a power-free source and a power-free source, wherein the power-free source waist power assisting equipment is used for assisting a human body in lifting heavy objects through a special structural form, and the power assisting effect is limited because no additional power source is input; the prior power source waist booster has the following technical problems:
1. the active power assisting equipment mostly adopts a power assisting control method based on bioelectric signals, when the system detects that the myoelectricity/electroencephalogram signals are in a lifting range, a waist power assisting mode of the power assisting equipment is triggered, but the myoelectricity/electroencephalogram signals are greatly influenced by fatigue and sweating of a human body, and the reliability and the effectiveness of the equipment are easily influenced by the fact that electrodes are arranged on the human body for a long time, so that the active power assisting equipment cannot be widely applied to practical engineering.
2. When a person carries a heavy object, if a wired electrode sheet is attached to the brain or body, the wired electrode sheet is likely to interfere with the movement of the person to affect the operation effect. If the radio electrode plate is attached, the bioelectric signal is easily influenced by the surrounding environment, so that the control effect is greatly reduced.
3. The active power assisting equipment does not further distinguish the subdivision intention state in the carrying process, and the situation of the subdivision intention state is not recognized, so that the power assisting time is inaccurate, the power assisting is poor, the accuracy rate of recognizing the human body carrying mode is low, and misjudgment is easy to occur.
Disclosure of Invention
The invention aims to overcome the defects of the technology and provide a waist booster equipment control method based on back posture information, and the method can be applied to waist booster equipment to provide booster when a human body bends over to carry, so that muscle fatigue is relieved, the operation efficiency is improved, and the limitations of low reliability, easiness in being influenced by physiological conditions of the human body and low practicability of the traditional bioelectric signal-based control method are solved.
In a first aspect, the present invention provides a lumbar support device control method based on back posture information, which is characterized in that the lumbar support device control method includes the following steps:
s1, acquiring data through an attitude sensor to obtain a back attitude angle, a left thigh attitude angle and a right thigh attitude angle at the current moment;
s2, obtaining an absolute value of a difference between the left thigh attitude angles and the right thigh attitude angles at the current moment based on the left thigh attitude angles and the right thigh attitude angles;
s3, judging whether the back posture angle at the current moment is smaller than a threshold value alpha 1 And whether the absolute value of the difference between the left and right thigh posture angles at the present moment is smaller than the threshold value alpha 2 If yes, entering a carrying mode and executing a step S4, otherwise, keeping a motion mode at the previous moment;
s4, judging whether the average value of the gesture angles of the left and right thighs at the current moment is smaller than a threshold value alpha 3 If yes, entering a bending transportation mode and executing stepsS5, if not, entering a bending leg carrying mode and executing a step S9;
s5, calculating back attitude angular velocity based on the back attitude angle at the current moment and the back attitude angle at the previous moment; calculating to obtain the posture angular velocity of the left thigh based on the posture angle of the left thigh at the current moment and the posture angle of the left thigh at the previous moment; calculating to obtain the right thigh attitude angle angular speed based on the right thigh attitude angle at the current moment and the right thigh attitude angle at the previous moment;
s6, calculating a back phase angle based on the back posture angle and the back posture angular speed at the current moment; the back phase angle is calculated by adopting the following formula:wherein phi is back (t) is the back phase angle, θ back (t) is the back posture angle, ω back (t) back attitude angular velocity;
s7, judging whether the back gesture angle reaches an N-frame minimum value, namelyWherein, N is the number of frames, and the value range is 15-25 frames; if yes, executing step S8, otherwise, setting the expected moment to be zero;
s8, judging whether the sum of the angular velocities of the left thigh and the right thigh is smaller than a threshold alpha 4 And whether the back phase angle is greater than a threshold alpha 5 If yes, setting the expected moment to be larger than zero; otherwise, no power is needed, and the expected moment is set to be zero; setting the desired moment greater than zero is calculated using the following formula:wherein T (T) is the set left and right motor torque, A 1 Generating amplitude of the power-assisted moment curve, B 1 Is the frequency, C 1 For the left-right translation coefficient of the moment curve, D 1 The vertical translation coefficient of the moment curve;
s9, calculating the difference value between the average value of the left thigh attitude angles and the right thigh attitude angles at the current moment and the back attitude angle to obtain a first difference angle; differentiating the first difference angle to obtain a first difference angular velocity;
s10, calculating a first difference phase angle based on a first difference angle and a first difference angular speed at the current moment; the first difference phase angle is calculated by the following formula:wherein phi (t) is a first differential phase angle, theta (t) is a first differential angle, and omega (t) is a first differential angular velocity;
s11, judging whether the back gesture angle reaches an N-frame minimum value, namelyWherein, N is the number of frames, and the value range is 15-25 frames; if yes, executing step S12, otherwise, setting the expected moment to be zero;
s12, judging whether the sum of the left thigh angular velocity and the right thigh angular velocity is smaller than a threshold value alpha 6 And whether the first difference phase angle is greater than a threshold value alpha 7 If yes, setting the expected moment to be larger than zero; otherwise, no power is needed, and the expected moment is set to be zero; setting the desired moment greater than zero is calculated using the following formula:wherein T (T) is the set left and right motor torque, E 1 Generating amplitude of booster moment curve, F 1 For frequency, G 1 Is the left-right translation coefficient of a moment curve, H 1 Is the up-down translation coefficient of the moment curve.
In some embodiments, the posture sensor includes a back posture sensor and a leg posture sensor, the back posture sensor is disposed in a middle portion of a back of the lumbar-assist device, the leg posture sensor includes a left thigh posture sensor and a right thigh posture sensor, and the left thigh posture sensor and the right thigh posture sensor are disposed in middle portions of left and right thighs of the lumbar-assist device, respectively.
In some embodiments, the waist power assisting device is assisted by a motor, the motor comprises a left motor and a right motor, and the left motor and the right motor are respectively arranged at the left hip and the right hip of the waist power assisting device.
In some embodiments, the threshold α 1 The value range is 140-170 degrees, and the threshold value alpha is 2 The value range is 5-15 degrees, and the threshold value alpha is 3 The value range is 20-35 degrees.
In some embodiments, the threshold α 4 The value range is-5 degrees/s to 5 degrees/s, and the threshold value alpha is 5 The value range is-pi/16.
In some embodiments, the threshold α 6 The value range is-5 degrees/s to 5 degrees/s, and the threshold value alpha is 7 The value range is pi/6-pi/3.
In some embodiments, the moment curve translates by a factor C 1 The value range is-pi/10<C 1 <Pi/10, the up-down translation coefficient D of moment curve 1 The value range is D 1 >1。
In some embodiments, the moment curve translates by a factor G 1 The value range is-pi/6<G 1 <Pi/6, the up-down translation coefficient H of moment curve 1 The value range is H 1 >1。
In a second aspect, the present invention also provides an electronic device, including: a memory for storing instructions; and a processor for invoking the instructions stored in the memory to perform the lumbar-assist device control method as described in the first aspect.
In a third aspect, the present invention also provides a computer-readable storage medium having stored therein instructions which, when executed by a processor, perform the waist assist device control method as set forth in the first aspect.
The technical scheme provided by the invention has the following beneficial effects:
1. the invention uses fewer attitude sensors, can solve the problems that the traditional bioelectric signal-based control method is easily influenced by physiological conditions of human bodies and external factors, and has higher reliability and higher practicability.
2. The invention is suitable for distinguishing the subdivision intention state in the carrying process by one step, can identify two modes of a bending mode and a bending mode, ensures accurate power assisting time, has good power assisting effect and is suitable for most carrying scenes.
3. The invention can improve the accuracy of identifying the human body carrying mode, enhance the flexibility of assistance, promote the subjective feeling of the human body and obtain better assistance effect and control effect.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 shows a schematic diagram of a handling mode;
FIG. 2 shows a schematic diagram of a pattern recognition flow;
FIG. 3 is a schematic diagram showing a lumbar support force control flow in a stoop mode;
fig. 4 shows a schematic diagram of the lumbar support force control flow in the bending mode.
Detailed Description
The disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those of ordinary skill in the art to better understand and thus practice the present disclosure, and are not meant to imply any limitation on the scope of the present disclosure.
As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment. The term "another embodiment" is to be interpreted as "at least one other embodiment".
Waist power assisting equipment is generally divided into two types, namely a power-free source and a power-free source, wherein the power-free source waist power assisting equipment is used for assisting a human body in lifting heavy objects through a special structural form, and has limited power assisting effect and limited use scene because no additional power source is input; however, the existing power source waist power assisting equipment does not further distinguish the subdivision intention state in the carrying process, and the lack of recognition of various conditions leads to inaccurate power assisting time and poor power assisting, so that the human body carrying mode recognition accuracy is low, misjudgment is easy to occur, and the embodiment of the invention discloses a waist power assisting equipment control method based on back posture information.
The waist booster control method may include the steps of: s1, acquiring data through an attitude sensor to obtain a back attitude angle, a left thigh attitude angle and a right thigh attitude angle at the current moment; s2, obtaining an absolute value of a difference between the left thigh attitude angles and the right thigh attitude angles at the current moment based on the left thigh attitude angles and the right thigh attitude angles; s3, judging whether the back posture angle at the current moment is smaller than a threshold value alpha 1 And whether the absolute value of the difference between the left and right thigh posture angles at the present moment is smaller than the threshold value alpha 2 If yes, entering a carrying mode and executing a step S4, otherwise, keeping a motion mode at the previous moment; s4, judging whether the average value of the gesture angles of the left and right thighs at the current moment is smaller than a threshold value alpha 3 If yes, entering a bending carrying mode and executing a step S5, otherwise, entering a bending carrying mode and executing a step S9; s5, calculating back attitude angular velocity based on the back attitude angle at the current moment and the back attitude angle at the previous moment; calculating to obtain the posture angular velocity of the left thigh based on the posture angle of the left thigh at the current moment and the posture angle of the left thigh at the previous moment; calculating to obtain the right thigh attitude angle angular speed based on the right thigh attitude angle at the current moment and the right thigh attitude angle at the previous moment; s6, calculating a back phase angle based on the back posture angle and the back posture angular speed at the current moment; s7, judging whether the back gesture angle reaches an N-frame minimum value, if so, executing a step S8, otherwise, setting the expected moment to be zero; s8, judging whether the sum of the angular velocities of the left thigh and the right thigh is smaller than a threshold alpha 4 And whether the back phase angle is greater than a threshold alpha 5 If yes, set up periodThe torque is larger than zero; otherwise, no power is needed, and the expected moment is set to be zero; s9, calculating the difference value between the average value of the left thigh attitude angles and the right thigh attitude angles at the current moment and the back attitude angle to obtain a first difference angle; differentiating the first difference angle to obtain a first difference angular velocity; s10, calculating a first difference phase angle based on a first difference angle and a first difference angular speed at the current moment; s11, judging whether the back gesture angle reaches an N-frame minimum value, if so, executing a step S12, otherwise, setting the expected moment to be zero; s12, judging whether the sum of the left thigh angular velocity and the right thigh angular velocity is smaller than a threshold value alpha 6 And whether the first difference phase angle is greater than a threshold value alpha 7 If yes, setting the expected moment to be larger than zero; otherwise, no power assistance is needed, and the expected moment is set to be zero.
In this embodiment, the human body wearable power assisting device is a human body enhancement type power assisting device for assisting a specific joint, and the power assisting device is mainly used for increasing the strength of a person, expanding the upper limit of the capability, is a machine device which can be worn by the person, is mainly used for assisting the limbs of a wearer to exercise, particularly for the carrying process, when a heavy object is carried, the muscle of the waist is pulled, the load of the waist is too long, the local muscle tissue is repeatedly pulled to cause congestion, edema and exudation, aseptic inflammation is gradually caused, lumbar muscle strain is caused, and as a type of the wearable power assisting device, the waist power assisting device not only can assist a heavy labor person and a nursing staff to improve the load bearing capability, relieve the working fatigue, prolong the working life and provide the working efficiency, but also can protect the bones and the muscles of the heavy labor person and the nursing staff, and reduce the risk of lumbar muscle strain and lumbar vertebra injury; however, in the process of carrying, there are different carrying modes based on the environment condition of the goods to be carried and different habits of the carrier, as shown in fig. 1, when carrying a large-volume heavy object, the following two modes are generally stored: in the bending mode, the carrier takes the waist as a rotating point, bends a certain angle relative to the rotating point through the back, so that the hands can hold a weight, and reversely rotates the back to return through the force of the waist, and in the process, the legs are bent only to a certain extent as an aid; in the leg bending mode, the carrier takes the waist as a rotating point, bends a certain angle relative to the rotating point through leg bending, so that the hands can hold the weight, and then reversely rotates and returns the legs through the force exerted by the waist and the legs.
In this embodiment, the lumbar-assist device control method based on the back posture information is divided into two major steps, wherein the first major step is mainly to identify and confirm the working mode, and the second major step is mainly to determine the lumbar-assist timing and torque.
In this embodiment, as shown in fig. 2, for the first large step, since the waist assisting apparatus assists the limbs of the wearer to perform various movements, it is necessary to determine whether to enter the carrying mode, if the previous movement mode is not the carrying mode, i.e. mode (t-1) =0, and mode (t-1) is the previous movement mode, the first large step includes the following steps: s1, on the premise that the motion mode at the previous moment is not the carrying mode, acquiring data through an attitude sensor to obtain a back attitude angle theta at the current moment back (t), left thigh posture angle θ lThigh (t) and right thigh attitude angle θ rThigh (t); s2, obtaining an absolute value-theta of the difference between the left thigh attitude angles and the right thigh attitude angles at the current moment based on the left thigh attitude angles and the right thigh attitude angles lThigh (t)-θ rThigh (t) —; s3, judging whether the back posture angle at the current moment is smaller than a threshold value alpha 1 I.e. θ back (t)<α 1 And whether the absolute value of the difference between the left and right thigh posture angles at the present moment is smaller than the threshold value alpha 2 I.e., -theta lThigh (t)-θ rThigh (t)│<α 2 If yes, entering a carrying mode, namely, mode (t) =1, wherein mode (t) is a current moment motion mode, and executing step S4, otherwise, keeping a previous moment motion mode, namely, mode (t) =mode (t-1), wherein mode (t) is a current moment motion mode, and mode (t-1) is a previous moment motion mode; s4, judging whether the average value of the gesture angles of the left and right thighs at the current moment is smaller than a threshold value alpha 3 I.e. (theta) lThigh (t)+θ rThigh (t))/2<α 3 If yes, entering a bending carrying mode and executing a step S5, otherwise, entering a bending carrying mode; through above setting, at first accurately discern the wearing person of waist helping hand equipment under the current condition whether want to carry the action and want to carry out that kind of transport action, carry out the pointed helping hand based on the transport action of discernment further again, improve the helping hand effect, reduce invalid helping hand.
For the second major step, as shown in fig. 3, the bending conveyance mode and the bending conveyance mode are both assistance for the rising stage, and the bending conveyance mode are different in assistance timing, assistance standard, assistance moment, and the like, and for the bending conveyance mode, the following steps are included: s5, based on the back posture angle theta at the current moment back (t) and the back posture angle θ at the previous time back (t-1) calculating the back posture angular velocity ω back (t) Back posture angular velocity ω back (t)=(θ back (t)-θ back (T-1))/T, wherein T is the sampling period; based on the left thigh gesture angle at the current moment and the left thigh gesture angle at the previous moment, calculating to obtain the left thigh gesture angular speed omega lThigh (t); based on the right thigh gesture angle at the current moment and the right thigh gesture angle at the previous moment, calculating to obtain the right thigh gesture angle angular velocity omega rThigh (t); s6, calculating back phase angle phi based on the back posture angle and back posture angular speed at the current moment back (t); s7, judging whether the back gesture angle reaches an N-frame minimum value, namelyWherein, N is the set frame number, the value range is 15-25 frames, if yes, executing step S8, otherwise, setting the expected moment as zero; s8, judging whether the sum of the angular velocities of the left thigh and the right thigh is smaller than a threshold alpha 4 I.e. omega lThigh (t)+ ω rThigh (t)<α 4 And whether the back phase angle is greater than or equal to the threshold alpha 5 I.e. phi back (t)≥α 5 If yes, setting the expected moment to be larger than zero; otherwise, no power assistance is needed, and the expected moment is set to be zero.
For the second major step, as shown in fig. 4, the bending conveyance mode and the bending conveyance mode are both assistance for the rising stage, and the bending conveyance mode are different in assistance timing, assistance standard, assistance moment, and the like, and for the bending conveyance mode, the following steps are included: s9, based on the back posture angle theta at the current moment back (t), left thigh posture angle θ lThigh (t) and right thigh attitude angle θ rThigh (t) calculating the average value of the left and right thigh gesture angles at the current moment, namely theta ave =(θ lThigh (t)+θ rThigh (t))/2, based on the average value of the gesture angles of the left and right thighs at the current moment, calculating the difference value between the average value of the gesture angles of the left and right thighs at the current moment and the gesture angle of the back, and obtaining a first difference angle at the current moment, namely θ (t) =θ ave- θ back (t) and similarly obtaining a first difference angular velocity at the previous moment, namely theta (t-1); differentiating the first difference angle to obtain a first difference angular velocity, namely omega (T) = (theta (T) -theta (T-1))/T, wherein T is a sampling period; based on the left thigh gesture angle at the current moment and the left thigh gesture angle at the previous moment, calculating to obtain the left thigh gesture angular speed omega lThigh (t); based on the right thigh gesture angle at the current moment and the right thigh gesture angle at the previous moment, calculating to obtain the right thigh gesture angle angular velocity omega rThigh (t); s10, calculating a first difference phase angle based on a first difference angle and a first difference angular speed at the current moment; s11, judging whether the back attitude angle reaches an N-frame minimum value, namelyWherein, N is the set frame number, the value range is 15-25 frames, if yes, executing step S8, otherwise, setting the expected moment as zero; s12, judging whether the sum of the left thigh angular velocity and the right thigh angular velocity is smaller than a threshold value alpha 4 I.e. omega lThigh (t)+ ω rThigh (t)<α 4 And whether the first difference phase angle is greater than or equal to the threshold value alpha 5 I.e. phi back (t)≥α 5 If yes, setting the expected moment to be larger than zero; otherwise, no power assistance is needed, and the expected moment is set to be zero.
In this embodiment, in the carrying mode, the carrying person is divided into two processes of squatting and rising, and the assisting occurs mainly in the rising stage, so that the assisting timing needs to be determined, that is, the rising timing after the squatting of the carrying person is determined, so that it needs to be determined whether the back posture angle reaches the minimum value in N frames, and if the back posture angle reaches the minimum value in N frames, the assisting timing is described as being reached, and the assisting is started.
In some embodiments, the posture sensor comprises a back posture sensor and a leg posture sensor, the back posture sensor is arranged in the middle of the back of the waist power assisting device, the leg posture sensor comprises a left thigh posture sensor and a right thigh posture sensor, and the left thigh posture sensor and the right thigh posture sensor are respectively arranged in the middle of the left thigh and the right thigh of the waist power assisting device.
In this embodiment, the middle part of the back of the waist main force equipment is located to the back attitude sensor, and is left right direction middle part, and in the upper and lower direction, back attitude sensor can locate middle part and lower part, has further increased data acquisition's accuracy, and the middle part on the thigh length is located to thigh attitude sensor, in circumference, thigh attitude sensor can locate the thigh inboard, can locate the thigh outside, can locate the arbitrary position in the thigh circumference.
In some embodiments, the waist booster is boosted by a motor comprising a left motor and a right motor, which are respectively arranged at the left hip and the right hip of the waist booster.
In this embodiment, the left and right motors may be controlled simultaneously or individually.
In some embodiments, the threshold α 1 The value range is 140-170 degrees, and the threshold value alpha is the threshold value alpha 2 The value range is 5-15 degrees.
In this embodiment, in the case where the carrier stands straight normally, the back posture angle is 180 degrees, and when the carrier bends a certain angle with respect to the rotation point through the back with the waist as the rotation point, the back posture angle is gradually reduced, and in the case where the carrier stands straight normally, the leg posture angle is 0 degrees, and when the carrier bends a certain angle with respect to the rotation point through the thigh with the waist as the rotation point, the leg posture angle is gradually increased, and in the human body movement process, various movement modes are provided, and for the carrier mode, the waist and the leg are bent to a certain extent, and the accuracy of the human body movement mode can be improved through the setting of reasonable judgment standards, thereby improving the accuracy of the assist force.
In some embodiments, the threshold α 3 The value range is 20-35 degrees.
In this embodiment, in the carrying mode, the bending degree of the leg portion during bending carrying is small relative to the bending carrying, and by setting the reasonable judgment standard, the accuracy of the human body movement mode can be improved, and the accuracy of the assisting force can be further improved.
In some embodiments, the threshold α 4 The value range is-5 DEG/s to 5 DEG/s, and the threshold value alpha 5 The value range is-pi/16.
In some embodiments, the threshold α 6 The value range is-5 DEG/s to 5 DEG/s, and the threshold value alpha 7 The value range is pi/6-pi/3.
In some embodiments, in step S6, the back phase angle is calculated using the following formula:wherein phi is back (t) is the back phase angle, θ back (t) is the back posture angle, ω back And (t) is the back posture angular velocity.
In some embodiments, in step S8, setting the desired torque to be greater than zero is calculated using the following formula:wherein T (T) is the set left and right motor torque, A 1 Generating amplitude of the power-assisted moment curve, B 1 Is the frequency, C 1 For the left-right translation coefficient of the moment curve, D 1 Is the up-down translation coefficient of the moment curve.
In some embodiments, in the step S9, the first difference phase angle is calculated using the following formula:wherein phi (t) is a first differential phase angle, theta (t) is a first differential angle, and omega (t) is a first differential angular velocity.
In some embodiments, in the step S12, the setting of the desired torque to be greater than zero is calculated using the following formula:wherein T (T) is the set left and right motor torque, E 1 Generating amplitude of booster moment curve, F 1 For frequency, G 1 Is the left-right translation coefficient of a moment curve, H 1 Is the up-down translation coefficient of the moment curve.
In the above embodiment, the left and right motor torques are the same.
In some embodiments, the moment curve translates by a factor C 1 The value range is-pi/10<C 1 <Pi/10, the up-down translation coefficient D of moment curve 1 The value range is D 1 >1。
In some embodiments, the moment curve translates by a factor G 1 The value range is-pi/6<G 1 <Pi/6, the up-down translation coefficient H of moment curve 1 The value range is H 1 >1。
Based on the same inventive concept, the invention also discloses an electronic device, which comprises: a memory for storing instructions; and the processor is used for calling the instructions stored in the memory to execute the waist power assisting equipment control method.
Based on the same inventive concept, the invention also discloses a computer readable storage medium, wherein instructions are stored, and when the instructions are executed by a processor, the waist power assisting equipment control method is executed.
It is understood that the term "plurality" in this disclosure means two or more, and other adjectives are similar thereto. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. The singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It is further understood that the terms "first," "second," and the like are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the expressions "first", "second", etc. may be used entirely interchangeably. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
It will be further understood that the terms "center," "longitudinal," "transverse," "front," "rear," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience in describing the present embodiments and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operate in a particular orientation.
It will be further understood that "connected" includes both direct connection where no other member is present and indirect connection where other element is present, unless specifically stated otherwise.
It will be further understood that although operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. The waist booster equipment control method based on the back posture information is characterized by comprising the following steps of:
s1, acquiring data through an attitude sensor to obtain a back attitude angle, a left thigh attitude angle and a right thigh attitude angle at the current moment;
s2, obtaining an absolute value of a difference between the left thigh attitude angles and the right thigh attitude angles at the current moment based on the left thigh attitude angles and the right thigh attitude angles;
s3, judging whether the back posture angle at the current moment is smaller than a threshold value alpha 1 And whether the absolute value of the difference between the left and right thigh posture angles at the present moment is smaller than the threshold value alpha 2 If yes, entering a carrying mode and executing a step S4, otherwise, keeping a motion mode at the previous moment;
s4, judging whether the average value of the gesture angles of the left and right thighs at the current moment is smaller than a threshold value alpha 3 If yes, entering a bending carrying mode and executing a step S5, otherwise, entering a bending carrying mode and executing a step S9;
s5, calculating back attitude angular velocity based on the back attitude angle at the current moment and the back attitude angle at the previous moment; calculating to obtain the posture angular velocity of the left thigh based on the posture angle of the left thigh at the current moment and the posture angle of the left thigh at the previous moment; calculating to obtain the right thigh attitude angle angular speed based on the right thigh attitude angle at the current moment and the right thigh attitude angle at the previous moment;
s6, calculating a back phase angle based on the back posture angle and the back posture angular speed at the current moment; the back partThe phase angle is calculated using the following formula:wherein phi is back (t) is the back phase angle, θ back (t) is the back posture angle, ω back (t) back attitude angular velocity;
s7, judging whether the back gesture angle reaches an N-frame minimum value, namelyWherein, N is the number of frames, and the value range is 15-25 frames; if yes, executing step S8, otherwise, setting the expected moment to be zero;
s8, judging whether the sum of the angular velocities of the left thigh and the right thigh is smaller than a threshold alpha 4 And whether the back phase angle is greater than a threshold alpha 5 If yes, setting the expected moment to be larger than zero; otherwise, no power is needed, and the expected moment is set to be zero; setting the desired moment greater than zero is calculated using the following formula:wherein T (T) is the set left and right motor torque, A 1 Generating amplitude of the power-assisted moment curve, B 1 Is the frequency, C 1 For the left-right translation coefficient of the moment curve, D 1 The vertical translation coefficient of the moment curve;
s9, calculating the difference value between the average value of the left thigh attitude angles and the right thigh attitude angles at the current moment and the back attitude angle to obtain a first difference angle; differentiating the first difference angle to obtain a first difference angular velocity;
s10, calculating a first difference phase angle based on a first difference angle and a first difference angular speed at the current moment; the first difference phase angle is calculated by the following formula:wherein phi (t) is a first differential phase angle, theta (t) is a first differential angle, and omega (t) is a first differential angular velocity;
s11, judging whether the back gesture angle isReaching an intra-frame minimum of N, i.eWherein, N is the number of frames, and the value range is 15-25 frames; if yes, executing step S12, otherwise, setting the expected moment to be zero;
s12, judging whether the sum of the left thigh angular velocity and the right thigh angular velocity is smaller than a threshold value alpha 6 And whether the first difference phase angle is greater than a threshold value alpha 7 If yes, setting the expected moment to be larger than zero; otherwise, no power is needed, and the expected moment is set to be zero; setting the desired moment greater than zero is calculated using the following formula:wherein T (T) is the set left and right motor torque, E 1 Generating amplitude of booster moment curve, F 1 For frequency, G 1 Is the left-right translation coefficient of a moment curve, H 1 Is the up-down translation coefficient of the moment curve.
2. The lumbar support device control method based on back posture information according to claim 1, wherein the posture sensor comprises a back posture sensor and a leg posture sensor, the back posture sensor is arranged in the middle of the back of the lumbar support device, the leg posture sensor comprises a left thigh posture sensor and a right thigh posture sensor, and the left thigh posture sensor and the right thigh posture sensor are respectively arranged in the middle of the left thigh and the right thigh of the lumbar support device.
3. The lumbar support device control method based on the back posture information according to claim 1, wherein the lumbar support device control method based on the back posture information adopts motor assistance, the motor comprises a left motor and a right motor, and the left motor and the right motor are respectively arranged at left and right hips of the lumbar support device.
4. A kind of according to claim 1Lumbar boosting equipment control method based on back posture information, which is characterized in that the threshold value alpha 1 The value range is 140-170 degrees, and the threshold value alpha is 2 The value range is 5-15 degrees, and the threshold value alpha is 3 The value range is 20-35 degrees.
5. The lumbar support device control method based on back posture information according to claim 1, wherein the threshold value α 4 The value range is-5 degrees/s to 5 degrees/s, and the threshold value alpha is 5 The value range is-pi/16.
6. The lumbar support device control method based on back posture information according to claim 1, wherein the threshold value α 6 The value range is-5 degrees/s to 5 degrees/s, and the threshold value alpha is 7 The value range is pi/6-pi/3.
7. The lumbar support device control method based on back posture information according to claim 1, wherein the moment curve left-right translation coefficient C 1 The value range is-pi/10<C 1 <Pi/10, the up-down translation coefficient D of moment curve 1 The value range is D 1 >1。
8. The lumbar support device control method based on back posture information according to claim 1, wherein the moment curve left-right translation coefficient G 1 The value range is-pi/6<G 1 <Pi/6, the up-down translation coefficient H of moment curve 1 The value range is H 1 >1。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310720486.5A CN116442202B (en) | 2023-06-19 | 2023-06-19 | Waist boosting equipment control method based on back posture information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310720486.5A CN116442202B (en) | 2023-06-19 | 2023-06-19 | Waist boosting equipment control method based on back posture information |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116442202A true CN116442202A (en) | 2023-07-18 |
| CN116442202B CN116442202B (en) | 2023-08-18 |
Family
ID=87130659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310720486.5A Active CN116442202B (en) | 2023-06-19 | 2023-06-19 | Waist boosting equipment control method based on back posture information |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116442202B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217353A (en) * | 2016-08-17 | 2016-12-14 | 尖叫智能科技（上海）有限公司 | Exoskeleton robot gait control method based on multi-shaft acceleration transducer |
| CN106821391A (en) * | 2017-03-23 | 2017-06-13 | 北京精密机电控制设备研究所 | Body gait acquisition analysis system and method based on inertial sensor information fusion |
| JP2018061663A (en) * | 2016-10-12 | 2018-04-19 | 株式会社ニッカリ | Power assisting robot device |
| CN108175644A (en) * | 2018-01-16 | 2018-06-19 | 河北工业大学 | Lower limb exoskeleton control system and its implementation based on leg gesture recognition |
| CN108836757A (en) * | 2018-07-09 | 2018-11-20 | 浙江大学城市学院 | A kind of assisted walk exoskeleton robot system with self-regulation |
| CN209220856U (en) * | 2018-07-09 | 2019-08-09 | 浙江大学城市学院 | A kind of assisted walk exoskeleton robot system with self-regulation |
| CN110755070A (en) * | 2019-08-28 | 2020-02-07 | 北京精密机电控制设备研究所 | Multi-sensor fusion-based lower limb movement pose rapid prediction system and method |
| CN110900568A (en) * | 2019-11-07 | 2020-03-24 | 北京精密机电控制设备研究所 | Waist assistance exoskeleton robot |
| CN113902048A (en) * | 2021-07-14 | 2022-01-07 | 迈宝智能科技(苏州)有限公司 | Human motion posture recognition method and wearable exoskeleton |
| 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 |
| CN115252369A (en) * | 2022-07-26 | 2022-11-01 | 北京航空航天大学 | On-demand auxiliary control method based on lower limb exoskeleton robot |
| CN115607146A (en) * | 2022-12-16 | 2023-01-17 | 东南大学 | Wearable single-node device for leg posture estimation and measurement method |
-
2023
- 2023-06-19 CN CN202310720486.5A patent/CN116442202B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217353A (en) * | 2016-08-17 | 2016-12-14 | 尖叫智能科技（上海）有限公司 | Exoskeleton robot gait control method based on multi-shaft acceleration transducer |
| JP2018061663A (en) * | 2016-10-12 | 2018-04-19 | 株式会社ニッカリ | Power assisting robot device |
| CN106821391A (en) * | 2017-03-23 | 2017-06-13 | 北京精密机电控制设备研究所 | Body gait acquisition analysis system and method based on inertial sensor information fusion |
| CN108175644A (en) * | 2018-01-16 | 2018-06-19 | 河北工业大学 | Lower limb exoskeleton control system and its implementation based on leg gesture recognition |
| CN108836757A (en) * | 2018-07-09 | 2018-11-20 | 浙江大学城市学院 | A kind of assisted walk exoskeleton robot system with self-regulation |
| CN209220856U (en) * | 2018-07-09 | 2019-08-09 | 浙江大学城市学院 | A kind of assisted walk exoskeleton robot system with self-regulation |
| CN110755070A (en) * | 2019-08-28 | 2020-02-07 | 北京精密机电控制设备研究所 | Multi-sensor fusion-based lower limb movement pose rapid prediction system and method |
| CN110900568A (en) * | 2019-11-07 | 2020-03-24 | 北京精密机电控制设备研究所 | Waist assistance exoskeleton robot |
| CN113902048A (en) * | 2021-07-14 | 2022-01-07 | 迈宝智能科技(苏州)有限公司 | Human motion posture recognition method and wearable exoskeleton |
| 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 |
| CN115252369A (en) * | 2022-07-26 | 2022-11-01 | 北京航空航天大学 | On-demand auxiliary control method based on lower limb exoskeleton robot |
| CN115607146A (en) * | 2022-12-16 | 2023-01-17 | 东南大学 | Wearable single-node device for leg posture estimation and measurement method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116442202B (en) | 2023-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9775727B2 (en) | Wearable robots and control methods thereof | |
| US10420695B2 (en) | Exoskeleton apparatus driven by pneumatic artificial muscle with functions of upper limb assist and rehabilitation training | |
| CN110123573B (en) | Rehabilitation robot training system for compensatory movement monitoring and inhibition of hemiplegic upper limb | |
| KR102146363B1 (en) | Wearable robot and control method for the same | |
| US9833376B2 (en) | Walking assistance methods and apparatuses performing the same | |
| US20170056275A1 (en) | Recognition method of human walking speed intention from surface electromyogram signals of plantar flexor and walking speed control method of a lower-limb exoskeleton robot | |
| CN113143697B (en) | Control method and device for hip joint exoskeleton | |
| EP3646999A1 (en) | Assistance device and assistance method | |
| CN106074073A (en) | The control system of a kind of lower limb rehabilitation robot and rehabilitation training strategy | |
| Xiao | Proportional myoelectric and compensating control of a cable-conduit mechanism-driven upper limb exoskeleton | |
| CN104902862A (en) | Walking assistance device and walking assistance mehtod | |
| Xie et al. | Wirerope-driven exoskeleton to assist lower-limb rehabilitation of hemiplegic patients by using motion capture | |
| CN116442202B (en) | Waist boosting equipment control method based on back posture information | |
| JP6781453B2 (en) | Standing motion support method by tuning control using robotic wear, computer program for standing motion support, and robotic wear | |
| Wu et al. | Design of a transfer robot for the assistance of elderly and disabled | |
| KR100391830B1 (en) | Welfare Robotic System for the Rehabilitation Training of the people with disability for bipedal walking | |
| Guo et al. | Assistive force of a belt-type hip assist suit for lifting the swing leg during walking | |
| CN111702784A (en) | Motion-assisted robot | |
| JP2018134724A (en) | Operation estimation device and operation auxiliary device | |
| Tucan et al. | A kinematic model and dynamic simulation of a parallel robotic structure for lower limb rehabilitation | |
| Afzal et al. | Design of a haptic cane for walking stability and rehabilitation | |
| Chugo et al. | Standing assistance which realizes voluntary movements of the patient within a safety motion tolerance | |
| Liu et al. | Medical mechatronics for healthcare | |
| CN211066621U (en) | Intelligent mechanical frame for assisting lower limb exoskeleton to adjust human body position in cooperation with exercise | |
| CN211300970U (en) | Exoskeleton rehabilitation robot control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |