CN116619333A - Pneumatic paper folding type elbow and shoulder wearing auxiliary system and method based on motion self-adaption - Google Patents

Abstract

The application provides a motion self-adaptive pneumatic paper folding type elbow shoulder wearing auxiliary system and a method, wherein the system comprises a motion sensing module, a limb driving auxiliary module, a man-machine control module and a flexible textile structural member; the motion sensing module measures the kinematic parameters of the elbows and shoulders of the human body through the inertial measurement unit; the limb driving auxiliary module consists of a pneumatic device and a flexible paper folding actuator, wherein the flexible paper folding actuator adopts a reverse dipole driving unit in a Kresling paper folding configuration, and is driven by the pneumatic device to assist the elbow and shoulder movement of a human body; the man-machine control module adopts a state machine to switch the power assistance of the elbow shoulder in real time; the motion sensing module, the limb driving auxiliary module and the man-machine control module are integrated on the flexible textile structural member and can be worn on a human body. The application assists the user to realize long-time work of the elbow and the shoulder, effectively improves the endurance of the limbs, prevents the upper limb from being damaged and the like, and has the advantages of low cost, simple operation, rapid response, safety and stability.

Description

Pneumatic paper folding type elbow and shoulder wearing auxiliary system and method based on motion self-adaption

Technical Field

The application relates to the technical field of flexible wearable robots, in particular to a pneumatic paper folding type elbow shoulder wearing auxiliary system and method based on motion self-adaption.

Background

Upper limb injury caused by excessive strain and repeated tasks is one of the main health problems related to work, and on an industrial production line, common heavy overhead work is easier to cause upper limb injury, and longer time is required for injury recovery, during which the work capacity and efficiency of workers are greatly reduced. Repeated and prolonged overhead postures required in industrial environments are a major cause of shoulder and elbow injuries, weakness and discomfort. Existing injury prevention efforts, such as limiting the duty cycle or making more turns, can be expensive to implement, increase the production costs of the factory, and require a significant amount of labor to implement.

Auxiliary techniques are expected to enhance the ability of humans to provide assistance for long overhead postures. For a healthy person, the assistance techniques can reduce muscle effort and alleviate muscle weakness problems by providing assistance that works in parallel with the person. Upper limb wearable robots are considered an effective injury prevention method that can reduce injury by providing assistance to support the user's daily workload tasks, reducing the load on the joints, and thus reducing the overall body load.

Wearable robots can be generally divided into rigid and flexible. Rigid wearable robots have been successful in supporting lower limb walking or providing upper body assistance, but the weight of the rigid wearable robot itself creates a low force to weight ratio and limited portability, failing to meet the need for worker flexibility in industrial production lines. Although the flexible wearable robot can not provide complete action moment for the hand limbs like the rigid wearable robot, the force applied to the shoulders and elbows of a worker can be reduced to a certain extent, so that the load of joints is reduced, the flexible wearable robot is comfortable and portable, movement is not limited, and the flexibility of the worker is not greatly influenced. Accordingly, there is a need for a flexible wearable robot that can be worn on a worker's upper body, assist the worker in working, and thereby relieve joint load to prevent musculoskeletal injuries. Therefore, a new solution is needed to improve the above technical problems.

Disclosure of Invention

Aiming at the defects in the prior art, the application aims to provide a pneumatic paper folding type elbow shoulder wearing auxiliary system and method based on motion self-adaption.

The application provides a motion-adaptive pneumatic paper folding type elbow shoulder wearing auxiliary system, which comprises: the device comprises a motion sensing module, a limb driving auxiliary module, a man-machine control module and a flexible textile structural member;

the motion sensing module comprises five wireless IMU sensors;

the limb driving auxiliary module comprises a pneumatic device, a shoulder auxiliary flexible paper folding actuator and an elbow auxiliary flexible paper folding actuator;

the man-machine control module comprises a main controller and a power supply;

the flexible structural textile element comprises a shoulder and back part structural element and an elbow part structural element;

the motion sensing module, the limb driving auxiliary module and the man-machine control module are fixed on the flexible textile structural member, and the flexible textile structural member is worn on a human body.

Preferably, five wireless IMU sensors are respectively installed at the left-hand big arm, the left-hand small arm, the right-hand big arm, the right-hand small arm and the back of the human body, the five wireless IMU sensors are electrically connected with the power supply through wires, the wireless IMU sensors respectively measure the kinematic parameters of the left-hand big arm, the left-hand small arm, the right-hand big arm, the right-hand small arm and the back of the human body, and the five wireless IMU sensors transmit the measured parameters to the main controller.

Preferably, the limb drive assisting module assists movement of the shoulder elbow;

the pneumatic device is arranged in an integrated box behind the shoulder and back part structural member and is respectively connected with the main controller and the power supply through wires;

the shoulder auxiliary flexible paper folding actuator adopts a reverse dipole driving unit in a Kresling paper folding configuration, the shoulder auxiliary flexible paper folding actuator is arranged at armpits at two sides of a human body, one end of the shoulder auxiliary flexible paper folding actuator is fixed on a structural part of the shoulder and back part, the other end of the shoulder auxiliary flexible paper folding actuator supports a large arm, and the shoulder auxiliary flexible paper folding actuator assists the movement of the shoulder and is connected with the pneumatic device through an air duct to perform inflation and deflation;

the elbow auxiliary flexible paper folding actuator adopts a reverse dipole driving unit in a Kresling paper folding configuration, the elbow auxiliary flexible paper folding actuator is arranged at the elbows of two hands, two ends of the elbow auxiliary flexible paper folding actuator are fixed on the elbow part structural member, and the elbow auxiliary flexible paper folding actuator is connected with the pneumatic device through an air duct to perform inflation and deflation.

Preferably, the main controller is installed in an integrated box behind the shoulder and back part structural member, and the main controller is connected with the power supply and the pneumatic device through wires;

the power supply is arranged in the integrated box behind the shoulder and back part structural member, and is connected with the main controller, the wireless IMU sensor and the pneumatic device through wires to provide power and drive the work.

Preferably, the flexible textile structure is constituted by a shoulder-back part structure and an elbow part structure, which are made of flexible textile material; the shoulder and back part structural member is worn on the upper half of a human body and is fixed through a buckle at the front of the chest, and the integrated box is arranged at the back of the human body and is used for installing and protecting the main controller, the power supply and the pneumatic device; the elbow part structure is worn on the elbow of a human body and is fixed through a magic tape, and the driving unit is directly arranged on the back surface of the elbow part structure.

Preferably, the guide wire and the air duct are distributed inside the flexible textile structure.

Preferably, the shoulder and back part structural member and the elbow part structural member are connected through a strip-shaped flexible textile to form a whole, and the shoulder and back part structural member and the elbow part structural member are jointly formed into the flexible textile structural member.

Preferably, the main controller measures the upper limb kinematics parameters of the upper body through five wireless IMU sensors arranged at different positions, determines corresponding reference IMU sensors and motion IMU sensors according to different body parts, compares the data of the reference IMU sensors and the motion IMU sensors, presumes the motion intention of a human body, and controls the pneumatic device to charge and discharge air to the auxiliary flexible paper folding actuator so as to automatically follow and assist the movement of the upper limb of the human body.

The application also provides a motion-adaptive pneumatic paper folding type elbow and shoulder wearing auxiliary method, which is applied to the motion-adaptive pneumatic paper folding type elbow and shoulder wearing auxiliary system, and comprises the following steps:

step S1: the back IMU measures three-axis data and motion acceleration of the upper body of the human body in real time, and takes the back IMU as reference data according to the human body structure;

step S2: when the left big arm starts to move, the measured data of the IMU of the left big arm can change in real time, the measured kinematic data of the IMU of the left big arm is compared with the back IMU data to obtain a triaxial angle difference value, an angular velocity difference value and a change rate of corresponding change data, and the movement mode of the left big arm is deduced;

step S3: the main controller controls the pneumatic device to charge and discharge the left shoulder auxiliary flexible paper folding actuator according to the analysis result, the driving unit contracts and expands, and the left shoulder auxiliary flexible paper folding actuator tracks the movement of the left big arm;

step S4: when the left big arm moves to a proper position to stop moving, the data measured by the IMU of the left big arm is kept to be changed within an allowable range, the main controller controls the pneumatic device to stop inflating and deflating, and the left shoulder assists the flexible paper folding actuator to keep the state unchanged at the time and support the left big arm.

Compared with the prior art, the application has the following beneficial effects:

1. the application provides a driving self-adaptation based on movement intention detection, which can quickly and accurately identify the movement intention of a worker when the worker works, and further quickly control the limb driving auxiliary module to adjust so as to adapt to the action change of the upper limb of the worker, assist the worker to work and reduce the load of the shoulder and elbow parts of the worker;

2. the application is made of flexible textile materials, can be comfortably worn on a human body, has lighter weight, can not feel tiredness caused by wearing auxiliary devices in the working process of workers, and meanwhile, the flexible materials can not limit normal movements of the workers, thus having multiple advantages of portability, flexibility and the like;

3. the application adopts a reverse dipole driving unit with a Kresling paper folding configuration as a main core of the flexible paper folding actuator, the unit can expand and stretch according to a specified shape after being inflated, the expansion degree is determined according to the inflation amount, the unit can shrink after being deflated, the rigidity of the actuator can be increased by expansion, and the rigidity and the flexibility of the actuator can be reduced by shrinkage; therefore, after the rapid self-adaptive movement intention is detected, the pneumatic device is controlled to charge and discharge, so that the rigidity of the actuator can be adjusted, the shoulder of a human body is further supported, the moment is provided for the elbow, and the work load can be effectively reduced;

4. the application is structurally integrated, and the main controller, the inflation module, the power supply and the like are all arranged in the integrated box, and the integrated box is fixed on the back, can move along with the movement of workers, and has portability; meanwhile, the wireless IMU sensor, the lead and the inflation tube are arranged in the flexible textile structural member, so that the damage of components is prevented, and meanwhile, the movement of workers is not hindered;

5. the application has the function of state transition, the shoulder auxiliary state and the elbow auxiliary state are mutually independent and do not influence each other, and can coexist, thereby being applicable to the requirements of different working occasions, and the transition between the states is also beneficial to less consumption of electric energy.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is an overall schematic diagram of a motion-based adaptive pneumatic paper folding elbow shoulder wear assistance system of the present application;

FIG. 2 is a system block diagram of the pneumatic paper folding type elbow shoulder wearing auxiliary system based on motion adaptation;

FIG. 3 is a schematic view of a shoulder assist flexible sheet folding actuator of the present application;

FIG. 4 is a schematic view of an elbow assisted flexible sheet folding actuator of the present application;

fig. 5 is a view showing the internal structure of the back integrated box of the present application.

Wherein:

shoulder and back part structural member 8 of wireless IMU sensor 1

Elbow part structural member 9 of pneumatic device 2

Flexible paper folding actuator 3 integrated box 10

Shoulder-assisted flexible paper folding actuator 4 clasp 11

Elbow-assisted flexible paper folding actuator 5 magic tape 12

Supporting angle 13 of main controller 6

Bending angle 14 of power supply 7

Detailed Description

The present application will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present application.

Example 1:

the application provides a motion-adaptive pneumatic paper folding type elbow shoulder wearing auxiliary system, which comprises: the device comprises a motion sensing module, a limb driving auxiliary module, a man-machine control module and a flexible textile structural member; the motion sensing module comprises five wireless IMU sensors 1; the limb driving auxiliary module comprises a pneumatic device 2, a shoulder auxiliary flexible paper folding actuator 4 and an elbow auxiliary flexible paper folding actuator 5; the man-machine control module comprises a main controller 6 and a power supply 7; the flexible structural textile comprises a shoulder-back part structural part 8 and an elbow part structural part 9; the motion sensing module, the limb driving auxiliary module and the man-machine control module are fixed on a flexible textile structural member, and the flexible textile structural member is worn on a human body.

Five wireless IMU sensors 1 are respectively installed at the left hand big arm, the left hand forearm, the right hand big arm, the right hand forearm and the human back, the five wireless IMU sensors 1 are electrically connected with a power supply 7 through wires, the wireless IMU sensors 1 respectively measure the kinematic parameters of the left hand big arm, the left hand forearm, the right hand big arm, the right hand forearm and the human back, and the five wireless IMU sensors 1 transmit the measured parameters to a main controller 6.

The limb driving auxiliary module assists the movement of the shoulder elbow; the pneumatic device 2 is arranged in an integrated box 10 behind the shoulder and back part structural member 8, and the pneumatic device 2 is respectively connected with the main controller 6 and the power supply 7 through wires; the shoulder auxiliary flexible paper folding actuator 4 adopts a reverse dipole driving unit in a Kresling paper folding configuration, the shoulder auxiliary flexible paper folding actuator 4 is arranged at armpits at two sides of a human body, one end of the shoulder auxiliary flexible paper folding actuator 4 is fixed on a shoulder and back part structural member 8, the other end supports a large arm, and the shoulder auxiliary flexible paper folding actuator assists the movement of the shoulder and is connected with the pneumatic device 2 through an air duct to perform inflation and deflation; the elbow auxiliary flexible paper folding actuator 5 adopts a reverse dipole driving unit with a Kresl paper folding configuration, the elbow auxiliary flexible paper folding actuator 5 is arranged at the elbows of the two hands, and two ends of the elbow auxiliary flexible paper folding actuator 5 are fixed on elbow part structural members 9 and are connected through an air duct pneumatic device 2 to perform inflation and deflation.

The main controller 6 is arranged in an integrated box 10 behind the shoulder and back part structural member 8, and the main controller 6 is connected with the power supply 6 and the pneumatic device 2 through wires; the power supply 7 is arranged in the integrated box 10 behind the shoulder and back part structural member 8, and the power supply 7 is connected with the main controller 6, the wireless IMU sensor 1 and the pneumatic device 2 through wires to provide power and drive the work.

The flexible textile structure is composed of a shoulder and back part structure 8 and an elbow part structure 9, and the shoulder and back part structure 8 and the elbow part structure 9 are made of flexible textile materials; the shoulder and back part structural member 8 is worn on the upper half of a human body and is fixed through a buckle 11 in front of the chest, and the back is provided with an integrated box 10 for installing and protecting the main controller 6, the power supply 7 and the pneumatic device 2; the elbow part structure 9 is worn on the elbow of the human body and is fixed by the velcro 12, and the driving unit 13 is directly mounted on the back of the elbow part structure 9.

The wires and the air ducts are distributed in the flexible textile structural member. The shoulder and back part structural member 8 and the elbow part structural member 9 are connected through a strip-shaped flexible textile to form a whole, and the whole together form the flexible textile structural member.

The main controller 6 measures the upper limb kinematics parameters of the upper body through five wireless IMU sensors 1 arranged at different positions, determines corresponding reference IMU sensors and motion IMU sensors according to different body parts, compares the data of the reference IMU sensors and the motion IMU sensors, and the main controller 9 presumes the motion intention of the human body, controls the pneumatic device 2 to charge and discharge air to the auxiliary flexible paper folding actuator, and automatically follows and assists the upper limb motion of the human body.

The application also provides a motion-adaptive pneumatic paper folding type elbow and shoulder wearing auxiliary method, which is applied to the motion-adaptive pneumatic paper folding type elbow and shoulder wearing auxiliary system, and comprises the following steps:

step S1: the back IMU measures three-axis data and motion acceleration of the upper body of the human body in real time, and takes the back IMU as reference data according to the human body structure;

step S2: when the left big arm starts to move, the measured data of the IMU of the left big arm can change in real time, the measured kinematic data of the IMU of the left big arm is compared with the back IMU data to obtain a triaxial angle difference value, an angular velocity difference value and a change rate of corresponding change data, and the movement mode of the left big arm is deduced;

step S3: the main controller controls the pneumatic device to charge and discharge the left shoulder auxiliary flexible paper folding actuator according to the analysis result, the driving unit contracts and expands, and the left shoulder auxiliary flexible paper folding actuator tracks the movement of the left big arm;

step S4: when the left big arm moves to a proper position to stop moving, the data measured by the IMU of the left big arm is kept to be changed within an allowable range, the main controller controls the pneumatic device to stop inflating and deflating, and the left shoulder assists the flexible paper folding actuator to keep the state unchanged at the time and support the left big arm.

Example 2:

a motion-adaptive pneumatic paper folding elbow shoulder wear assistance system comprising: the device comprises a motion sensing module, a limb driving auxiliary module, a man-machine control module and a flexible textile structural member; the motion sensing module comprises five wireless IMU sensors 1; the limb driving auxiliary module comprises a pneumatic device 2, a shoulder auxiliary flexible paper folding actuator 4 and an elbow auxiliary flexible paper folding actuator 5; the man-machine control module comprises a main controller 6 and a power supply 7;

the flexible structural textile comprises a shoulder-back part structural part 8 and an elbow part structural part 9; the motion sensing module, the limb driving auxiliary module and the man-machine control module are fixed on a flexible textile structural member, and the flexible textile structural member is worn on a human body.

The wireless IMU sensors 1 are required to be installed in five parts, namely, the large arm part, the small arm part and the human back part of the left hand and the right hand, are electrically connected with the power supply 7 through wires, and the wireless IMU sensors 1 measure the kinematic parameters of the installation positions respectively and transmit the measured parameters to the main controller 6.

The limb driving auxiliary module is used for assisting the movement of the shoulder elbow; the pneumatic device 2 is arranged in an integrated box 10 behind the shoulder and back part structural member 8 and is respectively connected with the main controller 6 and the power supply 7 through leads; the shoulder auxiliary flexible paper folding actuator 4 adopts a reverse dipole driving unit in a Kresling paper folding configuration, is arranged at armpits at two sides of a human body, one end of the reverse dipole driving unit is fixed on a shoulder and back part structural member 8, and the other end of the reverse dipole driving unit supports a large arm for assisting shoulder movement, is connected with the pneumatic device 2 through an air duct and can be inflated and deflated by the pneumatic device; the elbow-assisted flexible paper folding actuator 5 adopts a reverse dipole driving unit in a Kresling paper folding configuration, is arranged at the elbow part of two hands, is specifically positioned at the elbow, and is fixed on an elbow part structural member 9 at two ends, is connected through an air duct pneumatic device 2, and can be inflated and deflated.

The main controller 6 is arranged in an integrated box 10 behind the shoulder and back part structural member 8 and is connected with the power supply 6 and the pneumatic device 2 through leads; the power supply 7 is arranged in the integrated box 10 behind the shoulder and back part structural member 8, is connected with the main controller 6, the wireless IMU sensor 1 and the pneumatic device 2 through leads, and provides power for the integrated box to drive the integrated box to work.

The flexible textile structure consists of a shoulder and back part structure 8 and an elbow part structure 9, which are made of flexible textile materials; the shoulder and back part structural member 8 is worn on the upper half of a human body and is fixed through a buckle 11 in front of the chest, and the back is provided with an integrated box 10 for installing and protecting the main controller 6, the power supply 7 and the pneumatic device 2; the elbow part structure 9 is worn on the elbow of the human body and is fixed by means of a velcro 12, and the driving unit 13 is directly mounted on the back side thereof.

The wires and the air ducts for connection are distributed inside the flexible textile structural member. The shoulder and back part structural member 8 and the elbow part structural member 9 are connected through a strip-shaped flexible textile to form a whole, and the whole together form the flexible textile structural member.

The main controller 6 has a driving self-adaptation function based on movement intention detection, and measures upper limb kinematics parameters through five wireless IMU sensors 1 installed at different positions, determines corresponding reference IMU sensors and movement IMU sensors according to different body parts, and the main controller 9 compares the data of the reference IMU sensors and the movement IMU sensors to infer the movement intention of a human body, controls the pneumatic device 2 to charge and discharge air to the auxiliary flexible paper folding actuator, and realizes the functions of automatically following and assisting the movement of the upper limb of the human body.

The application provides a motion-adaptive pneumatic paper folding type elbow shoulder wearing auxiliary system, which comprises:

the motion sensing module is used for measuring the kinematic parameters of the upper limbs of the human body through the wireless IMU sensor and transmitting data to the main controller so as to identify the intention of the human body; the limb driving auxiliary module uses a flexible paper folding actuator with a Kresling paper folding configuration, and the flexible paper folding actuator is inflated and deflated through a pneumatic device, so that the shape of the flexible paper folding actuator is changed, and the effects of supporting the shoulder and assisting the elbow are achieved; the man-machine control module is used for receiving and analyzing the kinematic parameters measured by the wireless IMU sensor, rapidly and accurately identifying the motion intention of the human body and controlling the pneumatic device to inflate the flexible paper folding actuator; the flexible textile structure is used for fixing other modules and wearing on a human body to provide auxiliary effect.

The motion sensing module uses five wireless IMU sensors which are respectively arranged at the back of a human body, the big arm and the small arm of the left hand and the right hand; the wireless IMU sensor is fixed on the flexible textile structural member and is electrically connected with the main controller and the power supply through wires.

The limb driving auxiliary module comprises a shoulder auxiliary flexible paper folding actuator, an elbow auxiliary flexible paper folding actuator and a pneumatic device; the shoulder auxiliary flexible paper folding actuator and the elbow auxiliary flexible paper folding actuator both adopt inflatable flexible paper folding actuators, and the flexible paper folding actuators adopt a reverse dipole driving unit in a Kresling paper folding configuration; the shoulder auxiliary flexible paper folding actuators are arranged at armpits at two sides of the human body; the elbow auxiliary flexible paper folding actuator is worn on the double elbows of a human body, and the specific position is behind the elbows; the pneumatic device is arranged in the integrated box, is electrically connected with the main controller and the power supply through a wire, and is connected with the flexible paper folding actuator through an air duct.

The man-machine control module comprises a main controller and a power supply; the main controller adopts STM32 series microprocessors; the power supply is used for providing power required by the work of the main controller, the inflation module and the wireless IMU sensor and is electrically connected with the main controller, the inflation module and the wireless IMU sensor through wires; the main controller and the power supply are installed in the integrated box.

The flexible textile structural member is made of flexible textile fabric and comprises a shoulder and back part structural member, an elbow part structural member and a connecting part between the shoulder and back part structural member and the elbow part structural member; the shoulder and back part structural members penetrate through the shoulders to be worn on the upper half of the human body and are fixed through the buckles in the chest; the elbow part structural member is worn at the elbows on two sides of the human body, particularly at the back position of the elbows, and the two ends of the elbow part structural member can be fixed through magic tapes and can be adjusted at will; the elbow part structural member is connected with the shoulder and back part structural member through a flexible textile material, and integrally forms a complete flexible structural member, and a wire of a power supply connection wireless IMU sensor and a pneumatic device are arranged in the connecting part and are used for inflating and deflating the elbow auxiliary module.

The embodiment of the application provides a pneumatic paper folding type elbow shoulder wearing auxiliary system based on motion self-adaption, which is shown by referring to fig. 1 and 2, and comprises the following components: motion perception module, limbs drive auxiliary module, man-machine control module and flexible textile structure spare.

The motion sensing module is composed of five wireless IMU sensors 1, namely a back IMU, a left big arm IMU, a right big arm IMU, a left forearm IMU and a right forearm IMU. Each wireless IMU sensor 1 is embedded in the flexible textile structural member, so that falling off in the working process is prevented, and meanwhile, the damage of the wireless IMU sensor 1 can be reduced. Each wireless IMU sensor 1 is electrically connected to the power supply 7 by means of wires, which are arranged inside the flexible textile structure, so that damage to the wires and constraints on the actions of the workers can be avoided.

The wireless IMU sensor 1 is used for measuring kinematic parameters of all parts of a human body, including three-axis attitude angles and acceleration of motion. The back IMU is used as a reference IMU in the shoulder supporting state, the kinematic parameters measured by the left big arm IMU and the right big arm IMU are used as references, and the change rule and the change speed of the parameters are obtained by comparing the measured kinematic parameters, so that the movement intention of the shoulders of the worker can be deduced. The left big arm IMU and the right big arm IMU are used as reference IMUs in the elbow auxiliary state, the kinematic parameters measured by the left small arm IMU are used as references, the kinematic parameters measured by the right small arm IMU are used as references, and the change rule and the change speed of the parameters are obtained by respectively comparing the kinematic parameters measured by the two sides of the left big arm IMU, so that the movement intention of the left elbow and the right elbow of a worker can be deduced.

The limb driving auxiliary module is composed of a pneumatic device 2, a shoulder auxiliary flexible paper folding actuator 4 and an elbow auxiliary flexible paper folding actuator 5. The pneumatic device 2 can charge and discharge the shoulder auxiliary flexible paper folding actuator 4 and the elbow auxiliary flexible paper folding actuator 5 through the gas filled tube, and change the shape of the flexible paper folding actuator 3. Depending on the number of flexible sheet folding actuators 3, the number of pneumatic devices 2 should be four, one flexible sheet folding actuator 3 for each pneumatic device 2. The pneumatic device 2 is connected with the main controller 6, is controlled by the main controller 3, is electrically connected with the power supply 7 through a wire, and provides electric energy required by work for the pneumatic device 2 by the power supply 7. The pneumatic device 2 is mounted in a back integration box 10, and the air duct connected to each flexible paper folding actuator is arranged inside the flexible textile structure.

As seen with reference to fig. 3, the shoulder assist flexible paper folding actuator 4 assists the shoulder movement using a reverse dipole driving unit of Kresling paper folding configuration. The driving unit is wrapped by a layer of flexible material to form a strip shape. The middle part of the shoulder auxiliary flexible paper folding actuator can be bent, the upper end of the shoulder auxiliary flexible paper folding actuator is clung to the inner side of the large arm, and the upper end of the shoulder auxiliary flexible paper folding actuator is fixed with the flexible textile structural member. When the shoulder auxiliary flexible sheet folding actuator is in a contracted state, the shoulder auxiliary flexible sheet folding actuator 4 does not provide any moment, the upper end is relaxed and falls, and the support angle 13 is small, since the driving unit is not inflated at this time and is rendered flexible. When the shoulder assist flexible sheet folding actuator 4 is in the expanded state, the driving unit gradually exhibits rigidity due to the inflation of the pneumatic device 2 at this time, the degree of rigidity being related to the degree of expansion of the driving unit, the greater the degree of expansion, the greater the degree of rigidity, and the greater the support angle 13.

Referring to fig. 4, an elbow-assisting flexible paper folding actuator 5 assists elbow movement, and a reverse dipole driving unit of Kresling paper folding configuration is employed. Unlike the shoulder assist flexible sheet folding actuator 4, the elbow assist flexible sheet folding actuator uses a larger drive unit and is not packaged, but the middle portion is still bendable. The upper end and the lower end of the elbow auxiliary flexible paper folding actuator 5 are fixed on a flexible textile structural member through fixing devices, and the whole elbow auxiliary flexible paper folding actuator is parallel to the elbow of a human body. When the elbow-assisted flexible sheet folding actuator 5 is in the contracted state, since the driving unit is not inflated at this time and is rendered flexible, the elbow-assisted flexible sheet folding actuator returns to the original state, and the bending angle 14 is 0 °. When the elbow-assisted flexible sheet folding actuator 5 is in the expanded state, the degree of rigidity is related to the degree of expansion of the drive unit, since the drive unit is inflated by the pneumatic device 2 at this time to gradually exhibit rigidity, the greater the degree of expansion, the greater the degree of rigidity, and the greater the bending angle 14.

The man-machine control module is composed of a main controller 6 and a power supply 7. The main controller adopts STM32 series microprocessor and uses C language to program, and has the main functions of receiving the kinematic data measured by the wireless IMU sensor 1, carrying out human movement intention recognition according to data analysis, controlling the pneumatic device 2 to charge and discharge air to the corresponding flexible paper folding actuator, and further realizing auxiliary functions. The power supply 7 supplies electric power for the operation of the main controller 6, the pneumatic device 6 and the flexible sheet folding actuator 3. The main controller 6 and the power supply 7 are both mounted in the back integrated box 10.

The flexible structural textile element comprises a shoulder-back part structure 8 and an elbow part structure 9. The shoulder and back part structural member 8 is carried on the upper body through a strap and is fixed through a buckle 11, and an integrated box 10 is fixed on the back of the shoulder and back part structural member and is used for accommodating and protecting the main controller 6, the power supply 7 and the pneumatic device 2. The elbow part structure is worn on the elbow and is adjusted in size and fixed through the magic tape 12.

The working principle of the application is as follows:

the application has two states during operation: shoulder assist state and elbow assist state. The two states are independent of each other, and can be in a certain state independently or exist simultaneously. The state is determined according to the data measured by the wireless IMU sensor and the data analysis of the main controller. In each state, the left and right parts are separated, the flexible paper folding actuators on the left and right sides work independently and do not interfere with each other, but the working principle of the flexible paper folding actuators in the same state is the same.

Taking the left shoulder auxiliary state as an example, the back IMU can measure triaxial data and motion acceleration of the upper body of the human body in real time, and the back IMU can be used as reference data according to the human body structure. When the left big arm starts to move, the measured data of the IMU of the left big arm can change in real time, the measured kinematic data of the IMU of the left big arm is compared with the back IMU data to obtain a triaxial angle difference value, an angular velocity difference value and a change rate of corresponding change data, and the mode of the movement of the left big arm can be deduced. And the main controller controls the pneumatic device to perform inflation and deflation work on the left shoulder auxiliary flexible paper folding actuator according to the analysis result, so that the driving unit contracts and expands, and the left shoulder auxiliary flexible paper folding actuator can track the movement of the left big arm. When the left big arm moves to a proper position to stop moving, the data measured by the IMU of the left big arm can be kept to be changed within an allowable range, and when the data is within the allowable range, the main controller can control the pneumatic device to stop inflating and deflating, so that the left shoulder auxiliary flexible paper folding actuator keeps unchanged at the current state, and the effect of supporting the left big arm is achieved. The right shoulder auxiliary state and the left shoulder auxiliary state are consistent in working principle, but the states are mutually independent and can coexist.

Taking the left elbow assisted state as an example, the rotation axis of the elbow is elbow joint, so the back IMU cannot be used as a reference, and the application selects the data measured by the left forearm IMU as a reference. The main controller takes the data measured by the left large arm IMU as the reference data of the left elbow auxiliary state while analyzing the left shoulder auxiliary state movement data. The left forearm IMU can measure the kinematic data of the left forearm in real time and transmit the kinematic data to the main controller, when the data are changed, the main controller compares the kinematic data with the reference data to obtain a difference value and a difference value change rate, and the motion state of the left forearm is deduced. And the main controller controls the pneumatic device to perform inflation and deflation work on the left elbow auxiliary flexible paper folding actuator according to the analysis result, so that the driving unit contracts and expands, and the left shaft auxiliary flexible paper folding actuator can track the movement of the left arm. When the left forearm moves to a certain position and stops, the data measured by the left forearm IMU is kept to be changed within an allowable range, and when the data is within the allowable range, the main controller controls the pneumatic device to stop inflating and deflating, so that the left elbow auxiliary flexible paper folding actuator keeps unchanged at the current state, and the human body can reduce the force applied to the arm under the auxiliary effect of the left elbow auxiliary flexible paper folding actuator, thereby achieving the effect of reducing the work load.

The shoulder assist state and the elbow assist state are independent of each other because the shoulder assist state and the elbow assist state are referenced to data measured by different IMUs and the motion data are from different IMUs. Since the IMU combinations of different states do not affect each other's operation, the two states can coexist, i.e. assist both the shoulder and the elbow.

The present embodiment will be understood by those skilled in the art as a more specific description of embodiment 1.

Those skilled in the art will appreciate that the application provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the application can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.

In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.

Claims (9)

1. Motion-adaptive pneumatic paper folding type elbow shoulder wearing auxiliary system is characterized by comprising: the device comprises a motion sensing module, a limb driving auxiliary module, a man-machine control module and a flexible textile structural member;

the motion sensing module comprises five wireless IMU sensors (1);

the limb driving auxiliary module comprises a pneumatic device (2), a shoulder auxiliary flexible paper folding actuator (4) and an elbow auxiliary flexible paper folding actuator (5);

the man-machine control module comprises a main controller (6) and a power supply (7);

the flexible structural textile comprises a shoulder-back part structural part (8) and an elbow part structural part (9);

the motion sensing module, the limb driving auxiliary module and the man-machine control module are fixed on the flexible textile structural member, and the flexible textile structural member is worn on a human body.

2. The pneumatic paper folding elbow shoulder wearing auxiliary system based on motion self-adaption according to claim 1, wherein five wireless IMU sensors (1) are respectively installed at a left-hand big arm, a left-hand small arm, a right-hand big arm, a right-hand small arm and a human back, the five wireless IMU sensors (1) are electrically connected with the power supply (7) through wires, the wireless IMU sensors (1) respectively measure the motion parameters of the left-hand big arm, the left-hand small arm, the right-hand big arm, the right-hand small arm and the human back, and the five wireless IMU sensors (1) transmit the measured parameters to the main controller (6).

3. The motion adaptive pneumatic paper folding elbow and shoulder wear assistance system of claim 1, wherein the limb drive assistance module assists in the movement of the shoulder elbow;

the pneumatic device (2) is arranged in an integrated box (10) behind the shoulder and back part structural member (8), and the pneumatic device (2) is respectively connected with the main controller (6) and the power supply (7) through leads;

the shoulder auxiliary flexible paper folding actuator (4) adopts a reverse dipole driving unit in a Kresling paper folding configuration, the shoulder auxiliary flexible paper folding actuator (4) is arranged at armpits at two sides of a human body, one end of the shoulder auxiliary flexible paper folding actuator (4) is fixed on the shoulder and back part structural member (8), the other end supports a large arm, the shoulder is assisted to move, and the shoulder auxiliary flexible paper folding actuator is connected with the pneumatic device (2) through an air duct to perform inflation and deflation;

the elbow auxiliary flexible paper folding actuator (5) adopts a reverse dipole driving unit in a Kresling paper folding configuration, the elbow auxiliary flexible paper folding actuator (5) is arranged at the elbow of two hands, two ends of the elbow auxiliary flexible paper folding actuator (5) are fixed on elbow part structural members (9), and the elbow auxiliary flexible paper folding actuator is connected with the pneumatic device (2) through an air duct to perform inflation and deflation.

4. The motion-adaptive pneumatic paper folding elbow shoulder wearing auxiliary system according to claim 1, wherein the main controller (6) is installed in an integrated box (10) behind the shoulder and back part structural member (8), and the main controller (6) is connected with the power supply (6) and the pneumatic device (2) through wires;

the power supply (7) is arranged in the integrated box (10) behind the shoulder and back part structural member (8), and the power supply (7) is connected with the main controller (6), the wireless IMU sensor (1) and the pneumatic device (2) through wires to provide power and drive the work.

5. The motion-adaptive pneumatic paper folding elbow and shoulder wear assistance system according to claim 1, characterized in that the flexible textile structure is composed of a shoulder-back part structure (8) and an elbow part structure (9), the shoulder-back part structure (8) and elbow part structure (9) being made of a flexible textile material; the shoulder and back part structural member (8) is worn on the upper half of a human body and is fixed through a buckle (11) in front of the chest, and the integrated box (10) is arranged on the back, so that the main controller (6), the power supply (7) and the pneumatic device (2) are installed and protected; the elbow part structural member (9) is worn on an elbow of a human body and is fixed through a magic tape (12), and the driving unit (13) is directly arranged on the back surface of the elbow part structural member (9).

6. The motion adaptive pneumatic paper folding elbow and shoulder wear aid system according to any one of claims 2-4, wherein the wires and air ducts are distributed inside the flexible textile structure.

7. The motion-adaptive pneumatic paper folding type elbow and shoulder wearing auxiliary system according to claim 1, wherein the shoulder and back part structural member (8) and the elbow part structural member (9) are connected through long-strip type flexible textile fabrics to form a whole, and the whole form the flexible textile structural member.

8. The pneumatic paper folding elbow shoulder wearing auxiliary system based on motion self-adaption according to claim 1 is characterized in that the main controller (6) measures upper body upper limb kinematics parameters through five wireless IMU sensors (1) installed at different positions, corresponding reference IMU sensors and motion IMU sensors are determined according to different body parts, the main controller (9) compares data of the upper body upper limb kinematics parameters, motion intention of a human body is estimated, and the pneumatic device (2) is controlled to charge and discharge air to the auxiliary flexible paper folding actuator to automatically follow and assist human body upper limb motion.

9. A motion-based adaptive pneumatic paper folding type elbow shoulder wearing auxiliary method, characterized in that the method applies the motion-based adaptive pneumatic paper folding type elbow shoulder wearing auxiliary system as claimed in any one of claims 1-8, and the method comprises the following steps:

step S1: the back IMU measures three-axis data and motion acceleration of the upper body of the human body in real time, and takes the back IMU as reference data according to the human body structure;

step S2: when the left big arm starts to move, the measured data of the IMU of the left big arm can change in real time, the measured kinematic data of the IMU of the left big arm is compared with the back IMU data to obtain a triaxial angle difference value, an angular velocity difference value and a change rate of corresponding change data, and the movement mode of the left big arm is deduced;

step S3: the main controller controls the pneumatic device to charge and discharge the left shoulder auxiliary flexible paper folding actuator according to the analysis result, the driving unit contracts and expands, and the left shoulder auxiliary flexible paper folding actuator tracks the movement of the left big arm;

step S4: when the left big arm moves to a proper position to stop moving, the data measured by the IMU of the left big arm is kept to be changed within an allowable range, the main controller controls the pneumatic device to stop inflating and deflating, and the left shoulder assists the flexible paper folding actuator to keep the state unchanged at the time and support the left big arm.