CN116672224A

CN116672224A - Control method and device for dorsiflexion assisting ankle exoskeleton robot

Info

Publication number: CN116672224A
Application number: CN202310559114.9A
Authority: CN
Inventors: 叶晶; 陈功; 李粤; 郭登极; 徐延宗; 梁思远; 许宇杰; 董文杰; 张石生
Original assignee: Shenzhen Milebot Robotics Co ltd
Current assignee: Shenzhen Milebot Robotics Co ltd
Priority date: 2023-05-17
Filing date: 2023-05-17
Publication date: 2023-09-01

Abstract

The application provides a control method and a device of a dorsiflexion assisting ankle exoskeleton robot, which comprise the steps of obtaining motion data of a user in a walking state, and interference angle data and interference tension data during man-machine interaction; the movement data comprise sole inertia data, sole pressure data, ankle angle data and tension data; generating a desired position curve and a desired force curve according to sole inertia data, sole pressure data and ankle angle data; generating actual angle data and actual tension data according to the interference angle data, the interference tension data, the ankle joint angle data and the tension data; and generating a driver control amount according to the expected position curve, the expected force curve, the actual angle data and the actual tension data. In dorsiflexion assistance state, impedance control based on angle and tension feedback is adopted, and in the driving process, when a patient with foot drop is weak to resist dorsiflexion assistance, a more compliant assistance effect can be obtained, instead of direct dorsiflexion Qu Dila, so that the convergence to a desired position is faster.

Description

Control method and device for dorsiflexion assisting ankle exoskeleton robot

Technical Field

The application relates to the field of robot control, in particular to a control method and a control device of a dorsiflexion assisting ankle exoskeleton robot.

Background

Domestic medical rehabilitation and senile nursing resources (including senile nursing institutions, nursing staff, nursing equipment and the like) are short, traditional manual auxiliary rehabilitation training quality is limited to experience and capability of physical therapists, and problems that working time is long, training data are difficult to feed back and the like exist, so that the demands of daily nursing and rehabilitation training of current foot drop patients are not met increasingly.

At present, the control assistance mode aiming at the patient with foot drop comprises a fixed lifting mode, a track generation mode and a pure PID control mode.

Fixed lifting type: the control executor timely performs moment control, is immediately released after being lifted to a certain angle, and the fixed lifting type power assisting effect depends on moment curve tracks given to the driver, but the optimal moment curve tracks of different wearable types are different, so that the device has no universality.

Generating a track type: generating a power-assisted curve track through the first several gait or normal gait, wherein the mode is suitable for patients or healthy people who can walk independently; the gait of the patient cannot be acquired by the foot drop patient who cannot independently walk without assistance, and the generated power-assisted curve track can be influenced.

Pure PID control: on the basis of fixed lifting, PID control is introduced, so that the tracking of the power-assisted curve track is smoother, but the problem that the power-assisted curve tracks required by different wearers are different is solved.

Therefore, there is a need to propose a control assistance method for patients with foot drop that is compliant in assistance control and highly versatile.

Disclosure of Invention

In view of the foregoing, the present application has been made to provide a control method and apparatus for a dorsiflexion assisted ankle exoskeleton robot that overcomes or at least partially solves the foregoing, including:

a control method of a dorsiflexion assisting ankle exoskeleton robot comprises the following steps:

acquiring motion data and interference angle data and interference tension data of a user in a walking state during man-machine interaction; wherein the movement data comprise sole inertia data, sole pressure data, ankle joint angle data and tension data;

generating a desired position curve and a desired force curve according to the sole inertia data, the sole pressure data and the ankle angle data;

generating actual angle data and actual tension data according to the interference angle data, the interference tension data, the ankle joint angle data and the tension data;

And generating a driver control amount for controlling the dorsiflexion assisting ankle exoskeleton robot according to the expected position curve, the expected force curve, the actual angle data and the actual tension data.

Further, the step of generating a desired position curve and a desired force curve according to the sole inertia data, the sole pressure data, and the ankle angle data includes:

generating a current gait event of the user according to the sole inertia data, the sole pressure data and the ankle angle data; wherein the gait events include a heel strike event, a full foot strike event, a heel lift event and a swing phase event;

the desired position profile and the desired force profile are determined from the current gait event.

Further, the step of generating actual angle data and actual tension data according to the interference angle data, the interference tension data, the ankle angle data and the tension data includes the steps of;

generating actual angle data according to the interference angle data and the ankle angle data;

and generating actual tension data according to the disturbance tension data and the tension data.

Further, the step of generating a driver control amount for controlling the dorsiflexion assisted ankle exoskeleton robot according to the desired position curve, the desired force curve, the actual angle data and the actual tension data includes:

generating an ankle angular acceleration error according to the expected position curve, the expected force curve, the actual angle data and the actual tension data;

and generating the driver control amount according to the ankle angular acceleration error, the expected position curve and the actual angle data.

Further, the step of generating an ankle angular acceleration error from the desired position curve, the desired force curve, the actual angle data, and the actual tension data includes:

discrete value taking is carried out on the expected position curve, and an expected angle, an expected angular velocity and an expected angular acceleration are generated;

generating the ankle angular acceleration error from the desired angle, the desired angular velocity, the desired angular acceleration, the desired force profile, the actual angle data, and the actual tension data.

Further, the step of generating the ankle angular acceleration error from the desired angle, the desired angular velocity, the desired angular acceleration, the desired force profile, the actual angle data, and the actual tension data includes:

Generating first impedance control data according to the actual tension data and the expected force curve;

generating second impedance control data according to the actual angle data, the expected angular velocity and the expected angular acceleration;

generating third impedance control data according to the actual angle data, the expected angle and the expected angular velocity;

and generating the ankle angular acceleration error according to the first impedance control data, the second impedance control data and the third impedance control data.

Further, the step of generating the driver control amount according to the ankle angular acceleration error, the desired position curve, and the actual angle data includes:

integrating the ankle joint angular acceleration error twice to obtain a corrected angle error;

generating a corrected expected angle according to the corrected angle error and the expected angle;

and generating the driver control amount according to the corrected expected angle and the actual angle data.

A control device for a dorsiflexion assisted ankle exoskeleton robot, comprising:

the exercise data acquisition module is used for acquiring exercise data of a user in a walking state, and interference angle data and interference tension data during man-machine interaction; wherein the movement data comprise sole inertia data, sole pressure data, ankle joint angle data and tension data;

The expected data calculation module is used for generating an expected position curve and an expected force curve according to the sole inertia data, the sole pressure data and the ankle joint angle data;

the actual data calculation module is used for generating actual angle data and actual tension data according to the interference angle data, the interference tension data, the ankle joint angle data and the tension data;

and the dorsiflexion assistance control module is used for generating a driver control quantity for controlling the dorsiflexion assistance ankle joint exoskeleton robot according to the expected position curve, the expected force curve, the actual angle data and the actual tension data.

The dorsiflexion assisting ankle exoskeleton robot is controlled by the control method of the dorsiflexion assisting ankle exoskeleton robot.

The control device of the dorsiflexion assisting ankle joint exoskeleton robot comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the control method of the dorsiflexion assisting ankle joint exoskeleton robot when being executed by the processor.

The application has the following advantages:

In the embodiment of the application, compared with the problems that the existing power assisting control for controlling a power assisting mode of a patient with foot drop is not flexible enough and the universality is poor, the application provides a solution for impedance control based on angle and tension feedback, which comprises the following specific steps: acquiring motion data and interference angle data and interference tension data of a user in a walking state during man-machine interaction; wherein the movement data comprise sole inertia data, sole pressure data, ankle joint angle data and tension data; generating a desired position curve and a desired force curve according to the sole inertia data, the sole pressure data and the ankle angle data; generating actual angle data and actual tension data according to the interference angle data, the interference tension data, the ankle joint angle data and the tension data; and generating a driver control amount for controlling the dorsiflexion assisting ankle exoskeleton robot according to the expected position curve, the expected force curve, the actual angle data and the actual tension data. In dorsiflexion assistance state, impedance control based on angle and tension feedback is adopted, and in the driving process, when a patient with foot drop resists dorsiflexion assistance due to the weakness of the sole, a more flexible assistance effect can be obtained, instead of direct dorsum Qu Dila, and convergence to a desired position is faster.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the description of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

FIG. 1 is a flow chart of steps of a method for controlling a dorsiflexion assisted ankle exoskeleton robot according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an automatic control system for a dorsiflexion assisted ankle exoskeleton robot according to an embodiment of the present application;

FIG. 3 is a block diagram of a control device for a dorsiflexion assisted ankle exoskeleton robot according to an embodiment of the present application;

FIG. 4 is a schematic view of a dorsiflexion assisted ankle exoskeleton robot according to an embodiment of the present application;

FIG. 5 is a rear view of a dorsiflexion assisted ankle exoskeleton robot provided in an embodiment of the present application;

FIG. 6 is a side view of a dorsiflexion assisted ankle exoskeleton robot provided in an embodiment of the present application;

FIG. 7 is a schematic structural diagram of an execution end module according to an embodiment of the present application;

FIG. 8 is an exploded view of an execution end module according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a transmission module according to an embodiment of the present application;

FIG. 10 is a cross-sectional view of an ankle joint actuating assembly according to an embodiment of the present application;

FIG. 11 is a schematic view of an ankle joint actuating assembly according to an embodiment of the present application;

FIG. 12 is a schematic view of a drive end module according to one embodiment of the present application;

FIG. 13 is an exploded view of a drive end module provided in accordance with one embodiment of the present application;

FIG. 14 is a side view of an embodiment of the present application after being worn by an actuator module;

fig. 15 is a rear view of an execution end module according to an embodiment of the present application after being worn.

Reference numerals in the drawings of the specification are as follows:

1. an execution end module; 11. a lower leg performing assembly; 12. an ankle joint actuating assembly; 13. a foot-foot actuation assembly; 111. the lower leg supports the upper carbon plate; 112. the lower leg supports the lower carbon plate; 113. a crossbeam at the dorsiflexion line; 114. controlling the auxiliary plate; 121. an ankle support; 122. an ankle support plate; 123. an ankle joint encoder support; 124. an absolute value encoder; 125. an encoder magnet; 126. an ankle joint D-shaped shaft; 131. a foot support carbon plate; 132. a sole opening bracket; 133. a tension sensor; 134. the sensor anti-loose bracket; 135. an inertial sensor; 136. a bracket supporting seat; 2. a drive end module; 21. a battery control board assembly; 22. a driver assembly; 23. a back plate; 211. a control main board; 212. a battery case; 213. a battery; 221. a driving motor; 222. a motor bracket; 223. a rope pulley; 224. a wire locking device; 3. a transmission module; 31. a bracket at the back plate line passing position; 32. a bowden tube; 33. a dorsiflexion wire bracket; 34. pulley, 35, bowden cable; 4. a strap module; 41. waist band; 42. shank straps; 43. heel strap; 44. a sole strap; 45. instep straps; 46. sole strap.

Detailed Description

In order that the manner in which the above recited objects, features and advantages of the present application are obtained will become more readily apparent, a more particular description of the application briefly described above will be rendered by reference to the appended drawings. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1, a control method of a dorsiflexion assisting ankle exoskeleton robot provided by an embodiment of the present application is shown;

the method comprises the following steps:

s110, acquiring motion data of a user in a walking state, and interference angle data and interference tension data during man-machine interaction; wherein the movement data comprise sole inertia data, sole pressure data, ankle joint angle data and tension data;

s120, generating a desired position curve and a desired force curve according to the sole inertia data, the sole pressure data and the ankle angle data;

s130, generating actual angle data and actual tension data according to the interference angle data, the interference tension data, the ankle angle data and the tension data;

And S140, generating a driver control amount for controlling the dorsiflexion assisting ankle exoskeleton robot according to the expected position curve, the expected force curve, the actual angle data and the actual tension data.

Next, a control method of the dorsiflexion assisting ankle exoskeleton robot in the present exemplary embodiment will be further described.

As described in step S110, motion data of a user in a walking state, interference angle data and interference tension data during man-machine interaction are obtained; wherein the exercise data includes sole inertia data, sole pressure data, ankle angle data, and tension data.

The sole inertia data are collected through an inertia sensor, the sole pressure data are collected through a sole pressure sensor, the ankle angle data are collected through an absolute value encoder, and the tension data are collected through a tension sensor.

The extraneous factor causing the fluctuation of the modulated parameter is called an interference effect, which is an input signal acting on the object. In this embodiment, as shown in fig. 2, a schematic diagram of an automatic control system of a dorsiflexion assisted ankle exoskeleton robot is shown, in which the unknown disturbance suffered by an angle encoder, i.e. an absolute value encoder, is disturbance angle data x _n The unknown disturbance to the tension sensor is disturbance tension data F _n 。

As an example, according to the angle and moment data of the ankle joint in the gait cycle of the healthy person, the present invention reads sole inertia data, sole pressure data, ankle joint angle data and tension data through an inertia sensor, a sole pressure sensor, an absolute value encoder and a tension sensor, respectively.

The inertial sensor is arranged at the position of the sole opening, the patient wears the exoskeleton to walk on the ground, the inertial sensor collects sole inertial data, and the sole inertial data comprise sole opening angle values and corresponding sole opening angular velocity values. The inertial sensor is a combined unit consisting of 3 accelerometers and 3 gyroscopes, and the accelerometers and the gyroscopes are arranged on mutually perpendicular measuring shafts to collect the angle value of the sole opening.

The sole pressure sensor is specifically arranged on the insole of a wearer, the wearer only needs to add or replace the insole in the actual use process, and the insole is provided with a plurality of sole pressure sensor anchor points. The sole pressure data is the pressure applied to the sole of the foot when the wearer walks.

The absolute value encoders are arranged at the ankle joints at the left side and the right side, and collect the angle value of the ankle joint at the left side and the angle value of the ankle joint at the right side. The absolute value encoder is used for collecting rotation angle values of the left ankle joint and the right ankle joint, and optionally, the angle value of the sole opening refers to an included angle between the sole opening and the vertical direction of gravity on the sagittal plane, and the forward inclination is positive and the backward inclination is negative.

The tension sensor is arranged above the inertial sensor and connected with a Bowden wire for assisting dorsiflexion, and the tension sensor collects data of the Bowden wire tensioning and relaxing during the assistance of the dorsiflexion of the exoskeleton.

In a specific implementation, the sole pressure sensor is disposed on an insole of the wearer, and the insole is provided with 3 sole pressure sensor anchors, wherein two anchors are disposed in the front extension region of the sole, and one anchor is disposed in the heel region of the sole.

As shown in the step S120, a desired position curve and a desired force curve are generated according to the sole inertia data, the sole pressure data, and the ankle angle data.

In one embodiment of the present invention, the specific process of "generating a desired position curve and a desired force curve from the sole inertia data, the sole pressure data, and the ankle angle data" in step S120 may be further described in conjunction with the following description.

Generating a current gait event of the user according to the sole inertia data, the sole pressure data and the ankle angle data as follows; wherein the gait events include a heel strike event, a full foot strike event, a heel lift event and a swing phase event;

the desired position profile and the desired force profile are determined from the current gait event as described in the following steps.

It should be noted that, in one gait cycle, four gait events are included, including a heel strike event, a full foot strike event, a heel lift event and a swing phase event.

Gait Cycle (GC): the process of striking the heel of a foot while walking to the heel of the foot again is referred to as a gait cycle, and is generally expressed in time seconds(s). The gait cycle of a typical adult is about 1-1.32 s. Each gait cycle in walking involves a series of shifts in typical pose, which are typically divided into a series of time periods called gait phases (gap phases). A gait cycle can be divided into a supporting phase (stance phase) and a swinging phase (swing phase), and is generally expressed in terms of a percentage of the gait cycle (GC%) of the phase.

In the walking process after wearing, the 12-31% GC whole foot grounding period is in a relaxed state, the 31-62% GC heel lifting period is in a pre-tightening state, the 62-100% GC swing phase period is in a dorsiflexion assisting state, and the 0-12% GC heel grounding period is in a slow relaxation state. Wherein the device is also in a relaxed state during the 0-12% GC heel strike period of the first gait cycle after power up.

As an example, according to the angle and moment data of the ankle joint in the gait cycle of the healthy crowd, the invention reads gait data, namely sole inertia data, sole pressure data and ankle joint angle data through an inertia sensor, a sole pressure sensor and an absolute value encoder, the gait data is calculated through a gait event detection algorithm to obtain a real-time gait event of the wearer, and when the corresponding event occurs, a desired position curve (mainly comprising two stages of pre-tightening in the process of 31-62% gc and rapid dorsiflexion assistance in the process of 62-100% gc) and a desired force curve are obtained through a desired position track generation algorithm.

As described in the step S130, actual angle data and actual tension data are generated according to the disturbance angle data, the disturbance tension data, the ankle angle data and the tension data.

In an embodiment of the present invention, the specific process of generating the actual angle data and the actual tension data according to the disturbance angle data, the disturbance tension data, the ankle angle data and the tension data in step S130 may be further described in conjunction with the following description.

Generating actual angle data according to the interference angle data and the ankle angle data as follows;

and generating actual tension data according to the interference tension data and the tension data as follows.

As an example, the control sub-board of the dorsiflexion assisted ankle exoskeleton robot is responsible for collecting ankle data, including ankle angle data and tension data collected by an absolute value encoder and a tension sensor. The impedance control type based on the angle and tension feedback only gives the expected position information capable of realizing foot clearance and heel landing in advance. The actual output angle and the actual tension are obtained through the combined action of the output angle position and the tension condition and the unknown interference in man-machine interaction.

In a specific implementation, the actual angle data includes an actual angle and an actual angular velocity, and the actual angular velocity is calculated by the actual angle. The unknown disturbance F is read in each control period t _n And x _n The latter data, i.e. the actual angle x, the actual angular velocityThe actual pulling force F. Wherein the actual angular velocity +.>The calculation formula is as follows, and the calculation is calculated by sampling the actual angle x twice in succession at the time of t and t+1:

as described in the step S140, a driver control amount for controlling the dorsiflexion assisted ankle exoskeleton robot is generated according to the desired position curve, the desired force curve, the actual angle data and the actual tension data.

In one embodiment of the present invention, the specific process of "generating a driver control amount for controlling the dorsiflexion-assisted ankle exoskeleton robot based on the desired position profile, the desired force profile, the actual angle data and the actual tension data" in step S140 may be further described in conjunction with the following description.

S141, generating an ankle joint angular acceleration error according to the expected position curve, the expected force curve, the actual angle data and the actual tension data;

In an embodiment of the present invention, the specific procedure of step S141 may be further described in conjunction with the following description.

S1411, discrete value taking is carried out on the expected position curve, and expected angles, expected angular velocities and expected angular accelerations are generated;

in one embodiment, the desired angle x can be calculated by performing discrete values (control period t=1ms) on the desired position curve _d Desired angular velocityAnd the desired angular acceleration +>(superscript time t is not shown). Specifically, the desired angle at the current time t+1 +.>Desired angular velocity at the present time t+1 +.>Desired angular acceleration at the current time t+1

Due to the desired angular velocity at time t+1 +.>Desired angular acceleration at time t+1Since the calculation of (a) requires the data of the previous time, the calculation requires at least three discrete values. In actual control, each gait cycle control starts with a third control cycle.

S1412, generating the ankle angular acceleration error according to the desired angle, the desired angular velocity, the desired angular acceleration, the desired force curve, the actual angle data, and the actual tension data.

In an embodiment of the present invention, the specific process of step S1412 may be further described in conjunction with the following description.

Generating first impedance control data according to the actual tension data and the expected force curve as follows;

generating second impedance control data from the actual angle data, the desired angular velocity, and the desired angular acceleration, as described in the following steps;

generating third impedance control data from the actual angle data, the desired angle, and the desired angular velocity, as described in the following steps;

and generating the ankle angular acceleration error according to the first impedance control data, the second impedance control data and the third impedance control data as follows.

The impedance control does not directly control the contact force between the tail end of the mechanical arm and the environment, and the force control and the position control are comprehensively considered by analyzing the dynamic relationship between the tail end of the mechanical arm and the environment and are realized by the same strategy.

In one embodiment, the impedance control model:(superscript time t is not shown) ankle angular acceleration error ++at time t is obtained by back-pushing>

In the impedance control model, F _e To pass through unknown interference F _n The actual pulling force F and the expected force F _d Is specific to the difference(s): f (F) _e ＝F-F _d The method comprises the steps of carrying out a first treatment on the surface of the And M, B, K are impedance parameters of impedance control, the values of which can be set and corrected according to the test, and M, B, K represent an inertia matrix, a damping matrix and a stiffness matrix of the target impedance model respectively.

In the derivation, the first impedance control dataSecond impedance control dataThird impedance control data->Parameter x ^t ，/> The foregoing has been mentioned; />The method is obtained by discretely adopting and calculating a desired position curve track generating algorithm; x is x ^t ，/>Is obtained by discrete acquisition and calculation by an absolute value encoder.

And S142, generating the driver control amount according to the ankle joint angular acceleration error, the expected position curve and the actual angle data.

In one embodiment of the present invention, the specific process of step S142 may be further described in conjunction with the following description.

S1421, integrating the ankle joint angular acceleration error twice to obtain a corrected angle error;

s1422, generating a corrected expected angle according to the corrected angle error and the expected angle;

s1423, generating the driver control amount according to the corrected expected angle and the actual angle data.

As one example, the impedance control type based on the angle and tension feedback gives only the desired position information enabling the foot clearance and heel strike in advance. The actual output angle and the pulling force obtained through the combined action of the output angle position and the pulling force condition and the unknown interference in man-machine interaction are added with the expected position after passing through the impedance controller, then position errors are constructed with the actual output angle, and finally position control is executed through the PID controller. The power control method of the embodiment is more sensitive and flexible than a direct control type and is faster in convergence to the expected position than a pure PID control type.

In a specific implementation, the ankle angular acceleration error is integrated twice to obtain a corrected angle error at time t+1The integration process is as follows:

wherein, the liquid crystal display device comprises a liquid crystal display device,and->Is distinguished by->Is the desired angle x _d Difference from the actual angle x, +.>The difference is obtained by the inverse of the impedance model and the integration of the difference twice, and is corrected. />And x _e Is the same as the above.

Finally the desired angle x _d Adding the corrected angle errorObtaining a corrected desired angleSubtracting the actual angle x to obtain the driver control amount +.>The value is the difference between the corrected desired angle and the actual angle. The subsequent PID controller tracks the control quantity of the driver, and sends corresponding control instructions to the driver after calculation by a PID incremental algorithm.

The invention is verified by experiments, and the wearing of the invention can allow the wearer to freely move, and the use scene comprises: straight walking, ascending and descending slopes, ascending and descending steps, and the like. Gait is monitored through a gait detection algorithm, pretension is achieved in the process of 30-62% GC, dorsiflexion assistance is achieved rapidly in the process of 62-100% GC, slow release is achieved in the process of 0-12% GC, and complete relaxation is achieved in the process of 12-31% GC. Realizing that the wearer can obtain ankle dorsiflexion assistance in the swing phase, helping the wearer to complete foot clearance and heel strike. And in the aspect of power assisting control, impedance control based on angle and tension feedback is adopted, so that the power assisting effect is more flexible.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

Referring to fig. 3, a control device for a dorsiflexion assisted ankle exoskeleton robot according to an embodiment of the present application is shown;

the method specifically comprises the following steps:

the exercise data acquisition module 310 is configured to acquire exercise data of a user in a walking state, and interference angle data and interference tension data during man-machine interaction; wherein the movement data comprise sole inertia data, sole pressure data, ankle joint angle data and tension data;

a desired data calculation module 320, configured to generate a desired position curve and a desired force curve according to the sole inertia data, the sole pressure data, and the ankle angle data;

the actual data calculation module 330 is configured to generate actual angle data and actual tension data according to the interference angle data, the interference tension data, the ankle angle data and the tension data;

the dorsiflexion assistance control module 340 is configured to generate a driver control amount for controlling the dorsiflexion assistance ankle exoskeleton robot according to the desired position curve, the desired force curve, the actual angle data and the actual tension data.

In one embodiment of the present invention, the expected data computing module 320 includes:

the gait event calculation sub-module is used for generating a current gait event of a user according to the sole inertia data, the sole pressure data and the ankle joint angle data; wherein the gait events include a heel strike event, a full foot strike event, a heel lift event and a swing phase event;

a desired curve calculation sub-module for determining the desired position curve and the desired force curve from the current gait event.

In one embodiment of the present invention, the actual data calculation module 330 includes:

the actual angle calculation sub-module is used for generating actual angle data according to the interference angle data and the ankle angle data;

and the actual tension calculation sub-module is used for generating actual tension data according to the disturbance tension data and the tension data.

In one embodiment of the present invention, the dorsiflexion assist control module 340 includes:

the acceleration error calculation sub-module is used for generating an ankle joint angular acceleration error according to the expected position curve, the expected force curve, the actual angle data and the actual tension data;

And the control calculation operator module is used for generating the driver control quantity according to the ankle joint angular acceleration error, the expected position curve and the actual angle data.

In one embodiment of the present invention, the acceleration error calculating sub-module includes:

the discrete value taking unit is used for carrying out discrete value taking on the expected position curve to generate an expected angle, an expected angular speed and an expected angular acceleration;

and the error calculation unit is used for generating the ankle joint angular acceleration error according to the expected angle, the expected angular speed, the expected angular acceleration, the expected force curve, the actual angle data and the actual tension data.

In an embodiment of the present invention, the error calculation unit includes:

a first calculation subunit, configured to generate first impedance control data according to the actual tension data and the expected force curve;

a second calculation subunit configured to generate second impedance control data according to the actual angle data, the desired angular velocity, and the desired angular acceleration;

a third calculation subunit, configured to generate third impedance control data according to the actual angle data, the desired angle, and the desired angular velocity;

And a fourth computing subunit configured to generate the ankle angular acceleration error according to the first impedance control data, the second impedance control data, and the third impedance control data.

In one embodiment of the present invention, the control calculation operator module includes:

the first correction unit is used for integrating the ankle joint angular acceleration error twice to obtain a correction angle error;

the second correction unit is used for generating a corrected expected angle according to the corrected angle error and the expected angle;

and the control calculation unit is used for generating the driver control quantity according to the corrected expected angle and the actual angle data.

The dorsiflexion assisting ankle exoskeleton robot belongs to the protection scope of the embodiment as long as the control method of the dorsiflexion assisting ankle exoskeleton robot can be utilized.

As an example, it is preferable to design a single dorsiflexion active power assisted ankle exoskeleton robot for patients with light and medium foot drop, and a rigid+flexible structural design is adopted to ensure the freedom of the ankle of the wearer, so as to ensure the wearing comfort and the use flexibility.

Referring to fig. 4-15, there is shown a dorsiflexion assisting ankle exoskeleton robot provided in an embodiment of the present application, including an execution end module 1, a driving end module 2, a transmission module 3, and a strap module 4;

the strap module 4 comprises a shank strap 42, the execution end module 1 comprises a shank execution assembly 11, an ankle joint execution assembly 12 and a foot execution assembly 13, the shank execution assembly 11 comprises a shank support upper carbon plate 111, a shank support lower carbon plate 112 and a dorsiflexion line position cross beam 113, two sides of the shank strap 42 are respectively and fixedly connected with one end of the shank support upper carbon plate 111, the other end of the shank support upper carbon plate 111 is connected with the shank support lower carbon plate 112, the connection length is adjustable, the shank support lower carbon plate 112 on two sides is connected with the dorsiflexion line position cross beam 113 through the dorsiflexion line position cross beam 112, one end of the ankle joint execution assembly 12 is movably connected with the shank support lower carbon plate 112, the other end of the ankle joint execution assembly 12 is fixedly connected with the foot execution assembly 13, and the driving end module 2, the dorsiflexion line position cross beam 113 and the foot execution assembly 13 are respectively connected with the driving module 3.

In the embodiment of the application, compared with the problem of poor dorsiflexion assistance effect of the existing rigid+flexible ankle exoskeleton robot, the application provides a solution for improving the dorsiflexion assistance of the rigid+flexible ankle exoskeleton robot based on angles and tensile forces, which comprises the following specific steps: the device comprises an execution end module 1, a driving end module 2, a transmission module 3 and a binding belt module 4; the strap module 4 comprises a shank strap 42, the execution end module 1 comprises a shank execution assembly 11, an ankle joint execution assembly 12 and a foot execution assembly 13, the shank execution assembly 11 comprises a shank support upper carbon plate 111, a shank support lower carbon plate 112 and a dorsiflexion line position cross beam 113, two sides of the shank strap 42 are respectively and fixedly connected with one end of the shank support upper carbon plate 111, the other end of the shank support upper carbon plate 111 is connected with the shank support lower carbon plate 112, the connection length is adjustable, the shank support lower carbon plate 112 on two sides is connected with the dorsiflexion line position cross beam 113 through the dorsiflexion line position cross beam 112, one end of the ankle joint execution assembly 12 is movably connected with the shank support lower carbon plate 112, the other end of the ankle joint execution assembly 12 is fixedly connected with the foot execution assembly 13, and the driving end module 2, the dorsiflexion line position cross beam 113 and the foot execution assembly 13 are respectively connected with the driving module 3. The freedom degree of the ankle joint of a wearer is guaranteed through adopting a rigid and flexible structural design, and a line driving mode with a driving end and an executing end separated is used for timely providing dorsiflexion assistance in the walking process of the patient to help the patient to complete foot clearance and heel grounding, so that the patient can walk independently under the assistance of an exoskeleton. By arranging action anchor points on the light rigid structural member, the dorsiflexion power force arm is prolonged to improve the response speed and effect of power assistance, reduce the requirement on a driver, further lighten the weight of the whole equipment and lighten the burden of a wearer.

A dorsiflexion assisted ankle exoskeleton robot in accordance with various exemplary embodiments of the present application will be further described.

It should be noted that the dorsiflexion assisting ankle exoskeleton robot provided by the application consists of four parts, namely an execution end module 1, a driving end module 2, a transmission module 3 and a binding belt module 4. As shown in fig. 4-7, the execution end module 1 and the driving end module 2 are connected through the transmission module 3, and the whole set of exoskeleton equipment is flexibly connected with a human body through the binding band module 4 after connection.

As shown in fig. 7 and 8, the executing end module 1 is a mirror-symmetrical executing end module, two sides are support parts, the middle is connected with the support parts by a cross beam 113 at the dorsiflexion line and a sole opening support 132, and the executing end module 1 and the transmission module 3 are connected by a support 33 at the dorsiflexion line. The execution end module 1 comprises a lower leg execution assembly 11, an ankle execution assembly 12 and a foot execution assembly 13.

In a specific implementation, the lower leg performing component 11 is composed of an upper lower leg supporting carbon plate 111, a lower leg supporting carbon plate 112 and a cross beam 113 at a dorsiflexion line, wherein the upper leg supporting carbon plate 111 and the lower leg supporting carbon plate 112 have a length adjusting function, and the adjustable range is 320-400 mm according to the data of the 3 'size of adult human body of China' 18-55 years old female and the 10-90 percentile of the lower leg length of 18-60 years old male. Fig. 8 shows the outer side of the right leg actually worn, the lower carbon plates 112 of the lower leg support on both sides are connected by a cross beam 113 at a dorsiflexion line, a support 33 at the dorsiflexion line is arranged on the cross beam 113 at the dorsiflexion line, the upper end of the support 33 at the dorsiflexion line is used for being connected with the bowden tube 32, and a pulley 34 is arranged at the lower end of the support 33 at the dorsiflexion line, so as to reduce the abrasion with the bowden tube 32 during the tightening and loosening process of the bowden wire 35.

The load of the equipment is mainly concentrated on the waist, the mass of the execution end is less than 0.6kg, and a wearer can walk, go up and down steps and go up and down slopes. By the rigid structure of the cross beam 113 and the sole opening bracket 132 at the dorsiflexion line of the execution end module 1, the stability of transmitting tensile force is ensured, and the arm of force of dorsiflexion assistance is increased.

In one embodiment of the present application, the ankle joint actuating assembly 12 includes an ankle joint support 121, an ankle joint support plate 122, an ankle joint encoder bracket 123, an absolute value encoder 124, an encoder magnet 125, and an ankle joint D-shaped shaft 126;

the ankle joint support piece 121 with the shank supports carbon plate 112 and is connected, the ankle joint support piece 121 is equipped with the mounting groove, the ankle joint support plate 122 is located in the mounting groove, ankle joint D type axle 126 with the D type hole fixed connection of ankle joint support plate 122, and together with ankle joint support piece 121 swivelling joint, ankle joint D type axle 126 is equipped with encoder magnet 125, ankle joint encoder support 123 with ankle joint support piece 121 is connected, ankle joint encoder support 123 is equipped with absolute encoder 124, absolute encoder 124 locates one side of encoder magnet 125, just absolute encoder 124 with ankle joint D type axle 126 concentricity sets up.

It should be noted that, the ankle joint executing assembly 12 uses the design of the D-shaped hole and the D-shaped shaft to rotate the ankle joint D-shaped shaft 126 and the ankle joint supporting plate 122 together, so as to drive the encoder magnet 125 to rotate, and the ankle joint encoder bracket 123 with the absolute value encoder 124 is fixedly connected with the ankle joint supporting member 121 and does not rotate along with the ankle joint supporting plate 122, so that when the human ankle joint rotates, the relative rotation between the absolute value encoder 124 and the encoder magnet 125 is realized, and the motion condition of the human ankle joint is accurately recorded.

In one embodiment, as shown in fig. 10 and 11, which are schematic views of the ankle joint actuating assembly 12, the ankle joint support plate 122 is positioned in the installation groove of the ankle joint support 121, and the D-shaped hole of the ankle joint support plate 122 is aligned with the center of the circular hole of the ankle joint support 121, wherein the D-shaped hole of the ankle joint support plate 122 cooperates with the ankle joint D-shaped shaft 126 to rotate together in the groove of the ankle joint support 121. Meanwhile, according to the degree of freedom of the ankle joint worn by the human body, the outline of the ankle joint supporting plate 122 is designed, the rotation range is mechanically limited, and the range is 40 degrees to 30 degrees of dorsiflexion. Because the encoder magnet 125 is fixed to the ankle joint D-shaped shaft 126, the encoder magnet 125 is simultaneously rotated when the ankle joint D-shaped shaft 126 is rotated, so that the data of the rotation of the ankle joint exoskeleton is detected and read by the absolute value encoder 124 on the ankle joint encoder bracket 123 concentric with the ankle joint D-shaped shaft 126.

In one embodiment of the present application, the foot performing assembly 13 includes a foot supporting carbon plate 131, a sole opening bracket 132, a tension sensor 133, a sensor locking bracket 134, an inertial sensor 135 and a bracket support 136;

the foot support carbon plate 131 with ankle joint backup pad 122 is connected, both sides foot support carbon plate 131 with sole mouth support 132 is connected, the fixed surface of sole mouth support 132 is equipped with support supporting seat 136 with inertial sensor 135, sensor locking support 134 with support supporting seat 136 swivelling joint, sensor locking support 134 with tension sensor 133 fixed connection, tension sensor 133 with transmission module 3 is connected.

It should be noted that, this embodiment is placed on the sole mouth type support through a slewing mechanism, has reduced the wearing and tearing problem, and simultaneously the tension sensor is connected with rigid support, does not have the problem such as helping hand position offset. As shown in fig. 9, which is a schematic structural diagram of the transmission module, the tension sensor 133 is fixedly connected to the sensor locking bracket 134 and is rotatably connected to the sole opening bracket 132, so that when the bowden cable 35 passing through the pulley 34 is pulled to rotate, the bowden cable 35 is still collinear with the tension sensor 133 without an angle of deflection, and the accuracy of the reading of the tension sensor 133 is ensured. By placing a rotating mechanism on the sole opening bracket 132, wear problems are reduced, and the tension sensor 133 is connected with a rigid bracket without problems such as power assisted position offset.

In an embodiment of the present application, the transmission module 3 includes a back plate wire passing bracket 31, a bowden wire tube 32, a dorsiflexion wire passing bracket 33, a pulley 34, and a bowden wire 35;

one end of the back plate wire passing bracket 31 is connected with the driving end module 2, the other end of the back plate wire passing bracket is connected with the bowden wire tube 32, the dorsiflexion wire passing bracket 33 is arranged on the dorsiflexion wire passing cross beam 113, one end of the dorsiflexion wire passing bracket 33 is connected with the bowden wire tube 32, the other end of the dorsiflexion wire passing bracket is connected with the pulley 34, and the pulley 34 is connected with the bowden wire 35; wherein the bowden cable 35 passes through the bowden tube 32.

It should be noted that, as shown in fig. 9, one end of the bowden cable 35 is wound in the wire groove of the rope pulley 223, the other end is connected with the tension sensor 133, when the dorsiflexion assisting ankle exoskeleton robot is worn, the tension sensor 133 reads tightening and loosening data of the bowden cable 35, and the inertial sensor 135 is used for reading gait data, including a sole opening angle value and a corresponding sole opening angular velocity value in a heel strike event, a full foot strike event, a heel lift event and a swing phase event.

In one embodiment of the application, the drive end module 2 includes a driver assembly 22 and a back plate 23;

the driver assembly comprises a driving motor 221, a motor support 222, a rope pulley 223 and a wire locker 224, wherein the motor support 222, the rope pulley 223 and the support 31 at the wire passing position of the back plate are respectively and fixedly arranged on the surface of the back plate 23, the driving motor 221 is arranged on the motor support 222 and connected with the rope pulley 223, the Bowden wire 35 is tangential to the outer diameter of a wire groove of the rope pulley 223 and is wound in the wire groove of the rope pulley 223, and the Bowden wire 35 is fixed through the wire locker 224.

The driving motor 221 is driven by the battery control board assembly 21, and the bowden cable 35 is wound and unwound by the driving motor 221 rotating clockwise and counterclockwise. When the driving motor 221 rotates counterclockwise, the rope wheel 223 tightens the bowden cable 35, and when the driving motor 221 rotates clockwise, the rope wheel 223 loosens the bowden cable 35.

In a specific implementation, as shown in fig. 12 and 13, a schematic diagram of the driving end module 2 is shown, where the driving end module 2 and the driving module 3 are fixedly connected through the support 31 at the back plate line passing position. In order to reduce the length and curvature of the bowden tube 32 in the transmission module 3, the drive motor 221 is arranged on the back plate 23 to the outside, while the battery control plate assembly 21 is arranged diagonally to ensure that the center of gravity of the entire drive end module 2 is in the equilibrium position. Wherein the bowden wire 35 extending out of the bowden wire tube 32 is tangent to the outer diameter of the wire groove of the rope pulley 223 and is wound around the rope pulley 223, and is fixed by the wire locker 224. When the driving motor 221 rotates counterclockwise, the rope wheel 223 tightens the bowden cable 35, thereby realizing lifting of the sole opening bracket 132 at the execution end and playing an ankle dorsiflexion assistance role.

In an embodiment of the present application, the driving end module 2 further includes a battery control board assembly 21, the battery control board assembly 21 includes a control main board 211, a battery case 212, and a battery 213, the battery 213 is fixed on the surface of the back plate 23 through the battery case 212, and the control main board 211 is fixed on the battery case 212 through a brass column.

The battery 213 is used for supplying power to the driving motor, and when the exoskeleton robot works, the control main board 211 sends an instruction to make the battery 213 supply power to the driving motor 221.

In a specific implementation, the driving motor 221 is lifted away from the back plate 23 via the motor bracket 222, so as to leave an arrangement space for the sheave 223. The battery 213 is fixed to the back plate 23 through the battery case 212, and the control main plate 211 is fixed to the battery case 212 through a brass column.

In one embodiment of the present application, the strap module 4 further includes a waist strap 41, a heel strap 43, a sole strap 44, an instep strap 45, and a sole strap 46;

the waist strap 41 is connected with the driving end module 2, the heel strap 43, the sole strap 44 and the instep strap 45 are respectively connected with the ankle support plate 122, and the sole strap 46 is connected with the foot support carbon plate 131.

It should be noted that, the strap module 4 flexibly connects the exoskeleton robot to the wearer, so that the wearer can wear the whole set of exoskeleton in a sitting manner, and the free movement of the ankle joint of the human body is not affected after the wearing. The tightness of all the straps needs to be adjusted when the wearer wears the sole for the first time, and only the instep straps 45 and the sole straps 46 need to be adjusted when the wearer wears the sole for the second time, so that independent and rapid wearing and taking-off can be realized from the second time. The structural design of rigidity and flexibility ensures that three degrees of freedom (pronation, supination, eversion and plantarflexion dorsiflexion) of the ankle joint are not affected after the wearer wears the ankle joint, and has good man-machine coordination.

In one embodiment, the strap module 4 is comprised of a waist strap 41, a calf strap 42, a heel strap 43, a sole strap 44, an instep strap 45, and a sole strap 46. Each binding band and the bracket in the execution end module 1 ensure three degrees of freedom (pronation, supination, eversion, plantarflexion and dorsiflexion) of the ankle joint and limit of the degrees of freedom.

In an embodiment of the present application, the upper carbon plate 111 of the lower leg support is provided with a control sub-plate 114, and the control sub-plate 114 is used for collecting data detected by the execution end module 1 and transmitting the processed data to the driving end module 2.

It should be noted that, the upper carbon plate 111 of the lower leg support is provided with a control sub-plate 114, which is used for collecting data of each sensor in the execution end module 1, including data of the absolute value encoder 124 and the tension sensor 133, and sending the processed data to the control main plate 114.

In an embodiment of the present application, the ankle support 121 is provided with a mounting hole, the ankle D-shaped shaft 126 is rotatably connected with the ankle support 121 through the mounting hole, a shaft sleeve with a shaft shoulder is disposed in the mounting hole, a retainer ring is disposed at one end of the ankle D-shaped shaft 126 away from the encoder magnet 125, and the shaft sleeve is connected with the retainer ring.

It should be noted that, to increase the service life and stability of the exoskeleton, the rotation of the ankle exoskeleton is smoothly performed, the two holes of the ankle support 121 are both provided with plastic shaft sleeves with shaft shoulders, and the other end of the ankle D-shaped shaft 126 provided with the encoder magnet 125 is axially positioned by a retainer ring.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the application.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The above describes in detail the control method and apparatus for a dorsiflexion assisted ankle exoskeleton robot provided by the present application, and specific examples are applied to illustrate the principles and embodiments of the present application, and the description of the above examples is only used to help understand the method and core idea of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. The control method of the dorsiflexion assisting ankle exoskeleton robot is characterized by comprising the following steps of:

2. The control method according to claim 1, characterized in that the step of generating a desired position curve and a desired force curve from the sole inertia data, the sole pressure data, and the ankle angle data includes:

3. The control method according to claim 1, characterized in that the step of generating actual angle data and actual tension data from the disturbance angle data, the disturbance tension data, the ankle angle data, and the tension data includes;

4. The control method according to claim 1, wherein the step of generating a driver control amount for controlling the dorsiflexion assisted ankle exoskeleton robot in accordance with the desired position profile, the desired force profile, the actual angle data, and the actual tension data includes:

5. The control method according to claim 4, wherein the step of generating an ankle angular acceleration error from the desired position curve, the desired force curve, the actual angle data, and the actual tension data includes:

6. The control method according to claim 5, characterized in that the step of generating the ankle angular acceleration error from the desired angle, the desired angular velocity, the desired angular acceleration, the desired force curve, the actual angle data, and the actual tension data includes:

7. The control method according to claim 5, characterized in that the step of generating the driver control amount in accordance with the ankle angular acceleration error, the desired position curve, and the actual angle data includes:

8. A control device for a dorsiflexion assisted ankle exoskeleton robot, comprising:

9. A dorsiflexion assisted ankle exoskeleton robot controlled by a control method of the dorsiflexion assisted ankle exoskeleton robot according to any one of claims 1 to 7.

10. A control device of a dorsiflexion assisted ankle exoskeleton robot, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the control method of a dorsiflexion assisted ankle exoskeleton robot as claimed in any one of claims 1 to 7.