CN117601105A - Flexible waist exoskeleton of intelligent driving moment - Google Patents
Flexible waist exoskeleton of intelligent driving moment Download PDFInfo
- Publication number
- CN117601105A CN117601105A CN202311818522.8A CN202311818522A CN117601105A CN 117601105 A CN117601105 A CN 117601105A CN 202311818522 A CN202311818522 A CN 202311818522A CN 117601105 A CN117601105 A CN 117601105A
- Authority
- CN
- China
- Prior art keywords
- human body
- waist
- flexible
- motor
- shaped backboard
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000001624 hip Anatomy 0.000 claims abstract description 29
- 210000004394 hip joint Anatomy 0.000 claims abstract description 12
- 210000003205 muscle Anatomy 0.000 claims abstract description 8
- 238000005452 bending Methods 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 11
- 210000000689 upper leg Anatomy 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 2
- 239000004917 carbon fiber Substances 0.000 claims description 2
- 239000004816 latex Substances 0.000 claims description 2
- 229920000126 latex Polymers 0.000 claims description 2
- 210000001364 upper extremity Anatomy 0.000 claims description 2
- 229920000728 polyester Polymers 0.000 claims 1
- 238000004422 calculation algorithm Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000005020 polyethylene terephthalate Substances 0.000 description 2
- 229920004934 Dacron® Polymers 0.000 description 1
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 208000005168 Intussusception Diseases 0.000 description 1
- 229920004933 Terylene® Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012821 model calculation Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000008719 thickening Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a wearable flexible waist exoskeleton, which is provided with an intelligent motor driving mode and provides driving moment more in accordance with human motion rules for the flexible exoskeleton. The waist exoskeleton can provide assistance for users who need to bend down for carrying for a long time, and effectively relieves the waist load of the human body. The design sequentially comprises the following steps from the bottom layer design to the specific implementation: the overall appearance design of the flexible exoskeleton, the EMG signal acquisition of the related muscle groups in the straight waist-bending action, the EMG signal processing, the hip joint moment algorithm estimation, the hip joint rotation angle-moment relation research and the intelligent driving mode design. The flexible exoskeleton is attached to the physiological curve of a human body, does not interfere with the human body, and has light weight on the premise of ensuring the use strength.
Description
Technical Field
The invention relates to a wearable flexible waist exoskeleton and an intelligent driving system carried on the exoskeleton. The waist exoskeleton can provide assistance for users who need to bend down for carrying for a long time, and can effectively relieve the waist load of human bodies.
Background
Bending and carrying are common work actions in many industries, such as transportation industry, manufacturing industry, etc., and in many industries, the bending and carrying action needs to be repeated for a long time, which directly causes workers to suffer from various lumbar diseases. The appearance of the exoskeleton can solve the problem, and the fatigue of the waist muscles of a human body can be effectively relieved through the use of the waist exoskeleton.
Exoskeleton is gradually commonly applied in manufacturing industry and transportation industry, however, rigid exoskeleton is common, the mass of the exoskeleton is heavy, the exoskeleton for carrying is designed to be a passive exoskeleton for the reason, the auxiliary moment provided by the exoskeleton is constant, and the auxiliary moment is not matched with the action moment of a normal bending process of a human body.
The invention applies EMG signal detection technology, human joint moment estimation algorithm, servo joint motor flexibility control method, unique mechanical structure design meeting ergonomic requirement and the like.
The EMG signal is a surface electromyographic signal, which is used as a signal related to muscle activity in the human body movement process, is easy to capture, has no damage to the human body, and can intuitively embody the muscle strength condition in the human body movement process.
A human joint moment estimation method. The method takes a Hill muscle model as a basic model, takes detected EMG signals as important parameters in model calculation, and intelligently estimates the human hip joint moment by combining the hip joint degree of freedom angle measured by an angle sensor.
A flexible control method for a servo joint motor. The servo joint motor can accurately control the motor rotation speed and rotation position, and can convert voltage signals into torque and rotation speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by input signals, wherein the input signals are the angular speed of human body trunk motion and the rotation angle of the hip joint measured by the inertial measurement unit and the angle sensor, and the received electric signals can be converted into angular displacement or angular speed on the motor shaft to be output through an encoder equipped with the servo joint motor.
Disclosure of Invention
Aiming at the existing research background and the found problems in reality, the invention aims to: a waist exoskeleton which is more intelligent, can provide flexible auxiliary force is developed, and is used for providing assistance when a user bends down to carry out work, so that the waist muscles are prevented from being irreversibly damaged by the user due to long-time carrying work. The method is characterized by specifically realizing a unique lightweight structural design depending on the exoskeleton, a human joint moment estimation method and a servo joint motor flexibility control method.
Drawings
FIG. 1 is a flexible lumbar exoskeleton overall structure;
FIG. 2 is a partial view of a lightweight rigid structure;
fig. 3 is a flowchart of the human joint moment estimation algorithm.
Detailed Description
A flexible lumbar exoskeleton device is designed to provide intelligent driving torque, as shown in fig. 1. The method is characterized in that: a light rigid structure is adopted to carry the flexible wearing structure and the flexible driving system.
And (5) designing a lightweight rigid structure. The lightweight rigid structure consists of a 1 lightweight X-shaped back plate, 2 hip-leg support links, as shown in fig. 2. The rigid structure can better support the mass of the whole device, and the mass of the whole device is uniformly distributed to the whole trunk and hip joints of a human body.
The 1 light X-shaped backboard is made of nylon-carbon fiber materials, so that the light X-shaped backboard is ensured to have higher strength. The whole structure is attached to the waist line of the human body, and plays a certain supporting and protecting role on the waist. The middle of the light X-shaped backboard is in a circular shape and is provided with threaded holes, so that the whole structure of the device can be better carried; the lower side of the 1 light X-shaped backboard is provided with a boss parallel to the sagittal plane of the human body, simulates the hip joint of the human body, is connected with a 2 hip-leg supporting connecting rod, and is fixed with an angle sensor. The 2 hip-leg support connecting rod is connected with the 1 light X-shaped backboard through the rotating shaft, and the ball thrust bearing is arranged at the joint, so that the phenomenon that the movement is not smooth caused by overlarge friction is prevented.
And (5) designing a flexible integral wearing structure and selecting materials. The flexible integral wearing structure consists of 3 braces with adjustable length, 4 rear waist fixing belts, 5 waistbands, 6 thigh binding belts and 7 stretching belts serving as human erector spinal muscles.
Most of the wear members of the flexible unitary wear structure are secured to the X-shaped back plate. Wherein, 3 braces bear overall structure's most gravity, and the outside is thickening dacron meshbelt, intussusception elastic sponge can reduce human shoulder pressure, and is more comfortable during the use. The material of the back waist fixing strap is made of terylene mesh belts, has lower elasticity, is fixed on a boss at the lower side of the X-shaped backboard, and can be used as a fulcrum for assisting force when a human body stands up. And 5, the waistband is made of latex wires, one on each of the left side and the right side, can be locked by using a splayed buckle, and is adjustable in length and suitable for users with different sizes. The 6 thigh bandage is connected with the 7 stretching strap, and 6 thigh bandage size is more than twice of human thigh face girth, and attaches the magic subsides, can fasten at the suitable position of thigh, encircles at least a week, guarantees the reliability of fixed position. 7 stretching strap one end is connected in flexible actuating system's reel department, and the other end is fixed in the solid fixed ring department on the 6 thigh tie, and 7 stretching strap initial length is adjustable, and initial setting is: the assisting force is just not felt when the human body stands up normally. 7 stretch bands are not shown in the figures. The servo joint motor can drive the reel to tighten the stretching belt when rotating, thereby assisting the human body to get up.
The flexible driving system takes the 8 inertial measurement unit and the 9 angle sensor as measurement bases, is matched with the 10 servo joint motor, can detect the movement intention and the movement condition of the human body in real time, provides intelligent auxiliary force for the waist of the human body, relieves the waist fatigue, and can also play a role in maintaining the posture. The flexible drive system also includes 11 motor shafts, 12 reels, 13 motor drive encoders (not shown).
The overall structure of the flexible drive system is placed on a 1-lightweight X-shaped back plate. The 8 inertia measuring units are arranged at the upper side of the 1 light X-shaped backboard, and the upper position is beneficial to amplifying the rotation trend of the hip joint, so that the measurement is more sensitive. The 9-angle sensor is arranged at a boss at the lower side of the 1-weight X-shaped backboard and shares a rotating shaft with the 2-hip-leg support connecting rod. The 10 servo joint motor is placed at 66% of the height of the 1 lightweight X-shaped back plate. The 1 light X-shaped backboard and the 4 rear waist fixing belt form a labor-saving lever, so that the gravity of a part of the motor is reduced, the phase change is acted on the waist of a human body, and the rest parts are shared by the upper limb parts of the human body, so that the perceived quality of the human body is smaller. The servo joint motor 10 is assembled with two 12 reels connected with the rotating shaft by keys.
Intelligent driving mode of flexible driving system. The measurement results of the 8 inertia measurement unit and the 9 angle sensor in the flexible driving system can directly change the motion state of the motor. 8, the inertial sensing unit measures the angular velocity of the human body trunk, and after the encoder obtains the angular velocity data, the encoder can determine whether the auxiliary force needs to be provided or not only by judging positive and negative, namely, the start and stop of the motor are determined. When the angular velocity of bending forward is regulated to be positive and the rising straight waist is negative, the motor stops rotating and starts when the angular velocity is positive and the angular velocity is negative. During the starting process of the motor, different moments are required to be provided according to different hip joint rotation angles provided by the angle sensor. The moment-rotation angle correlation is estimated in advance by a human joint moment estimation algorithm to generate a function.
Claims (9)
1. A flexible lumbar exoskeleton device providing intelligent driving torque. The method is characterized in that: a lightweight rigid structure, a flexible drive system, and a flexible integral wearable structure.
2. An intelligent system for controlling the output of a motor, characterized in that: based on the measurement of the inertial measurement unit and the angle sensor, the flexible driving system of claim 1 is matched, and the system can realize real-time assistance to human body and provide more intelligentized moment.
3. The lightweight rigid structure of claim 1, wherein: the device consists of a light X-shaped backboard and a hip-leg supporting connecting rod, wherein the rigid structure can better support the mass of the whole device, and the mass of the whole device is uniformly distributed to the whole trunk and hip joints of a human body.
4. A lightweight rigid structure as in claim 3, wherein: the light X-shaped backboard of the main body part is made of nylon-carbon fiber materials, so that the light X-shaped backboard is light and has high strength. The whole structure is attached to the waist line of the human body, and plays a certain supporting and protecting role on the waist. The middle of the X-shaped backboard is circular, threaded holes are distributed, and the whole structure of the device can be better carried; the lower side of the X-shaped backboard is provided with a boss parallel to the sagittal plane of the human body, simulates the action of the hip joint of the human body, is connected with a hip-leg supporting connecting rod, and is provided with an angle sensor. The hip-leg support connecting rod is connected with the X-shaped backboard through a rotating shaft and can rotate relative to the X-shaped backboard.
5. The flexible drive system of claim 1 wherein: the waist-supporting device consists of a servo joint motor, a motor rotating shaft, a reel, a motor driving encoder, an inertia measuring unit and an angle sensor, and is used for providing driving force for the waist of a human body, relieving waist fatigue and playing a role in maintaining the posture.
6. The flexible drive system of claim 5 wherein: the integral structure is placed on an X-shaped backboard. The inertial measurement unit is arranged at the upper position of the X-shaped backboard, can directly measure inertial data in the motion process of the trunk part of the human body, and can distinguish the motion trend of the human body. The angle sensor is arranged at a boss at the lower side of the X-shaped backboard and shares a rotating shaft with the hip-leg supporting connecting rod. The servo joint motor is placed at a position close to the inertia measurement unit, the whole mass of the motor is shared by the upper limbs of a person, so that the perceived mass of the human body is small, a phi 18 rotating shaft is assembled in the servo joint motor, and the rotating shaft is connected with two reels through keys.
7. The flexible unitary wear structure of claim 1, wherein: consists of a brace with adjustable length, a back waist fixing strap, a waistband, thigh straps and a stretching strap serving as the human body erector spinal muscle.
8. The flexible unitary wear structure of claim 7, wherein: most wearing parts are fixed on an X-shaped backboard, wherein a rear waist fixing belt and a waistband are fixed on a boss at the lower side of the X-shaped backboard, the rear waist fixing belt is made of polyester webbing, the elasticity is low, the waist fixing belt can be used as a fulcrum when a human body stands up, latex filaments are used as the waistband, one of the left side and the right side can be locked by splayed buckles, the length is adjustable, and the waist fixing belt is suitable for users with different sizes; the braces bear most of the gravity of the whole structure, and elastic sponge is filled in the braces, so that the shoulder pressure of a human body can be reduced, and the braces are more comfortable to use; the thigh bandage is connected with the stretching strap, and the thigh bandage attaches the magic subsides, can fasten in the suitable position of thigh, and stretching strap one section is connected with thigh bandage reliability, and one side is connected in flexible actuating system's reel department. The servo joint motor can drive the reel to tighten the stretching belt when rotating, thereby assisting the human body to get up.
9. The intelligent system for controlling motor output of claim 2, wherein: the inertial measurement unit is used for identifying the motion trend of the human body, pre-judging the next motion of the human body, transmitting the measured result to the servo joint motor through the encoder in an electric signal mode, and controlling the start and stop of the motor; the angle sensor is used for measuring the bending angle of the hip joint of the human body, the position condition of the trunk of the human body is judged according to the angle rotation condition, and driving torques with different magnitudes are provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311818522.8A CN117601105A (en) | 2023-12-27 | 2023-12-27 | Flexible waist exoskeleton of intelligent driving moment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311818522.8A CN117601105A (en) | 2023-12-27 | 2023-12-27 | Flexible waist exoskeleton of intelligent driving moment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117601105A true CN117601105A (en) | 2024-02-27 |
Family
ID=89953677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311818522.8A Pending CN117601105A (en) | 2023-12-27 | 2023-12-27 | Flexible waist exoskeleton of intelligent driving moment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117601105A (en) |
-
2023
- 2023-12-27 CN CN202311818522.8A patent/CN117601105A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11806302B2 (en) | Wearable assist robot apparatus | |
| Chiaradia et al. | Design and embedded control of a soft elbow exosuit | |
| US20210039248A1 (en) | Soft exosuit for assistance with human motion | |
| KR102617942B1 (en) | Soft wearable muscle assist device | |
| KR101836413B1 (en) | Tendon device of suit type exoskeleton for human power assistance | |
| Asbeck et al. | Soft exosuit for hip assistance | |
| Asbeck et al. | Stronger, smarter, softer: next-generation wearable robots | |
| US8409117B2 (en) | Wearable device to assist with the movement of limbs | |
| Siviy et al. | Offline assistance optimization of a soft exosuit for augmenting ankle power of stroke survivors during walking | |
| Ferris et al. | An ankle-foot orthosis powered by artificial pneumatic muscles | |
| US9655762B2 (en) | Trunk supporting exoskeleton and method of use | |
| US20150148728A1 (en) | Isolated orthosis for thumb actuation | |
| US20180235830A1 (en) | Device and Method of Measuring Knee Abduction / Adduction Moment | |
| JP2020518295A5 (en) | ||
| KR20170021108A (en) | A motion assist apparatus and a control method thereof | |
| US20040106881A1 (en) | Powered orthotic device | |
| JP6537855B2 (en) | Articulation assistance device | |
| KR20180015612A (en) | Flexgrip | |
| Yao et al. | Development of a soft power suit for lower back assistance | |
| JP2021094654A (en) | Wearable support robot device | |
| JP2021536329A (en) | Wearable active auxiliary device | |
| Zhang et al. | Design and validation of a lightweight soft hip exosuit with series-wedge-structures for assistive walking and running | |
| Wang et al. | An underwater lower-extremity soft exoskeleton for breaststroke assistance | |
| Hsieh et al. | Single‐Actuator‐Based Lower‐Limb Soft Exoskeleton for Preswing Gait Assistance | |
| US20200268584A1 (en) | Systems, devices, and methods for therapeutic loading of a joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |