CN209548334U - A kind of lower limb exoskeleton robot - Google Patents
A kind of lower limb exoskeleton robot Download PDFInfo
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- CN209548334U CN209548334U CN201821975007.5U CN201821975007U CN209548334U CN 209548334 U CN209548334 U CN 209548334U CN 201821975007 U CN201821975007 U CN 201821975007U CN 209548334 U CN209548334 U CN 209548334U
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Abstract
The utility model is a kind of lower limb exoskeleton robot.Thigh support section described in the robot is connect with shank support section；The shank support section is connect with foot support portion；The power house is fixed on the side of shank support section；The thigh support section includes support plate on front side of stock, stock Backside support plate, thigh frame, thigh gyroscope and acceleration transducer and four thigh connecting rods, four thigh pressure sensors；The power house is made of power house bottom plate, power room housing, control cabinet, energy releasing device, motor driver and knee joint driven member.The robot of the utility model can recycle the energy in wearer's walking process, and pass to energy releasing device, and the latter provides auxiliary together with motor driver for the walking of wearer, to achieve the purpose that energy saving.
Description
Technical field
The utility model relates to auxiliary robot technical fields, and in particular to a kind of wearable walk help lower limb exoskeleton and its
Control method.
Background technique
In the 21st century, Chinese population aging gradually aggravates, it was predicted that the Chinese aged is up to the year two thousand fifty
The one third of total population.Gonitis is then most important a kind of situation in the elderly's joint disease, according to statistics, 60 years old with
On the elderly in 10% male and 13% women be suffering from arthritic symptom.Arthritis bring gonalgia is tight
Ghost image rings the walking ability of patient, brings many difficulties to freely going on a journey for the elderly.For the weight for sharing knee joint receiving
And power-assisted is carried out to walking process, lower limb exoskeleton is a kind of very promising solution.
Lower limb exoskeleton is generally divided into dynamic and unpowered two kinds of forms, it and wearer carry out co-operating, perception
Wearer motion is intended to, and provides auxiliary torque for its particular joint, so that the locomitivity to wearer enhances.Power
Ectoskeleton generally requires additional energy source and provides energy input for its actuator, and unpowered ectoskeleton is often returned using energy
The mode of receipts stores the energy during human motion by mechanism elasticity or special energy-storage travelling wave tube, and on demand
It is discharged.
Lower limb walk-aiding exoskeleton for ability to act such as the elderlys compared with weak person generally uses battery scheme, such as Japan
The ectoskeleton etc. of the entitled weight support system of the HAL and Honda company publication of Cyberdine company.It is limited to battery
The energy conversion efficiency of energy density and motor, this kind of ectoskeleton, which generally requires, is equipped with bigger joint drive motor and heaviness
Battery, main screw lift is often greater than 10kg.The practical performance for further increasing lower limb exoskeleton, needs to power plant module
It optimizes, reduces its energy consumption, overall efficiency is improved by light-weight design method.The lower limb exoskeleton to have come out at present
The factors such as drive efficiency, mechanism weight and cost are limited to, often cannot be considered in terms of power-assisted effect and light in structure, volume
Outer weight bearing can cause to bear to user, it is difficult to adapt to daily action demand of the ability to act such as the elderly compared with weak person.
The characteristics of combining power exoskeleton and unpowered ectoskeleton is considered, with energy regenerating and the device of recycling to drive
The peak value output that dynamic motor is assisted, can reduce the requirement for carrying out knee joint power-assisted to power of motor, keep motor output bent
Line is more smooth, and then can choose smaller driving motor, reduces ectoskeleton main screw lift from driver and power supply angle.
Utility model content
The purpose of this utility model is for energy present in walk help lower limb exoskeleton technology present in current techniques
The problem that utilization efficiency is low, mechanism weight is big provides a kind of wearable lower limb exoskeleton robot and its control method.Described
Robot by being equipped with energy collecting device in ectoskeleton foot, shank is equipped with energy releasing device and motor driven dress
It sets, the output of energy releasing device and motor driven systems is used for the driving of ectoskeleton target joint, constitute dual drive system.
The technical solution of the utility model are as follows:
A kind of lower limb exoskeleton robot, including thigh support section, shank support section, Foot-supporting portion and power
Room；
The thigh support section is connect with shank support section；The shank support section is connect with foot support portion；
The power house is fixed on the side of shank support section；
The thigh support section includes support plate on front side of stock, stock Backside support plate, thigh frame, thigh gyroscope and adds
Velocity sensor and four thigh connecting rods, four thigh pressure sensors.
The thigh chassis body is annular, and support plate and stock Backside support plate are located at its cyclic structure on front side of stock
Interior front and rear sides；The bracket that oriented upper and lower stretches out on front side of the frame of thigh, each stent ends connect with two thighs respectively
One end of bar connects, and the other end of two thigh connecting rods is connect with support plate top and the bottom on front side of stock respectively；Similarly, after the frame of thigh
The bracket that the oriented upper and lower in side stretches out, stent ends are equipped with mounting shaft hole, connect respectively with one end of two thigh connecting rods, stock
The other end of portion's connecting rod is connect with stock Backside support plate top and the bottom respectively；The on both sides of the middle of thigh frame, which has, stretches out downwards
First support arm；The inside of stock front side support plate and stock Backside support plate, is respectively equipped with two thigh pressure sensors, respectively edge
Stock front side support plate is arranged above and below with stock Backside support plate central axes；Thigh top is installed on the outside of the first support arm of thigh frame
Spiral shell instrument and acceleration transducer；
The shank support section include support plate on front side of shin, shin Backside support plate, shank support frame, shank gyroscope and
Acceleration transducer and four shank connecting rods, four shank pressure sensors；
The shank chassis body is annular, and support plate and shin Backside support plate are located at the interior of its cyclic structure on front side of shin
Front and rear sides；The bracket that oriented upper and lower stretches out on front side of shank frame, stent ends one end with two shank connecting rods respectively
Connection, the other end of two shank connecting rods are connect with support plate top and the bottom on front side of shin respectively；Similarly, oriented on rear side of shank frame
The bracket that upper and lower stretches out, stent ends are connect with one end of two shank connecting rods respectively, the other end point of two shank connecting rods
It is not connect with shin Backside support plate upper and lower part；There is the second support arm stretched out upwards inside and outside shank frame, end
The first support arm axis connection at end and thigh frame, and constitute ectoskeleton knee joint；There is one to stretch downwards on the outside of shank frame
Third support arm out is connect with the foot fixed frame that Foot-supporting portion is included, and third support arm is fixed with power house；Shin
The inside of front side support plate and shin Backside support plate, there are two shank pressure sensors for each installation, respectively along support plate on front side of shin
It is arranged with shin Backside support plate central axes；Shank gyroscope and accelerometer are installed on the outside of shank frame third support arm.
The Foot-supporting portion includes foot fixed frame, energy recycle device and plantar pressure sensor；
The foot fixed frame has one by the mounting shaft hole and shank frame articulation on the upside of it, foot fixed frame inside
A ring buckle band is perpendicular on the outside of foot fixed frame, is fixed with energy for wearer's foot is fixed when in use
Measure recyclable device；Energy recycle device is divided into pressure block and transmission system with ground face contact, pressure block and ground face contact；
The power house by power house bottom plate, power room housing, control cabinet, energy releasing device, motor driver and
Knee joint driven member is constituted；
Wherein energy releasing device is made of coil spring box, ratchet, pawl and electromagnetism push rod；Motor driver is by direct current
Machine, retarder and driving gear are constituted；
Power house bottom plate is riser, is fixed on the third support arm on the outside of shank frame, energy releasing device and motor
Driving device is fixed on power house bottom plate, and knee joint driven member is the gear and wire spool of isometric arrangement, is closed with ectoskeleton knee
Section is coaxial, and is fixed on the second support arm of thigh frame, and power room housing is fixed on the second support arm of thigh frame,
It is fastened with power house bottom plate, control cabinet is attached to power house case inside；Energy releasing device, motor driver and knee joint
Driven member is respectively positioned on power house enclosure interior central axes；
Have wire spool on the outside of the ratchet, ratchet thereon respectively with energy storage cable wire upper end and release energy cable wire lower end phase
Even, the coiling disc portion of the upper end and knee joint driven member of releasing energy cable wire is fixed；Coil spring box and coaxial ratchet are installed on described dynamic
Power room baseplate underside；The tail end of pawl is mounted on power house bottom plate by axis, and the lower part on the top of pawl is engaged with ratchet；Electricity
Magnetic push rod is connected by a connecting rod with the top on the top of pawl；The output shaft of direct current generator and the input shaft of retarder connect
It connects, driving gear is fixed on the output shaft of retarder, engages with the gear parts of the knee joint driven member；
The control cabinet positioned inside has embedded scm master control borad and power supply system, and single-chip microcontroller master control borad includes insertion
Formula single-chip microcontroller, motor and electromagnetism push rod drive module and sensor signal processing circuit, motor and electromagnetism push rod drive module,
Sensor signal processing circuit is connect with the port of embedded scm respectively, and power supply system and embedded scm master control borad connect
It connects；The thigh pressure sensor shank pressure sensor, plantar pressure sensor and thigh gyroscope and accelerometer, shank
Gyroscope and accelerometer are respectively connected to the sensor signal processing circuit of master control borad；Microprocessor is connected with drive module,
Drive module is connected with direct current generator, electromagnetism push rod respectively；Power supply system is electric with direct current generator, electromagnetism push rod and control respectively
Road is connected.
The substantive distinguishing features of the utility model are as follows:
The utility model is ectoskeleton foot is equipped with energy collecting device, shank is equipped with energy releasing device and motor
Driving device, the output of energy releasing device and motor driven systems is used for ectoskeleton target joint (is in the utility model
Knee joint) driving, constitute dual drive system.During the work time, energy collecting device can be in wearer's walking process
Energy is recycled, and passes to energy releasing device, and walking of the latter together with motor driver for wearer provides auxiliary
It helps, to achieve the purpose that energy saving.
The utility model has the following beneficial effects:
1) exoskeleton robot described in the utility model is easy to wear, has good stickiness with human body lower limbs surface；
2) thigh support section and shank support section described in the utility model can provide Auxiliary support for knee joint, compared with
The pressure that human body knee joint is born in few upright and walking process plays the role of alleviating arthralgia；
3) power scheme described in the utility model combines active drive with energy regenerating, can reduce carry out knee joint
Requirement of the power-assisted to power of motor, and then can choose smaller driving motor, mitigate mechanism weight, improves energy utilization effect
Rate extends cruise duration；
Detailed description of the invention
Fig. 1-2 is the isometric drawing of wearable lower limb exoskeleton robotic embodiment provided by the utility model；
Fig. 3 is the side view of wearable lower limb exoskeleton robotic embodiment provided by the utility model.
Fig. 4 is the front view of wearable lower limb exoskeleton robotic embodiment power house provided by the utility model；
Fig. 5 is the main devices mark of wearable lower limb exoskeleton robotic embodiment power house provided by the utility model
Figure；Wherein, Fig. 5 (a) is partial sectional view, and Fig. 5 (b) is main view；
Fig. 6 is the specific component mark of wearable lower limb exoskeleton robotic embodiment power house provided by the utility model
Figure；Wherein, Fig. 6 (a) is partial sectional view, and Fig. 6 (b) is main view；
Fig. 7 is the control principle block diagram of wearable lower limb exoskeleton robotic embodiment provided by the utility model；
Fig. 8 is that the collection of energy estimator provided by the utility model for estimating the energy recycle device collecting amount is former
Reason figure；
Fig. 9 is that the utility model is the MATLAB/simulink simulated program frame diagram that verification algorithm part is built；
Figure 10 is that knee joint angle follows desired trajectory curve graph；
Figure 11 is knee joint angle tracking error curve graph.
In figure: 1: thigh support section, 11: support plate on front side of stock, 12: stock Backside support plate, 13: thigh frame, 14: stock
Portion's connecting rod, 15: thigh pressure sensor, 16: thigh gyroscope and accelerometer；2: shank support section, 21: support on front side of shin
Plate, 22: shin Backside support plate, 23: shank frame, 24: shank connecting rod, 25: shank pressure sensor, 26: shank gyroscope and
Accelerometer；3: Foot-supporting portion, 31: foot fixed frame, 32: energy recycle device, 33: plantar pressure sensor；4: dynamic
Power room, 41: power house bottom plate, 42: power room housing, 43: control cabinet, 44: energy releasing device, 441: coil spring box, 442: spine
Wheel, 443: pawl, 444: electromagnetism push rod, 45: motor driver, 451: direct current generator, 452: retarder, 453: driving tooth
Wheel, 46: knee joint driven member；5: energy storage cable wire；6: releasing can cable wire.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, to the technical solution in the utility model embodiment into
Row clearly and completely describes, it should be noted that structure, ratio, the size etc. illustrated in this specification institute attached drawing are only used
To cooperate the revealed content of specification, so that those skilled in the art understands and reads, it is practical new to be not limited to this
The enforceable qualifications of type, the modification of any structure, the change of proportionate relationship or the adjustment of size are practical new not influencing this
Under the effect of type can be generated and the purpose that can reach, it should all still fall in the revealed technology contents of the utility model and obtain and can contain
In the range of lid.
In the description of the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " company
Connect " shall be understood in a broad sense, be not limited to concrete mode, in the utility model description it is cited as "upper", "lower", "left", "right",
The terms such as " inside ", " outside " are merely convenient to being illustrated for narration, rather than to limit the enforceable range of the utility model,
Its relativeness is altered or modified, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the utility model.
Embodiment 1
As shown in Figure 1-Figure 3, the present embodiment exoskeleton robot includes thigh support section 1, shank support section 2, foot
Portion's support section 3 and power house 4；
The thigh support section 1 is connect with shank support section 2 by one group of joint, and hereinafter referred to as " ectoskeleton knee closes
Section "；The shank support section 2 is connect with Foot-supporting portion 3 by one group of joint, hereinafter referred to as " exoskeleton ankle joint "；
The power house 4 is fixed on 2 side of shank support section.
The thigh support section 1 includes support plate 11, stock Backside support plate 12, thigh frame 13, thigh top on front side of stock
Spiral shell instrument and acceleration transducer 16 each one and 14 4, thigh connecting rod, thigh pressure sensor 15 4.
13 main body of thigh frame is annular, and support plate 11 and stock Backside support plate 12 are located at its cyclic structure on front side of stock
Interior front and rear sides；The bracket that the frame 13 oriented upper and lower in front side in thigh stretches out, each stent ends are equipped with mounting shaft hole,
Connect respectively with one end of two thigh connecting rods 14, the other end of two thigh connecting rods 14 respectively with stock on front side of about 11 support plate
The axis hole in portion connects；Similarly, the bracket that the frame 13 oriented upper and lower of rear side in thigh stretches out, stent ends are equipped with mounting shaft hole, point
It is not connect with one end of two thigh connecting rods 14, the other end of thigh connecting rod 14 axis with 12 top and the bottom of stock Backside support plate respectively
Hole connection；There is the first support arm stretched out downwards inside and outside thigh frame 13, end is equipped with mounting shaft hole, is used to
It is connect with the second support arm of shank frame 23, and constitutes ectoskeleton knee joint；Stock front side support plate 11 and stock Backside support plate
12 inside is respectively equipped with two thigh pressure sensors 15, respectively along support plate 11 on front side of stock and stock Backside support plate 12
Axis is arranged above and below；Thigh gyroscope and acceleration transducer 16 are installed on the outside of 13 first support arm of thigh frame.
The shank support section 2 includes support plate 21, shin Backside support plate 22, shank support frame 23, shank on front side of shin
Gyroscope and acceleration transducer 26 each one and 24 4, shank connecting rod, shank pressure sensor 25 4.
23 main body of shank frame is annular, and support plate 21 and shin Backside support plate 22 are located at its cyclic structure on front side of shin
Interior front and rear sides；The bracket that the 23 oriented upper and lower in front side of shank frame stretches out, stent ends are equipped with mounting shaft hole, respectively
Connect with one end of two shank connecting rods 24, the other end of two shank connecting rods 24 respectively with support plate 21 top and the bottom on front side of shin
Axis hole connection；Similarly, the bracket that the oriented upper and lower of the rear side of shank frame 23 stretches out, stent ends are equipped with mounting shaft hole, respectively with
One end connection of two shank connecting rods 24, the other end of two shank connecting rods 24 axis with 22 top and the bottom of shin Backside support plate respectively
Hole connection；There is the second support arm stretched out upwards inside and outside shank frame 23, end is equipped with mounting shaft hole, is used to
It is connect with the first support arm of thigh frame 13, and constitutes ectoskeleton knee joint；The outside of shank frame 23 has one to stretch downwards
Third support arm out, the support arm are elongated rod shape, and end is equipped with mounting hole, for being included with Foot-supporting portion 3
Foot fixed frame 31 connects, and third support arm is also used to the fixation of power house 4；Support plate 21 and shin Backside support plate 22 on front side of shin
Inside, there are two shank pressure sensors 25 for each installation, respectively along support plate 21 on front side of shin and 22 axis of shin Backside support plate
Line arrangement；Shank gyroscope and accelerometer 26 are installed on the outside of 23 third support arm of shank frame.It is described in the utility model
Front, back, inside, outside (such as in shank frame of this section) with respect to the position of human body itself for.
As shown in Figure 4, the Foot-supporting portion 3 is sensed by foot fixed frame 31, energy recycle device 32, plantar pressure
Device 33 is constituted.
The foot fixed frame 31 is hinged by mounting shaft hole on the upside of it and shank frame 23,31 inside of foot fixed frame
It is perpendicular on the outside of foot fixed frame 31 for wearer's foot is fixed when in use with a ring buckle band,
Fixation for energy recycle device 32.Energy recycle device 32 divides for the pressure block and transmission system with ground face contact, pressure
Block and ground face contact, move upwards, and convert energy storage cable wire through transmission system for the displacement when Foot-supporting portion 3 lands
Linear motion on 5.
As shown in Figure 5, Figure 6, the power house 4 is released by power house bottom plate 41, power room housing 42, control cabinet 43, energy
Device 44, motor driver 45 and knee joint driven member 46 is put to constitute；
Wherein energy releasing device 44 is made of coil spring box 441, ratchet 442, pawl 443 and electromagnetism push rod 444；Motor drives
Dynamic device 45 is made of direct current generator 451, retarder 452 and driving gear 453.
Power house bottom plate 41 is riser, is fixed on the third support arm in 23 outside of shank frame, energy releasing device 44
It being fixed on power house bottom plate 41 with motor driver 45, knee joint driven member 46 is the gear and wire spool of isometric arrangement,
It is coaxial with ectoskeleton knee joint, and be fixed on the second support arm of thigh frame 13, power room housing 42 is fixed on thigh frame
On second support arm of frame 13, is fastened with power house bottom plate 41, cover the other parts of power house, control cabinet 43 is attached to power
42 inside of room housing, the installation for the controller hardware circuit and its power supply；Energy releasing device 44, motor driven
Device 45 and knee joint driven member 46 are respectively positioned in 42 axis line inside of power room housing.
On the outside of the ratchet 442 have wire spool, ratchet thereon respectively with 6 upper end of energy storage cable wire and release energy cable wire 5
Lower end is connected, and the coiling disc portion of the upper end and knee joint driven member 46 of releasing energy cable wire 5 is fixed；Coil spring box 441 and ratchet 442 are same
Axis is installed on 41 downside of power house bottom plate, and in pivoting, wind spring is rolled tightly, and stores energy, wind spring is put when rotating backward
Pine releases energy；The tail end of pawl 443 is mounted on power house bottom plate 41 by axis, the lower part on the top of pawl 433 and ratchet
442 engagements, can prevent rotating backward for coil spring box 441；Electromagnetism push rod 444 is upper by connecting rod and the top of pawl 443
Portion is connected；When electromagnetism push rod 444 triggers, pawl 443 is lifted up, pawl 443 and ratchet 442 is made to be disengaged from state,
Traction is released energy cable wire 5 and is moved downward, and kinetic energy is transferred to the coiling disc portion of knee joint driven member 46；Direct current generator 451 it is defeated
The input axis connection of shaft and retarder 452, driving gear 453 are fixed on the output shaft of retarder 452, with the knee joint from
The gear parts of kinetoplast 46 engage, and when direct current generator 451 rotates, kinetic energy is transferred to the gear parts of knee joint driven member 46.
43 positioned inside of control cabinet has embedded scm master control borad and power supply system, and single-chip microcontroller master control borad includes embedding
Enter formula single-chip microcontroller, motor and electromagnetism push rod drive module and sensor signal processing circuit, motor and electromagnetism push rod drive mould
Block, sensor signal processing circuit are connect with the port of embedded scm respectively, power supply system and embedded scm master control
Plate is connected and is powered for it；The thigh pressure sensor 15, shank pressure sensor 25, plantar pressure sensor 33 and thigh
Gyroscope and accelerometer 16, shank gyroscope and accelerometer 26 are respectively connected to the sensor signal processing electricity of master control borad
Road, and the microprocessor on logical master control borad acquires data；Microprocessor obtains control signal after being handled above-mentioned data, and
Drive module is sent it to, drive module connects direct current generator 451, electromagnetism push rod 444, and it is driven to be moved；Power supply
System is made of battery and voltage regulator circuit, is responsible for direct current generator 451, electromagnetism push rod 444 and control circuit power supply.
The course of work of the utility model embodiment 1 is as follows:
When the walking of exoskeleton robot described in wearer dresses the utility model embodiment 1, direct current generator 451 is according to control
Semaphore request processed is acted, and generated power is transferred to outer through retarder 452, driving gear 453,46 knee joint driven members
Bone knee joint provides power-assisted via thigh support section 1 and shank support section 2 for wearer's knee joint；
When ectoskeleton corresponds to the support phase initial stage that lower limb are in gait cycle, and heel falls and starts to contact ground,
Energy recycle device 32 is compressed with ground face contact and under contact force effect, and dragging energy storage cable wire 6 moves downward, and draws ratchet
442 rotate forward, and coil spring box 441 stores the energy that energy storage cable wire 6 transmits；After wearer's lower limb enter the support phase, energy
Amount recyclable device 32 no longer moves, and coil spring box 441 does not continue to rotate, and pawl 443 is engaged with ratchet 442 at this time, prevents it anti-
To rotation；When shaking peroid, when wearer's knee joint needs power-assisted, electromagnetism push rod 444 is under control circuit driving by pawl
443 are lifted up, and are disengaged from the latter with ratchet 442, and ratchet 442 rotates backward, and dragging is released energy cable wire 5 and moved downward, from
And by the energy transmission of storage to knee joint driven member 46, auxiliary is provided for motor driver.
Embodiment 2
The utility model embodiment provides a kind of control method for exoskeleton robot described in embodiment 1.The control
Method include motion intention fallout predictor, collection of energy estimator, energy regenerating trigger, finite time convergence control interference observer and
Non-singular terminal sliding mode controller, specific step is as follows.
The first step, embedded scm using thigh pressure sensor 15 acquire respectively thigh and stock front side support plate 11,
Contact force F between stock Backside support plate 12g1、Fg2、Fg3、Fg4；Before acquiring shank and shin respectively using shank pressure sensor 25
Contact force F between side support plate 21, shin Backside support plate 22j1、Fj2、Fj3、Fj4；Then it according to following formula (1)-(4), obtains
It is intended to the knee joint expected angle signal q of track to reflection wearer motiond；
Formula (1)-(4) described in step 1 are motion intention fallout predictor, specially extreme learning machine (ELM), such as Fig. 8
It is shown, adaptive training is carried out to parameter in ELM by the collected inputoutput data of institute before dressing.It, can after training
To directly obtain corresponding output signal q according to input signald, it is input to non-singular terminal sliding mode controller；
Shown in specific step is as follows.
ELM input is x=[Fg1、Fg2、Fg3、Fg4、Fj1、Fj2、Fj3、Fj4] ', export qd=f (x) function can indicate are as follows:
1 is expressed as in the number of output layer, output node.H=[h1,…,hL]T(the numerical statement of concealed nodes in hidden layer
It is shown as L) indicate that the nonlinear characteristic between hidden layer and the output vector of output maps, β=[β1,…,βL]TIt is output weight square
Battle array；
The output function of concealed nodes can be used in the form of a variety of different, such as S function, Gaussian function, how secondary letter
Number etc..Given input vector, the output of concealed nodes can indicate are as follows:
hi(x)=G (ai,bi,x),ai∈Rd,bi∈R (2)
If the activation primitive with concealed nodes parameter is non-linear piecewise continuous function, it is general to can satisfy ELM
Approximation capability theorem.In this patent, G (ai,bi, x) and function is chosen as sigmoid function:
Finally obtain output weight vectors H.In (4),It is hidden layer output matrix:
The purpose of training process is examination output estimation value as close as true value, reduces estimation to the greatest extent and misses
Difference.
Second step, embedded scm are utilized respectively thigh gyroscope and acceleration transducer 16, shank gyroscope and add
That velocity sensor 26 acquires thigh and shank plus gyroscope and acceleration information Gyrog、Accg、Gyroj、Accj, by above-mentioned letter
Breath obtains knee angle angle value q using complementary filter algorithm；Plantar pressure value F is acquired using plantar pressure sensor 33s；Energy
It collects estimator and utilizes FsEstimate to obtain collected ENERGY E in a gait cycle with q；
Embedded scm will be collected in the E value being calculated and normal gait (1.1m/s) next gait cycle
ENERGY E0Compare, controls the release time t of pawl 443, by electromagnetism push rod 444 to control the triggering of energy collecting device.
The triggered time of energy collecting device is t under the normal gait period0(the experiment examination before the numerical value is dressed according to different wearers is gathered
Obtain), if the energy ratio E being collected into0It is big then earlier than time t0Release, if the energy ratio E being collected into0It is small, it is later than the time
t0Release.
Collection of energy estimator algorithm in step 2 is consistent with algorithm used by motion intention fallout predictor in step 1,
It is ELM, the extreme learning machine input in step 2 is x=[Gyrog、Accg、Gyroj、Accj] ', it exports as E=f (x).
Third step calculates lower limb exoskeleton kinetic model mathematical description expression formula, and arranging is following form:
Wherein D is is provided the interference of power-assisted bring uncertainty and model uncertainty interference by energy recycle device 32
The concentration of the system of composition is always interfered.
4th step concentrates total interference D in interference observer (i.e. following formula (6)-(8)) estimating system, obtains estimated valueIt utilizesτ is refused to the output control force of non-singular terminal sliding mode controller to compensate.
If cannot be in finite time to concentrating total interference to be estimated and compensated, interference can be to control precision meeting
Generate prolonged influence.In order to realize the accurate estimation interfered lump in shorter time, this patent is dry by finite time
Disturbing observer estimation lump interference reduces brought influence to compensate to control system；
Interference observer concrete form is between being designed in limited time
WhereinFor the output of interference observer, z is the auxiliary variable defined for the design convenient for interference observer.
L1、L2、L3For observer gain matrix to be designed, L1=diag (l11, l12), L2=diag (l21, l22), l2=min { l2i}
And l2>=| | D | |, L3=diag (l31,l32), l1i,l3i0,0 < p < 1 of >.
Consider exoskeleton system (5), design finite time interference observer (6)-(8), if with the interference observer proposed
Estimate composite interference, then Interference Estimation error finite time convergence control to zero.
In order to further illustrate the interference observer validity designed in above-mentioned steps, liapunov function is selected are as follows:
To V0Derivation and convolution (7) and (5), obtain
Due to l2>=| | D | |, equation (10) can be rewritten as
Wherein l1=min { l1i, l3=min { l3i}。
For ectoskeleton kinetic model (5), continuously differentiable positive definite integral form V (x) if it exists: D → RnWith real number p > 0,
0,0 < r < 1 of q >, and include former neighborhood of a point there are oneMake
Then the origin local finite time stablizes.If D0=D=RnAnd V (x) radially unbounded, then the origin overall situation of system (6) has
Stablize between in limited time, arrival time
It is apparent from according to above-mentioned formula (12)-(13) for t >=t1, V0≡ 0, wherein
From formula (14) it can be seen that Interference Estimation error convergence time and l1、l3And p is related, it is possible to by changing this
The size that is worth a bit adjusts convergence time.As t >=t1When obtain z=0, so as to t >=t1When,
Define Interference Estimation errorIt is obtained by formula (5)-(8)
Interference Estimation error is obtained from equation (15)Finite time convergence control is to zero, i.e.,
Therefore, the interference observer of design can accurately estimate lump interference in finite time, evaluated error
It is zero, interference only has the influence of short time to control precision.Prove that the interference observer form taken in step 4 is effective.
5th step calculates the control force in lower limb exoskeleton model by non-singular terminal sliding mode controller and refuses τ.
The specific steps are pass through the lower limb exoskeleton kinetic model-i.e. formula (5) established in step 3, definition tracking
Error e (t)=qd(t)-q (t) designs the non-singular terminal sliding formwork function for having very fast convergence rate and being not in singular point
s
Wherein, s=[s1,s2]T, A=diag (a1,a2), B=diag (b1,b2), γ1=diag (γ11,γ12), γ2=
diag(γ21,γ22), ai> 0, bi0,1 < γ of >2i< 2, γ1i> γ2i。
The differential of sliding formwork function are as follows:
Formula (5) are substituted into above formula, are obtained
The interference observer estimation lump interference proposed with formula (6)-(8) compensates controller, non-singular terminal
Sliding mode controller can be designed as
Wherein K1=diag (k11,k12), K2=diag (k21,k22), k1i> 0, k2i0,0 < ρ < 1 of >.
Consider lower limb exoskeleton kinetic model-i.e. formula (5), the interference observer of terminal sliding mode form is designed as (6)-
(8), if design of control law is (20), track following error finite time convergence control to zero.
In order to further illustrate the validity of design control law in above-mentioned steps, liapunov function is selected
To V1Differential obtains
Formula (19) are substituted into formula (22), are obtained
Formula (20) are substituted into formula (23), are obtained
Convolution (16), as t >=t1When, have
Wherein,WhenWhen, K1、K2For positive definite
Diagonal matrix.
Whereink 1=mink 1i> 0,k 2=mink 2i> 0.
Convolution (21), formula (26) can be rewritten as
According to following formula (28), provable lower limb exoskeleton kinetic model tracking error can arrive in finite time
Up to sliding-mode surface s=0.Reach sliding-mode surface time be
WhenWhen, formula (17) are substituted into formula (1), are considered?
Due to,It is not attractor, tracking error is equally in finite time convergence control.Therefore, as long as the suitable control of selection
Parameter processed, system mode can reach sliding-mode surface s=0 in finite time.
Equally, in sliding phase, tracking error e can be along sliding-mode surface s=0 in finite time convergence control to zero.Therefore system
Track following error finite time convergence control to zero, it was demonstrated that the control law taken in step 5 is effective.
6th step, the control input value τ that non-singular terminal sliding mode controller is calculated embedded scm, is converted into
The duty ratio input signal that motor driven systems need, motor driven systems control direction and the speed of motor rotation, drive knee
The gear of 46 position of joint driven member, driving knee joint operation, completes the control to whole ectoskeleton structure.
In order to further illustrate the validity of control algolithm, the emulation experiment of integral control algorithm is further devised.It takes
Wearer's height and weight are 1.75m and 60kg, and measure lower limb exoskeleton Each part length and weight, are taken in MATLAB
Control System Imitation platform as shown in Figure 9 is built, in swing phase process, the variation of angle and the input linear of torque are related, the phase
Hope that track is obtained by the practical joint angles during acquisition human body level walking.It may finally obtain such as Figure 10 and Figure 11
Shown in simulation result.
As can be seen that designed control system can make lower limb exoskeleton output angle follow expectation well in Figure 10
The variation of track.Control system after of short duration adjustment, can make system tracking error be 0 as can be seen from Figure 11,
The reasonability and validity of integral control algorithm are further demonstrated based on this.
Finally, it should be noted that the preferred embodiment in the utility model is explained in detail in conjunction with attached drawing above, but this
Utility model is not limited to the above embodiments, and within the knowledge of a person skilled in the art, can also not taken off
It is made a variety of changes under the premise of from the utility model aims, these variations are related to related skill well-known to those skilled in the art
Art, these both fall within the protection scope of the utility model patent.
The utility model unaccomplished matter is well-known technique.
Claims (2)
1. a kind of lower limb exoskeleton robot, it is characterized in that the robot includes thigh support section, shank support section, foot
Support section and power house；
The thigh support section is connect with shank support section；The shank support section is connect with foot support portion；It is described
Power house is fixed on the side of shank support section；
The thigh support section includes support plate on front side of stock, stock Backside support plate, thigh frame, thigh gyroscope and acceleration
Sensor and four thigh connecting rods, four thigh pressure sensors；
The thigh chassis body is annular, and support plate and stock Backside support plate are located at the interior of its cyclic structure on front side of stock
Front and rear sides；The bracket that oriented upper and lower stretches out on front side of thigh frame, each stent ends respectively with two thigh connecting rods
One end connection, the other end of two thigh connecting rods are connect with support plate top and the bottom on front side of stock respectively；Similarly, have on rear side of the frame of thigh
The bracket just stretched out up and down, stent ends are equipped with mounting shaft hole, connect respectively with one end of two thigh connecting rods, and thigh connects
The other end of bar is connect with stock Backside support plate top and the bottom respectively；The on both sides of the middle of thigh frame has first stretched out downwards
Support arm；The inside of stock front side support plate and stock Backside support plate, is respectively equipped with two thigh pressure sensors, respectively before stock
Side support plate is arranged above and below with stock Backside support plate central axes；Thigh gyroscope is installed on the outside of the first support arm of thigh frame
And acceleration transducer；
The shank support section includes support plate on front side of shin, shin Backside support plate, shank frame, shank gyroscope and acceleration
Sensor and four shank connecting rods, four shank pressure sensors；
The shank chassis body is annular, on front side of shin support plate and shin Backside support plate be located at its cyclic structure it is interior before,
Two sides afterwards；The bracket that oriented upper and lower stretches out on front side of shank frame, stent ends connect with one end of two shank connecting rods respectively
It connects, the other end of two shank connecting rods is connect with support plate top and the bottom on front side of shin respectively；Similarly, have on rear side of shank frame upwards,
The bracket that lower section is stretched out, stent ends are connect with one end of two shank connecting rods respectively, the other end difference of two shank connecting rods
It is connect with shin Backside support plate upper and lower part；There are the second support arm stretched out upwards, end inside and outside shank frame
With the first support arm axis connection of thigh frame, and ectoskeleton knee joint is constituted；There is one to extend downwardly on the outside of shank frame
Third support arm, connect with the foot fixed frame that Foot-supporting portion is included, third support arm is fixed with power house；Before shin
The inside of side support plate and shin Backside support plate, there are two shank pressure sensors for each installation, respectively along support plate on front side of shin with
Shin Backside support plate central axes arrangement；Shank gyroscope and accelerometer are installed on the outside of shank frame third support arm；
The Foot-supporting portion includes foot fixed frame, energy recycle device and plantar pressure sensor；
The foot fixed frame has a ring by the mounting shaft hole and shank frame articulation on the upside of it, foot fixed frame inside
Shape cingulum is perpendicular on the outside of foot fixed frame for wearer's foot is fixed when in use, is fixed with energy and returns
Receiving apparatus；Energy recycle device is divided into pressure block and transmission system with ground face contact, pressure block and ground face contact；
The power house is closed by power house bottom plate, power room housing, control cabinet, energy releasing device, motor driver and knee
Driven member is saved to constitute；
Wherein energy releasing device is made of coil spring box, ratchet, pawl and electromagnetism push rod；Motor driver by direct current generator,
Retarder and driving gear are constituted；
Power house bottom plate is riser, is fixed on the third support arm on the outside of shank frame, energy releasing device and motor driven
Device is fixed on power house bottom plate, and knee joint driven member is the gear and wire spool of isometric arrangement, same with ectoskeleton knee joint
Axis, and being fixed on the second support arm of thigh frame, power room housing is fixed on the second support arm of thigh frame, and dynamic
Power room bottom plate fastens, and control cabinet is attached to power house case inside；Energy releasing device, motor driver and knee joint are driven
Body is respectively positioned on power house enclosure interior central axes；
Have wire spool on the outside of the ratchet, ratchet thereon respectively with energy storage cable wire upper end and release energy cable wire lower end and be connected,
The coiling disc portion of the upper end and knee joint driven member of releasing energy cable wire is fixed；Coil spring box and coaxial ratchet are installed on the power house
Baseplate underside；The tail end of pawl is mounted on power house bottom plate by axis, and the lower part on the top of pawl is engaged with ratchet；Electromagnetism pushes away
Bar is connected by a connecting rod with the top on the top of pawl；The output shaft of direct current generator and the input axis connection of retarder, it is main
Moving gear is fixed on the output shaft of retarder, engages with the gear parts of the knee joint driven member.
2. lower limb exoskeleton robot as described in claim 1, it is characterized in that the control cabinet positioned inside has embedded single
Piece machine master control borad and power supply system, single-chip microcontroller master control borad include embedded scm, motor and electromagnetism push rod drive module and
Sensor signal processing circuit, motor and electromagnetism push rod drive module, sensor signal processing circuit respectively with embedded monolithic
The port of machine connects, and power supply system is connect with embedded scm master control borad；The thigh pressure sensor shank pressure sensing
Device, plantar pressure sensor and thigh gyroscope and accelerometer, shank gyroscope and accelerometer are respectively connected to master control borad
Sensor signal processing circuit；Microprocessor is connected with drive module, drive module respectively with direct current generator, electromagnetism push rod phase
Even；Power supply system is connected with direct current generator, electromagnetism push rod and control circuit respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821975007.5U CN209548334U (en) | 2018-11-28 | 2018-11-28 | A kind of lower limb exoskeleton robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276414A (en) * | 2018-11-28 | 2019-01-29 | 河北工业大学 | A kind of lower limb exoskeleton robot |
| WO2021197256A1 (en) * | 2020-03-31 | 2021-10-07 | 袁博 | Parallel elastic driver of power-assisted exoskeleton, and control method therefor |
-
2018
- 2018-11-28 CN CN201821975007.5U patent/CN209548334U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276414A (en) * | 2018-11-28 | 2019-01-29 | 河北工业大学 | A kind of lower limb exoskeleton robot |
| CN109276414B (en) * | 2018-11-28 | 2023-10-13 | 河北工业大学 | Lower limb exoskeleton robot |
| WO2021197256A1 (en) * | 2020-03-31 | 2021-10-07 | 袁博 | Parallel elastic driver of power-assisted exoskeleton, and control method therefor |
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