CN210616522U - Exoskeleton device for simulation test of lower limb exoskeleton robot - Google Patents
Exoskeleton device for simulation test of lower limb exoskeleton robot Download PDFInfo
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- CN210616522U CN210616522U CN201921766727.5U CN201921766727U CN210616522U CN 210616522 U CN210616522 U CN 210616522U CN 201921766727 U CN201921766727 U CN 201921766727U CN 210616522 U CN210616522 U CN 210616522U
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Abstract
The utility model provides an ectoskeleton device of lower limbs ectoskeleton robot emulation test, its characterized in that: the device comprises a support frame, a pneumatic muscle fixing plate, pneumatic muscles, a spring pre-tightening assembly, a pulling pressure sensor, a lasso, a hip joint assembly, a thigh binding assembly, a first connecting rod, a knee joint assembly, a shank binding assembly, a second connecting rod, an ankle joint assembly and a sole plate; the utility model discloses an adopt the driving method that lasso, artificial muscle and spring combined together, avoided the injury that the rigid drive caused to the human body, have light, low cost, control accuracy and corresponding fast, still have certain buffering effect in addition, the transmission is more steady effective.
Description
Technical Field
The utility model relates to an ectoskeleton system simulation test field, in particular to low limbs ectoskeleton robot semi-physical simulation test system device based on dSPACE.
Background
The lower limb exoskeleton control strategy is a key technology in the exoskeleton technology, different control strategies are needed for meeting different control targets by the lower limb exoskeleton robot, and the selection of a proper control strategy plays a crucial role in completing a specified task by the lower limb exoskeleton robot.
In the application of the lower limb exoskeleton robot, two independent individuals, namely a human and the robot, jointly complete a target, and the information communication between the two is very important. The lower limb exoskeleton robot sensor mainly comprises a position sensor, an angle sensor, a force sensor, a myoelectric sensor and an electroencephalogram sensor. The human and the robot are coupled together, there are physical human-machine interaction forces, and there is interaction control between the human and the robot. Two methods are available for acquiring the interaction force signal, one is to directly measure through a force sensor, and the other is to indirectly acquire through an electroencephalogram signal and a surface electromyogram signal. For example, the swing state is judged through the pressure sensors at the legging position, the supporting state is judged through the sole pressure sensors, so that the exoskeleton forms a multi-sensor fusion system, the complex system needs to be processed, the requirement on hardware equipment is high, and the development period is long.
Because the lower limb exoskeleton robot is a mechatronic system with a mechanism coupled with a person, a hardware circuit is generally adopted to be combined with an upper computer to drive the mechanism to move, and the hardware circuit and the upper computer code are programmed, so that a great deal of time and energy are consumed. The hardware circuit and the control programming are separately and independently programmed, the period for finding and solving the problems is long during testing, the control algorithm in the simulation is difficult to realize in reality, and the capability of observing data in real time is not provided.
The existing exoskeleton device is not humanized in design, difference among different individuals is not considered, and great discomfort is generated during testing, so that accuracy of test data is affected.
Disclosure of Invention
For solving the not enough of prior art above, the utility model provides an ectoskeleton device of lower limbs ectoskeleton robot simulation test to introduce dSPACE and carry out semi-physical simulation experiment platform, can carry out the gait orbit tracking experiment of the unloaded gait orbit with the area load of single leg experiment, the gait orbit experiment of the different cycles of single leg, the gait orbit experiment is coordinated to both legs and the real person experiment. Based on abundant interface resources (UART, CAN, D/A, AD, digit 1/0, etc.), its most significant advantage is that real-time control ability is strong, CAN real-time supervision signal return condition to debug the controller parameter in real time according to feedback information, reach best control effect, and based on this system, carry out more humanized and suitability's improvement to exoskeleton device.
The utility model provides a following technical scheme:
an exoskeleton device for simulation test of a lower limb exoskeleton robot comprises a support frame, a pneumatic muscle fixing plate, pneumatic muscles, a spring pre-tightening assembly, a pulling pressure sensor, a lasso, a hip joint assembly, a thigh binding assembly, a first connecting rod, a knee joint assembly, a shank binding assembly, a second connecting rod, an ankle joint assembly and a foot bottom plate;
the pneumatic mechanism fixing plate is fixed at the top of the support frame, at least four pneumatic muscles are arranged, the upper end of each pneumatic muscle is fixedly connected to the pneumatic muscle fixing plate, the lower end of each pneumatic muscle is connected with a tension pressure sensor, the spring pre-tightening assembly comprises a steel wire rope and a spring, the upper end of the spring is fixedly connected with the tension pressure sensor, and the lower end of the spring is fixedly connected with the steel wire rope;
the hip joint assembly comprises: the device comprises a noose, a hip joint limiting plate, a hip joint rotating structure and a steel wire rope fixing plate, wherein the noose is arranged in the middle of the hip joint rotating structure, the lower ends of two tension pressure sensors close to the thigh binding assembly end are wound on the noose through the steel wire rope, and the height of one binding side can be adjusted through the retraction and release of the steel wire rope; the other two tension and pressure sensors are adjustably fixed on the steel wire rope fixing plate through the steel wire rope;
the thigh tie-up assembly comprises: a thigh binding belt, a thigh force sensor, a thigh supporting rod and a first adjusting plate; the thigh supporting rod is connected with the hip joint assembly and the thigh binding assembly; the thigh binding assembly is movably arranged on the first connecting rod through a first adjusting plate so as to be suitable for users with different thigh lengths, a binding mechanism groove is further formed in the thigh supporting rod, and the binding belt can slide up and down in the groove;
the knee joint component comprises a knee joint force sensor, and is connected with the thigh binding component and the shank binding component.
The shank-binding assembly comprises: the ankle joint component comprises a shank binding belt, a shank force sensor and a shank supporting rod, wherein the shank supporting rod is movably connected to a second connecting rod, the second connecting rod is connected with the ankle joint component, and the adjusting and fixing principle of the ankle joint component is the same as that of the shank binding component;
the ankle joint assembly includes: the joint-changing rotating joint and the ankle joint driven rotating joint are connected with the foot bottom plate in a 90-degree turning manner in the vertical direction, the foot bottom plate is made of a plate-shaped material, and the upper surface of the foot bottom plate is provided with threads for increasing friction force and preventing sliding.
The utility model discloses an adopt the drive adjustment mode that lasso, artificial muscle and spring combined together, avoided the injury that the rigid drive caused to the human body, have light, low cost, control accuracy and corresponding fast, still have certain buffering effect in addition, the transmission is more steady effective.
Drawings
FIG. 1 is a view of the structure of the present invention;
FIG. 2 is a schematic view of a spring pre-tightening assembly of the present invention;
FIG. 3 is an exploded view of the hip joint mechanism of the present invention;
FIG. 4 is a schematic view of the thigh binding assembly of the present invention;
FIG. 5 is a schematic view of a thigh supporting rod of the present invention;
FIG. 6 is a schematic view of the calf binding structure, the connection between the ankle joint assembly and the sole plate, and the structure thereof;
FIG. 7 is a system diagram of the present invention applied to a dSPACE-based exoskeleton semi-physical simulation control platform;
FIG. 8 is a block diagram of a dSPACE-based exoskeleton semi-physical simulation control platform control algorithm simulink in FIG. 7;
fig. 9 is based on the utility model discloses be applied to exoskeleton semi-physical simulation control platform based on dSPACE and develop exoskeleton experiment test track following curve.
Detailed Description
In order to explain the present invention more clearly, the present invention will be further explained below with reference to the attached drawings.
An exoskeleton device for simulation test of a lower limb exoskeleton robot comprises a support frame 1, a pneumatic muscle fixing plate 2, pneumatic muscles 3, a spring pre-tightening assembly 4, a tension pressure sensor 5, a lasso 6, a hip joint assembly 7, a thigh binding assembly 8, a first connecting rod 9, a knee joint assembly 10, a shank binding assembly 11, a second connecting rod 12, an ankle joint assembly 13 and a foot bottom plate 14; the pneumatic muscle fixing plate 2 is fixed at the top of the support frame 1;
as shown in the figure, four pneumatic muscles are arranged in the embodiment, the upper end of each pneumatic muscle 3 is fixedly connected to the pneumatic muscle fixing plate 2, and the lower end of each pneumatic muscle 3 is connected with the tension and pressure sensor 5;
the spring pre-tightening assembly 4 comprises a steel wire rope 41 and a spring 42, the upper end of the spring 42 is fixedly connected with the tension pressure sensor 5, and the lower end of the spring 42 is fixedly connected with the steel wire rope 41; the advantages of this design are: by adding the spring structure, a more flexible length change range can be obtained, so that the lower limb joint can obtain a larger rotation angle.
The hip joint assembly 7 comprises: the device comprises a noose 6, a hip joint limiting plate 71, a hip joint rotating structure 72 and a steel wire rope fixing plate 73, wherein the noose is arranged in the middle of the hip joint rotating structure, the lower ends of two tension pressure sensors 5 close to the thigh binding component end are wound on the noose 6 through a steel wire rope 41, and the height of one binding side can be adjusted through the winding and unwinding of the steel wire rope; the other two tension and pressure sensors 5 are adjustably fixed on the steel wire rope fixing plate 73 through steel wire ropes;
the thigh cuff assembly 8 includes: a thigh binding band 81, a thigh force sensor 82, a thigh support bar 83, a first adjustment plate 84; the thigh support rod 83 is connected with the hip joint component 7 and the thigh binding component 8; the thigh binding assembly 8 is movably arranged on the first connecting rod 9 through a first adjusting plate 84 so as to adapt to users with different thigh lengths, a binding mechanism groove 831 is further arranged on the thigh supporting rod 83, and the binding belt 81 can slide up and down in the groove;
the knee joint component 7 includes a knee joint force sensor 71;
the lower leg binding assembly 11 comprises: a calf binding belt 111, a calf force sensor 112 and a calf support rod 113, wherein the calf support rod 113 is movably connected to the second connecting rod 12, the second connecting rod 12 is connected with the ankle joint component 13, and the adjusting and fixing principle of the ankle joint component is the same as that of the thigh binding component;
the ankle joint assembly 13 includes: the joint-changing rotating joint 131 and the ankle joint passive rotating joint 132, the lower end of the passive rotating joint is connected with the foot bottom plate 14 in a 90-degree turning manner with the vertical direction, the foot bottom plate is made of plate-shaped materials, and the upper surface of the foot bottom plate is provided with threads for increasing friction force and preventing sliding.
As shown in FIG. 7, an ectoskeleton device of lower limbs ectoskeleton robot simulation test is applied to ectoskeleton semi-physical simulation control platform based on dSPACE, and the platform adopts dSPACE hardware in ring test system, with angle, the torque sensor of real-time test system input port connection, with the solenoid valve of real-time test system's output port connection to and pass through the host computer of ethernet communication with real-time test system. The platform includes: a simulink simulation system, a dSPACE hardware online ring system and an exoskeleton system.
As shown in fig. 8, the dSPACE hardware online ring system includes: the DS1048 processor board card has 5I/O boards connected. The DS2004A/D board is used for collecting the rotation angle signal of the joint, comprises 16 paths of A/D channels and can receive +/-5 v or +/-10 v input voltage. The DS2102D/A board comprises 6 parallel D/A converters, and can output 0-10v voltage signals and provide control signals for the solenoid valves.
The simulink simulation system comprises an exoskeleton signal acquisition module, an exoskeleton signal processing module, an exoskeleton control strategy module, an exoskeleton knee joint and hip joint trajectory tracking and monitoring module, and is connected with a bus, so that control experiment and variable monitoring can be performed on a ControlDesk graphical interface.
An exoskeleton device for simulation test of a lower limb exoskeleton robot adopts the following control algorithms under a simulink module:
(1) based on a fuzzy PID control algorithm, the exoskeleton system is a strong nonlinear system, and relates to the coupling of a plurality of variables, the acquired control signals are few, but the control requirement is high, a plurality of experiments are required to be empirical, and the PID parameters are set in real time by using a fuzzy rule. Firstly, fuzzification processing is carried out, signals collected by a sensor are converted into digital quantities from analog quantities after signal processing, the digitals are fuzzified, such as angle signals, the signals are converted into an input discourse range of a fuzzy controller, the signals and a first derivative of the signals to time are used as the input of the controller, and the fuzzification process of input variables is realized according to a membership function. Fuzzy reasoning and decision making follows, i.e. establishing logical relations between input fuzzy variables and output variables. And finally, performing output defuzzification processing, and processing the fuzzy variable to obtain the directly used control quantity. The fuzzy PID controller designed by the embodiment combines the angle error e and the angle error rate
As input, PID parameter adjustment values
、
As an output. Therefore, the adjustment of parameters can be realized, and different parameters can be adapted in different periods;
(2) force/position
Hybrid control, to machineThe force and the position of a human are respectively controlled, the control over the expected position and the expected force is realized, closed-loop position control and force control are established, the control over the robot force and the position is realized, an accurate dynamic model of the exoskeleton is established, and the exoskeleton is controlled by acquiring the force and position change relation between human bodies through an exoskeleton sensor system.
The control closed loop work flow formed by the exoskeleton sensing system, the dSPACE testing system and the exoskeleton driving system is as follows:
1. exoskeleton sensing system: the exoskeleton robot joint angle and force sensor measures the change of the mechanism joint angle and the change of interaction force between the exoskeleton robot joint angle and a human body, and transmits a detected motion state signal to dSPACE;
dsace test system: the ds2004 board card in the dSPACE can convert analog quantity signals acquired by angles and moments into digital quantity signals, adjust the digital quantity signals by adopting corresponding control strategies corresponding to different motion states, predict and adjust the outer skeleton track, give corresponding control signals and control a servo valve;
3. exoskeleton driving system: the servo valve receives the control signal sent by the dSPACE and carries out power on the control signal, and the servo valve adjusts the air inlet and outlet flow of the air pump according to the control signal to control the stretching of the pneumatic muscle.
The working principle of the embodiment is as follows:
an exoskeleton control model is built and downloaded to a dSPACE module in a simulation mode through a matlab/simulink module on an upper computer, a ControlDesk software tool and a processor perform interactive work, the exoskeleton motion state is monitored in real time, parameters are realized, and the simulation system platform is based on a physical system, so that the exoskeleton control simulation system has the characteristics of high authenticity, good stability, high real-time performance, high reliability and the like.
Sdf file, which is downloaded in control ask monitoring software for control experiment and variable monitoring, the tracking effect is better when the parameters Kp =3, Ki =1.5, Kd =0 of the fuzzy PID algorithm, the period of the expected track is 3.6s, and the sampling time is 0.001s, and the effect of the lower limb joint tracking control is as shown in fig. 9. From experiments, the fuzzy PID control track tracking has a very good effect. According to the human gait walking control experiment results of the fuzzy PID lower limb hip joint and the knee joint, the following effect of the fuzzy PID is good, but a little lag exists. And the track following control error is smaller when the period of the desired track is longer.
The utility model has the advantages that: the existing lower limb exoskeleton device mainly has hardware mechanical driving modes such as motor, pneumatic, hydraulic, four-bar mechanism, reducer and the like in terms of driving modes, and the driving modes have a common defect: the mechanism is not soft enough, the rigidity is bigger, and the volume is big. The utility model adopts the driving mode of combining the lasso, the artificial muscle and the spring, avoids the injury to the human body caused by rigid driving, has the advantages of portability, low cost, accurate control, high corresponding speed and certain buffering effect; the transmission is more stable and effective.
The utility model discloses exoskeleton device based on design of dSPACE's semi-physical simulation control platform control system of ectoskeleton can realize the online debugging of ectoskeleton machinery leg motion control based on the system platform, assesses whole system state, adopts dSPACE hardware system, combines the simulink module to carry out on-line test and verification to different control algorithm to and each parameter of on-line adjustment, reach optimum effect.
Claims (5)
1. An exoskeleton device for simulation test of a lower limb exoskeleton robot is characterized in that: the device comprises a support frame, a pneumatic muscle fixing plate, pneumatic muscles, a spring pre-tightening assembly, a pulling pressure sensor, a lasso, a hip joint assembly, a thigh binding assembly, a first connecting rod, a knee joint assembly, a shank binding assembly, a second connecting rod, an ankle joint assembly and a sole plate; the pneumatic mechanism fixing plate is fixed at the top of the support frame, at least four pneumatic muscles are arranged, the upper end of each pneumatic muscle is fixedly connected to the pneumatic muscle fixing plate, the lower end of each pneumatic muscle is connected with a tension pressure sensor, the spring pre-tightening assembly comprises a steel wire rope and a spring, the upper end of the spring is fixedly connected with the tension pressure sensor, and the lower end of the spring is fixedly connected with the steel wire rope;
the hip joint assembly comprises: the device comprises a noose, a hip joint limiting plate, a hip joint rotating structure and a steel wire rope fixing plate, wherein the noose is arranged in the middle of the hip joint rotating structure, the lower ends of two tension pressure sensors close to the thigh binding assembly end are wound on the noose through the steel wire rope, and the height of one binding side can be adjusted through the retraction and release of the steel wire rope; the other two tension and pressure sensors are adjustably fixed on the steel wire rope fixing plate through the steel wire rope;
the thigh tie-up assembly comprises: a thigh binding belt, a thigh force sensor, a thigh supporting rod and a first adjusting plate; the thigh supporting rod is connected with the hip joint assembly and the thigh binding assembly; the thigh binding assembly is movably arranged on the first connecting rod through a first adjusting plate;
the knee joint component comprises a knee joint force sensor which is connected with the thigh binding component and the shank binding component;
the shank-binding assembly comprises: the crus binding belt, the crus force sensor and the crus supporting rod are movably connected to a second connecting rod, and the second connecting rod is connected with the ankle joint component;
the ankle joint assembly includes: the joint changing rotating joint and the ankle joint driven rotating joint are connected with the sole plate in a 90-degree turning manner with the vertical direction.
2. The exoskeleton device of claim 1, wherein said exoskeleton device is configured to perform simulation tests on said lower extremity exoskeleton robot by: four pneumatic muscles are arranged.
3. The exoskeleton device of claim 1, wherein said exoskeleton device is configured to perform simulation tests on said lower extremity exoskeleton robot by: the thigh supporting rod is also provided with a binding mechanism groove, and the binding belt can slide up and down in the groove.
4. The exoskeleton device of claim 1, wherein said exoskeleton device is configured to perform simulation tests on said lower extremity exoskeleton robot by: the foot bottom plate is made of plate-shaped materials.
5. The exoskeleton device of claim 1, wherein said exoskeleton device is configured to perform simulation tests on said lower extremity exoskeleton robot by: the upper surface of the foot bottom plate is provided with threads.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112315734A (en) * | 2020-09-27 | 2021-02-05 | 重庆理工大学 | Pneumatic muscle-driven lower limb rehabilitation exoskeleton and rehabilitation work control method thereof |
| CN112370313A (en) * | 2020-11-10 | 2021-02-19 | 天津大学 | System and method for testing lower limb exoskeleton capable of offsetting gravity |
| CN114536310A (en) * | 2022-04-12 | 2022-05-27 | 安徽工业大学 | Anti-pressure detection device and method for bionic artificial muscle |
| CN114734431A (en) * | 2022-04-29 | 2022-07-12 | 电子科技大学 | Experimental platform for simulating man-machine coupling of lower limb exoskeleton |
| CN115519582A (en) * | 2022-08-31 | 2022-12-27 | 北京精密机电控制设备研究所 | Leg simulation exercise table for testing knee joint exoskeleton |
-
2019
- 2019-10-21 CN CN201921766727.5U patent/CN210616522U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112315734A (en) * | 2020-09-27 | 2021-02-05 | 重庆理工大学 | Pneumatic muscle-driven lower limb rehabilitation exoskeleton and rehabilitation work control method thereof |
| CN112370313A (en) * | 2020-11-10 | 2021-02-19 | 天津大学 | System and method for testing lower limb exoskeleton capable of offsetting gravity |
| CN112370313B (en) * | 2020-11-10 | 2022-11-22 | 天津大学 | System and method for testing lower limb exoskeleton capable of offsetting gravity |
| CN114536310A (en) * | 2022-04-12 | 2022-05-27 | 安徽工业大学 | Anti-pressure detection device and method for bionic artificial muscle |
| CN114536310B (en) * | 2022-04-12 | 2023-07-21 | 安徽工业大学 | Pressure resistance detection device and method for bionic artificial muscle |
| CN114734431A (en) * | 2022-04-29 | 2022-07-12 | 电子科技大学 | Experimental platform for simulating man-machine coupling of lower limb exoskeleton |
| CN115519582A (en) * | 2022-08-31 | 2022-12-27 | 北京精密机电控制设备研究所 | Leg simulation exercise table for testing knee joint exoskeleton |
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