CN211066621U - Intelligent mechanical frame for assisting lower limb exoskeleton to adjust human body position in cooperation with exercise - Google Patents
Intelligent mechanical frame for assisting lower limb exoskeleton to adjust human body position in cooperation with exercise Download PDFInfo
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- CN211066621U CN211066621U CN201920712490.6U CN201920712490U CN211066621U CN 211066621 U CN211066621 U CN 211066621U CN 201920712490 U CN201920712490 U CN 201920712490U CN 211066621 U CN211066621 U CN 211066621U
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Abstract
The utility model discloses an intelligent mechanical frame for assisting low limbs ectoskeleton in carrying out human position adjustment in cooperation with movement. The intelligent mechanical frame comprises an XYZ three-axis motion platform, a posture detection sensor module and a single chip microcomputer module, wherein the posture detection sensor module comprises a left foot sole pressure detection module and a right foot sole pressure detection module which are used for detecting the treading force of a wearer; the mechanical frame sensor module mainly comprises an ultrasonic sensor for acquiring height change data of the center of gravity of the wearer along the Z-axis direction, a first displacement sensor for measuring displacement of the center of gravity of the wearer along the X-axis direction and a second displacement sensor for measuring displacement of the center of gravity of the wearer along the Y-axis direction; the data of the sensors are transmitted to the single chip microcomputer module, and the XYZ three-axis motion platform is controlled by the single chip microcomputer module. The burden of the patient wearing the exoskeleton is greatly reduced, so that the patient has enough space to wear.
Description
Technical Field
The utility model relates to the field such as ectoskeleton robot especially relates to an intelligent mechanical frame that is used for assisting low limbs ectoskeleton to carry out human position adjustment in cooperation motion.
Background
The reliability of system data can be improved by acquiring information by multiple sensors, and the information precision is improved. The exoskeleton robot matched with the intelligent mechanical frame for use is provided with various sensors, so that the walking state of a human body can be detected more accurately, and the safety and the comfort of exoskeleton use are improved by matching with the mechanical frame for use. Most ectoskeletons all cooperate the auxiliary stay structure to use at present to maintain security and stability, but present auxiliary stay structure adopts the top rope basically to draw and draws the structure, and the travelling comfort is poor, and stability is not high, can't carry out real-time automatic adjustment moreover, has caused certain obstacle to patient's rehabilitation training, has weakened the recovered effect of training to a certain extent.
SUMMERY OF THE UTILITY MODEL
Not enough to the aforesaid, the utility model provides an intelligent machinery frame for assisting low limbs ectoskeleton in cooperation motion carries out human position adjustment has solved the problem that is difficult to in time accurate adjustment health position appearance among the motion rehabilitation training process.
The utility model discloses help the patient to dress ectoskeleton and gait training process, alleviate patient's training burden, simple structure, the low price easily promotes.
The utility model discloses the technical scheme who adopts as follows: an intelligent mechanical frame for assisting in adjusting the position of a lower extremity exoskeleton in coordination with locomotion, comprising: the device comprises an XYZ three-axis motion platform, a posture detection sensor module, a single chip microcomputer module and the like, wherein the hip of the lower limb exoskeleton is fixed on the XYZ three-axis motion platform, and the posture detection sensor module comprises a left foot sole pressure detection module for detecting the left foot treading force of a wearer, a right foot sole pressure detection module for detecting the right foot treading force of the wearer and a mechanical frame sensor module; the single chip microcomputer module comprises an exoskeleton single chip microcomputer and a mechanical frame single chip microcomputer which are connected; the left foot sole pressure detection module and the right foot sole pressure detection module are connected with the exoskeleton single chip microcomputer; the mechanical frame sensor module mainly comprises an ultrasonic sensor for acquiring height change data of the center of gravity of a wearer along the Z-axis direction, a first displacement sensor for measuring displacement of the center of gravity of the wearer along the X-axis direction and a second displacement sensor for measuring displacement of the center of gravity of the wearer along the Y-axis direction, wherein the ultrasonic sensor, the first displacement sensor and the second displacement sensor are all connected with an exoskeleton single chip microcomputer; the XYZ three-axis motion platform is controlled by a mechanical frame single chip microcomputer, and the mechanical frame single chip microcomputer is connected with the exoskeleton single chip microcomputer.
Furthermore, the left foot sole pressure detection module and the right foot sole pressure detection module are respectively composed of a plurality of force sensitive sensors.
Further, the force-sensitive sensors are arranged in a front sole area and a rear foot area.
Compared with the prior art, the utility model discloses following beneficial effect has:
(1) the intelligent mechanical frame judges the gait phase through the change of the pressure of the sole of the foot, the process can be carried out in real time, so that the posture of a patient can be changed in time, the intelligent mechanical frame is matched with the exoskeleton to be used, the gait motion state of the real human body is more approximate, and the training effect is better;
(2) this intelligent mechanical frame does not adopt common top to draw formula structure of dragging, but adopts more stable four-legged bearing structure, and patient's motion rehabilitation training process is more comfortable simultaneously.
Drawings
FIG. 1 is a diagram of a smart machine frame configuration;
FIG. 2 is a flow chart of use;
FIG. 3 is a force sensor layout;
FIG. 4 is a graph of the change in height of the center of gravity;
fig. 5 is a graph showing the change in the direction of the Y-axis of the center of gravity.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. In the following description and in the drawings, the same numbers in different drawings identify the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus consistent with certain aspects of the invention, as detailed in the appended claims. Various embodiments of the present description are described in an incremental manner.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides an intelligent mechanical frame for assisting the adjustment of the lower limb exoskeleton position in cooperation with exercise, which comprises an XYZ three-axis motion platform, an attitude detection sensor module and a singlechip module,
the frame of the XYZ three-axis motion platform adopts a section bar frame which is in a gantry shape, and the XYZ three-axis motion adopts a ball screw transmission mode, so that the XYZ three-axis motion platform has good structure and transmission stability.
As shown in fig. 1, the hip of the lower extremity exoskeleton is fixed on an XYZ three-axis motion platform 7, so as to realize the function of automatically adjusting the height of the mechanical frame according to the data of the sole pressure sensor, thereby adjusting the pressure born by the legs of the user, and meanwhile, the lower extremity exoskeleton can be fixed on mechanisms such as parallel bars, treadmills and the like. The joints of the lower limbs of the human body mainly comprise three joints of an ankle joint, a knee joint and a hip joint, wherein the hip joint has strong mobility and a large range of motion; the knee joint is the most complex joint, mainly bears the weight of the human body and carries out a large amount of movement, and the main function of the ankle joint is to bear the whole weight of the human body, so that the ankle joint does not need to be designed with freedom and provide power, and the knee joint and the hip joint need to be designed with freedom and provide power. The human lower limb skeleton is simplified to obtain a motion model of the human lower limb, the human engineering is adopted to design the exoskeleton, the content of the exoskeleton mainly comprises the human structure size, the human function size, an operating device and the like, and the exoskeleton mainly relates to the design of thighs, crus, joints and the like of the exoskeleton. Therefore, the exoskeleton structure mainly comprises thighs 1, shanks 2, hip joints 3, knee joints 4, a backpack 5 and soles 6, wherein the thighs 1 and the shanks 2 are of a connecting rod structure for replacing thighs and shank bones of a human body, the hip joints 3 are located at the connecting positions of the backpack 5 and the thighs 1, the knee joints 4 are located at the connecting positions of the thighs 1 and the shanks 2, the soles 6 are fixed at the lower ends of the shanks 2, the hip joints 3 and the knee joints 4 achieve a joint buckling function by adopting high-power motors, and the backpack 5 is located at the uppermost part of the whole exoskeleton structure and used for placing.
The posture detection sensor module comprises a left foot sole pressure detection module, a right foot sole pressure detection module and a mechanical frame sensor module; the single chip microcomputer module comprises an exoskeleton single chip microcomputer and a mechanical frame single chip microcomputer which are connected.
The left foot sole pressure detection module and the right foot sole pressure detection module are used for detecting the treading force of a wearer and transmitting the treading force to the exoskeleton single chip microcomputer;
the mechanical frame sensor module mainly comprises an ultrasonic sensor, a first displacement sensor and a second displacement sensor, wherein the ultrasonic sensor is used for acquiring data of height change of the center of gravity of a wearer along the Z-axis direction and transmitting the data to the exoskeleton single chip microcomputer; the first displacement sensor is used for measuring the displacement of the center of gravity of the wearer along the X-axis direction, and the second displacement sensor is used for measuring the displacement of the center of gravity of the wearer along the Y-axis direction and transmitting data to the exoskeleton single chip microcomputer;
the XYZ three-axis motion platform is controlled by a mechanical frame single chip microcomputer, and the mechanical frame single chip microcomputer drives the XYZ three-axis motion platform to move according to digital signals transmitted by the exoskeleton single chip microcomputer.
The exoskeleton single chip microcomputer and the mechanical frame single chip microcomputer both adopt STM32F103RCT6, have double 12-bit ADC of 1 mu s, UART of 4 Mbit/s, SPI of 18 Mbit/s and I/O turnover speed of 18MHz, consume 36mA (all peripheral devices are in a working state) in 72MHz, reduce to 2 mu A in standby, reduce power consumption, and simultaneously have a reset circuit, low-voltage detection, a voltage regulator, an accurate RC oscillator and the like. The STM32 is used to convert the sensor analog signal into digital signal, and finally the data information of the sensors at different positions are fused, so as to comprehensively judge the state of the human body and make corresponding action.
The left foot sole pressure detection module and the right foot sole pressure detection module are respectively composed of a plurality of force sensitive sensors, and the force sensitive sensors are arranged in a front sole area and a rear foot area. The force sensitive sensor selects FSR402 as the measuring element. The resistance of the FSR402 changes when pressure from the outside is applied to the sensing region of the force sensor. And as the external force increases, the resistance of the FSR402 decreases. The FSR402 provides two output pins, the pressure value is converted into a voltage value for measurement through the voltage division principle of the external circuit, the pressure signal measurement circuit converts the change of the FSR resistance caused by the sole pressure into a voltage signal, and the voltage signal is output to the exoskeleton single chip microcomputer to complete data acquisition.
The first displacement sensor and the second displacement sensor are metal induction linear devices, displacement can be converted into electric quantity, the displacement sensors are Kyowa DTP-D-S potentiometer type displacement sensors, the variation of resistance reflects the magnitude of displacement, the increase or decrease of the resistance indicates the direction of the displacement, the displacement sensors convert the displacement variation into electric signals and output the electric signals to the exoskeleton single chip microcomputer to complete measurement, and the potentiometer is simple in structure, large in output signal, convenient to use and low in price.
As shown in fig. 2, the method for using the intelligent mechanical frame for assisting the adjustment of the exoskeleton position of the lower limbs in cooperation with the movement comprises the following steps:
step 1: the gesture detection sensor module detects a sole pressure value and a height value of the gravity center along the Z-axis direction;
step 2: the exoskeleton single chip microcomputer receives data detected by the attitude detection sensor module, judges which stage of human gait cycle is in, and after judging which stage of human walking is in, the mechanical frame single chip microcomputer drives the XYZ three-axis motion platform to adjust the position of the gravity center in the XYZ direction according to digital signals transmitted by the exoskeleton single chip microcomputer;
and step 3: after the position of the gravity center in the XYZ direction is adjusted, the ultrasonic sensor, the first displacement sensor and the second displacement sensor feed back the position information of the gravity center in the XYZ direction to the exoskeleton single chip microcomputer in real time for feedback control, so that the function of assisting the balance of the exoskeleton is achieved, and the control precision and accuracy are improved.
Through a large amount of experimental tests and statistical analysis, most people can be decomposed into seven states by walking one step, and the steps are repeated continuously, the characteristics of the pressure values of all areas of the soles of all states can be obtained through analysis and comparison, the stage where the human body is located can be analyzed through the detected sole pressure condition, and the seven stages and the characteristics are respectively:
at the moment, obvious pressure is detected in the forefoot area of the left foot, and obvious pressure is detected in the hindfoot area of the right foot;
FLA＝1&&FRB＝1
at the moment, obvious pressure is detected in all three areas of the right foot, and obvious pressure is detected in the area of the front sole of the left foot;
FLA＝1&&FR＝1
at the moment, obvious pressure is detected in all three areas of the right foot, and obvious pressure is detected in the hindfoot area of the left foot;
FLB＝1&&FR＝1
at this time, the hindfoot area of the left foot detects obvious pressure, and the forefoot area of the right foot detects obvious pressure;
FLB＝1&&FRA＝1
at the moment, three areas of the left foot detect obvious pressure, and the area of the front sole of the right foot detects obvious pressure;
FL＝1&&FRA＝1
at the moment, obvious pressure is detected in the three areas of the left foot, and no obvious pressure is detected in the three areas of the right foot;
FL＝1
at the moment, three areas of the left foot detect obvious pressure, and the hindfoot area of the right foot detects obvious pressure;
FL＝1&&FRB＝1
in the formula, FLThe pressure on the left foot sole of the human body, FRThe pressure on the sole of the right foot of the human body, FLAThe pressure condition of the front sole area of the left foot sole of the human body, FLBThe pressure condition of the hindfoot area of the left foot sole of the human body, FRAThe pressure on the front sole area of the right foot sole of the human body FRBThe pressure condition of the hindfoot area of the right foot sole of the human body is shown.
The steps of judging the gait cycle of the human body are that the left foot sole pressure detection module and the right foot sole pressure detection module transmit the detected pressure data to the exoskeleton single chip microcomputer, the pressure data between the two feet are fused for judging the pressure value detected by the human body sole, the left foot and the right foot are totally ten force-sensitive sensors (L1-L5 and R1-R5) which are respectively divided into three areas, the left foot is LA、LB、LCThe right foot is RA、RB、RCAs shown in fig. 3, the force sensor is connected to the amplifying circuit and then connected to the exoskeleton single chip, the detected signal is an analog signal, the exoskeleton single chip converts an electrical signal into a digital signal through an analog-to-digital converter, when a pressure value is greater than a set threshold value P, a certain area of the sole of the human body contacts the ground, and when the detected pressure value is less than the set threshold value P, it is determined that the certain area of the sole of the human body is separated from the ground.
The mechanical frame single chip microcomputer drives the XYZ three-axis motion platform to adjust the position of the gravity center in the XYZ direction according to the digital signals transmitted by the exoskeleton single chip microcomputer, and the specific adjustment is as follows:
research shows that in the walking process of a human body, in the vertical direction, the body gravity center in each gait cycle can be described by two complete sine waves, the lowest point of the gravity center position occurs in 5% and 55% of the gait cycle, and the highest point occurs in 30% and 80% of the gait cycle, as shown in fig. 4, after the gait cycle of the human body is judged to be in any stage, the gravity center height change y1 of the human body is described by a sine function, and then the mechanical frame single chip microcomputer is converted into a digital signal to drive the XYZ three-axis motion platform to move along the Z axis;
y1 ═ 2.5sin [ pi (x-0.05) ] +2.5(x is gait cycle percentage);
the Y-axis direction transfer Y2 of the human body gravity center can also be described by a sine wave, the farthest point on the right side of the gravity center is 30% of the gait cycle, the farthest point on the left side is 80% of the gait cycle, as shown in fig. 5, in the walking process, the height change of the human body gravity center is about 5cm, the change of the Y-axis direction is about 4cm, the walking step length of the exoskeleton is about 15cm, and then the mechanical frame singlechip is converted into a digital signal to drive the XYZ three-axis motion platform to move along the Z axis;
y2＝2sin[π(x-0.3)]。
Claims (3)
1. an intelligent mechanical frame for coordinating with a motion-assisted lower limb exoskeleton to adjust the position of a human body, comprising: the device comprises an XYZ three-axis motion platform, a posture detection sensor module and a single chip microcomputer module, wherein the hip of a lower limb exoskeleton is fixed on the XYZ three-axis motion platform, and the posture detection sensor module comprises a left foot sole pressure detection module for detecting the left foot treading force of a wearer, a right foot sole pressure detection module for detecting the right foot treading force of the wearer and a mechanical frame sensor module; the single chip microcomputer module comprises an exoskeleton single chip microcomputer and a mechanical frame single chip microcomputer which are connected;
the left foot sole pressure detection module and the right foot sole pressure detection module are connected with the exoskeleton single chip microcomputer;
the mechanical frame sensor module mainly comprises an ultrasonic sensor for acquiring height change data of the center of gravity of a wearer along the Z-axis direction, a first displacement sensor for measuring displacement of the center of gravity of the wearer along the X-axis direction and a second displacement sensor for measuring displacement of the center of gravity of the wearer along the Y-axis direction, wherein the ultrasonic sensor, the first displacement sensor and the second displacement sensor are all connected with an exoskeleton single chip microcomputer;
the XYZ three-axis motion platform is controlled by a mechanical frame single chip microcomputer, and the mechanical frame single chip microcomputer is connected with the exoskeleton single chip microcomputer.
2. The intelligent mechanical frame for coordinating with the exercise assisted lower extremity exoskeleton of claim 1 wherein said left foot sole pressure detection module and said right foot sole pressure detection module are each comprised of a plurality of force sensitive sensors.
3. The smart mechanical frame for coordinating with the exercise assisted lower extremity exoskeleton of claim 2 wherein said force sensitive sensors are placed in both the forefoot and hindfoot regions.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113907748A (en) * | 2021-09-07 | 2022-01-11 | 安徽工程大学 | Device and method for assisting in correcting walking posture |
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| CN113907748A (en) * | 2021-09-07 | 2022-01-11 | 安徽工程大学 | Device and method for assisting in correcting walking posture |
| CN113907748B (en) * | 2021-09-07 | 2023-05-16 | 安徽工程大学 | Device and method for assisting in correcting walking posture |
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