KR101740253B1 - Controlling method for gait transition of wearable robot - Google Patents
Controlling method for gait transition of wearable robot Download PDFInfo
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- KR101740253B1 KR101740253B1 KR1020150090993A KR20150090993A KR101740253B1 KR 101740253 B1 KR101740253 B1 KR 101740253B1 KR 1020150090993 A KR1020150090993 A KR 1020150090993A KR 20150090993 A KR20150090993 A KR 20150090993A KR 101740253 B1 KR101740253 B1 KR 101740253B1
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- robot
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- wearer
- gait
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- Mechanical Engineering (AREA)
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Abstract
The present invention detects a walking step of the wearing robot, predicts a walking transition according to the detected walking step, and increases the walking speed by switching to a pre-walking step, and corrects the linearity of the torque at the time of the walking step The present invention relates to a walking transition control method for a wearable robot.
A walking transition control method for a wearable robot according to the present invention is a method for controlling a walking transition of a wear robot (1) including a plurality of link members linked to each other and worn by a wearer and whose angle is controlled by hydraulic pressure, (1) according to claim 1, characterized in that the wearer robot (1) controls the wearer robot (1) by using the pressure applied to the soles of the wearer (1) A walking step of discriminating a walking step of the robot 1 from a wearer using a sensor installed at a portion to which each link member or link member of the wearing robot 1 is connected, (S120) of recognizing the motion of the wearer by sensing a force applied to the wearer's robot by sensing the force applied to the wearer's robot, and adjusting the angle of the knee joint of the wearer robot Of And a hydraulic pressure control step (S150) of controlling the hydraulic pressure supplied to the actuator for controlling the angle.
Description
The present invention relates to a method of controlling a wear robot supporting a walking of a wearer, more specifically, detecting a walking step of the wearing robot, estimating a walking transition according to the detected walking step, The present invention relates to a walking control method for a wearable robot that increases the speed and corrects the torque at the time of a step change to enable stable walking.
The wearing robot means a robot which is worn on the wearer's body and amplifies the strength of the arms and legs according to the degree of the wearer's exercise to increase the exercise capacity of the wearer.
For example, the wearable robot assists the elderly, the disabled, or the patient in the exercise, assists the work ability of the worker in the industrial field, and is also applied to the military so as to assist the maneuvering force of the soldier to improve the combat power.
In order for the wearing robot and the wearer to integrate and move quickly and smoothly, it is required to improve the synchronization between the robot and the human. For this purpose, a control change according to the walking transition is required for the walking control.
However, in the control of the wearing robot according to the related art, the walking transition control is not smooth, so that the posture instability due to the discontinuity of control or the sudden control command and the back load due to the walking mode transition delay increase fatigue to the wearer, There was a limited problem in increasing the speed.
On the other hand, the following prior art reference discloses a technique related to a 'walking assist robot and a control method'.
SUMMARY OF THE INVENTION The present invention has been developed in order to solve the above-described problems, and it is an object of the present invention to provide a walking robot which senses a walking step of a wearer through a sensor, predicts a walking transition according to a sensed walking step, And to provide a transition control method.
According to another aspect of the present invention, there is provided a method of controlling walking transition of a wearable robot including a plurality of link members linked to each other and worn by a wearer, the angle of which is controlled by hydraulic pressure, A method of controlling a walking robot of a wearable robot, the method comprising the steps of: measuring a pressure applied to the soles of the wearer robot by using an initial stance angle, a stance angle, a pre- A step of discriminating a walking step of a wearer using a sensor installed on a linking member or a link member of the wearer robot to detect a force applied to the wearer from the wearer, And the angle of the hip joint and the knee joint of the wearable robot are adjusted according to the step of walking according to the degree of wear of the wearer To it characterized in that it comprises a further hydraulic control step of controlling the hydraulic pressure supplied to the other actuator of the actuator for controlling the angle of the hip joint and controlling the angle of the knee joint.
The walking step determination step measures the repulsive force between a plurality of gait discrimination sensors spaced from each other on the sole portion of the wearer's foot of the wearing robot worn on the wearer's foot and the ground, and the repulsive force measured by each gait discrimination sensor is preset And the gait step is discriminated according to whether the threshold value is exceeded or not.
In the motion recognition step, torque, angle, angular velocity, and angular velocity of the linking portion of the link member measured from the sensor provided at the link member of the worn robot or the link member of the wear robot are substituted into an inverse dynamics relation, And the like.
In the hydraulic control step, when the walking step is a stance phase, the active mode is operated in which the hydraulic pressure is controlled so as to generate a higher torque than that of the ramp to support the load of the wearing robot while the joint part is driven at low speed, And a passive mode in which the hydraulic pressure is controlled so that a part of the hydraulic pressure is bypassed and becomes lower than the torque when the step is the erratic unit, is operated.
When the measured value from the walking discrimination sensor provided on the wearing robot is smaller than a predetermined threshold value when the walking step is switched from the stomach to the swinging type before the hydraulic pressure control step is performed, And a gait step transition prediction step of switching from the active mode to the passive mode.
The gait transition torque is set to be between the gait step transition prediction step and the oil pressure control step so that when the gait step is switched from the angular phase to the stance phase, the gait phase is switched to the stance phase with a gentler slope than the slope of the dynamically- And further comprising a forming step.
According to the walking transition control method of the wearing robot according to the present invention having the above-described configuration, the walking step of the wearer is sensed through the sensor and the control corresponding to the next walking step is performed according to the walking transition, The time required is reduced, thereby increasing the walking speed of the worn robot.
In addition, as the walking speed of the wearing robot increases, the wearing ability of the wearing wearer of the wearing robot can be expected to be improved.
In addition, since the control is performed by correcting the linearity of the torque for the next walking step, discontinuity or sudden movement of the control command does not occur, the back load due to the walking transition delay is reduced to reduce wearer's weariness, The damage of the human musculoskeletal system can be minimized.
1 is a perspective view showing a state in which a wearer wears a wearing robot.
2 is a perspective view showing an example of a wearable robot to which a walking transition control method of a wearable robot according to the present invention is applied.
Fig. 3 is an exploded perspective view of the sole link portion in the wearing robot of Fig. 2;
4 is a conceptual diagram illustrating a principle of determining a walking step according to a pressure sensed through a soles of a foot of a wearing robot in a walking transition control method of a wearing robot according to the present invention.
5 is a block diagram showing a walking transition control method of a wearing robot according to the present invention.
6 is a conceptual diagram illustrating a walking control method according to a walking step in a walking transition control method of a wearing robot according to the present invention.
FIG. 7 is a conceptual diagram showing a principle of recognizing motion intention in a walking transition control method of a wearing robot according to the present invention. FIG.
FIG. 8 is a conceptual diagram showing an inverse dynamics relation applied to each walking step and each walking step in the walking transition control method of the wearing robot according to the present invention. FIG.
9 is a graph showing a hydraulic control mode for each walking step in the walking transition control method of the wearing robot according to the present invention.
11 is a graph showing a torque in a state showing a torque shaping control technique during a walk transition in a walking transition control method of a wearing robot according to the present invention.
12 is a graph showing a result of performing torque shaping control during a walking transition in the walking transition control method of the wearing robot according to the present invention.
13 is a flowchart showing a walking transition control method of the wearing robot according to the present invention.
Hereinafter, a walking transition control method of a wearing robot according to the present invention will be described with reference to the accompanying drawings.
The walking transition control method of the wearing robot according to the present invention is a method for controlling the walking robot according to any one of the initial stitch angle, (S110) for determining a walking step of the wearer robot (1), and a walking step determining step (S110) for determining a walking step of the wearer robot (S120) of recognizing the movement intention of the wearer by sensing the force and an angle of the knee joint of the wearer robot (1) so that the angle of the knee joint of the wearer robot And a hydraulic pressure control step (S150) of controlling the hydraulic pressure supplied to the actuator to be controlled.
First, the configuration of the wearing robot 1 in which the walking transition control method of the wearing robot according to the present invention is performed will be described.
1 and 2, the
The
The
The femoral link portion 30 is connected to the
The
The
The ankle
The
The
The
The hydraulic pressure supply unit 14 (see Fig. 9) that generates the power necessary for driving each link member of the wearable robot 1 is connected to the
The wearing robot 1 having the above-described mechanical configuration is controlled according to a walking transition control method of the wearing robot described later.
The walking step discrimination step S110 is a step of discriminating the wearing robot 1 according to a signal inputted to the
Therefore, as shown in FIG. 4, the four steps of walking through the combination of the four
The motion recognition step S120 detects the force applied by the wearer robot 1 from the wearer after the gait step discrimination step S110 is performed and discriminates the force applied to the wearer robot 1 by the
In the dynamic dynamics control, the torque measured by the torque sensor of each link member attached to the wearable robot 1 and the rotational angle, angular velocity, angular velocity and angular velocity of the joint measured by the respective sensors provided at the joint portion, And the inverse dynamics of the wearer's movement.
(only,
In the above formula
Particularly, in order to recognize the degree of motion of the wearer, the dynamic dynamics calculation of the wearing robot 1 can be performed by creating a representative model for each step of the walking, as shown in FIG. For example, in the stance phase, a fixed coordinate system is set at a position where the sole of the foot touches the ground, and the dynamic dynamics is analyzed. In the swing step, a fixed coordinate system is set in the robot body, .
The equation for calculating the dynamic dynamics of the stator and the stator is expressed as follows.
(V: body twist, q: joint angle, W: body wrength, L: torque influence matrix, M: inertia, C: bias matrix, F: gravitational force, external force wrench)
According to the present invention, the control is performed for each walking step in accordance with the degree of motion of the wearer for each walking step.
In initial contact, Torque Shaping technique is applied to minimize instability caused by sudden change of control command caused by wake-up transition from erratic to stance. The torque-shifting technique is a method of gently changing the gait using a function of gently changing a sudden torque input generated when the gait is transited from the angular to the stance, thereby achieving a stable gait. Is applied to step S140.
In the stance section, an active control such as direct force feedback or a virtual joint torque method is used to support the load. Here, the direct force feedback is a method of measuring an interaction force between a person and a wear robot, and controlling the force accordingly. The virtual joint torque method is a method of measuring the mutual action force between a person and a wear robot, It is a method of estimating and controlling the interaction force using the dynamical dynamical relation with only the sensor.
In pre-swing phase, ground reaction force (GRF) based pre-transition technique is applied to quickly switch the control mode to reduce the impedance. The pre-transition is a method of switching to the angular control mode if the GRF value falls below the threshold value when the walking mode is shifted from the stance phase to the swing phase.
In the swing, since the support of the load is not large, a zero-impedance control technique capable of synchronous motion according to the wearer's motion intention is applied. The zero-impedance control technique is a control method (friction compensation, gravity compensation, etc.) that makes it possible to move without any resistance when an external force is applied. The zero impedance control method corresponds to the passive mode. In the present invention, the zero impedance control method can be achieved by bypassing the hydraulic device in a passive mode for bypassing the hydraulic pressure supplied to the actuator.
In the hydraulic pressure control step S150, the hydraulic pressure to be sent to the actuator for controlling the angle of the joint part is controlled for each walking step and for each walking mode to control the angle of the joint part of the wearing robot.
As shown in Fig. 9, when the walking control of the wearing robot 1 is performed according to the walking step and the degree of the wearer's motion, the wearer and the wearer wear the respective joint parts, particularly the hip joint and the knee joint, Since the load of the robot 1 must be supported, torque control by a hydraulic actuator is performed in order to perform active control at a stator that requires joint drive with high torque. In addition, since a large joint motion is moved relatively quickly, a high driving bandwidth of the robot joint is required. However, in a rotary device requiring a relatively low driving torque due to a small load, manual control is performed by bypassing by a hydraulic circuit do.
That is, as shown in FIG. 9, in order to control the leg in which the walking step is an in-stance, the oil pressurized by the
In the walking step transition prediction step (S130), the walking control of the hydraulic wearing robot is divided into an active mode or a passive mode as shown in FIG. 9, but no consideration is given to the walking transition. Therefore, the gait step transition prediction control method is applied so as to improve the walking speed of the wearer through the gait step transition prediction step (S130) and to reduce fatigue due to reverse load.
The information GRF measured by the walking
The walking step transition prediction step (S130) needs to control the wearing robot to reflect the prediction of the transition of the walking step, and it is preferable that the step is performed before the hydraulic pressure control step (S150).
In the walking transition torque forming step S140, a torque value used for the walking control is formed using a weighting function as shown in FIG. Since the torque formed in the step of forming the gait transition torque S 140 is applied to the hydraulic pressure control step S 150, it is preferable that the step is performed between the gait step transition prediction step S 130 and the hydraulic pressure control step S 150.
The step of forming the gait transition torque (S140) is applied when the gait is shifted from the relief gear to the stance gear. The step of shaping the gait transition torque (S140) is a step of generating a discontinuity of the control command or a sudden control command It is applied to mitigate the change. In order to achieve this, it is possible to implement stable control by reflecting the sum of the weights.
Here, an example of the weighting function is as follows.
When the weighting function is applied, as shown in FIGS. 11 and 12, when switching from the relief gear to the stance gear, the formed torque is applied instead of the dynamic dynamic estimated torque, so that stable walking is possible. That is, in the step of forming the gait transition torque (S140), the torque command is formed so that the variation of the torque is relatively gentle when the dynamically-estimated torque is changed from the angular period to the stance period. That is, as shown in Figs. 11 and 12, when switching from the relief to the stance, the estimated torque by the dynamic dynamics calculation is switched to the stance after the sharpness is reduced as soon as the relief is completed. So that the torque can be gradually reduced at the moment when the swinging period is completed, so that stable walking can be achieved.
1: Wear robot 10: Backpack part
11: control unit 12: attitude sensor
13: battery 14: hydraulic pressure supply
14a:
14c:
14e: Three
20: pelvis link part 21: hip joint
22: Hip joint angle sensor 23: Hip joint actuator
24: hip joint actuator force sensor 30:
31: Femur grip 32: Femur length adjustment link
33: Knee joint actuator 34: Knee joint actuator sensor
35: femoral HRI sensor 40: knee joint
41: knee angle sensor 50: lower link part
51: lowered grip part 52: lowered length adjustment link
53: lowered HRI sensor 60: ankle part
61: ankle joint angle sensor 70:
71: ankle joint 72: sole IMU sensor
73: lower soles of lower soles 74: lower soles of soles
75: soles connected to the soles of the feet 76:
77: Footrest rear
S110: Gait step discrimination step S120: Motion recognition step
S130: Gait step transition prediction step S140: Gait transition torque shaping step
S150: Hydraulic control step
Claims (6)
A step of discriminating a walking step of the wearing robot using any one of an initial stitching machine, a stitching machine, a pre-stitching machine, and a stitching machine using the pressure applied to the soles of the wearing robot,
A step of recognizing the movement of the wearer by sensing a force applied to the wearer robot from a wearer using a sensor provided at a portion to which each link member or link member of the wearer robot is connected,
An actuator for controlling the angle of the hip joint so that the angle of the hip joint and the knee joint of the wearer robot can be adjusted in accordance with the wearer's motion intention and a hydraulic control for controlling the hydraulic pressure supplied to another actuator for controlling the angle of the knee joint Characterized in that it comprises the steps of:
In the hydraulic pressure control step,
Wherein when the walking step is the stance phase, the active mode is operated in which the hydraulic pressure is controlled so as to generate a higher torque than that in the ramp to support the load of the wearing robot while the joint part is driven at low speed,
Wherein the passive mode is controlled such that the hydraulic pressure is controlled so that a part of the hydraulic pressure is bypassed by the actuator for adjusting the angle of the joint part to be lower in torque when the walking step is the leaning .
The walking step determination step measures the repulsive force between a plurality of gait discrimination sensors spaced from each other on the sole portion of the wearer's foot of the wearing robot worn on the wearer's foot and the ground, and the repulsive force measured by each gait discrimination sensor is preset Wherein the walking step is determined based on whether the threshold value is exceeded or not.
In the motion recognition step,
The torque, the angle, the angular velocity and the angular acceleration of the connecting portion of the link member measured from the sensor provided at the link member of the wear robot or the link member of the wear robot are substituted into the dynamic dynamical relation to recognize the degree of motion of the wearer A method for controlling walking transition of a wearing robot.
A pressure value measured from a gait discriminating sensor installed to measure the pressure acting on the soles of the soles of the wearer's robots when the walking step is switched from the stance to the swing phase before the hydraulic pressure control step is performed, Further comprising a gait step transition prediction step of judging the gait step as a pre-gait period and switching from the active mode to the passive mode if the gait step is smaller than a preset threshold value.
Between the walking step transition prediction step and the oil pressure control step,
Further comprising a gait transition torque shaping step for switching, when the gait phase is switched from the angular phase to the stance phase, to a steeper slope than the slope of the dynamic-dynamic estimated torque obtained by the dynamic mechanical calculation Method for controlling walking transition.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20190095084A (en) * | 2018-02-05 | 2019-08-14 | 명지대학교 산학협력단 | Muscle strengthening robot, Mechanism of operation of muscle strengthening robots, and Sensor mounting mechanism of muscle strengthening robots for detecting user's intention |
| WO2023063737A1 (en) * | 2021-10-14 | 2023-04-20 | 조선대학교산학협력단 | Robot for assisting lower limbs |
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| KR20190130302A (en) | 2018-05-14 | 2019-11-22 | 주식회사 에프앤에프 | Knitted bag |
| KR102266431B1 (en) * | 2019-08-13 | 2021-06-17 | 국방과학연구소 | Apparatus and method for active or semi-active controlling of wearable robot based on walking speed |
| CN112809651B (en) * | 2019-11-15 | 2021-10-29 | 深圳市英汉思动力科技有限公司 | Power-assisted exoskeleton control method, power-assisted exoskeleton control system and computer equipment |
| CN111312361B (en) * | 2020-01-20 | 2024-05-10 | 深圳市丞辉威世智能科技有限公司 | Exercise gait control method, device, terminal and storage medium |
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| KR101282859B1 (en) | 2011-09-15 | 2013-07-05 | 대우조선해양 주식회사 | Walking assistant robot and method for controling using the same |
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