WO2020024241A1

WO2020024241A1 - Tension cable power apparatus and power system thereof and power assist device and control method thereof

Info

Publication number: WO2020024241A1
Application number: PCT/CN2018/098434
Authority: WO
Inventors: 余运波
Original assignee: 深圳市肯綮科技有限公司
Priority date: 2018-08-03
Filing date: 2018-08-03
Publication date: 2020-02-06

Abstract

Provided are a tension cable power apparatus and power system thereof and a power assist device and control method thereof. The tension cable drive power apparatus transmits the power of a power member to a cable drive mechanism by means of a simplified harmonic reducer, thus achieving the objectives of reducing the weight of a power joint and increasing energy density. The power system based on the cable drive power apparatus employs cable transmission to output power, such that the power apparatus can be moved up to the waist of a wearer, reducing the inertia of the leg and minimizing harm to the knee joint, thus achieving the objective of improving wear flexibility and mobility. The lightweight power assist device based on a power system helps the power assist apparatus control system to improve exoskeleton dynamic performance, providing assistance to the wearer's knee and hip joints, and is inexpensive and highly reliable.

Description

Manual

Title of invention: A cable power device, its power system, power-assisted equipment and its control method

[0001] Technical Field

[0002] The present application relates to a wearable device, and more particularly, to a cable power device, a power system thereof, a power assist device, and a control method thereof.

[0003] Background Art

[0004] Humans often encounter situations in the daily work life that hope to enhance the strength of the human leg. Wearable exoskeleton robots are devices that meet this type of applications, especially powered lower extremity assisted exoskeleton robots; but existing Such devices in the technology are usually relatively bulky. For example, patents 200680006514.1 and 2007800271 95.7 both disclose such technologies, and users of the devices using the technology have a poor wearing experience.

[0005] In the prior art, there is a device specifically for assisting the knee joint. Such devices are greatly tailored to the above-mentioned heavy equipment, which can greatly reduce the weight of the equipment. Patents US9532894B2, CN2018103 683215 both disclose a knee joint assistance Technology, which uses a lighter power-assisting device to help the wearer ’s lower limbs, and the user ’s wearing experience has been greatly improved; however, this type of technology also has obvious drawbacks: its power device is placed at the knee joint, and the power device contains Motors, reducers and related transmission mechanisms will bring weight. The weight of power devices increases the weight and inertia of the wearer's legs. The hip joints of such devices are not power-assisted, and the wearer may feel uncomfortable when raising legs or going upstairs. Poor long-wearing experience

[0006] Application Contents

[0007] The purpose of this application is to overcome the shortcomings of the prior art, and provide a cable power device, a power system thereof, a power-assisted device, and a control method thereof.

[0008] In order to achieve the above object, the present application adopts the following technical solutions:

[0009] A cable driving power device includes a power member, a reduction mechanism coupled to the power output end of the power member, and a cable driving mechanism coupled to the output end of the reduction mechanism; the power of the power member is decelerated by the reduction mechanism, and then passed The cable drive mechanism outputs power.

[0010] A further technical solution thereof is that: the power piece is a motor, and includes a stator casing and a rotor; The shell has a concave cavity structure, which accommodates the rotor, and the rotor is drivingly coupled with the reducer; the rotor is rotatably coupled in the cavity of the stator housing.

[0011] A further technical solution thereof is: a stator annular protrusion is provided in the center of the stator housing, and a stator central through hole is provided in the center of the stator annular protrusion; the stator coil is fixed in the stator housing concave cavity Inside; the rotor center is provided with a rotor ring-shaped protrusion, and the rotor ring-shaped protrusion is provided with a rotor center through hole in the center; the rotor ring-shaped protrusion is rotatably coupled to the outside or inside of the stator ring-shaped protrusion.

[0012] A further technical solution thereof is that: the reduction mechanism includes a steel wheel, a rotating wheel, and a reduction generator; the reduction generator is fixedly connected to the power output end of the power part; the steel wheel is a ring structure, and the The deceleration generator rotates on its inner side; the rotating wheel is arranged between the speed reducer and the steel wheel, and is drivingly coupled with the cable driving mechanism; the rotating wheel is rotatably coupled to the inner wall of the cavity of the steel wheel.

[0013] A further technical solution thereof is that: the reduction mechanism further includes a steel wheel connection plate; the steel wheel is fixed to the inner cavity of the steel wheel connection plate, and the steel wheel connection plate is fixedly coupled with the stator casing.

[0014] A further technical solution thereof is that: the cable driving mechanism includes a cable driving wheel; the cable driving wheel is rotatably coupled to a steel wheel connecting plate; and the cable driving wheel is connected directly or through a provided rotating wheel The plate is fixedly coupled with the rotation wheel to rotate the rotation wheel to drive the cable driving wheel; a groove of the cable driving wheel for winding the cable is provided on the outside of the cable driving wheel.

[0015] A further technical solution thereof is: further comprising an encoder mechanism; the encoder mechanism includes a center beam, a first magnet, and a first magnetic field induction circuit; the center beam is fixed to a stator center through hole of a stator housing, and is passed through Through the inner hole provided by the deceleration generator and extending to the inner cavity of the rotating wheel; the first magnet is fixed on the decelerating generator and faces the inner cavity of the rotating wheel; the first magnetic field induction circuit is fixed on the center beam And close to the first magnet;

[0016] or,

[0017] further including an encoder mechanism; the encoder mechanism includes a center beam, a first magnet, and a first magnetic field induction circuit; the center beam extends to the inner cavity of the rotating wheel through a stator central through hole; the inner portion of the center beam The first end is fixedly coupled to the deceleration generator, the outer end extends to the edge of the stator housing, and the first magnet is fixed to the outer end; the first magnetic field induction circuit is fixed to the outside of the central through hole of the stator and is close to the first magnet.

[0018] A cable-driven power system comprising the above-mentioned power device, a thigh rod and a calf rod; the power device is fixed to the upper end of the thigh rod, the wearer's waist or back; the lower end of the thigh rod is rotationally coupled with a knee joint A turntable, and the knee joint turntable is drivingly connected with a power device through a provided cable; the calf rod is fixed to the knee joint turntable, or the calf rod and the knee joint turntable are an integrated structure; the power device drives the cable to release or Retract to make the cable in a relaxed or tensioned state; when the cable is in a relaxed state, the calf rod is free to rotate relative to the thigh rod; when the cable is in a tensioned state, the calf rod is relative to the thigh rod stretch.

[0019] A further technical solution thereof is: a cable tension sensor is provided on the thigh rod or steel wheel connecting plate and its extension mechanism; the cable tension sensor includes a strain beam, a strain gauge and an idler; the strain beam One end is fixed to the thigh rod or steel wheel connecting plate and its extension mechanism, and the other end is rotationally coupled with the idler wheel; the strain gauge is closely attached to the strain beam, and the cable is pressed against the idler wheel ; Squeezing the idler when the cable is tensioned, and then strain the beam to cause deformation, and the deformation is induced by the strain gauge.

[0020] A further technical solution thereof is: further comprising a knee joint angle sensor; the knee joint angle sensor includes a second magnet and a second magnetic field induction circuit; the second magnet and the second magnetic field induction circuit are respectively fixed to the thighs On the rod or its extension structure and the knee joint turntable or its extension structure, or respectively fixed on the knee joint turntable or its extension structure and the thigh rod or its extension structure; the second magnetic field sensing circuit is close to the second magnet.

[0021] A portable power-assisting device includes a power system, an energy system, a control system, a man-machine connection, and a motion sensing system, and the power system is the above-mentioned cable-driven power system; the control system controls the pull by The cable drives the power device of the power system to make the cable tension or relax, so as to control the lower limbs of the wearer to stretch or rotate freely; the motion sensing system is electrically connected to the control system.

[0022] A further technical solution thereof is that the man-machine connection includes a waist band, a thigh band, and a calf band, and is respectively fixed to a corresponding position of the wearer's waist, thigh, and calf; and further includes a waist connection section, and the The upper end of the waist connecting section is fixedly coupled with the waist band, and the lower end is rotationally coupled with the upper end of the thigh rod; the thigh band is fixedly coupled with the thigh rod, and the lower leg band is fixedly coupled with the lower leg rod.

[0023] A further technical solution thereof is: the cable power driving device is disposed on a waist or a back of a wearer, and an idler is provided at the hip joint; the cable is wound around the idler, and a lower end of the cable is connected with the idler Knee joint turntable joint.

[0024] A further technical solution thereof is: the motion sensing system includes the knee joint angle sensor;

[0025] or further including a hip joint angle sensor; the hip joint angle sensor is provided at the waist connection section A rotation joint with a thigh rod to measure a relative angle between the thigh rod and the waist connecting section;

[0026] or / and,

[0027] The motion sensor system further includes a foot film bottom pressure sensor or a foot switch to sense whether the wearer's foot touches the ground; the foot film bottom pressure sensor or the foot switch is disposed below the foot of the wearer. ;

[0028] or / and,

[0029] The motion sensing system further includes several inertial sensors coupled to the thigh bar, calf bar, thigh strap, calf strap, or any combination thereof to sense the angular speed of the wearer's leg movement and / Or acceleration.

[0030] Its further technical solution is: the energy system is a battery pack; the control system includes a processor, a memory, and a communication interface; the energy system is the control system and the power parts and motion sensing systems in the power system The control system is electrically connected to the power system and the motion sensing system, and judges the current gait of the wearer according to the information measured by the sensors in the power system and the motion sensing system, and drives the power device to work in the following rotation , Given torque output, low damping, high damping or spring state.

[0031] A control method of a booster device, including the following steps:

[0032] Step 1. The control system judges whether the wearer's foot is in a ground contact state according to the measurement value of the motion sensing system. If yes, go to step 2. Otherwise, go to step 3.

[0033] Step two, the control system controls the cable driving device to contract the cable until the cable tension sensor senses that the cable tension reaches a set value; go to step one;

[0034] Step 3. The control system controls the cable driving device to extend the cable until the cable tension sensor detects that the cable tension is zero or the length reaches a set value, and then proceeds to step 1.

[0035] A further technical solution thereof is: In the first step, when determining whether a wearer's foot is in a ground contact state, the control system is based on an inertial sensor of a motion sensing system, a hip joint angle sensor, a cable tension sensor, and a knee. One or more combinations of joint angle sensor measurement values to determine whether the wearer's feet touch the ground; methods for determining ground contact include the inertial sensor acceleration threshold method, the inertial sensor inclination threshold method, the cable tension sensor feedback method, or a combination thereof .

[0036] A further technical solution thereof is: setting a ground contact sign or a ground-off sign, when a ground contact event occurs, setting a ground contact sign as a ground contact, and when a ground-off event occurs, setting a ground-off sign as a ground departure; [0037] The touchdown event includes one or more of the following condition combinations:

[0038] Condition one: the touchdown sign is touchdown;

[0039] Condition two: the inertial sensor provided on the lower leg detects that the acceleration value exceeds a set value;

[0040] Condition three: The rate of change of the measured value of the knee joint angle sensor is greater than a set value;

[0041] The off-ground event includes one or more of the following condition combinations:

[0042] Condition one, when the off-ground sign is off-ground;

[0043] Condition two: the inertial sensor provided on the lower leg detects that the acceleration value exceeds a set value;

[0044] Condition three: The rate of change of the measured value of the knee joint angle sensor is greater than a set value.

[0045] A further technical solution thereof is: The first step is to determine whether the wearer's foot is in a ground contact state, and if the sole pressure sensor is greater than a set threshold or the foot switch is on, the wearer is judged The foot is in a ground contact state, otherwise it is off the ground.

[0046] A further technical solution thereof is as follows: The second step is to control the tension of the cable until the tension reaches a set value, compare the measured value of the tension sensor with the set value, and continuously control the cable to reach the setting by using a feedback control algorithm. The target is determined, and the feedback control algorithm includes at least one of PID, fuzzy PID, and synovial control.

[0047] A further technical solution thereof is as follows: In the third step, the control cable is in a relaxed state, at this time, the measurement value of the tension sensor is zero, and the control unit is controlled according to the measurement value of the knee joint angle sensor and / or the measurement value of the hip joint angle sensor. The cable driving device and the joint turntable rotate at a linear speed so that the degree of relaxation of the cable remains unchanged, and the control algorithm includes at least one of PID, fuzzy PID, and synovial control.

[0048] The beneficial effects of this application compared with the prior art are:

[0049] The first magnet and the first magnetic field induction circuit use a non-contact coupling method to realize the measurement of the rotation angle of the motor, which is simple, thin, and low in cost, which greatly simplifies the complexity of the mechanical structure design. There is no contact between the magnet and the magnetic field induction circuit, there will be no friction, no mechanical abrasion, and good durability. The magnetic field generated by the magnet is a static magnetic field, which is not easily affected by environmental interference, and has high reliability. The first magnet and the first magnetic field induction circuit are both arranged in a harmonic cavity, and have a compact structure and high space utilization.

[0050] The non-contact coupling method of the second magnet and the second magnetic field induction circuit is used to realize the measurement of the relative angle between the thigh bar and the calf bar, which is simple, thin, low cost, wear-free, and highly reliable.

[0051] The cable-driven power unit of the present application uses the simplified harmonic reducer to transmit the power components to the cable-driven mechanism through the simplified harmonic reducer, so as to reduce the weight of the power unit and improve the energy density. of. Based on the power system of the cable-driven power device, the cable is used to output power, so that the power device can be moved up to the waist of the wearer, the leg inertia is reduced, and the purpose of improving wearing flexibility and maneuverability is achieved. Lightweight power-assisted device based on power system, integrated with motor rotary encoder, knee joint angle sensor, hip joint angle sensor, cable tension sensor (also known as knee torque sensor), multiple inertial sensors, can simultaneously measure the motor rotation angle, The measurement of the relative rotation angle of the big and small legs, the relative rotation angle of the waist and thighs, and the relative torque of the big and small legs can help the control system of the power-assisted device to improve the exoskeleton dynamic performance with low cost and high reliability.

[0052] The present application is further described below with reference to the drawings and specific embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

[0054] FIG. 1 is a schematic cross-sectional view of Embodiment 1 of a cable-driven power device of the present application;

[0055] FIG. 2 is a schematic cross-sectional view of Embodiment 2 of a cable-driven power device of the present application;

[0056] FIG. 3 is a schematic structural diagram of an upper part of a cable driving power system of the present application;

[0057] FIG. 4 is a schematic structural diagram of a knee joint of a cable driving power system of the present application;

[0058] FIG. 5 is a front cross-sectional view of a knee joint of a cable driving power system of the present application;

[0059] FIG. 6 is a schematic cross-sectional structure diagram of a cable tension sensor of a cable driving power system of the present application; [0060] FIG. 7 is an enlarged view of A in FIG. 5;

[0061] FIG. 8 is a schematic structural cross-sectional view of a hip joint of a cable driving power system of the present application;

[0062] FIG. 9 is a schematic side structural diagram of Embodiment 1 of a portable power-assisting device of the present application;

[0063] FIG. 10 is a schematic diagram of the front structure of Embodiment 1 of a portable power-assisting device of the present application;

[0064] FIG. 11 is a schematic side structural diagram of Embodiment 2 of a portable power-assisting device of the present application;

[0065] FIG. 12 is a schematic diagram of the front structure of Embodiment 2 of a portable power-assisting device of the present application;

[0066] FIG. 13 is a schematic side structural diagram of Embodiment 3 of a portable power-assisting device of the present application;

[0067] FIG. 14 is a control general flowchart of a control method of a booster device of the present application;

[0068] FIG. 15 is a control flowchart of step 4 of a method for controlling a booster device of the present application;

[0069] FIG. 16 is a control flowchart of step 6 of a control method for a booster device of the present application;

[0070] FIG. 17 is an example of a target value setting curve of a control method of a booster device of the present application;

[0071] FIG. 18 is an example of a slack length setting curve for a control method of a booster device of the present application.

[0072] Reference numerals are as follows: [0073] 1 a power piece; 11 stator shell; 111 stator ring protrusion; 1111 stator center through hole; 112 stator cavity; 12-rotor; 121 rotor ring protrusion; 1211-rotor center Through-hole; 13—stator coil; 14—motor bearing;

[0074] 2—reduction mechanism; 21—steel wheel; 211—steel wheel connection plate; 22—swivel wheel; 221—swivel wheel connection plate; 23—reduction generator;

[0075] 3-cable driving mechanism; 31-bearing bearing; 32-cable driving wheel; 321-cable driving wheel groove;

[0076] 4 an encoder mechanism; 41-central beam; 411-central beam locking screw; 42-first magnet; 43-first magnetic field induction circuit;

[0077] 1000-power system; 1000A-cable drive power unit; 1000B-knee joint turntable; 1000C-cable; 1000C1-cable case fixing part one; 1000C2-cable case fixing part two; 1000D-thigh rod; 1000E—calf bar; 1000E1—extending limit; 1000F—waist connection; 1000G—hip joint; 1001—energy system; 1002—control system; 1003—human-machine connection; 1003A—waist strap; 1003B—thigh strap 1003C—strap under thigh; 1003D—strap under calf; 1003E—calf shell; 1003F—strap under calf; 1004—motion sensing system; 1004A—cable tension sensor; 1004A1—cable idler; 1004A2 -Force-sensing beam; 1004A3-Strain gauge; 1004B-Knee joint angle sensor; 1004B 1-Second magnet; 1004B2-Second magnetic field induction circuit; 1004C-Hip joint angle sensor; 1004C1-Third magnet; 1004C2-Third Magnetic field induction circuit; 1004D—thigh inertial sensor; 1004E—thigh inertial sensor; 1004F—foot film pressure sensor (or foot switch).

DETAILED DESCRIPTION

[0079] In order to fully understand the technical content of the present application, the technical solution of the present application is further introduced and described below in combination with specific embodiments, but is not limited thereto.

1 to 18 are drawings of an embodiment of the present application.

[0081] Embodiment 1 of a compact cable power driving device.

[0082] A cable driving power device 1000A, as shown in FIG. 1, includes a power part 1, a speed reduction mechanism connected to a power output end of the power component 2, a cable drive mechanism 3 connected to an output end of the speed reduction mechanism 3, and an encoder mechanism 4. After the power of the power member 1 is decelerated by the speed reduction mechanism 2, the power is output by the cable driving mechanism 3.

[0083] Wherein, the power piece 1 is a motor, and includes a stator housing 11, a rotor 12, a stator coil 13, and a motor shaft. Cheng 14. The stator housing 11 is a thin-walled bowl-shaped structure with a stator cavity 112 with a stator annular protrusion 111 in the center thereof, and a stator central through hole 1111 is provided in the stator annular protrusion 111. The stator coil 13 has a ring structure and is fixed in the stator cavity. The rotor 12 is also a thin-walled bowl-shaped structure, and has a rotor annular protrusion 121 in the center, and the rotor annular protrusion 121 has a rotor center through hole 1211 in the center; the inner ring of the motor bearing 14 and the The outer periphery of the stator annular protrusion 111 is matched, and the outer ring is coupled with the rotor central through hole 12 11; the rotor 12 is the power output end of the power piece 1 and rotates outside the stator coil 13. The rotor annular protrusion 121 is rotatably coupled to the outside of the stator annular protrusion 111.

[0084] The reduction mechanism 2 is a harmonic speed reducer, and includes a steel wheel 21, a rotation wheel 22 rotatably coupled to the steel wheel 21, and a reduction gear generator 23 drivingly coupled to the rotation wheel 22. The steel wheel 21 has a ring structure, and the deceleration generator 23 and the rotating wheel 22 rotate inside the steel wheel 21. The rotating wheel 22 has a concave cavity structure, and the cavity port is provided between the outer side of the reduction generator 23 and the inner wall of the steel wheel 21. The deceleration generator 23 is a power input end of the deceleration mechanism 2. Its rotation will drive the rotation wheel 22 to decelerate and rotate; the motor rotor 12 is drivingly connected to the deceleration generator 23, and the motor stator casing 11 is connected to the steel wheel connecting plate 211.联钢轮 21。 The connecting steel wheel 21. The rotating wheel 22 is drivingly connected to the cable driving mechanism 3 through a rotating wheel connecting plate 221. The rotating wheel 22 rotates in the inner cavity of the steel wheel 21, wherein the outer surface of the rotating wheel 22 and the inner wall of the steel wheel 21 are slidingly coupled or are not in contact with each other. The steel wheel 21 is fixed on the provided steel wheel connection plate 211 by bolts, and the steel wheel connection plate 211 is fixedly coupled with the stator housing 11 by bolts.

[0085] The cable driving mechanism 3 includes a bearing 31 and a cable driving wheel 32, the inner ring of the bearing 31 is coupled with the steel wheel connecting plate 211, and the outer ring is coupled with the cable driving wheel 32. The cable driving wheel 32 is coupled with a rotation wheel connection plate 221, which is coupled with the rotation wheel 22. The power of the rotating wheel 22 is transmitted to the cable driving wheel 32 through the rotating wheel connecting plate 221 to rotate the cable driving wheel 32 relative to the steel wheel 21.

[0086] The working process of the compact cable power driving device 1000A is as follows: The motor rotor 12 rotates relative to the stator housing 11 under electric driving, that is, relative to the steel wheel 21, thereby driving the deceleration generator 23 to rotate relative to the steel wheel 21, and further Drive the rotating wheel 22 to decelerate and rotate relative to the steel wheel 21, and then drive the rotating wheel connection plate 221 and the cable driving wheel 32 to rotate; the cable 1000C is fixed in the cable driving wheel groove 321 of the cable driving wheel 32, which is in the cable The driving wheel 32 is extended or contracted by the rotation.

[0087] The encoder mechanism 4 includes a center beam 41, a first magnet 42, and a first magnetic field induction circuit 43. An end of the central beam 41 near the motor 1 is matched with the stator central through hole 1111 and passes through the deceleration generator. The inner hole 23 is provided and extends to the inner cavity of the rotating wheel 22, and is connected to the motor stator housing 11 by a central beam locking screw 411. An end of the central beam 41 away from the power member 1 is provided with a first magnetic field induction circuit 43. The first magnet 42 is coupled to a side of the deceleration generator 23 away from the motor 1 and is close to the first magnetic field induction circuit 43.

[0088] The working process of the encoder mechanism 4 is as follows:

[0089] When the rotor 12 rotates relative to the stator housing 11 and the stator coil 13, the deceleration generator 23 is caused to rotate relative to the stator housing 11, that is, the deceleration generator 23 and the first magnet 42 are rotated relative to the center beam 41, thereby driving the first The magnet 42 rotates with respect to the first magnetic field induction circuit 43. The first magnetic field induction circuit 43 measures the rotation angle of the motor rotor 12 relative to the motor stator coil 13 by sensing the relative rotation angle of the first magnet 42.

[0090] Embodiment 2 of a compact cable power driving device

[0091] As shown in FIG. 2, it is a structural diagram of Embodiment 2, and the difference from Embodiment 1 lies in the encoder mechanism 4. Inside the center beam 41 of the encoder mechanism 4

The end is fixedly connected to the deceleration generator 23, and extends to the edge of the motor stator casing 11 through the stator central through hole 1111. The first magnet 42 is fixed on the outer end of the center beam 41, and the first magnetic field induction circuit 43 is fixed. It is on the motor stator housing 11 and is close to the first magnet 42. Its working principle is the same as that of the first embodiment. The cavity of the rotating wheel 22 is made shallower by using the solution of the second embodiment, thereby reducing the thickness and volume of the device as a whole.

[0092] A cable driving power system of the present application, as shown in FIG. 1 to FIG. 7, the knee joint part includes a thigh rod 100D, a knee joint turntable 1000B, a cable 1000C, and a cable housing fixing member 1000C1, Cable shell fixings two 1000C2. Cable casing fixing piece 1000C1, cable casing fixing piece 2 1000C2 is used to fix the outer skin of the cable 1000C. The knee joint turntable 1000B is disc-shaped or fan-shaped, and is rotationally coupled with the thigh rod 1000D, the knee joint turntable 1000B is coupled with the calf rod 1000E, and the outer skin of the cable 1000C passes through the cable shell fixing member Two 1000C2 are fixed on the thigh rod 1000D, and one end (or lower end) of the cable 100 00C wire core is fixed on the knee joint turntable 1000B.

[0093] When the cable driving power device 1000A is rotated to drive the cable core 1000C to contract, the knee joint turntable 1000B is rotated to drive the calf rod 1000E to rotate relative to the thigh rod 1000D.

[0094] In other embodiments, to prevent the cable 1000C from loosening, the thigh rod 1000D and the knee joint turntable 100 A torsion spring may also be provided between the OBs, so that there is a tendency of relative bending and contraction between the thigh rod 1000D and the knee joint turntable 1000B.

[0095] In order to prevent the wearer from being injured by excessive torque when the cable 1000C is tensioned, an extension limit 1000E1 is provided between the thigh rod 1000D and the knee joint turntable 1000B, and the extension limit 1000E1 is a protruding portion on the lower leg rod Contact the lower end of the thigh rod 1000D when the knee joint is straightened, thereby preventing the knee joint from continuing to extend

[0096] FIG. 3 shows a schematic implementation of the upper part of the compact cable driving power system of the present application. The cable 1000C uses Bowden wire, and its casing is fixed on the thigh rod 1000D by a cable casing fixing member 1000C1. The wire core bypasses the cable tension sensor 1004A and is fixed on the cable driving wheel 32 of the power driving device 1000A. When the cable is tensioned, a pressure F is applied to the cable tension sensor 1004A, and the tension sensor 1004A detects the pressure by F can then calculate the cable tension.

6 shows an implementation structure of the cable tension sensor 1004A, the tension sensor 1004A is composed of a cable idler 1004A1, a load sensing beam 1004A2 and a strain gauge 1004A3, the cable idler 1004 A 1 Rotate the load-sensing beam 1004A2, the strain gauge 1004A3 is attached to the load-sensing beam 1004 A2, the cable 1000C wire core bypasses the cable idler 1004A1; when the cable 1000C is tensioned The force F applied to the cable tension sensor 1004A will cause the strain gauge beam 1004A2 to deform and be sensed by the strain gauge 1004A3, so that the tension on the cable 1000C can be detected.

7 is a schematic cross-sectional view of a knee joint angle sensor 1004B. The knee joint angle sensor 1004B includes a second magnet 1004B1, a second magnetic field induction circuit 1004B2, and the second magnet 1004B1 is fixed to the thigh rod 1000D. The second magnetic field induction circuit 1004B2 is fixedly connected to the knee joint turntable 1000B. The relative rotation between the thigh rod 1000D and the knee joint turntable 1000B can drive the second magnet 1004B1 and the second magnetic field induction circuit 1004B2 to rotate relatively. Thus, the relative angle change between the thigh rod 1000D and the calf rod 1000 00E can be sensed.

8 is a schematic cross-sectional view of a hip joint 1000G. The hip joint 1000G includes a hip joint angle sensor 1004C, which includes a second magnet 1004C1, a second magnetic field sensing circuit 1004C2, and a structure similar to that of a knee joint angle sensor 1004B. Can sense a relative angle change between the waist connecting section 1000F and the thigh rod 1000D.

[0100] The thigh inertial sensor 1004D and the calf inertial sensor 1004E are respectively fixed to the thigh bar 1000D and The lower leg guard 1004E senses the movements of the wearer's thigh and lower leg, respectively.

[0101] The calf rod 1000E can be directly delayed to the human ankle, the calf strap 1003D, and the calf strap 1003F can be directly connected to the calf rod 1000E, and the calf shell 1003E can be eliminated, and the same effect can be achieved.

[0102] Embodiment 1: As shown in FIG. 9-10, a portable power-assisting device includes a power system 1000, an energy system 1 001, a control system 1002, a human-machine connection 1003, and a motion sensing system 1004. The power system is the cable-driven power system described above; the control system controls the cable of the cable-driven power system to be tensioned or relaxed, thereby controlling the wearer's lower limbs to stretch or bend.

[0103] The power system 1000 includes a compact cable power driving device 1000A, a knee joint turntable 100B, a cable 1000C, a thigh rod 1000D, a calf rod 1000E, a waist connecting section 1000F, and a hip joint 1000 G; The waist connecting section 1000F is rotationally connected with the thigh rod 1000D through the hip joint 1000G, the thigh rod 1000D and the lower leg rod 1000E are rotationally connected through the power knee joint 1000B, and the power driving device 1000A is fixed on the thigh rod, It is dynamically connected to the knee joint turntable 1000B through the cable 1000C.

[0104] The human-machine connection includes a waist band 1003A, a thigh band 1003B, a lower thigh band 1003C, a lower leg band 1003D, a lower leg shell 1003E, and a lower leg band 1003F. The waist band 1003A and The upper end of the waist connecting section 1000F is fixedly connected, the upper thigh straps 1003B, the lower thigh straps 1003C are connected to the thigh bar 1000D, the lower leg shell 1003E is drivingly connected to the lower leg bar 1000E, and the lower leg straps 1003D, The lower leg band 1003F is connected to the lower leg shell 1003E; when worn, the waist band 1003A, the upper leg band 1003B, the lower thigh band 1003C, the lower leg band 1003D, the lower leg shell 1003E, and the lower leg band The strap 1003F is fixed to the human waist, thighs and calves, respectively.

[0105] The energy system 1001 is a battery, which supplies power to the control system 1002, the power driving device 1000A, and the motion sensing system 1004; the control system 1002 includes a processor, a memory, and a communication interface, which is connected to the power driving device 1000A and motion sensing system 1004, collect and process the collected sensor data, and control the rotation of the motor in the power driving device 1000A; the motion sensing system 1004 includes a cable tension sensor 1004A, a knee joint angle sensor 1004B, Hip joint angle sensor 1004 C, thigh inertial sensor 1004D, and calf inertial sensor 1004E.

[0106] The working principle of the portable assist device is as follows: The control system 1002 continuously collects the motion sensing system Based on the data of the sensor 1004, and judging the current state of the lower limb of the wearer based on the state, the state includes ground contact, support, bending and swinging, and stretching and swinging. The control system 1002 drives the power device 1000A to work according to these states. In different boosting states, the boosting states include following a swing, a high damping state, a spring boosting state, a low damping boosting state, and a low damping state, thereby helping the wearer to cushion the joint impact force, support the body weight, reduce the leg, and swing to achieve Boost effect.

[0107] Embodiment 2 As shown in FIG. 11 to FIG. 12, compared with Embodiment 1, Embodiment 2 sets a cable power driving device 1000A at the waist of the wearer, and sets an inertia at the hip joint 1000G Wheel, the cable 1000C bypasses the idler at the hip joint 1000G to connect the knee joint turntable 1000B to provide power to the wearer; as shown in the figure, the cable 1000C bypasses from the rear of the idler In this way, when the cable 1000C is tensioned, torque will be generated on the hip joint 1000G, so that the thigh rod 1000D swings backward with respect to the waist connecting section 1000F, which is conducive to pushing the wearer forward, thereby making the hip joint 1000G becomes the power joint. In the solution described in Embodiment 2, the cable power driving device 1000A is disposed at the waist of the wearer, which reduces the weight of the wearer's legs, is more snug and comfortable, has a better wearing experience, and more importantly, generates driving wear. For forward movement.

[0108] In addition, compared with Example 1, Example 2 includes a sole film pressure sensor (or foot switch) 1004 F, which is disposed below the wearer's foot and is electrically connected to the control system 1002; when worn When the user's foot touches the ground, the wearer's own weight will generate pressure on the membrane pressure sensor (or foot switch) 1004F, so that the membrane pressure sensor (or foot switch) 1004F can perceive that by setting the pressure threshold, The control system 1002 can determine whether the wearer's feet touch the ground.

[0109] In order to improve the wearing comfort of the human body, both the thigh rod 1000D and the calf rod 1000E of this embodiment are bent inward or adopt a shell structure that fits the legs of the wearer to better fit the legs of the wearer, The back of the upper thigh strap 1003B, the front of the lower thigh strap 1003C, and the calf shell 1003E are all made of lightweight hard materials to facilitate torque transmission. They all have arcs to fit the shape of the human legs and legs.

[0110] Embodiment 3, as shown in FIG. 13, compared with Embodiment 2, Embodiment 3 is not provided with an idler at 1000G of the hip joint, and the cable 1000C is directly connected to the knee joint from the wearer's waist The turntable 1000B, because the cable 1000C uses Bowden wire, can allow the shell to bend and swing when transmitting tension, so it can transmit power while walking while wearing the leg. Compared with embodiment 2, the embodiment 3 simplifies the structure, and is particularly suitable for the case where the pulling force is small. When the pulling force of the cable is large, the casing of the cable 1000C is relatively firm. Hard and difficult to bend, unable to meet the needs of human lower limb walking.

[0111] FIG. 9 to FIG. 13 show only the case of wearing on one leg, and the lightweight assist device described in this application can be used on one leg

It can also be used on both legs. The structure of the other leg is similar when using both legs, and details are not described again.

[0112] FIG. 14 to FIG. 18 are drawings of a control method of a power assisting device.

[0113] The overall control method of the control method of the booster device is shown in FIG. 14 and includes the following steps:

[0114] Step 1. The control system determines whether the wearer's foot is in a ground contact state according to the measurement value of the motion sensing system 1004. If yes, go to step 2. Otherwise, go to step 3.

[0115] Step 2: The control system 1002 controls the cable power device 1000A to contract the cable 1000C until the cable tension sensor 1004A senses that the cable tension reaches a set value; go to step one;

[0116] Step 3. The control system 1002 controls the cable power device 1000A to extend the cable 1000C until the cable tension sensor 1004A detects that the cable tension is zero, and then go to step 1.

[0117] Specifically, step S1: The control system 1002 collects data of the motion sensing system 1004 sensor, including a knee joint angle sensor 1004B, a calf inertial sensor 1004E, an encoder device 4, and a plantar membrane pressure sensor 1004F. Measure the value and judge whether the wearer ’s feet touch the ground according to this; there are many methods to determine whether the wearer touches the ground. Among them, whether the inertial sensor 1004E senses the impact of the touch on the ground and the knee joint angle change rate is large, and determines whether it is off the ground. Based on whether the inertial sensor 1004E senses the upward acceleration and the knee joint angle change rate is large.

[0118] Step S2: if it touches the ground, go to step S3, otherwise go to step S5.

[0119] Step S3: setting a tension target value of the cable, the tension target value corresponding to the assist target provided by the assistive device to the wearer; the assist target setting has many algorithms, one of which is based on the current posture The percentage in the gait cycle, that is, the gait percentage, is set. For example, a correspondence relationship with the gait percentage as shown in FIG. 17 may be used to set the assisting set value.

[0120] Step S4: control the tension of the cable so that the tension of the cable reaches the set target value, and then go to step S1; the control method may adopt a closed-loop feedback method, and the control process thereof is shown in FIG. 15, and the control algorithm may adopt Commonly used algorithms such as PID, fuzzy control, and synovial membrane variable structure control.

[0121] Step S5: Set a target value for the cable slack length. The larger the target value of the cable slack length, the more slack the cable is, the greater the deviation between the leg extension of the wearer and the cable extension is allowed. The lower the cable drive requirements, but the longer it takes to tension them, the longer the delay in assisting after contact with the ground, otherwise the cable drive requirements High, short time required for tension, good timeliness after the touch. For this purpose, the target value of the relaxation length may be a fixed value, for example, 1/3 of the circumference of the knee joint 1000B; or a value that changes with the gait percentage. The corresponding relationship of the gait percentages is used to set the target value of the slack length, so that the contradiction between the driving requirements of the cable and the timeliness of the assistance can be taken into account.

[0122] Step S6: Control the cable slack so that the cable slack length reaches the set target value, and then go to step S1; the cable slack length can be measured by the knee joint angle sensor 1004B and the encoder device 4. The calculation method is shown in Figure 17. The control method for controlling the slack length of the cable adopts a closed-loop control method, that is, the cable driving device 1000A drives the cable 1000C to extend or contract with the knee joint angle sensor 1004B. The control process is shown in FIG. 17 and the control algorithm Algorithms such as PID, fuzzy control, and synovial membrane variable structure control can be used.

[0123] In the step S1, when determining whether the wearer's feet are in a ground contact state, the control system is based on one or more measured values of an inertial sensor, a cable tension sensor, and a knee joint angle sensor of a motion sensing system. This combination determines whether the wearer's foot touches the ground. The method for determining the ground touch includes the inertial sensor acceleration threshold method, the inertial sensor inclination threshold method, the cable tension test and the inertial sensor feedback method, or a combination thereof.

[0124] There are many implementation methods for judging whether the wearer's feet are in a ground contact state, and one of them is to set a ground contact flag bit, and when a ground contact event occurs, set a ground contact flag to ground contact. Ground off event, set the ground contact sign as ground off.

[0125] The method for calculating a touchdown event is a combination of the following conditions:

[0126] Condition one: the ground clearance sign is ground clearance;

[0127] Condition 2: The inertial sensor 1004E on the lower leg detects that the acceleration value exceeds a set value;

[0128] Condition three: The rate of change of the measurement value of the knee joint angle sensor 1004B is greater than a set value;

[0129] The ground-off event is a combination of the following multiple conditions:

[0130] Condition one: when the touchdown sign is touchdown;

[0131] In condition two, the inertial sensor 1004E on the lower leg detects that the acceleration value exceeds a set value;

[0132] Condition three: The rate of change of the measurement value of the knee joint angle sensor 1004B is greater than a set value.

[0133] An example of the tension control method of the cable in step S4 is shown in FIG. 15 and includes the following steps:

[0134] Step S41: read the measured value of the cable tension sensor 1004A, calculate the difference between it and the set target value Ferr;

[0135] Step S42: determine whether the measured value of the cable tension sensor 1004A is less than a set target value, that is, F Whether err is less than 0, if not, go to step S44;

[0136] Step S43: Control the cable drive device 1000A to increase the tension. The drive current of the motor 1 can be increased according to Ferr to increase the tension of the cable 1000C. Ferr and the current increase value Ip can adopt algorithms such as PID and fuzzy control;

[0137] Step S44: determine whether the measured value of the tension sensor 1004A is greater than a set target value, that is, whether Ferr is greater than 0, and if not, go to step S41;

[0138] Step S45: The cable driving device 1000A is controlled to reduce the tension, and the driving current of the motor 1 can be reduced according to Ferr correspondingly to reduce the cable tension. Ferr and the current reduction value In can adopt algorithms such as PID and fuzzy control; Step S41.

[0139] An example of a cable length control method in step S6 is shown in FIG. 16 and includes the following steps:

[0140] Step S60: Tighten the cable 1000C, record the measured values of the knee joint angle sensor 1004B and the encoder 4, and set the cable length to L0 at this time;

[0141] Step S61: read the knee joint angle sensor 1004B and the encoder 4 measured values, calculate the cable length 1000C L;

[0142] Step S62: Calculate the relaxation length of the cable 1000C 6L = L-L0, calculate the difference between the relaxation length 6L of the cable and the set target value Lerr;

[0143] Step S63: determine whether the cable slack length 6L is less than a set target value, that is, whether Lerr is less than 0, and if not, go to step S65;

[0144] Step S64: control the cable driving device 1000A to relax the cable, which can correspondingly accelerate the motor 1 speed according to the Lerr value to speed up the loose cable, and Lerr and the speed increase value Vp can adopt algorithms such as PID and fuzzy control;

[0145] Step S65: determine whether the cable slack length is greater than a set target value, that is, whether Lerr is greater than 0, and if not, go to step S61;

[0146] Step S66: The cable driving device 1000A is controlled to tension the cable, and the speed of the motor 1 can be slowed down or accelerated in the opposite direction according to Lerr. Lerr and the speed reduction value Vn can use algorithms such as PID and fuzzy control; Step S61.

[0147] The lower limb lightweight assisting device of this embodiment has a light structure, a compact fit, and a high degree of integration. The cable driving power device of the present application is used as the power for the lower limb assisting device, which can provide assistance to the wearer's knee and hip joints, and enhance Wearer's athletic ability; At the same time, move heavy motor and reducer to waist Near the hip joint or hip joint, the inertia of the leg is greatly reduced, and the leg is lighter, so that the wearer can move more flexibly and agilely when using the device of the present application; the assist device of the present application can measure a lot of information, including joint torque The joint system, the angular velocity of the upper and lower legs, the acceleration, and its control system can implement more precise and flexible control.

[0148] The above only further describes the technical content of the present application by way of examples, so as to make it easier for the reader to understand. However, it does not mean that the implementation of the present application is limited to this. Protected by this application. The protection scope of this application is subject to the claims.

Summary of invention

technical problem

Problem solution

The beneficial effects of the invention

Claims

Claim

[Claim 1] A cable-driven power device, comprising a power member, a speed reducing mechanism coupled to the power output end of the power member, and a cable driving mechanism coupled to the output end of the speed reducing mechanism; After the mechanism is decelerated, the power is output by the cable driving mechanism

[Claim 2] A cable-driven power device according to claim 1, wherein the power member is a motor and includes a stator case and a rotor; the stator case has a concave structure and accommodates the rotor And the rotor is drivingly coupled with the speed reducer; the rotor is rotatably coupled in the cavity of the stator housing.

[Claim 3] A cable-driven power device according to claim 2, wherein a stator annular protrusion is provided in the center of the stator housing, and a stator center is provided in the center of the stator annular protrusion. A through hole; the stator coil is fixed in the cavity of the stator housing; a rotor annular protrusion is provided in the center of the rotor, and a rotor central through hole is provided in the center of the rotor annular protrusion; The protrusion is rotationally coupled to the outside or inside of the annular protrusion of the stator.

[Claim 4] The cable-driven power device according to claim 3, wherein the reduction mechanism includes a steel wheel, a rotating wheel, and a reduction generator; and the power output of the reduction generator and the power part The steel wheel is a ring structure, and the speed reduction generator rotates on the inside of the steel wheel; the rotation wheel is arranged between the speed reducer and the steel wheel, and is drivingly connected with the cable driving mechanism; the rotation The wheel is rotatably coupled to the inner wall of the cavity of the steel wheel.

[Claim 5] A cable-driven power unit according to claim 4, wherein the reduction mechanism further includes a steel wheel connection plate; the steel wheel is fixed to the inner cavity of the steel wheel connection plate, and the steel wheel The connecting plate is fixedly connected with the stator casing.

[Claim 6] A cable driving power device according to claim 5, wherein the cable driving mechanism includes a cable driving wheel; the cable driving wheel is rotatably coupled to a steel wheel connection plate; The cable driving wheel is fixedly coupled to the rotating wheel directly or through a rotating wheel connecting plate, so that the rotating wheel drives the cable driving wheel to rotate; a cable driving for winding the cable is provided on the outer side of the cable driving wheel. Wheel groove.

[Claim 7] The cable-driven power device according to claim 6, further comprising: An encoder mechanism; the encoder mechanism includes a center beam, a first magnet, and a first magnetic field induction circuit; the center beam is fixed to a stator central through hole of a stator housing, and passes through an inner hole provided in the deceleration generator The first magnet is fixed on the deceleration generator and faces the inner cavity of the rotating wheel; the first magnetic field induction circuit is fixed on the center beam and is close to the first magnet;

Or,

An encoder mechanism is further included; the encoder mechanism includes a center beam, a first magnet, and a first magnetic field induction circuit; the center beam extends to the inner cavity of the rotating wheel through a stator central through hole; an inner end of the center beam and a deceleration The generator is fixedly connected, the outer end extends to the edge of the stator shell, and the first magnet is fixed to the outer end; the first magnetic field induction circuit is fixed to the outside of the central through hole of the stator and is close to the first magnet.

[Claim 8] A cable-driven power system, comprising the power device according to any one of claims 1 to 7, a thigh bar and a calf bar; the power device is fixed to the upper end of the thigh bar, and the wearer Waist or back; the lower end of the thigh rod is rotatably coupled with a knee joint turntable, and the knee joint turntable is drivingly connected with a power device through a provided cable; the calf rod is fixed on the knee joint turntable, or the calf rod and the knee joint The turntable is an integrated structure; the power device drives the cable to be released or retracted so that the cable is in a relaxed state or a tensioned state; when the cable is in a relaxed state, the calf rod is free to rotate relative to the thigh rod; the cable When in a tensioned state, the calf rod is extended relative to the thigh rod.

[Claim 9] A cable driving power system according to claim 8, characterized in that a cable tension sensor is provided on the thigh rod or the steel wheel connecting plate and its extension mechanism; the cable tension The sensor includes a strain beam, a strain gauge, and an idler; one end of the strain beam is fixed to the thigh rod or the steel wheel connecting plate and an extension mechanism thereof, and the other end is rotationally coupled to the idler; the strain gauge is closely attached to the idler; On the strain beam, the stay cable is pressed against the idler; when the stay cable is tensioned, the idler is pressed, and the strain beam is deformed, and the deformation is induced by the strain gauge.

[Claim 10] The cable-driven power system according to claim 8, further comprising a knee joint angle sensor; the knee joint angle sensor includes a second magnet and a second magnetic field Induction circuit; the second magnet and the second magnetic field induction circuit are respectively fixed on the thigh bar or its extension structure and the knee joint turntable or its extension structure, or respectively fixed on the knee joint turntable or its extension structure and On the thigh bar or its extension structure; the second magnetic field induction circuit is close to the second magnet.

[Claim 11] A portable power-assisting device, including a power system, an energy system, a control system, a man-machine connection, and a motion sensing system, characterized in that the power system is any one of claims 8-10 The cable drive power system; the control system controls the power device of the cable drive power system to make the cable tension or relax, so as to control the wearer's lower limbs to stretch or rotate freely; the motion sensing system and The control system is electrically connected.

[Claim 12] The portable power-assisting device according to claim 11, wherein the human-machine connection includes a waist band, a thigh band, and a calf band, and is respectively connected to the waist, thigh, and calf of the wearer. The corresponding position is fixed; further comprising a waist connecting section, and an upper end of the waist connecting section is fixedly coupled with a waist band, and a lower end thereof is rotationally coupled with an upper end of the thigh rod; the thigh strap is fixedly coupled with the thigh rod, and the lower leg is tied The strap is fixedly attached to the calf rod.

[Claim 13] The portable power-assisting device according to claim 11, wherein the cable power driving device is disposed on a waist or a back of a wearer, and an idler is disposed at the hip joint; A cable is wound around the idler, and its lower end is coupled with the knee joint turntable.

[Claim 14] The light weight assist device according to any one of claims 11-13, wherein the motion sensing system includes the knee joint angle sensor;

Or further includes a hip joint angle sensor; the hip joint angle sensor is disposed at a rotational joint between the waist connection section and a thigh rod to measure a relative angle between the thigh rod and the waist connection section;

Or and

The motion sensor system further includes a foot film bottom pressure sensor or a foot switch to sense whether the wearer's foot touches the ground; the foot film bottom pressure sensor or the foot switch is disposed below the wearer's foot;

Or and

The motion sensing system further includes a plurality of inertial sensors coupled to the thigh rod and the lower leg. A rod, a thigh strap, a calf strap, or any combination thereof, for sensing the angular velocity and / or acceleration of the wearer's leg movement.

[Claim 15] The portable power-assisting device according to claims 11-13, wherein the energy system is a battery pack; the control system includes a processor, a memory, and a communication interface; the energy system is The control system and power components in the power system and the motion sensing system are powered, and the control system is electrically connected to the power system and the motion sensing system, and it is judged based on information measured by sensors in the power system and the motion sensing system The current gait of the wearer and drives the power unit to work in the following rotation, given torque output, low damping, high damping or spring state.

[Claim 16] A control method for a power-assisted device, comprising the following steps:

Step 1: The control system determines whether the wearer's foot is in a ground contact state according to the measurement value of the motion sensing system. If it is, go to Step 2, otherwise go to Step 3. Step 2. The control system controls the wearer. The cable driving device contracts the cable until the cable tension sensor detects that the cable tension reaches a set value; go to step one;

Step 3: The control system controls the cable driving device to extend the cable until the cable tension sensor detects that the cable tension is zero or the length reaches a set value, and proceeds to step 1.

[Claim 17] A method for controlling a power-assisted device according to claim 16, wherein in the first step, the control system is based on an inertial sensor of a motion sensing system, a hip joint angle sensor, and a cable tension. One or more combinations of the measured values of the sensors and the knee joint angle sensor determine whether the wearer's feet touch the ground; the methods for determining the ground touch include the inertial sensor acceleration threshold method, the inertial sensor tilt angle method, and the cable tension sensor feedback method Or a combination

[Claim 18] A method for controlling a power-assisted device according to claim 17, wherein a ground contact mark or a ground clearance sign is set, and when a ground contact event occurs, a ground contact mark is set to ground contact, and when a ground contact occurs Ground event, setting the ground clearance sign as ground clearance;

The ground contact event includes one or more of the following condition combinations: Condition 1. The ground contact sign is a ground contact; Condition two: The acceleration value detected by the inertial sensor installed on the calf rod exceeds the set value; Condition three: The rate of change of the measured value of the knee joint angle sensor is greater than the set value;

The ground-off event includes one or more of the following condition combinations: Condition 1. When the ground-off sign is ground-off;

In condition two, the acceleration value detected by the inertial sensor set on the lower leg rod exceeds a set value; in condition three, the rate of change of the measured value of the knee joint angle sensor is greater than the set value.

[Claim 19] The method for controlling a power-assisted device according to claim 16, wherein in the first step, when the plantar pressure sensor is greater than a set threshold or the foot switch is turned off , It is determined that the foot of the wearer is in a state of touching the ground, otherwise it is in a state of being off the ground.

[Claim 20] The method for controlling a power-assisted device according to claim 16, wherein in the second step, the control cable is tightened until the tension reaches a set value, and the measured value of the tension sensor is compared with the set value. The fixed value is continuously controlled by a feedback control algorithm to achieve a set target. The feedback control algorithm includes at least one of PID, fuzzy PID, and synovial control.

[Claim 21] The method for controlling a power assisting device according to claim 16, wherein in the third step, the control cable is in a relaxed state, and the measurement value of the tension sensor is zero at this time, according to the knee joint The measured value of the angle sensor and / or the measured value of the hip joint angle sensor controls the linear speed rotation of the cable driving device and the joint turntable, so that the degree of relaxation of the cable remains unchanged. The control algorithm includes PID, fuzzy PID, At least one of the synovial controls.