WO2023065267A1 - 基于柔性绳索驱动的穿戴式行走助力设备及其控制方法 - Google Patents

基于柔性绳索驱动的穿戴式行走助力设备及其控制方法 Download PDF

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WO2023065267A1
WO2023065267A1 PCT/CN2021/125495 CN2021125495W WO2023065267A1 WO 2023065267 A1 WO2023065267 A1 WO 2023065267A1 CN 2021125495 W CN2021125495 W CN 2021125495W WO 2023065267 A1 WO2023065267 A1 WO 2023065267A1
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WIPO (PCT)
Prior art keywords
leg
wearing
waist
power source
flexible
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PCT/CN2021/125495
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English (en)
French (fr)
Inventor
赵正
赵昶辰
郑浩
杨尚
陈伟海
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北京航空航天大学杭州创新研究院
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Application filed by 北京航空航天大学杭州创新研究院 filed Critical 北京航空航天大学杭州创新研究院
Priority to PCT/CN2021/125495 priority Critical patent/WO2023065267A1/zh
Priority to CN202180014590.1A priority patent/CN115175649A/zh
Publication of WO2023065267A1 publication Critical patent/WO2023065267A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

Definitions

  • the present invention relates to the technical field of assisting devices, in particular to a wearable walking assisting device driven by a flexible rope and a control method thereof.
  • Smart elderly care and technology elderly care have also become an important topic. Due to the irrational distribution of the current population age structure, the shortage of labor force will be a major problem for a long time in the future, and the shortage of nursing staff will be mainly reflected in the pension issue. Smart wearable devices can replace traditional manual work to a certain extent through electronic technology and robotics technology, and help patients with limb motor dysfunction, and walking assist devices are one of the very important ones.
  • the most common walking assist device on the market is the lower extremity exoskeleton robot, but the structure of these lower extremity exoskeleton is complex, basically composed of rigid materials, and the coordination between man and machine is also relatively poor. Not only that, but the cost of existing lower extremity exoskeleton robots is very high, which also limits the application scenarios of exoskeleton robots.
  • ExoMotus TM a lower limb walking aid on the market, adopts a biped robot modular structure design, equipped with motion controllers, multi-dimensional force sensors and integrated flexible joint motors, with the walking function as the core to provide forward mobility.
  • the exoskeleton is made of aluminum alloy and carbon fiber materials, with a compact structure and a total weight of 18KG. It can realize rehabilitation training, personal walking assistance and other functions. But like most products, it has problems such as heavy equipment weight, large volume, inconvenient transportation and wearing, and high price, and the actual effect is not ideal.
  • the purpose of the present invention is to provide a wearable walking assisting device and walking assisting method driven by flexible ropes based on the principle of bionics and simulating the traction effect of muscles on bones, so as to solve the problems of the walking assisting device in the prior art.
  • the present invention provides the following technical solutions:
  • a wearable walking assistance device driven by a flexible rope provided by the present invention includes a waist wearing mechanism, a leg wearing mechanism, a power source and a controller installed on the waist wearing mechanism, and one end connected to the power source , the other end of which is a force transmission mechanism connected to the leg wearing mechanism, the controller is connected to the power source signal, and the force transmission mechanism is a flexible structure.
  • the force transmission mechanism is a force transmission mechanism driven by a flexible cable.
  • the force transmission mechanism includes a Bowden wire, a coil wheel, a wire routing structure and a wire fixing structure, the wire routing structure is installed on the waist wearing mechanism, and the jacket of the Bowden wire Fixed on the wire routing structure, the coil wheel is connected to the power source by transmission, one end of the inner core of the Bowden wire is wound on the coil wheel, and the other end of the inner core passes through the fixed wire A structure is secured to the leg wearing mechanism.
  • the leg wearing mechanism includes a left leg wearing assembly and/or a right leg wearing assembly.
  • the number of the force transmission mechanism is two sets, respectively connected to the front side and the rear side of the left leg wearing assembly or the right leg wearing assembly; or, the number of the force transmission mechanism is Four sets are divided into two groups, and the force transmission mechanisms of the two groups are respectively connected with the front side and the rear side of the left leg wearing component and the right leg wearing component.
  • it also includes an attitude sensor strapped on the leg and connected to the controller with a signal.
  • the wire routing structure includes a wire sleeve buckle, the number of which is at least one, and is arranged along the Bowden wire routing route.
  • the wearing assembly for the left leg or the wearing assembly for the right leg includes a U-shaped leg cover, metal buckles arranged at both ends of the opening of the leg cover, arranged at the opening of the leg cover and connected to the The metal buckle is detachably connected to the magic strap and the connecting piece fixed on the magic strap, and the wire fixing structure is respectively fixed on the connecting piece and the leg cover.
  • the waist wearing mechanism includes a U-shaped waist cover, metal buckles arranged at both ends of the opening of the waist cover, a magic hook set at the opening of the waist cover and detachably connected to the metal buckle.
  • the cable tie is provided with a plurality of ventilation holes on the waist cover.
  • a flexible pad is arranged inside the leg cover and/or the waist cover.
  • the control method provided by the present invention uses the flexible rope-driven wearable walking assisting device to assist walking, including the following steps:
  • Step 100 preset the correlation data between the angles of the legs and legs in the walking gait, and the motion data of the power source into the controller;
  • Step 200 wearing the waist wearing mechanism on the waist, and wearing the leg wearing mechanism and the attitude sensor on the legs;
  • Step 200 turn on the controller, the controller controls the action of the power source, and the power source drives the action of the leg wearing mechanism through the force transmission mechanism, so as to realize the lifting or lowering of the leg;
  • Step 300 Use the attitude sensor to detect the angle of the lower leg, and the controller controls the movement of the power source according to the received angle of the lower leg and the correlation between the angles of the upper and lower legs in the walking gait, corresponding to the expected angle value of the thigh.
  • the present invention has the following beneficial effects:
  • the wearable walking assist device driven by a flexible rope is a wearable walking assist device driven by a flexible rope, which fully combines the characteristics of rigid materials and flexible materials to effectively ensure wearing comfort And the power-assisted effect, through the force transmission mechanism of the flexible structure, it can drive the movement of the leg wearing mechanism, which simulates the movement mode of muscles driving the bones, and maintains good compatibility with the human body; by setting the power-assisted device separately, it can be divided into The waist wearing mechanism and the leg wearing mechanism are connected by a force transmission mechanism in the middle. Under the premise of using active power assist, it also maintains the characteristics of light weight and small size. It has a high degree of intelligence, good man-machine coordination, and The total cost is also relatively low, which can meet the consumption needs of general consumers.
  • Fig. 1 is a schematic structural diagram of a walking aid for the elderly in the prior art
  • Fig. 2 is a schematic diagram of the exploded structure of the wearable walking assist device driven by flexible ropes according to the present invention
  • Fig. 3 is a structural schematic diagram of the assembled wearable walking assist device driven by flexible ropes of the present invention
  • Fig. 4 is a structural schematic diagram of the waist wearing mechanism in the wearable walking assist device driven by flexible ropes viewed from the rear side;
  • Fig. 5 is a structural schematic diagram of the waist cover in the wearable walking assist device driven by flexible ropes according to the present invention.
  • Fig. 6 is a schematic structural view of the flexible pad in the wearable walking assist device driven by flexible ropes according to the present invention.
  • Fig. 7 is a structural schematic view of the leg wearing mechanism in the wearable walking assist device driven by flexible ropes from the front side;
  • Fig. 8 is a diagram of the installation structure of the power source in the wearable walking assist device driven by flexible ropes according to the present invention.
  • Fig. 9 is a control logic diagram of the power source and force transmission mechanism in the wearable walking assist device driven by flexible ropes in the present invention.
  • Fig. 10 is a state diagram when the human body is walking
  • Fig. 11 is a control instruction diagram of the wearable walking assist device driven by flexible ropes according to the present invention.
  • Waist wearing mechanism 11. Waist cover; 12. Breathing hole; 2. Leg wearing mechanism; 21. Leg cover; 22. Metal buckle; 23. Magic tie; 24. Connector; 3. Power source ; 4. Controller; 5. Force transmission mechanism; 51. Bowden wire; 52. Coil wheel; 53. Wire structure; 54. Fixed wire structure;
  • the present invention provides a wearable walking assist device driven by a flexible rope, including a waist wearing mechanism 1, a leg wearing mechanism 2, a power source 3 and a controller 4 installed on the waist wearing mechanism 1 , and one end is connected to the power source 3, the other end is connected to the force transmission mechanism 5 of the leg wearing mechanism 2, the controller 4 is connected to the power source 3 signal, and the force transmission mechanism 5 is a flexible structure.
  • Both the waist wearing mechanism 1 and the leg wearing mechanism 2 are made of engineering plastics.
  • the wearable walking assisting device driven by flexible ropes provided by the present invention fully combines the characteristics of rigid materials and flexible materials to effectively ensure wearing comfort and assisting effect.
  • the force transmission mechanism 5 is a force transmission mechanism driven by a flexible cable.
  • the flexible rope-driven wearable walking assist device driven by a flexible cable can simulate the movement of the muscles to drive the bones and maintain good compatibility with the human body, which solves the problem that the center of rotation of the assist device is not aligned with the joints of the human body. accurate question.
  • the force transmission mechanism 5 includes a Bowden wire 51, a coil wheel 52, a wire routing structure 53 and a wire fixing structure 54, and the wire routing structure 53 is installed on the waist wearing mechanism 1, the jacket of the Bowden wire 51 is fixed on the routing structure 53, the coil wheel 52 is connected to the power source 3 in transmission, one end of the inner core of the Bowden wire 51 is wound on the coil wheel 52, and the other end of the inner core passes through The fixed wire structure 54 is fixed on the leg wearing mechanism 1 .
  • the present invention uses a wire-driven method, which is different from the rotary joint design of other products; the wire-driven method more realistically simulates the working principle of muscles and conforms to the kinematic laws of the human body.
  • the wire drive method also reduces a lot of complicated mechanical structures, and the force transmission process becomes very simple, which makes the weight of the entire walking assist device very light, and improves the wearing comfort.
  • the power source 3 is a forward and reverse motor.
  • the output shaft of the reversing motor is provided with a driving gear
  • the coil wheel 52 is an annular structure
  • the inner wall is provided with a driven tooth meshed with the driving gear.
  • the slot specification refers to the depth and width of the winding slot.
  • the routing structure 53 is used to fix the sheath part of the Bowden wire 51, not only to fix the two ends of the sheath to prevent the sheath from moving in the axial direction, but also to fix the middle part of the sheath so that the middle of the surface Part of the Bowden line 51 hangs or breaks away from the waist wearing mechanism 1 to avoid interference with walking.
  • the leg wearing mechanism 2 includes a left leg wearing assembly and/or a right leg wearing assembly.
  • the left leg wearing component is used for wearing on the left leg
  • the right leg wearing component is used for wearing on the right leg.
  • the structure of the left leg wearing component and the right leg wearing component can be completely the same, or can be a mirror symmetrical structure.
  • the number of force transmission mechanisms 5 is two sets, which are respectively connected to the front side and the rear side of the left leg wearing assembly or the right leg wearing assembly, that is to say, the leg wearing mechanism on one side Both the front side and the rear side of the 2 are equipped with a force transmission mechanism 5.
  • the front and rear parts of the legs can be driven by two sets of force transmission mechanisms 5 at the same time.
  • the applied force is uniform and symmetrical, which is convenient for walking on one leg. or, as another optional embodiment of the present invention, the number of force transmission mechanisms 5 is four sets, which are divided into two groups.
  • the front side and the rear side are connected, that is to say, the front side and the rear side of the leg wearing mechanism 2 on both sides are all provided with a force transmission mechanism 5, and when the power source 3 moves, two sets of power transmission mechanisms 5 can be driven simultaneously.
  • the front part and the rear part of each leg move, and the applied force is uniform and symmetrical, which is convenient for the walking assistance of the two legs.
  • the attitude sensor 6 is realized by using a product in the prior art, and is installed on the leg through a strap.
  • the invention combines the general law of walking gait, detects the state of the lower leg with sensors, and analyzes the auxiliary function that should be applied to the thigh, and has good man-machine coordination.
  • the wire routing structure 52 includes a wire cover buckle, the number of which is at least one, and is arranged along the route of the Bowden wire 51 .
  • the line cover buckle includes a fixing part and a clamping part, the fixing part is fixed on the waist wearing mechanism 1, and the clamping part is used to clamp the overcoat of the Bowden line 51, and the inner core of the Bowden line 51 can be stretched relative to the Its outer casing moves axially, similar to a bicycle brake line.
  • the left leg wearing assembly or the right leg wearing assembly includes a U-shaped leg cover 21, metal buckles 22 arranged at both ends of the opening of the leg cover 21, arranged at the opening position of the leg cover 21 and connected with the metal buckle 22
  • the detachably connected magic cable tie 23 and the connecting piece 24 fixed on the magic cable tie 23 , and the fixing structure 54 are respectively fixed on the connecting piece 24 and the leg cover 21 .
  • two rows of metal buckles 22 are arranged in the height direction of the leg cover 21, and the two magic straps 23 are respectively connected with the two rows of metal buckles 22.
  • the magic cable tie 23 is connected, and one of the fixed wire structures 54 is fixed on the middle of the connector 24 at the front side of the leg wearing mechanism 2, and the other fixed wire structure 54 is fixed on the rear side of the leg cover 21, that is, the rear of the leg wearing mechanism 2.
  • two wire fixing structures 54 are arranged symmetrically.
  • the wire fixing structure 54 is a fixing screw.
  • the inner core of the Bowden wire 51 is fixed on the leg wearing mechanism 2 by fixing screws.
  • the waist wearing mechanism 1 includes a U-shaped waist cover 11, metal buckles 22 arranged at both ends of the opening of the waist cover 11, arranged at the opening of the waist cover 11 and connected to the waist cover 11.
  • the metal buckle 22 is detachably connected to the magic cable tie 23, and the waist cover 11 is provided with a plurality of ventilation holes 12.
  • the vent hole 12 not only plays a role of ventilation, but also can be used for fixing the servo motor.
  • Waist sleeve 11 front side opening is similar to a wide belt when worn, utilizes four metal buckles 22 on the front side, it can be firmly fixed on the waist, motor, Bowden wire, wiring structure, controller are all Be fixed on the waist cover 21.
  • each leg wearing mechanism 2 that is, two sets of force transmission mechanisms are all matched, so the motors on the waist sleeve 11 are four micro servo motors, and the two motors on the left and right are fixed on the waist.
  • the Bowden wire 51 that is, the rope, can only transmit tension, in order to ensure the boosting effect, there is a connection point of the Bowden wire on the front and back of the thigh, and the two motors apply tension at different times.
  • the ventilation holes 12 are evenly arranged along the circumferential direction of the waist cover 11, and the ventilation holes 12 can be circular holes, waist-shaped holes, square holes, rectangular holes, triangular holes or holes of other specifications or irregular shapes.
  • the shapes and/or specifications of all the ventilation holes 12 may be the same or different, and details will not be repeated here.
  • a flexible cushion layer 7 is disposed inside the leg cover 21 and/or the waist cover 11 .
  • the flexible cushion layer 7 is made of sponge, foam or latex material, and the flexible cushion layer 7 is also provided with vent holes for the purpose of increasing wearing comfort.
  • the detachable connection between sets 11 is realized by Velcro and 3M glue.
  • the wearable walking assist device driven by a flexible rope is a wearable walking assist device driven by a flexible rope, which fully combines the characteristics of rigid materials and flexible materials to effectively ensure wearing comfort And the power-assisted effect, through the force transmission mechanism of the flexible structure, it can drive the movement of the leg wearing mechanism, which simulates the movement mode of muscles driving the bones, and maintains good compatibility with the human body; by setting the power-assisted device separately, it can be divided into The waist wearing mechanism and the leg wearing mechanism are connected by a force transmission mechanism in the middle. Under the premise of using active power assist, it also maintains the characteristics of light weight and small size. It has a high degree of intelligence, good man-machine coordination, and The total cost is also relatively low, and the total cost is less than 1,000 yuan, which can meet the consumption needs of ordinary consumers.
  • the working principle of the wearable walking assist device driven by flexible ropes in the present invention is that the controller 4 is connected to the power source 3, that is, the servo motor, and the control circuit in the controller can control the start and stop of the motor and the positive and negative Further, the running speed of the motor can also be controlled; the coil wheel 52 is installed on the output shaft of the motor, and is connected with the leg wearing mechanism 3 through the Bowden wire 51.
  • the Bowden line 51 is connected to the waist sheath 11 through the wire cover buckle, that is, the wiring structure 53 and the inner core of the Bowden line 51 is connected to the leg wearing mechanism 2, so that when the motor moves, the The torque is transmitted to the legs, thereby assisting the movement of the limbs.
  • the controller will also collect the movement data of the limbs transmitted by the attitude sensor 6, so as to analyze the walking gait, so as to control the motor to output an appropriate auxiliary force.
  • the present invention also provides a control method, using the above-mentioned wearable walking assisting device driven by a flexible rope to assist walking, including the following steps:
  • Step 100 Preset the correlation data between the angles of the big and small legs in the walking gait and the motion data of the power source into the controller; according to the law that the state of the two legs changes alternately when a person walks, the movement of the legs can be Simplified into periodic motion, each cycle includes several different key states, as shown in Figure 10, these states can be further divided into two types: support phase and swing phase. It is not difficult to see from the gait analysis that the thigh There is a correlation between the angle of the leg and the angle of the calf;
  • Step 200 wear the waist wearing mechanism on the waist, and wear the leg wearing mechanism and the attitude sensor on the legs;
  • the correlation between the angles of the lower legs corresponds to the desired angle value of the upper legs, and further controls the movement of the motor.
  • Step 200 turn on the controller, the controller controls the action of the power source, and the power source drives the action of the leg wearing mechanism through the force transmission mechanism, so as to realize the lifting or lowering of the leg;
  • Step 300 Use the attitude sensor to detect the angle of the lower leg, and the controller controls the movement of the power source according to the received angle of the lower leg and the correlation between the angles of the upper and lower legs in the walking gait, corresponding to the expected angle value of the thigh.
  • the controller 4 in the present invention is realized through programming by adopting prior art products, and the control circuit therein can be replaced with other types of circuits and controllers, such as using STM32 series processors and DSP processors.
  • the posture sensor uses MPU6050, and uses the wireless data transmission method, or it can be replaced by a wired method, and a simple potentiometer is used to replace the MPU6050 in the present invention.
  • inward refers to a direction toward the center of the accommodating space
  • outward refers to a direction away from the center of the accommodating space
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

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Abstract

一种基于柔性绳索驱动的穿戴式行走助力设备及其控制方法，涉及助力设备技术领域，解决了行走助力设备的运动与肢体实际运动不匹配，影响穿戴舒适性的技术问题。该基于柔性绳索驱动的穿戴式行走助力设备包括腰部穿戴机构（1）、腿部穿戴机构（2）、安装在腰部穿戴机构（1）上的动力源（3）和控制器（4）、以及一端与动力源（3）连接，另一端与腿部穿戴机构（2）连接的力传导机构（5），控制器（4）与动力源（3）信号连接，力传导机构（5）为柔性结构；力传导机构（5）包括鲍登线（51）、圈线轮（52）、走线结构（53）和固线结构（54）。该设备及方法充分结合刚性材料和柔性材料的特点，模拟了肌肉带动骨骼的运动方式和人体保持了较好的相容性，有效保证穿戴的舒适性和助力效果。

Description

基于柔性绳索驱动的穿戴式行走助力设备及其控制方法 技术领域
本发明涉及助力设备技术领域，尤其是涉及一种基于柔性绳索驱动的穿戴式行走助力设备及其控制方法。
背景技术
随着老龄化的不断加剧，偏瘫、关节疾病等造成的下肢运动功能障碍越来越普遍，智慧养老、科技养老也成为了一个重要的话题。由于当前的人口年龄结构分布不合理，在未来相当长的时间里，劳动力短缺将是一个主要的问题，在养老问题上则主要体现为护理人员短缺。智能穿戴设备可以通过电子技术、机器人技术，在一定程度上代替传统的人力作业，对肢体运动功能障碍患者起到帮助作用，而行走助力设备是其中非常重要的一种。
市场上最普遍的行走助力设备是下肢外骨骼机器人，但这些下肢外骨骼的结构复杂，基本都是刚性材料组成，人机之间的协调性也比较差。不仅如此，现有的下肢外骨骼机器人成本非常高，这也限制了外骨骼机器人的应用场景。比如，市场上的一款下肢步行辅助器ExoMotus TM，机器人采用双足机器人模块化结构设计，搭载运动控制器、多维力传感器以及一体化柔性关节电机，以步行功能为核心，提供前行动力。外骨骼采用铝合金及碳纤维材料，结构紧凑，总体重量18KG，可以实现康复训练，个人助行等功能。但同大多数产品一样，它存在设备重量大、体积大、运输穿戴不方便且价格昂贵等问题，实际效果并不理想。
近年来，也有一些厂家对外骨骼机器人进行简化，研发了一些更实用的基于柔性绳索驱动的穿戴式行走助力设备，在成本上也降低了不少，比较有代表性的如图1所示的长者助行步行辅助器，可矫正步行、辅助行走。日本一家公司也设计出一款可穿戴式行走助力装置，能够帮助老年人等群体改善行走速度； 这种佩戴在臀部的机械装置能够帮助使用者行走，使用了薄形电机、控制系统和臀部角度传感器来帮助使用者行走，可以改善使用者的行走速度和步伐整齐性。
类似的助力产品还有很多，从研究现状不难看出，现有的相关产品都采用了纯转动关节，匹配人下肢的运动，以髋关节、膝关节为主。但从生物学原理来看，髋关节、膝关节的运动不是纯旋转运动，关节头和关节窝之间的配合也不能当作简单的球铰来看待，正因为如此，在使用现有的行走辅助装置时，由于关节的运动和电机的运动轴线不能保证对齐，于是会造成辅助装置的运动与肢体的实际运动不匹配，这种不匹配直接影响了穿戴的舒适性。
发明内容
本发明的目的在于提供一种从仿生原理出发，模拟肌肉对骨骼的牵引作用的基于柔性绳索驱动的穿戴式行走助力设备及行走助力方法，以解决现有技术中存在的行走助力设备的运动与肢体实际运动不匹配，影响穿戴舒适性的技术问题。
为实现上述目的，本发明提供了以下技术方案：
本发明提供的一种基于柔性绳索驱动的穿戴式行走助力设备，包括腰部穿戴机构、腿部穿戴机构、安装在所述腰部穿戴机构上的动力源和控制器、以及一端与所述动力源连接，另一端与所述腿部穿戴机构连接的力传导机构，所述控制器与所述动力源信号连接，所述力传导机构为柔性结构。
作为本发明的进一步改进，所述力传导机构为柔性线缆驱动形式的力传导机构。
作为本发明的进一步改进，所述力传导机构包括鲍登线、圈线轮、走线结构和固线结构，所述走线结构安装在所述腰部穿戴机构上，所述鲍登线的外套固定在所述走线结构上，所述圈线轮与所述动力源传动连接，所述鲍登线的内芯一端缠设在所述圈线轮上，内芯另一端通过所述固线结构固定在所述腿部穿 戴机构上。
作为本发明的进一步改进，所述腿部穿戴机构包括左腿穿戴组件和/或右腿穿戴组件。
作为本发明的进一步改进，所述力传导机构数量为两套，分别与所述左腿穿戴组件或所述右腿穿戴组件的前侧和后侧连接；或者是，所述力传导机构数量为四套，分为两组设置，两组所述力传导机构分别与所述左腿穿戴组件和所述右腿穿戴组件的前侧和后侧连接。
作为本发明的进一步改进，还包括绑设在腿部且与所述控制器信号连接的姿态传感器。
作为本发明的进一步改进，所述走线结构包括线套卡扣，所述线套卡扣数量为至少一个，沿所述鲍登线布设路线设置。
作为本发明的进一步改进，所述左腿穿戴组件或所述右腿穿戴组件包括U形腿套、设置在所述腿套开口两端的金属扣、设置在所述腿套开口部位置且与所述金属扣可拆卸连接的魔术扎带以及固定在所述魔术扎带上的连接件，所述固线结构分别固定在所述连接件和所述腿套上。
作为本发明的进一步改进，所述腰部穿戴机构包括U形腰套、设置在所述腰套开口两端的金属扣、设置在所述腰套开口部位置且与所述金属扣可拆卸连接的魔术扎带，所述腰套上设置有多个透气孔。
作为本发明的进一步改进，所述腿套和/或所述腰套内设置有柔性垫层。
本发明提供的控制方法，利用所述的基于柔性绳索驱动的穿戴式行走助力设备进行助力行走的方法，包括如下步骤：
步骤100、将行走步态中大小腿角度之间的关联性数据、动力源运动数据预设到控制器内；
步骤200、将腰部穿戴机构穿戴在腰上，腿部穿戴机构、姿态传感器穿戴在腿上；
步骤200、开启控制器，控制器控制动力源动作，动力源通过力传导机构带动腿部穿戴机构动作，从而实现腿部的抬起或放下；
步骤300、利用姿态传感器检测小腿的角度，控制器根据接收到的小腿角度，再根据行走步态中大小腿角度之间的关联性，对应到大腿的期望角度值，控制动力源的运动。
本发明与现有技术相比具有如下有益效果：
本发明提供的基于柔性绳索驱动的穿戴式行走助力设备，是一种基于柔性绳索驱动的基于柔性绳索驱动的穿戴式行走助力设备，充分结合刚性材料和柔性材料的特点，有效保证穿戴的舒适性和助力效果，通过柔性结构的力传导机构，能够带动腿部穿戴机构运动，模拟了肌肉带动骨骼的运动方式，和人体保持了较好的相容性；通过将助力设备分体设置，分为腰部穿戴机构和腿部穿戴机构，中间通过力传导机构连接，在采用主动式助力的前提下，还保持了较轻的重量和小巧的体积的特点，智能化程度高、人机协调性好、总成本也比较低，可以满足一般消费者的消费需求。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是现有技术中长者助行步行辅助器结构示意图；
图2是本发明基于柔性绳索驱动的穿戴式行走助力设备爆炸结构示意图；
图3是本发明基于柔性绳索驱动的穿戴式行走助力设备组装好后的结构示意图；
图4是本发明基于柔性绳索驱动的穿戴式行走助力设备中腰部穿戴机构从后侧看过去的结构示意图；
图5是本发明基于柔性绳索驱动的穿戴式行走助力设备中腰套的结构示意图；
图6是本发明基于柔性绳索驱动的穿戴式行走助力设备中柔性垫层的结构示意图；
图7是本发明基于柔性绳索驱动的穿戴式行走助力设备中腿部穿戴机构从前侧看过去的结构示意图；
图8是本发明基于柔性绳索驱动的穿戴式行走助力设备中动力源的安装结构图；
图9是本发明基于柔性绳索驱动的穿戴式行走助力设备中动力源与力传导机构的控制逻辑图；
图10是人体行走时状态图；
图11是本发明基于柔性绳索驱动的穿戴式行走助力设备控制指令图。
图中1、腰部穿戴机构；11、腰套；12、透气孔；2、腿部穿戴机构；21、腿套；22、金属扣；23、魔术扎带；24、连接件；3、动力源；4、控制器；5、力传导机构；51、鲍登线；52、圈线轮；53、走线结构；54、固线结构；6、姿态传感器；7、柔性垫层。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将对本发明的技术方案进行详细的描述。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所得到的所有其它实施方式，都属于本发明所保护的范围。
如图2所示，本发明提供了一种基于柔性绳索驱动的穿戴式行走助力设备，包括腰部穿戴机构1、腿部穿戴机构2、安装在腰部穿戴机构1上的动力源3和控制器4、以及一端与动力源3连接，另一端与腿部穿戴机构2连接的力传导机构5，控制器4与动力源3信号连接，力传导机构5为柔性结构。腰部穿戴机构1和腿部穿戴机构2均采用工程塑料制成。
本发明提供的基于柔性绳索驱动的穿戴式行走助力设备，充分结合刚性材料和柔性材料的特点，有效保证穿戴的舒适性和助力效果。
如图3所示，作为本发明的进一步可选实施方式，力传导机构5为柔性线缆驱动形式的力传导机构。
通过采用柔性线缆驱动的基于柔性绳索驱动的穿戴式行走助力设备，基于仿生设计，能够模拟肌肉带动骨骼的运动方式和人体保持了良好的相容性，解决了助力设备旋转中心与人体关节不对准的问题。
如图4所示，更进一步的，在本实施例中，力传导机构5包括鲍登线51、圈线轮52、走线结构53和固线结构54，走线结构53安装在腰部穿戴机构1上，鲍登线51的外套固定在走线结构53上，圈线轮52与动力源3传动连接，鲍登线51的内芯一端缠设在圈线轮52上，内芯另一端通过固线结构54固定在腿部穿戴机构1上。
本发明使用了线驱动方式，不同于其它产品的旋转关节设计；线驱动方式更真实的模拟了肌肉的工作原理，符合人体的运动学规律。线驱动方式也减少了很多复杂的机械结构，力的传导过程变得非常简单，使整个行走助力设备的重量很轻，也就提高了穿戴的舒适性。
如图8所示，具体的，动力源3为正反转电机。正反转电机的输出轴上设置有主动齿轮，圈线轮52为圆环形结构，内壁上设有与主动齿轮啮合连接的从动齿，当电机运转时，主动齿轮旋转，通过从动齿使得圈线轮52跟随旋转；在圈线轮52外壁上沿圆周方向设置有绕线槽，绕线槽规格与鲍登线51的内芯规格相适配，进一步的，此处所说的绕线槽规格是指绕线槽的深度和宽度。
如图4所示，走线结构53用于固定鲍登线51的外套部分，不仅要将外套的两端固定以防止外套沿轴向移动，还要将外套的中间部分进行固定，以表面中间部分的鲍登线51悬垂或脱离腰部穿戴机构1，避免对行走造成干扰。
进一步的，腿部穿戴机构2包括左腿穿戴组件和/或右腿穿戴组件。左腿穿戴组件用于左腿穿戴使用，右腿穿戴组件用于右腿穿戴使用，为了简化结构， 左腿穿戴组件和右腿穿戴组件结构可以完全相同，也可以是镜面对称结构。
作为本发明的一种可选实施方式，力传导机构5数量为两套，分别与左腿穿戴组件或右腿穿戴组件的前侧和后侧连接，也就是说，在一边的腿部穿戴机构2的前侧和后侧均设置有力传导机构5，在动力源3运动时，能够同时通过两套力传导机构5带动腿部前部和后部动作，施力均匀对称，便于一条腿的行走助力；或者是，作为本发明的另一种可选实施方式，力传导机构5数量为四套，分为两组设置，两组力传导机构5分别与左腿穿戴组件和右腿穿戴组件的前侧和后侧连接，也就是说，在两边的腿部穿戴机构2的前侧和后侧均设置有力传导机构5，在动力源3运动时，能够同时通过两套力传导机构5带动两条腿的前部和后部动作，施力均匀对称，便于两条腿的行走助力。
为了提高行走姿态准确性，还包括绑设在腿部且与控制器4信号连接的姿态传感器6。在此需要说明的是，姿态传感器6采用现有技术中的产品实现，经过绑带绑设在腿部。本发明结合了行走步态的一般规律，通过用传感器检测小腿的状态，分析在大腿处应该施加的辅助作用，人机协调性好。
进一步的，走线结构52包括线套卡扣，线套卡扣数量为至少一个，沿鲍登线51布设路线设置。线套卡扣包括固定部和卡线部，固定部固定在腰部穿戴机构1上，卡线部用于夹住鲍登线51的外套，鲍登线51的内芯在受拉时能相对于其外套沿轴向移动，类似于自行车闸线。
如图7所示，进一步的，左腿穿戴组件或右腿穿戴组件包括U形腿套21、设置在腿套21开口两端的金属扣22、设置在腿套21开口部位置且与金属扣22可拆卸连接的魔术扎带23以及固定在魔术扎带23上的连接件24，固线结构54分别固定在连接件24和腿套21上。在此需要说明的是，在腿套21高度方向上设置有两排金属扣22，两条魔术扎带23分别与两排金属扣22连接，连接件24为板状结构，上部和下部分别与魔术扎带23连接，其中一个固线结构54固定在连接件24中部位置位于腿部穿戴机构2前侧，另一个固线结构54固定在腿套21后侧也就是腿部穿戴机构2的后侧，两个固线结构54对称设置。
进一步需要说明的是，在本实施例中，固线结构54为固定螺钉。通过固定螺钉将鲍登线51的内芯固定在腿部穿戴机构2上。
如图5所示，作为本发明的一种可选实施方式，腰部穿戴机构1包括U形腰套11、设置在腰套11开口两端的金属扣22、设置在腰套11开口部位置且与金属扣22可拆卸连接的魔术扎带23，腰套11上设置有多个透气孔12。在此需要说明的是，透气孔12不仅起到透气作用，还可以用于伺服电机的固定。腰套11前侧开口，在穿戴时类似于一个宽的腰带，利用前侧的四个金属扣22，可以将其牢牢地固定在腰部，电机、鲍登线、走线结构、控制器都固定在腰套21上。由于每一边腿部穿戴机构2上均具有两个辅助力点，也就是均配套两套力传导机构，所以在腰套11上的电机为四个微型伺服电机，左右各两个电机均固定在腰套11背面，由于鲍登线51也就是绳索只能传导拉力，为确保助力效果，在大腿前侧和后侧各有一个鲍登线的连接点位，两个电机在不同时刻施加拉力。
具体的，透气孔12沿腰套11圆周方向均匀设置，且透气孔12可以为圆形孔、腰形孔、方形孔、矩形孔、三角形孔或其他规格或不规则形状的孔。所有的透气孔12形状和/或规格，可以相同也可以不同，在此不做过多赘述。
如图6所示，更进一步的，腿套21和/或腰套11内设置有柔性垫层7。在此需要说明的是，柔性垫层7采用海绵、泡沫或乳胶材料制成，柔性垫层7上也设置有透气孔，目的是为了增加佩戴舒适性，柔性垫层7与腿套21或腰套11之间通过魔术贴和3M胶实现可拆卸连接。
本发明提供的基于柔性绳索驱动的穿戴式行走助力设备，是一种基于柔性绳索驱动的基于柔性绳索驱动的穿戴式行走助力设备，充分结合刚性材料和柔性材料的特点，有效保证穿戴的舒适性和助力效果，通过柔性结构的力传导机构，能够带动腿部穿戴机构运动，模拟了肌肉带动骨骼的运动方式，和人体保持了较好的相容性；通过将助力设备分体设置，分为腰部穿戴机构和腿部穿戴机构，中间通过力传导机构连接，在采用主动式助力的前提下，还保持了较轻的重量和小巧的体积的特点，智能化程度高、人机协调性好、总成本也比较低， 总成本在1000元以下，可以满足一般消费者的消费需求。
如图9所示，本发明基于柔性绳索驱动的穿戴式行走助力设备的工作原理是，控制器4与动力源3也就是伺服电机相连，控制器中的控制电路能够控制电机启停和正反向旋转，更进一步的，还可以控制电机运行速度；电机的输出轴上安装有圈线轮52，通过鲍登线51与腿部穿戴机构3相连接。鲍登线51通过线套卡扣也就是走线结构53与腰部的腰套11相连而鲍登线51的内芯与腿部穿戴机构2相连接，这样一来，电机运动时，就可以将力矩传导到腿部，从而辅助肢体的运动。在这个过程中，控制器还会采集由姿态传感器6传送来的肢体的运动数据，从而分析行走步态，以控制电机输出合适的辅助力。
本发明还提供了一种控制方法，利用上述的基于柔性绳索驱动的穿戴式行走助力设备进行助力行走的方法，包括如下步骤：
步骤100、将行走步态中大小腿角度之间的关联性数据、动力源运动数据预设到控制器内；根据人行走时两条腿的状态呈现交替变化的规律，可以把腿部的运动简化为周期性运动，每一个周期中包括了几个不同的关键状态，如图10所示，这些状态又可以进一步划分为支撑相和摆动相两类，从步态分析中不难看出，大腿的角度和小腿的角度存在相关性；
步骤200、将腰部穿戴机构穿戴在腰上，腿部穿戴机构、姿态传感器穿戴在腿上；如图11所示，在本发明中，利用姿态传感器检测小腿的角度，再根据行走步态中大小腿角度之间的关联性，对应到大腿的期望角度值，进一步地控制电机的运动，通过融合传感器数据和行走的一般规律，可以有效提高人机之间的协调性；
步骤200、开启控制器，控制器控制动力源动作，动力源通过力传导机构带动腿部穿戴机构动作，从而实现腿部的抬起或放下；
步骤300、利用姿态传感器检测小腿的角度，控制器根据接收到的小腿角度，再根据行走步态中大小腿角度之间的关联性，对应到大腿的期望角度值，控制动力源的运动。
需要说明的是，本发明中的控制器4采用现有技术产品经编程实现，其中的控制电路是可以用其它型号的电路、控制器进行替换的，例如使用STM32系列处理器，DSP处理器。具体的，本实施例中，姿态传感器采用的是MPU6050，并使用了无线数据传输的方式，也可以用有线方式代替，并使用简单的电位器代替本发明中的MPU6050。
这里首先需要说明的是，“向内”是朝向容置空间中央的方向，“向外”是远离容置空间中央的方向。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图1所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一 特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种基于柔性绳索驱动的穿戴式行走助力设备，其特征在于，包括腰部穿戴机构、腿部穿戴机构、安装在所述腰部穿戴机构上的动力源和控制器、以及一端与所述动力源连接，另一端与所述腿部穿戴机构连接的力传导机构，所述控制器与所述动力源信号连接，所述力传导机构为柔性结构。
  2. 根据权利要求1所述的基于柔性绳索驱动的穿戴式行走助力设备，其特征在于，所述力传导机构为柔性线缆驱动形式的力传导机构。
  3. 根据权利要求1或2所述的基于柔性绳索驱动的穿戴式行走助力设备，其特征在于，所述力传导机构包括鲍登线、圈线轮、走线结构和固线结构，所述走线结构安装在所述腰部穿戴机构上，所述鲍登线的外套固定在所述走线结构上，所述圈线轮与所述动力源传动连接，所述鲍登线的内芯一端缠设在所述圈线轮上，内芯另一端通过所述固线结构固定在所述腿部穿戴机构上。
  4. 根据权利要求3所述的基于柔性绳索驱动的穿戴式行走助力设备，其特征在于，所述腿部穿戴机构包括左腿穿戴组件和/或右腿穿戴组件；所述力传导机构数量为两套，分别与所述左腿穿戴组件或所述右腿穿戴组件的前侧和后侧连接；或者是，所述力传导机构数量为四套，分为两组设置，两组所述力传导机构分别与所述左腿穿戴组件和所述右腿穿戴组件的前侧和后侧连接。
  5. 根据权利要求1所述的基于柔性绳索驱动的穿戴式行走助力设备，其特征在于，还包括绑设在腿部且与所述控制器信号连接的姿态传感器。
  6. 根据权利要求3所述的基于柔性绳索驱动的穿戴式行走助力设备，其特征在于，所述走线结构包括线套卡扣，所述线套卡扣数量为至少一个，沿所述鲍登线布设路线设置。
  7. 根据权利要求4所述的基于柔性绳索驱动的穿戴式行走助力设备，其特征在于，所述左腿穿戴组件或所述右腿穿戴组件包括U形腿套、设置在所述腿 套开口两端的金属扣、设置在所述腿套开口部位置且与所述金属扣可拆卸连接的魔术扎带以及固定在所述魔术扎带上的连接件，所述固线结构分别固定在所述连接件和所述腿套上。
  8. 根据权利要求7所述的基于柔性绳索驱动的穿戴式行走助力设备，其特征在于，所述腰部穿戴机构包括U形腰套、设置在所述腰套开口两端的金属扣、设置在所述腰套开口部位置且与所述金属扣可拆卸连接的魔术扎带，所述腰套上设置有多个透气孔。
  9. 根据权利要求8所述的基于柔性绳索驱动的穿戴式行走助力设备，其特征在于，所述腿套和/或所述腰套内设置有柔性垫层。
  10. 一种控制方法，其特征在于，利用如权利要求1-9中任一所述的基于柔性绳索驱动的穿戴式行走助力设备进行助力行走的方法，包括如下步骤：
    步骤100、将行走步态中大小腿角度之间的关联性数据、动力源运动数据预设到控制器内；
    步骤200、将腰部穿戴机构穿戴在腰上，腿部穿戴机构、姿态传感器穿戴在腿上；
    步骤200、开启控制器，控制器控制动力源动作，动力源通过力传导机构带动腿部穿戴机构动作，从而实现腿部的抬起或放下；
    步骤300、利用姿态传感器检测小腿的角度，控制器根据接收到的小腿角度，再根据行走步态中大小腿角度之间的关联性，对应到大腿的期望角度值，控制动力源的运动。
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