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Man machine exoskeleton system and force control device thereof

An exoskeleton and human-machine technology, applied in medical science, prosthesis, etc., can solve problems such as inconvenient use and limited movement modes, and achieve the effect of simple and convenient control and small human-machine force

Inactive Publication Date: 2009-01-07
NAVAL AERONAUTICAL & ASTRONAUTICAL UNIV PLA
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of the existing man-machine exoskeleton system and control method, such as limited movement modes and inconvenient use, the present invention provides a man-machine exoskeleton system and its force control method

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  • Man machine exoskeleton system and force control device thereof
  • Man machine exoskeleton system and force control device thereof
  • Man machine exoskeleton system and force control device thereof

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Embodiment Construction

[0031] The human-machine exoskeleton system and its force control method provided by the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] The man-machine exoskeleton system and its force control method proposed by the present invention are used to control the movement of the exoskeleton following the human body and keep the man-machine force small. The force mentioned here is a generalized force, including force and moment, and force refers to the force between man and machine. The system includes sensors, controllers and drivers. The controller generates the control signal of the driver in real time according to the information measured by the sensor, controls the driver to output the control torque, realizes the tracking of the human-machine movement by the exoskeleton, and keeps the human-machine force small.

[0033] Partition Control Module

[0034] Divide the upper limbs, lower limbs, and...

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Abstract

The invention proposes a human-computer dermaskeleton system and strength control method thereof. A sole sensor and a dermaskeleton status sensor are configured according to requirements of the control mode; a multidimensional sensor is arranged between human and the computer to enable the dermaskeleton to comprehend human intentions; control moments related to each arthrosis driver of the dermaskeleton are calculated according to the obtained information from the sensors; then arthrosis rotation is controlled, the tracing of the human body movements by the dermaskeleton is realized while the acting force between human and the computer is kept in a lower level, thereby achieving the aim of labor saving. The inventive system has no necessity to install complicated sensors on human body and is simple and practical.

Description

technical field [0001] The invention relates to the technical field of computer artificial intelligence, and more specifically, the invention relates to a human-machine exoskeleton system and a force control method thereof. Background technique [0002] The human-machine exoskeleton system is a special mechanical system that combines human intelligence and the mechanical energy of mechanical devices. The mechanical device is generally similar to a human body, worn on a human body, and can bear most of the load borne by the human body, so it is called an exoskeleton. , and the movement of the exoskeleton is controlled by people, forming a man-machine integration system. [0003] A key issue in exoskeleton control is to let the controller know the intention of the operator. While controlling the exoskeleton to follow the operator, keep the force between the person and the exoskeleton small, so that the exoskeleton can bear the load and reduce the energy of the human body. Con...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/50A61F2/70
Inventor 杨智勇杨秀霞顾文锦张远山穆国岩朱宇光杨侃
Owner NAVAL AERONAUTICAL & ASTRONAUTICAL UNIV PLA
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