Human-machine coupling overload carrying system device and control method thereof

Abstract

The invention relates to a human-machine coupling overload carrying system device and a control method thereof, which is characterized in that pressure sensors and angle sensors are mounted under the feet of a human body and at the knee joints of rigid limbs of an overload carrying system respectively, so as to perceive movement information and force information of the human body and the rigid limbs of the overload carrying system real-timely, and then real-time and accurate information can be provided for human-machine coupling control; through adoption of a human-machine coupling smart control method, different control algorithms are adopted according to different gaits, position feedback control and force feedback control are performed to an executive device, and the movement information and the force information of the human body, which are perceived by the sensors, are transformed into control parameters through filtering and fusion, so that a control actuator can output a proper force real-timely in a follow-up manner, tracks the human body movement and provides an efficient and proper assisting force for the human body movement real-timely; through adoption of a gas energy storage airtight cavity actuator device, the assisting effect of hydraulic cylinder return movement can be achieved, so that flexibility and comfortableness of human-machine coupling movement are improved.

Description

technical field [0001] The invention relates to a portable system device and a control method thereof, in particular to a human-machine coupling heavy-duty portable system device and a control method thereof. Background technique [0002] During long-distance treks, people need to carry more and more equipment and materials, which will affect people's speed, walking distance and mobility, and often make people mentally exhausted or physically injured. When the traditional robot control technology is used to assist the movement of the human body carrying load, it is difficult for the portable assisting system to meet the real-time performance, accuracy and flexibility of human-machine collaborative motion under the condition of human load, especially under heavy load conditions. During strenuous exercise such as fast walking, running, jumping, etc., these traditional devices and their control methods will hinder the movement of people to a certain extent and affect the coordi...

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