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Exoskeleton walk-assisting robot for old people and bionic control method for anti-falling gaits

A walking aid robot and exoskeleton technology, applied in the field of rehabilitation engineering, can solve problems such as difficulty in applying unstructured complex terrain, lack of flexibility and environmental adaptability, cumbersome dynamic modeling, etc., to avoid falls, The structure of the components is compact and the effect of maintaining balance and stability

Inactive Publication Date: 2013-08-28
DALIAN JIAOTONG UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method requires cumbersome dynamic modeling and complex trajectory planning, which can be suitable for simple and structured flat ground walking, but lacks flexibility and environmental adaptability, making it difficult to apply to unknown, unstructured and complex terrain

Method used

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  • Exoskeleton walk-assisting robot for old people and bionic control method for anti-falling gaits
  • Exoskeleton walk-assisting robot for old people and bionic control method for anti-falling gaits
  • Exoskeleton walk-assisting robot for old people and bionic control method for anti-falling gaits

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Embodiment

[0031] Embodiment: The exoskeleton walking-aiding robot designed by the present invention adopts existing components or devices, and its structure is compact, and its applicability is strong, and its control method is not limited to the robot mentioned in this design. Acceleration and angular velocity signals, other types of walking-assisted robots that can complete motion generation and motion inversion based on the signals are also applicable.

[0032]The action control unit of the present embodiment includes a sensor 16 that can obtain the acceleration and angular velocity of the walking process in real time, and a signal processor 15 that can perform signal conditioning and digital-to-analog conversion on the signal collected by the sensor 16. It is connected with the hip joint component 4 and generates The motion signal controls the motion controller 13 of the hip joint part 4 to perform motion generation and motion inversion, and transmits the motion command to the centra...

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Abstract

The invention relates to an exoskeleton walk-assisting robot for old people and a bionic control method for anti-falling gaits. The exoskeleton walk-assisting robot comprises exoskeleton trunk components, joint components, an action control unit, an auxiliary unit and a power supply, wherein the exoskeleton trunk components are connected to a lower body of a user and assist the user to complete stand and walking actions; the joint components are connected with the exoskeleton trunk components and enable the exoskeleton trunk components to bend and stretch; the action control unit is capable of acquiring acceleration and angular speed signals during walking of the robot in real time, processing the signals and generating corresponding motion signals so as to control actions of the exoskeleton trunk components and to finish motion generation and reverse solution; and the power supply provides energy for the whole device. The exoskeleton walk-assisting robot for the old people is compact in structure, good in control effect, capable of acquiring accelerations in three directions and angular speeds in two directions in real time and judging falling states of the exoskeleton walk-assisting robot comprehensively, integrated with a posture reflex mechanism of human bodies and suitable for unknown unstructured complex terrains.

Description

technical field [0001] The invention relates to a device and a control method in the technical field of rehabilitation engineering, in particular to a bionic control method for an elderly exoskeleton walking aid robot and an anti-fall gait. Background technique [0002] According to the results of the sixth national census in 2010, the population over the age of 60 accounted for 13.26% of the total population of the country. The above population will exceed 400 million, accounting for 21% of the total population. Due to the decline of physiological functions, the strength of the lower limb muscles is very weak, the balance ability of the elderly is very poor, and they are easy to fall. According to statistics, 20% of the elderly who fall will cause secondary injuries to the limbs, and 10% will cause secondary injuries due to falls. The disease directly or indirectly caused died within one year. At the same time, the elderly have lower limb movement disorders, resulting in ...

Claims

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Application Information

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IPC IPC(8): A61H3/00
Inventor 陈勇李荣华张连东宋雪萍刘金伟
Owner DALIAN JIAOTONG UNIVERSITY
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