Information collecting and controlling system of external skeleton assist robot

Abstract

The invention discloses the design of an information collecting and controlling system of an external skeleton assist robot, and relates to the field of robots. The problem of multi-sensor information collecting is mainly solved. Motors for driving and controlling are mounted at joints of the robot respectively in the system. Four kinds of sensors are mounted in the system totally, and the sensors comprise accelerated speed sensors, pressure sensors, rotary encoders and gyroscopes. The pressure sensors are mounted on the main force bearing points of soles, and the accelerated speed sensors are mounted between the thighs and the calves and at hip joints for conducting accelerated speed measuring. The gyroscopes are mounted in the middle behind a waist for measuring the center of gravity and in addition collecting rotary encoder data for calibration. An independent single chip microcomputer is used for collecting data according to distribution of the sensors, a zigbee is used for wireless data transmission, the data are transmitted to an upper computer for being processed, VC++ software is used for displaying the data in real time, and control over the motors is achieved through a CAN bus. Experiments show that the information collecting and controlling system of the external skeleton assist robot can collect effective information in real time and control the information, and important reference value on follow-up study of external skeletons is achieved.

Description

technical field [0001] The invention relates to the field of medical rehabilitation, in particular to a device for enhancing walking ability of a human body. Background technique [0002] With the advancement of science and the improvement of people's living standards, the penetration rate of automobiles has greatly increased, people's pace of life has been accelerating, and the disability rate caused by traffic accidents has also increased year by year. At the same time, due to the reduction of the birth rate, our country is entering an aging society, and the proportion of the disabled population in our country is also increasing to a certain extent. Therefore, the research on exoskeleton power-assisted robot is very meaningful. It is a power-assisted device used to improve the motor function of human limbs, and helps disabled people to perform lower limb exercise training, thereby gradually restoring walking ability and enhancing physical fitness. [0003] An exoskeleton ...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a design method for the information collection and control system of an exoskeleton-assisted robot, so as to realize the monitoring of the running state of the exoskeleton robot and the assistance to the human body, and solve the problem of sensor information existing in the existing exoskeleton robot. Acquisition problems, can collect effective information in real time, so as to accurately control the robot

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