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Embedded type system of outer skeleton robot

An exoskeleton robot and human body technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problems that cannot meet the wireless data transmission requirements of exoskeleton robots and human sensor signal processing systems

Inactive Publication Date: 2014-04-16
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the sensor acquisition unit of the bottom control part of this technology is directly connected to the DSP core of the upper control part or connected to the ARM core through the CAN bus, which cannot meet the wireless data transmission requirements between the exoskeleton robot and the human body sensor signal processing system.

Method used

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  • Embedded type system of outer skeleton robot
  • Embedded type system of outer skeleton robot
  • Embedded type system of outer skeleton robot

Examples

Experimental program
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Effect test

Embodiment 1

[0034] Such as figure 1 As shown, this embodiment includes: a main control processor, a sensor signal digital processor DSP, a bluetooth circuit, several sensors, a CAN controller, a CAN bus transceiver and an execution drive circuit, wherein: the main control processor is connected with the sensor The signal digital processor and the CAN controller communicate with each other, the input and output terminals of the Bluetooth circuit communicate with each sensor and the sensor signal digital processor respectively, and the receiving end and the transmitting end of the CAN bus transceiver communicate with the CAN bus and the CAN controller respectively. The device is connected, and the execution drive circuit is connected to the CAN bus;

[0035] The main control processor of the present embodiment comprises embedded main control microprocessor, peripheral interface, watchdog, voice alarm, power management, battery charging circuit, wherein, embedded main control microprocessor ...

Embodiment 2

[0044] This embodiment is based on the control method of Embodiment 1. Each slave circuit of the Bluetooth circuit collects the sensing information of the corresponding sensor, and the sensing information is transmitted to the sensing signal digital processor through the main circuit, and the sensing signal digital processor passes the MEMS The acceleration sensing data of the human hip, lower limbs, thighs, and feet acquired by the gyroscope and the acceleration sensor, and the angular velocity information of the lower limbs, thighs, and feet are used to obtain the angle values ​​of the human hip joints, lower limbs knee joints, and ankle joints. The angle value and the pressure signal obtained by the plantar pressure sensor and contact force sensor are transmitted to the main control processor, and the main control processor fuses the angle value and pressure signal to obtain the zero moment point (ZMP, Zero Moment Point) of the human body as an exoskeleton robot The referenc...

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PUM

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Abstract

The invention discloses an embedded type system of an outer skeleton robot in the field of robot program control. The embedded type system comprises a main control processor, a sensing digital signal processor (DSP), a Bluetooth circuit, a plurality of sensors, a CAN (Control Area Network) controller, a CAN bus transceiver and an execution driving circuit, wherein the main control processor communicates with the sensing digital signal processor and the CAN controller respectively; the input end and the output end of the Bluetooth circuit communicate with all the sensors and the sensing digital signal processor respectively; the receiving end and the transmitting end of the CAN bus transceiver are connected with the CAN bus and the CAN controller, respectively; the execution driving circuit is connected with the CAN bus. The embedded type system disclosed by the invention has the advantages that miniaturization and the modularization of a control system are realized, and high stability and real-time performance of the system are guaranteed.

Description

technical field [0001] The invention relates to a system in the field of robot program control, in particular to an embedded system of an exoskeleton robot. Background technique [0002] Wearable exoskeleton is a kind of robot that integrates technologies such as control, sensing and human-machine integration. It is one of the very active research fields in robotics at present. It can be worn on the outside of the operator to provide support, movement, protection and other functions. The wearable exoskeleton robot is different from other robots. Its special purpose and special human-machine cooperation relationship determine that the exoskeleton robot has special requirements in terms of design and control. Exoskeleton robots need to be equipped with many external devices, such as plantar pressure sensors, body contact force sensors, human joint angle sensors, and servo motors. The information of these external devices needs to be processed centrally, and the system is requ...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16B25J13/08
Inventor 刘大生颜国正王志武
Owner SHANGHAI JIAO TONG UNIV
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