Exoskeleton robot system with human motion detecting function and control method of robot system

Abstract

The invention relates to an exoskeleton robot system with a human motion detecting function and a control method of the robot system and aims to solve the problems that an existing exoskeleton assistance robot often aims at the typical gait of walking on the flat ground, is poor in universality and cannot correctly judge human motion intensions, motion coordination between the exoskeleton robot and a human body cannot be kept, and good assistance effect on complex road surfaces cannot be achieved. The exoskeleton robot system comprises an upper body back, a left leg and a right leg. Each of the left leg and the right leg comprises a hip drive system, a thigh drive system and a shank wearing system. The upper body back comprises a back support and shoulder straps. Each thigh drive system comprises a thigh binding strap. Each shank wearing system comprises a leg binding strap, an upper rubber pad, a lower rubber pad and a heel plate. The exoskeleton robot system further comprises a sensing detecting control system. The exoskeleton robot system is applicable to assistance walking and human motion posture detecting and control.

Description

technical field [0001] The invention relates to an exoskeleton robot system and a control method. Background technique [0002] The load-bearing exoskeleton can help the human body to bear the load and enhance the durability of bearing large loads, and has broad market prospects in both military and civilian applications. It can help soldiers carry weapons and equipment for long-distance marching or combat, and can also assist the wearer to carry or transport goods in complex environments such as mountains, and improve the daily work ability of heavy physical laborers. For a healthy wearer, the exoskeleton must be able to quickly and accurately judge the movement intention of the human body, and then follow it, so as to achieve a good assisting effect without increasing the human-machine interference force. The movement of the human body has the characteristics of diversity and randomness. Traditional exoskeleton-assisted robots often aim at the typical gait of walking on ...

AI Technical Summary

Problems solved by technology

[0003] The present invention is to solve the problem that the existing exoskeleton-assisted robots often focus on the typical gait of walking on flat ground, have poor applicability, and cannot correctly judge the movement intention of the human body, and cannot maintain the coordination between the exoskeleton robot and the human body, which is complicated. It is difficult to achieve a good boosting effect on the road surface, and then provide an exoskeleton robot system and control method with human motion detection function

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