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

An exoskeleton robot and human body movement technology, applied in sports accessories, gymnastics equipment, prostheses, etc., can solve problems such as poor applicability, difficult to achieve power-assisted effects on complex road surfaces, and inability to correctly judge human movement intentions, etc., to ensure comfort, Improve the diversity of human motion and the effect of complex road surfaces

Active Publication Date: 2014-12-10
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 mai

Method used

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

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specific Embodiment approach 1

[0028] Specific implementation mode one: combine Figure 1-Figure 11 with Figure 16 Explain that the exoskeleton robot system with human body motion detection function in this embodiment includes upper body back A, left leg and right leg, and left leg and right leg respectively include hip driving system B, thigh driving system C and calf wearing system D The upper body back A includes the back brace 3; each thigh drive system C includes the knee gear box 38; each calf wear system D includes the shoe sole 72;

[0029] Upper body back A also includes shoulder strap 81, and each thigh driving system C also includes thigh strap 89, and each calf wearing system D also includes foot strap 84, upper rubber pad 83, lower rubber pad 87, heel plate 91 , the exoskeleton robot system also includes a sensor detection control system;

[0030] Described sensing detection control system comprises industrial control computer, back film pressure sensor 88, two heel film pressure sensors 90,...

specific Embodiment approach 2

[0038] Specific implementation mode two: combination Figure 11 To illustrate, the two heel film pressure sensors 90 described in this embodiment are strain gauge type film pressure sensors. With such arrangement, the structure is simple, the use is convenient, and the actual needs are met. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0039] Specific implementation mode three: combination Figure 9 Note that the thickness of the upper rubber pad 83 and the lower rubber pad 87 in this embodiment is both 2 mm. With such arrangement, the lower rubber pad and the upper rubber pad protect and buffer the sole film pressure sensor, and are of moderate size and convenient to use. Others are the same as in the first or second embodiment.

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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 ...

Claims

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Application Information

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IPC IPC(8): A61B5/22A61H3/00A61F2/60A61F2/70
Inventor 朱延河赵杰张超
Owner HARBIN INST OF TECH
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