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A dual-range three-dimensional force detection device for exoskeleton or biped robot

A bipedal robot and detection device technology, applied in the field of robotics, can solve problems such as difficulty in accurately judging human motion intention, inability to meet control requirements for inter-dimensional coupling, single detection information, etc., so as to avoid inter-dimensional coupling problems and improve control. The effect of high efficiency and high detection accuracy

Active Publication Date: 2016-04-20
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 traditional human-computer interaction force detection information of the foot is single, it is difficult to accurately judge the movement intention of the human body, it cannot meet the complex control requirements and the inter-dimensional coupling problem existing in the traditional multi-dimensional force detection, and further provides an exoskeleton Or double-range three-dimensional force detection device for biped robots

Method used

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  • A dual-range three-dimensional force detection device for exoskeleton or biped robot
  • A dual-range three-dimensional force detection device for exoskeleton or biped robot
  • A dual-range three-dimensional force detection device for exoskeleton or biped robot

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specific Embodiment approach 1

[0010] Specific implementation mode one: combine Figure 1-Figure 3 Illustrates that a dual-range three-dimensional force detection device for an exoskeleton or a biped robot in this embodiment includes an insole plate 5, a horizontal force transmission plate 6, a foot plate 7, a foot rubber shock-absorbing pad 9, and a first connecting rod 11 , the second connecting rod 12, the third connecting rod 14, the fourth connecting rod 15, the elastic body 17 and two trough support plates 10;

[0011] The elastic body 17 includes a body 27, a first cantilever beam 19, a second cantilever beam 20, a third cantilever beam 22, a first elastic plate 21, a second elastic plate 23, a third elastic plate 18 and six strain gauges 25 The middle part of body 27 is processed with the 3rd cantilever beam 22 that vertically arranges, and the body 27 of both sides of the 3rd cantilever beam 22 respectively is equipped with the 3rd elastic plate 18 that longitudinally arranges, and the both sides o...

specific Embodiment approach 2

[0015] Specific implementation mode two: combination Figure 2-Figure 4 Note that the protrusion 6-1 in this embodiment includes a cylinder 6-1-1 and a hemispherical protrusion 6-1-2, the upper end surface of the cylinder 6-1-1 is connected to the horizontal force transmission plate 6, and the cylinder The lower end surface of 6-1-1 is connected with the middle part of the bottom surface of the hemispherical protrusion 6-1-2, and the hemispherical protrusion 6-1-2 is inserted into the through hole 27-1. In this way, a spherical force transmission configuration structure is designed for the force information transmission of the third cantilever beam, which reduces friction loss and improves detection sensitivity. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0016] Specific implementation mode three: combination Figure 4 Explain that one end of the first cantilever beam 19 in this embodiment is processed with a spherical portion, one end of the second cantilever beam 20 is processed with a spherical portion, and the spherical portion of the first cantilever beam 19 is inserted into one of the grooved support plates 10 In the opening of the second cantilever beam 20 , the spherical portion is inserted into the opening of the remaining one trough-shaped support plate 10 . In this way, a spherical force transmission configuration structure is designed for the force information transmission of the third cantilever beam, which reduces friction loss and improves detection sensitivity. Others are the same as in the first or second embodiment.

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Abstract

The invention discloses a foot-end dual-range three-dimensional force detector for exoskeleton or biped robots, and relates to foot-end multi-dimensional force detectors for robots. The foot-end dual-range three-dimensional force detector aims to solve problems of singleness of the traditional foot man-machine interaction force detection information, difficulty in accurately judging movement intention of human bodies, incapability of meeting complicated control requirements and inter-dimensional coupling in the traditional multi-dimensional force detection. The foot-end dual-range three-dimensional force detector comprises an insole plate, a horizontal force transmission plate, a foot sole plate, a foot sole rubber cushion, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, an elastomer and two grooved support plates. The elastomer comprises a body, a first cantilever beam, a second cantilever beam, a third cantilever beam, a first elastic plate, a second elastic plate, a third elastic plate and six strain gauges; the first cantilever beam and the second cantilever beam are respectively fixedly arranged on two sides of the body; the elastomer is arranged on the upper surface of the foot sole plate, and the foot sole plate is arranged on the upper surface of the foot sole rubber cushion. The foot-end dual-range three-dimensional force detector is used for detecting foot man-machine interaction force of the robots.

Description

technical field [0001] The invention relates to a foot end multi-dimensional force detection device for a robot, which belongs to the technical field of robots. Background technique [0002] Wearable lower limb assisted exoskeleton robots are currently a research hotspot, which can be used to help the elderly or disabled walk, and can also be used for special purposes such as remote weight-bearing marches. To ensure the comfort of wearing and accurately judge the movement intention of the human body, it is necessary to design an accurate human-computer interaction force detection device. For the lower limb power-assisted exoskeleton, the human-computer interaction force detection of the foot is particularly important. Most of the traditional human-computer interaction force detection on the foot uses thin-film pressure sensors, force-measuring insoles, or one-dimensional pressure sensors. The detected interaction force information is relatively simple, and it is difficult t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/16G01L3/00
Inventor 朱延河赵杰张超
Owner HARBIN INST OF TECH
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