Control system of wearable robot for helping disabled

Abstract

The invention discloses a control system of a wearable robot for helping the disabled. The control system comprises a master controller, a slave controller, a driver, an executing mechanism, a power source, a visual operation interface, an alarm module and a power-off protection module. A fieldbus communication manner, a control algorithm and personification gait design are adopted. The master controller is used for operating the algorithm, calling gaits, planning tracks, reading, feeding back and controlling the work of all the modules. The slave controller is a controller of a subnet. An EtherCAT bus is adopted in the fieldbus communication manner, and communication between the slave controller and the driver is formed. The control algorithm controls and adjusts movement of the executing mechanism in real time based on PID closed loop feedback. An NID optical locating and tracking system is adopted in the personification gait design for acquiring the movement curves of all the joints in the walking process of a human body. The robot can walk. The robot is formed in a fitting manner completely based on the actual walking gaits of the human body, the walking human simulation degree of the robot is high, and the robot acts smoothly and is high in degree of attachment to the human body.

Description

technical field [0001] The invention relates to the field of robots, in particular to a wearable robot control system for assisting the disabled. Background technique [0002] The wearable robot for the disabled is a mechatronics system designed based on the shape and function of the human body. To provide a person with extra motivation or ability. It can be seen as a technology that supplements, enhances or replaces human functions. For disabled people with central nervous system damage or muscle atrophy, this wearable robot can effectively provide rehabilitation or assistance for disabled people. At present, domestic research mainly stays in the stage of theoretical analysis and simulation, and mainly adopts cylinder or hydraulic method in the power supply. Chinese patent CN201020604325.8 "Pneumatic Driven Lower Limb Walking Rehabilitation Training Robot Exoskeleton Mechanical Structure" describes an exoskeleton machine driven by air pressure, which can basically realiz...

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Problems solved by technology

Chinese patent CN201020604325.8 "Pneumatic Driven Lower Limb Walking Rehabilitation Training Robot Exoskeleton Mechanical Structure" describes an exoskeleton machine driven by air pressure, which can basically realize the function of assisting the disabled, but due to the limitations of the cylinder itself, the accuracy of its control method Not high enough, the real-time performance cannot be guaranteed, and the security is still not perfect

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