A control method for a wearable power-assisted exoskeleton upper limb mechanism

Abstract

The invention discloses a control method of a wearable type power-assisted exoskeleton upper limb mechanism. The method includes the following steps that (1) a signal of a multidimensional force sensor on a forearm is collected; (2) force of a contact point of the multidimensional force sensor is converted into an expected speed of the point through a real-time controller, and expected angles of a shoulder joint and an elbow joint are obtained through computation; and (3) the real-time controller calculates and outputs a voltage signal of a control motor through a proportion integration differentiation (PID) algorithm, the voltage signal is converted into a current signal of a control motor through a motor driver, the moving angles of the shoulder joint and the elbow joint are controlled through a large arm motor and a forearm motor according to the current signal, and accordingly the position of the forearm of an upper limb is controlled. The control method is efficient and reliable in the aspect of man-machine interaction, and has the characteristic of being quick in human body movement intention response.

Description

technical field [0001] The invention relates to the field of robots, in particular to a control method for a wearable power-assisted exoskeleton upper limb mechanism. Background technique [0002] Soldiers in the army often need to carry heavy loads for long-distance walking or combat. Overweight loads often cause certain damage to the soldiers' bodies. In this context, it is necessary to develop a Exoskeleton equipment; In scientific research, fire rescue and other fields, scientific research personnel and fire rescue personnel often need to walk long distances, carry heavy objects, transport the wounded, field combat, mountaineering expeditions, etc. Traditional wheeled vehicles are difficult to operate in these special areas. occasions come into play. In addition, exoskeletons can also be used for cargo loading and unloading in warehouses to reduce the labor intensity of porters. The combination of exoskeleton and human can adapt to the unstructured environment, has exc...

AI Technical Summary

Problems solved by technology

The characteristic of the power-assisted exoskeleton is that it requires collaboration with the wearer in an unstructured environment, which requires researchers to solve the highly coordinated human-machine integration problem in an unstructured environment, including effective and reliable human-computer interaction issues. The rapid response to human motion intentions, the lightweight and flexible bionic structure design, the safety of the man-machine system, etc. These technical issues are still in the initial stage of exploration and immature, and in-depth research is still needed

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