Loading type control system of lower limb exoskeleton robot

An exoskeleton robot and control system technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problem that the research on the control system of heavy-duty lower limb exoskeleton robots started late, the robot is difficult to adapt to the environment with complex terrain, and the technology is immature. and other problems, to achieve the effect of simple structure, small size and easy wearing

Active Publication Date: 2015-12-16
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI +1
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Problems solved by technology

Active control is the machine "carrying" people to walk. The walking gait is a pre-planned standard gait. During the walking process, the human consumes the least energy. However, due to the limitation of the standard gait, it is difficult for the robot to adapt to the environment with complex terrain. ;Following control means that the human "leads" the machine to walk. During the walking process, the human guides the robot to walk, and the robot provides assistance to the human at the same time. Although the human will consume a certain amount of energy during the walking process, the flexibility is much stronger than the active control. It perfectly combines the flexibility of human bo

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  • Loading type control system of lower limb exoskeleton robot
  • Loading type control system of lower limb exoskeleton robot
  • Loading type control system of lower limb exoskeleton robot

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Embodiment 1

[0025] In the embodiment of the present invention, please refer to Figure 1-5 As shown, the present invention discloses a control system of a heavy-duty lower limb exoskeleton robot, which is composed of two subsystems with the same function. Each subsystem is mainly composed of four parts: signal acquisition device, microcontroller, motion actuator and control algorithm.

[0026] The signal acquisition device uses a thin film pressure sensor to collect the wearer's plantar pressure. For the installation position of the thin film pressure sensor on the bottom surface of the robot boot 5, please refer to image 3 , there are two force points on the force contact surface 8 of the robot boot, which are respectively the force point 9 in front of the robot boot and the force point 10 behind the robot boot. The thin-film pressure sensor is placed in the groove of the two stress points, and a round hard rubber gasket is placed on the upper part, making it slightly higher than the s...

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Abstract

The invention discloses a loading type control system of a lower limb exoskeleton robot. The control system is composed of two identical subsystems. Each subsystem is composed of a signal acquisition device, a microcontroller, a motion actuator and a control algorithm. The lower limb exoskeleton robot is used for providing assistance for the lower limbs of wearers. Each signal acquisition device is composed of a film pressure sensor, a magnetic angle sensor, a multichannel amplifier and a multichannel low-pass filter and can acquire plantar pressure signals of the wearers and ankle angle signals of the lower limb exoskeleton robot. Each motion actuator is composed of a servo driver set and a servo electric cylinder set. The tail end following control algorithm is adopted as the control algorithm. The control system has the advantages of being simple in structure, easy to wear and low in cost.

Description

technical field [0001] The invention relates to the field of exoskeleton robots, in particular to a control system for a heavy-duty lower limb exoskeleton robot. Background technique [0002] Exoskeleton robot is a typical exoskeleton assisting device, which can provide assist, support, protection and other functions for the wearer. It integrates human motion intention acquisition, multi-axis motion control, mechanical bionic design and other robotic technologies. Man-machine integration system can be used in military, transportation, medical rehabilitation and other aspects. The heavy-duty lower limb exoskeleton robot is a kind of exoskeleton robot, which is mainly used to provide assistance to the wearer's lower limbs, and is mainly used for mountain cargo handling, emergency rescue and disaster relief and other occasions. [0003] There are many ways to implement the control system of the heavy-duty lower limb exoskeleton robot. According to the different collected signa...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/161B25J9/1694
Inventor 王玉成叶晓东赵江海朱昕毅孙楠赵汉滨
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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