Posture judgment system for external mechanical skeleton assisting robot

Abstract

The invention discloses a posture judgment system for an external mechanical skeleton assisting robot and belongs to the field of posture judgment. The posture judgment system comprises an external mechanical skeleton assisting robot body, arm gyroscope sensors, leg gyroscope sensors, a back gyroscope sensor and a waist gyroscope sensor, wherein the arm gyroscope sensors are arranged in the middle portions of the arms of the external mechanical skeleton assisting robot body, the leg gyroscope sensors are arranged in the middle portions of the thighs of the external mechanical skeleton assisting robot body, and the back gyroscope sensor is arranged at the back of the external mechanical skeleton assisting robot body. According to the posture judgment device, in the walking process, exertion information, motion information and posture information of the external mechanical skeleton assisting robot and an operator are acquired through the gyroscope sensors, sole pressure sensors and other sensing equipment, and then a microprocessor is utilized for preprocessing, so that a very important effect is achieved on judgment and prevention of emergencies, and the wearing comfort will be greatly improved.

Description

technical field [0001] The invention relates to the field of attitude judgment, in particular, the invention relates to an attitude judgment system for an exoskeleton-assisted robot. Background technique [0002] The first active exoskeleton-assisted robots were born in the late 1960s and early 1970s at General Electric (GE) and the Mihajlo Pupin Institute in Belgrade. The Hardiman project at General Electric is a large-scale full-body exoskeleton weighing 680 kilograms with a master-slave control system. Safety and complexity issues prevented it from ever being able to walk, or even move its legs steadily. [0003] The Belgrade Exoskeleton is a life-size exoskeleton-assisted robot designed to help paraplegics recover. Like Project Hardiman, it can't even run its own power source. The Belgrade exoskeleton can only follow pre-programmed walking movements, which greatly limits its usefulness. However, the zero-moment point control theory proposed by this project is still a...

AI Technical Summary

Problems solved by technology

[0008] 2. One of the existing solutions uses a force sensor. To a certain extent, the human body needs to have a force feedback to the force sensor. This will inevitably cause a slight reaction force between the human body and the exoskeleton, giving cause discomfort to the wearer

[0009] 3. The other is the muscle tension sensor. Under the existing technical conditions, the muscle tension sensor needs to fit the human body, and the corresponding speed is relatively slow, which may cause inaccurate measurement data and the phenomenon of lagging of the exoskeleton-assisted robot. , causing discomfort to wear

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