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Control method of lower extremity exoskeleton robot using airbag sensor

A technology of exoskeleton robot and airbag sensor, which is applied in the direction of equipment to help people walk, physical therapy, etc., can solve problems such as difficult to meet core needs, and achieve the effect of reducing the sense of drag, not easy to fall off, and reducing pain

Active Publication Date: 2018-04-06
SOUTHEAST UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The current control methods of exoskeleton robots still have limitations, making it difficult to meet the core needs of assisting walking

Method used

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  • Control method of lower extremity exoskeleton robot using airbag sensor
  • Control method of lower extremity exoskeleton robot using airbag sensor
  • Control method of lower extremity exoskeleton robot using airbag sensor

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Embodiment Construction

[0029] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0030] figure 1 It is the control block diagram of the present invention. The control method for a full-lower extremity exoskeleton robot according to the present invention includes the following sensors: incremental encoders distributed at the knee joints and ankle joints of the exoskeleton; thin film pressure sensors located at the sole of the exoskeleton robot; The air bag pressure sensor in the front and rear of the calf muscles of the human body; the attitude sensor connected to the human arm. Acquisition and calculation of joint motion angle and angular velocity by incremental rotary encoder; acquisition of human-ground contact force by plantar force sensor; measurement of contact force between human and exoskeleton robot by airbag sensor; measurement of human arm swing angle and angular velocity by attitude sensor .

[0031] Micro...

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Abstract

The invention discloses a control method for a lower limb exoskeleton robot. According to the control method, the air bag pressure sensor is additionally installed on the basis that a traditional lower limb exoskeleton human body intention detection sensor is included, the acting force of a human body and the exoskeleton is reflected by measuring signals generated when the human body thighs press air bags to feed back human body motion intentions, and errors of an exoskeleton control algorithm are corrected accordingly; a flexible man-machine interface can be supplied to the human body while the air bag sensor is used to buffer the acting force of the human body and the exoskeleton robot; meanwhile, by collecting a motion curve of the human body wearing the exoskeleton and an air bag sensor force curve, the assistant effect of the lower limb exoskeleton robot can be well evaluated.

Description

technical field [0001] The present invention relates to the technical field of wearable rehabilitation medical equipment and power-assisted exoskeleton robots, and in particular to a method for using airbag sensors to achieve compliant control of lower limb exoskeleton robots. Background technique [0002] The lower extremity exoskeleton robot can provide the main movement power for the disabled. Active exoskeleton robots can be used to enhance human strength, enhance the mobility of disabled people, and also play a role in rehabilitation training. Exoskeleton robots can directly assist the human body to assist human movement. With the increase of age, human bones gradually degenerate, joints wear seriously, and joint activities are restricted to a certain extent; limb injuries are very common in forensic clinical identification of road traffic accidents; modern sports continue to develop towards high-level competitive sports , athletes have an increased chance of joint in...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2201/1409A61H2201/164A61H2201/1642A61H2201/165A61H2201/5058A61H2201/5071A61H2201/5079A61H2201/5084
Inventor 王兴松姜充
Owner SOUTHEAST UNIV
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