A method and device for solving the problem of singular configuration of the shoulder joint of an exoskeleton robot

Abstract

Disclosed is a method for solving the problem of strange configuration of an exoskeleton robot shoulder joint. Firstly, the motion intention of a limb is detected by way of additionally arranging an elbow sleeve and a force sensor at an elbow joint, an exoskeleton humerus rear section member is composed of a rod and an annular bearing inner ring, an elbow sleeve concentric with the bearing inner ring is additionally arranged on an inner wall of the bearing inner ring, and four pressure sensors are installed between the annular bearing and the elbow sleeve at equal intervals for detecting positive pressure from any direction; the sensors measure two sets of orthogonal component force values so as to solve the magnitude and the direction of a resultant force vector f; a drive electric motor A controls an exoskeleton shoulder joint L-shaped rocker arm to drive an exoskeleton humerus front section to rotate to the position perpendicular to the direction of force f, meanwhile an electric motor C and the electric motor A rotate synchronously in opposite directions so that the posture of an exoskeleton humerus rear section remains unchanged; and as an electric motor B drives the exoskeleton humerus front section to rotate, the axis of the electric motor C does not coincide with the axis of the electric motor A, and the shoulder joint is not in a strange configuration.

Description

technical field [0001] The invention relates to the technical field of exoskeleton robots, in particular to a method and a device for solving the problem of singular configuration of shoulder joints of exoskeleton robots. Background technique [0002] Exoskeleton robot is a special kind of robot. The operation of its mechanical structure follows the basic principles of the robot, and its movement trajectory needs to cooperate with the wearer's physical activities. Therefore, for an exoskeleton robot with a large range of motion, its joint kinematic chain is usually isomorphic to that of the wearer. In order to achieve synchronous movement with the wearer's limbs, the joint rotation axis of the exoskeleton robot must coincide with the wearer. [0003] However, since the human shoulder joint already occupies the space of the ball center of the joint socket, and the power system of the robot is too different from the parallel linear motion pair of the human muscle, the shoulde...

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Problems solved by technology

[0008] The purpose of the invention is to propose a solution to the problem of this singular configuration

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