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A self-checking and correcting system and method for a motor used in an exoskeleton robot

A technology of an exoskeleton robot and a correction method, which is applied in the estimation/correction of motor parameters, control systems, manipulators, etc., can solve problems such as failure to perform special correction in rehabilitation training mode and inability to perform real-time correction.

Active Publication Date: 2019-06-07
HENAN NORMAL UNIV
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  • Claims
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AI Technical Summary

Problems solved by technology

Existing motor self-checking and calibration have no special requirements for exoskeleton robots. The motor calibration is completed before the motors are equipped with exoskeleton robots. Real-time calibration during use cannot be achieved, let alone rehabilitation training. Therefore, it is particularly important to invent a motor correction system for exoskeleton robot rehabilitation training

Method used

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  • A self-checking and correcting system and method for a motor used in an exoskeleton robot
  • A self-checking and correcting system and method for a motor used in an exoskeleton robot
  • A self-checking and correcting system and method for a motor used in an exoskeleton robot

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Embodiment 2

[0033] On the basis of the above technical solutions, a more efficient motor self-checking and correcting technical solution is provided, and this method can improve the correction efficiency on the basis of real-time correction. The exoskeleton robot provides a variety of rehabilitation training modes, which are customized for the rehabilitation or training purposes of different rehabilitation trainers, such as lower limb recovery training for long-term bedridden patients. Doctors formulate daily routines for such patients. Recovery actions, these daily recovery actions include the angle to help the limbs to rotate, the speed of rotation and the number of times to form a training course, as rehabilitation training mode I; the exoskeleton robot can also be used as a lower limb strength training machine for healthy people, for lower limbs For strength training needs, daily training actions can also be formulated; and these daily training actions form a training plan as rehabilit...

Embodiment 3

[0041] On the basis of the above technical solutions, another preferred motor self-checking and correcting technical solution is provided. Rehabilitation training is due to the individual differences of each user, and the recovery will be slow or fast. Therefore, if only one training plan is used for each trainer, the rehabilitation effect will inevitably be greatly reduced; Make changes. When the training plan is changed, it will affect the error-time calibration database already established in the above technical solution; therefore, for the training step added temporarily, a controller in the drive module first searches for the compensation value of the same training step in this mode; if If there is no same training step in this mode, then find the compensation value of the training step with high similarity; if there is no compensation value of the training step with high similarity, set the compensation value as the average compensation value of this mode. The training ...

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Abstract

An exoskeleton robot motor self-check correction system and a method are provided; the motor comprises a drive module driving an exoskeleton robot body; the drive module comprises a servo motor and a motor self-check correction module; the self-check correction method comprises the following steps: starting the self-check correction module before a rehabilitation user uses the exoskeleton robot to carry out rehabilitation training every day; using a hall sensor to record a self-check error compensation value everyday; forming a compensation value under each rehabilitation training mode according to the recorded error compensation value; aiming at motor corrections of temporarily added novel training steps and following each training step under the rehabilitation training mode, the corresponding motor compensation values are given. The motor self-check correction steps are simple, thus satisfying rehabilitation training precision high requirements of the exoskeleton robot.

Description

technical field [0001] The invention belongs to the field of exoskeleton robots, in particular to the correction of motors used in exoskeleton robots. Background technique [0002] Exoskeleton robots have important applications in the field of rehabilitation medicine. When exoskeleton robots help people recover, they can use preset motor rotation programs. These programs include motor rotation speed, rotation acceleration, rotation direction, and rotation time. The motor drives the connecting rod mechanical arm to drive the movement of the exoskeleton body. On the one hand, the movement of the exoskeleton body plays a role in reducing the load. On the other hand, because these movements follow certain rehabilitation training norms, they play a role in scientific recovery. It is precisely because it is closely related to the patient's recovery, so in addition to the reliability of the exoskeleton body, whether the motor can correctly execute the command and whether it can re...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P29/00H02P23/14B25J9/12A61H1/02
CPCA61H1/0218A61H2201/1207A61H2201/1659B25J9/12H02P23/14H02P29/00
Inventor 王立吴喜桥龚毅君
Owner HENAN NORMAL UNIV
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