Method for estimating posture of robotic walking aid

A technology of robots and actions, applied in the direction of passive exercise equipment, appliances and instruments that help people walk

Active Publication Date: 2017-06-09
IND TECH RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Moreover, in the existing patent claims or public documents, there is no information provided by the detected information, including terrain control feedback, danger reminder, fall alarm/help, exercise record, walking distance estimation, behavio...

Method used

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  • Method for estimating posture of robotic walking aid
  • Method for estimating posture of robotic walking aid
  • Method for estimating posture of robotic walking aid

Examples

Experimental program
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Embodiment Construction

[0048] see figure 1 As shown, the posture estimation method 100 of an action-assisted robot proposed by the present invention includes:

[0049] Step 102: Install a motor controller, a motor encoder, and a motor on the right leg hip joint, left leg hip joint, right leg knee joint, and left leg knee joint of a mobility-assisting robot, and set them on the upper body of the mobility-assisting robot The torso is provided with an inertial sensor, and the plurality of motor controllers, the plurality of motor encoders, the plurality of motors, and the inertial sensor are connected to a control unit;

[0050] Step 104: disposing the mobility assistance robot on a user;

[0051] Step 106: The upper torso of the mobility assistance robot disposed on the user forms an angle with respect to a reference coordinate, and each of the joints forms an angle

[0052] Step 108: Input the lengths of the upper torso, second thigh, second calf, and second sole of the action-assisted robot into t...

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Abstract

A method for estimating posture of robotic walking aid(1) includes: providing a motor controller(50), a motor encoder(71) and a motor(70) on right and left hip joints, and right and left knee joints of the robotic walking aid(1), providing an inertial sensor(60) on upper body(40) of the robotic walking aid(1), wherein the motor controller(50), the motor encoder(71), the motor(70) and the inertial sensor(60) are coupled to a control unit(80); installing the robotic walking aid(1) on a user; inputting the lengths of the upper body(40), two thighs, two shanks, two feet of the robotic walking aid(1) to the control unit(80), wherein the upper body(40), two thighs, two shanks, two feet form a plurality of points; obtaining an angle of the upper body(40) corresponding to a reference frame with the inertial sensor(60); obtaining angles of those joints with those motor encoders(71); and calculating 3 dimensional coordinates of each point with a motion model.

Description

technical field [0001] The invention relates to an attitude estimation method of an action-assisting robot, in particular to an attitude estimation method of an action-assisting robot using attitude estimation for remote service. Background technique [0002] Under the trend of global population aging and childbirth reduction, many countries have extended the working age due to labor shortages. Advanced countries in Europe, America and Japan have invested in the integration of robot technology and information and communication technology, and developed industrial robots related to automation applications to solve the problem of labor shortage. Provide power-assisted mobility assistance robots (among which exoskeleton robots are the most common) to reduce labor burden and provide better quality of care and mobility assistance for the elderly population. By sensing the user's body movements or intentions, the mobility-assist robot drives its power system to provide power assis...

Claims

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Application Information

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IPC IPC(8): G06T7/207A61H3/00H04W4/02H04W4/029
CPCA61H3/00A61H2201/165A61H2201/0157B25J9/0006G05B2219/37134G05B2219/37388G05B2219/40305A61H2201/0192A61H2201/1628A61H2201/164A61H2201/50A61H2201/5061A61H2201/5064A61H2201/5069A61H2201/5084A61H2201/5097A61F2/70A61H1/0255A61H1/0266A61H2201/1207H04W4/02H04W4/029A61B5/112A61B2562/0219A61F2002/689A61F2002/704A61H2205/108
Inventor 孙冠群蔡宜政巫震华胡竹生
Owner IND TECH RES INST
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