Tubular and modular wearable exoskeleton assisting device and control method thereof

Abstract

The invention discloses a tubular and modular wearable exoskeleton assisting device and a control method thereof. The tubular and modular wearable exoskeleton assisting device comprises a back plate, a length-adjustable tubular thigh mechanism, a length-adjustable tubular shank mechanism, a width-adjustable tubular waist mechanism, ankle joints, a foot mechanism, hip joints and knee joints, wherein the hip joints and the knee joints are modularly adjustable in parts; the tubular and modular wearable exoskeleton assisting device has 14 degrees of freedom, 7 on each side and accordingly can simulate various motions of human lower limbs. The control method comprises collecting man-machine interaction information of a wearer and the device through sensors of the tubular shank mechanism and the foot mechanism, and taking joint encoder information as feedback to control an executor to drive the tubular and modular wearable exoskeleton assisting device to move. The tubular and modular wearable exoskeleton assisting device is simple in structure, modularized in replacement of parts and easy to control, and meanwhile, can be applied to enhancing loading capacity and assisting walking for a wearer and performing walking assistance and rehabilitation training on patients suffering from lower limb motor disturbance or myasthenia.

Description

technical field [0001] The invention belongs to bionic technology, and in particular relates to a tubular modular wearable exoskeleton booster device and a control method thereof. Background technique [0002] The wearable human body exoskeleton booster system is a kind of accompanying intelligent equipment that can be worn on the human body. By synchronously "following" the human body's movement, it assists or replaces the human body's load-bearing and maneuvering, breaks through the physical limit of the human body, and greatly improves the human body's load-bearing mobility. capability / endurance. At present, the system is mainly used in the rehabilitation training of human lower limbs and assisting the human body in carrying weight. It can be widely used and promoted in many fields such as anti-terrorism and stability maintenance, emergency rescue and disaster relief, disability assistance and rehabilitation medicine. So far, although some progress has been made in the r...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a tubular modular wearable exoskeleton booster and its control method. On the one hand, it solves the problem of complex mechanism design of the exoskeleton, uses mature tubular profiles for processing and design, and reduces design and processing costs. Save the volume of the device and reduce the quality, and add the modular design concept to provide the possibility for the interchangeability of parts of the exoskeleton. In addition, in the design of the joints, a buffer device is designed to reduce the impact between parts and improve the life of the system; On the other hand, the sensing system of the tubular modular wearable exoskeleton booster is simple, and the control method is simple and easy to implement. It can better match the human body movement, improve the maneuverability of the booster load, and can use the tubular modular wearable exoskeleton booster. Each joint encoder is used to detect human motion posture, expanding its scope of use

Images