Walking-aided exoskeleton robot system based on multi-sensor fusion

Abstract

The invention discloses a walking-aided exoskeleton robot system based on multi-sensor fusion. A robot comprises a back plate, waist fixing mechanisms and leg-foot mechanisms, one waist fixing mechanism is fixedly connected at each of two ends of the back plate, and one leg-foot mechanism is rotatably connected at each of two ends of each waist fixing mechanism; each leg-foot mechanism comprises ahip joint mechanism, a thigh, a knee joint mechanism, a shank and a shank fixing block mechanism which are connected sequentially, a control system comprises a waist module, a left foot sole module and a right foot sole module, a right foot module sends a detected pressure value of each area to a left foot module, the left foot module sends all sole pressure numerical values to the waist module,and finally a third single chip microcomputer integrates the foot sole pressure values, angle value and acceleration value to analyze state of a human body so as to cooperatively control four steeringengines to rotate to realize a walking-aided function. The walking-aided exoskeleton robot system is low in misjudgment rate, high in judgment rate, easy to wear and convenient to use and protects safety of users.

Description

technical field [0001] The invention relates to the fields of intelligent detection, exoskeleton robots, etc., and in particular to an auxiliary walking exoskeleton robot system based on multi-sensor fusion. Background technique [0002] The current assisted walking system methods generally include: the wearable exoskeleton robot assisted walking system controlled by the user through an automatic controller, which is equivalent to a remote control robot, to achieve the function of assisted walking; the robot assisted walking system based on machine vision, the robot through the camera The surrounding information is collected and processed by the processor image, and then the posture of the robot is controlled; the auxiliary walking system fixed on the sports field is mainly used for rehabilitation training for patients who cannot walk. Using these methods to detect falls has the following problems: 1) The robot controlled by the automatic controller has potential safety haza...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the existing problems of single function, large footprint and low safety factor in the existing auxiliary walking system, the present invention provides an auxiliary walking exoskeleton robot system based on multi-sensor fusion. The system is wearable, has high precision and low cost, and safe and reliable, the specific technical solutions are as follows:

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