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Compensation device for hydraulic damping valve opening degree of rehabilitation assisting robot and method thereof

A rehabilitation robot and hydraulic damping technology, which can be applied in the direction of equipment to help people walk, passive exercise equipment, physical therapy, etc., can solve the problems of unnatural gait walking, hysteresis and imprecise control of hydraulic damping valves, etc., and achieve human walking. The effect of natural state and sensitive adjustment

Inactive Publication Date: 2018-06-29
深圳市罗伯医疗机器人研究所
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Problems solved by technology

In the actual working process of the hydraulic drive system, the gait and walking are often unnatural. The main reason for this phenomenon is that the hydraulic damping valve control has shortcomings such as hysteresis and inaccuracy.

Method used

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  • Compensation device for hydraulic damping valve opening degree of rehabilitation assisting robot and method thereof
  • Compensation device for hydraulic damping valve opening degree of rehabilitation assisting robot and method thereof
  • Compensation device for hydraulic damping valve opening degree of rehabilitation assisting robot and method thereof

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Embodiment Construction

[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0033] refer to figure 1 It is a flowchart of a preferred embodiment of a method for compensating the opening of a hydraulic damping valve for an auxiliary rehabilitation robot. This embodiment includes the following steps:

[0034] S101: Signal collection: the force sensor unit collects the force signal caused by the change of the center of gravity of the human body during walking, the knee joint angle sensor unit collects the angle signal of the angle change of the knee joint of the human leg, and combines the collected force signal with the The angle signal is transmitted to the central control...

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Abstract

The invention discloses a compensation device for the hydraulic damping valve opening degree of a rehabilitation assisting robot and a method thereof, and relates to the technical field of robot controlling. According to the method, an opening degree signal of a valve is transmitted to a central controller by a feedback circuit for analysis processing, a feedback regulation signal is transmitted to a driving module, and a servo motor is driven by the driving module according to the feedback regulation signal to control a regulation mechanism to compensate the error generated by the damping valve opening degree; real-time, accurate and sensitive regulation on the hydraulic damping valve controlled by the servo motor can be better conducted, so that the driving force and speed of a hydraulicdriving system meet the demands of human gaits, and the human gaits are more natural.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a compensating device and a method thereof for assisting rehabilitation robot hydraulic damping valve opening. Background technique [0002] As the damping control part of the hydraulic system, the digital damping valve controlled by the servo motor affects the naturalness of gait walking. For the hydraulic drive system of the entire auxiliary rehabilitation robot, the knee joint angle and force on the legs of the human body during walking are mainly collected through the knee joint angle sensor and force sensor, and finally the signal is analyzed by the central controller Processing, the processed signal is transmitted to the drive system through an external circuit, and finally controls the movement of the servo motor. In the actual working process of the hydraulic drive system, unnatural gait often occurs. The main reason for this phenomenon is that the hydraulic dampin...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A61H3/00
CPCA61H1/0262A61H3/00A61H2201/1238A61H2201/50A61H2201/5069A61H2201/5092
Inventor 张剑韬沈林鹏胡昆吴少立田贵彬
Owner 深圳市罗伯医疗机器人研究所
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