Control system and method for external skeleton robot

An exoskeleton robot and control system technology, applied in electrotherapy, artificial respiration, passive exercise equipment, etc., can solve the problem that the rehabilitation exoskeleton robot cannot correctly judge the human body's movement intention, so as to facilitate the recovery of nerves and muscles and improve real-time performance, accuracy, and improved recovery

Inactive Publication Date: 2018-07-17
BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art, provide an exoskeleton robot control system and control method, solve the problem t

Method used

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  • Control system and method for external skeleton robot
  • Control system and method for external skeleton robot

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Embodiment Construction

[0037] to combine figure 1 Note that this embodiment includes a multi-sensing data calculation module, a motion representation database, a human-computer interaction module and an exoskeleton robot wearable part;

[0038] The wearable parts of the exoskeleton robot are worn on the wearer's waist, thighs, calves and feet; the hip joints, knee joints and ankle joints are equipped with rotation shafts 1, 2, 3, and the thigh mechanical arm 4 is connected between the hip joints and the knee joint rotation shafts , can rotate around the hip joint shaft 1 under the drive of the first motor, and can rotate around the knee joint shaft 2 under the drive of the second motor; the calf mechanical arm 5 is connected between the knee joint and the ankle joint shaft, and can Rotate around the knee joint shaft 2 driven by the driving force; the foot pedal 6 is installed on the sole of the foot, and one end is connected with the ankle joint shaft 3, and can rotate around the ankle joint shaft 3...

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Abstract

The invention relates to a control system and method for an external skeleton robot. The system and method are used for solving the problems that an existing rehabilitation external skeleton robot islow in universality, the motion intention of the human body cannot be correctly judged, and the function effect of man-machine cooperation cannot be achieved. The control system for the external skeleton robot comprises an attitude sensor, an angle sensor, a pressure sensor, a surface electromyographic signal sensor, a processor, an external skeleton robot wearing part and a man-machine interaction module. According to the control system and method, a motion representation database is established, the motion intention of the lower limbs of a wearer can be accurately judged through a large number of samples, assisting is conducted accordingly, and the assisting real-time performance and accuracy are improved; three-dimensional simulation display and scene simulation display are conducted through VR head display equipment, the visual simulation is provided for the wearer, the initiative participation degree of the wearer is increased, and the control system is beneficial to the nerve andmuscle recovery of the affected part.

Description

technical field [0001] The invention relates to an exoskeleton robot control system and a control method, belonging to the field of exoskeleton robots. Background technique [0002] Exoskeleton robots have been widely used in daily production and life, especially in the field of rehabilitation. Rehabilitation exoskeleton robots can achieve passive and active training, which can effectively avoid the wearer's muscle atrophy caused by lack of exercise, and Effectively improve the recovery effect of the wearer. But for now, rehabilitation exoskeleton robots still have some disadvantages. First of all, traditional rehabilitation exoskeleton robots often only consider the movement of exoskeleton robots, and the wearer adapts to the execution of exoskeleton robots. The lack of good human-computer interaction functions makes the rehabilitation effect poor. Secondly, the existing exoskeleton robots cannot accurately predict the movement intention of the lower limbs. Therefore, it...

Claims

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Application Information

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IPC IPC(8): A61H3/00A61H1/02A61N1/36
CPCA61H1/0255A61H1/0262A61H3/00A61H2003/005A61H2201/10A61H2201/1207A61H2201/164A61H2201/5007A61H2201/5061A61H2201/5071A61H2205/10A61H2230/085A61H2230/62A61N1/36003
Inventor 陶云飞黄玉平郑继贵陈靓王福德
Owner BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
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