A non-humanoid upper limb assisting device and its control method

Abstract

The invention discloses a non-anthropomorphic upper limb power assisting device and a control method thereof, belongs to the technical field of power assisting mechanisms and solves the technical problems that certain movement interference exists between movement of a human upper limb and movement of an anthropomorphic upper limb power assisting mechanism and the movement with low freedom degree and large movement space cannot be achieved in the prior art. The device comprises a front arm mechanism, an upper arm mechanism, a back rotating shaft and a back frame, wherein the front arm mechanismand the upper arm mechanism rotate relative to each other; the upper mechanism and the back rotating shaft rotate relative to each other; the back rotating shaft and the back frame rotate relative toeach other; the distance between the front arm mechanism and the human upper limb is greatly increased in a direction from the front end to the rear end of the front arm mechanism when the human upper limb is in a straightened state. The method comprises the following steps: obtaining relevant data and building an interaction power model to obtain assistance power movement values of an elbow joint, a shoulder joint sagittal plane and a shoulder joint coronal plane; converting the assistance power movement values into current values and controlling motors to provide corresponding assistance power and enabling a final three-dimensional interaction power value to be zero.

Description

technical field [0001] The present invention relates to a booster mechanism, in particular to a non-anthropomorphic upper limb booster device for transportation and a control method thereof. Background technique [0002] The upper limb assist mechanism is a kind of assist mechanism widely used in load handling and rehabilitation medicine. [0003] In the prior art, the upper limb assisting mechanism is usually an anthropomorphic structure, and the joint movement of the anthropomorphic upper limb assisting mechanism is basically the same as that of the human upper limb. However, since the joint movement of the human upper limbs is not a simple circular movement around the joint axis, the anthropomorphic upper limb power-assist mechanism cannot be completely consistent with the human upper limb movement, resulting in a certain gap between the human upper limb movement and the anthropomorphic upper limb power-assisted mechanism movement. movement interference. [0004] In add...

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Problems solved by technology

[0005] In view of the above analysis, the present invention provides a non-anthropomorphic upper limb assisting device and its control method, which solves the problem of certain movement interference between the movement of the human upper limb and the movement of the anthropomorphic upper limb assisting mechanism in the prior art and the inability to achieve low freedom Technical issues of degree and large movement space

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