Wearable flexible walking assistance robot control system and method

A control system and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of flexible walking aids such as lack of control systems, poor coordination, and danger of falling, so as to improve walking characteristics and quality of life, wearable Convenience and weight-reducing effects

Active Publication Date: 2018-12-25
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current rigid walking aids have the disadvantages of rigid structure, bulkiness, poor coordination with people, and may easily cause fall hazards due to external interference
At the same time, the flexible walking assistance lacks a corresponding optimized control system to adjust for different users and situations

Method used

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  • Wearable flexible walking assistance robot control system and method

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Embodiment Construction

[0019] Specific examples of the present invention are given below. The specific embodiments are only used to further describe the present invention in detail, and do not limit the protection scope of the claims of the present application.

[0020] The present invention provides a wearable flexible walking assist robot control system (referred to as the system, see figure 1 ), characterized in that the system includes a power supply 1, a motor driver 2, a traction belt 3, a force sensor 4, a textile belt 5, a gyroscope 6, a driving device 7, a force sensor amplifier 8 and a controller 9;

[0021] The controller 9 and the motor driver 2 are placed on the user's waist; two gyroscopes 6 are respectively placed in the middle of the back of the user's left and right thighs (preferably at the hip joint) through the textile belt 5, and the gyroscope 6 Vertical to the ground, used for real-time collection of user's gait characteristic information, measuring real-time angular velocity ...

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Abstract

The invention discloses a wearable flexible walking assistance robot control system and method. The system comprises a power source, a motor driver, a traction belt, a force sensor, a mesh belt, gyroscopes, driving devices, a force sensor amplifier and a controller; the controller and the motor driver are placed at the waist position of a user; the two gyroscopes are arranged at the middles of therear portions of left and right thighs of the user through the mesh belt respectively, and when the user stands, the gyroscopes are perpendicular to the ground; the two driving devices are bilaterally symmetrically installed on an adjustable belt at the waist of the user, each driving device is connected with one end of one traction belt, and the other end of the traction belt is placed on the knee joints of the user; each traction belt is broken and connected through the force sensor at the breakage; the controller is connected with the motor driver, the gyroscopes and the force sensor amplifier respectively; the motor driver is connected with the driving device; the force sensor is connected with the force sensor amplifier. The method assistance stage is located at a swing phase, and energy sources are saved.

Description

technical field [0001] The invention relates to robot control technology, in particular to a control system and control method for a wearable flexible walking assist robot. Background technique [0002] As the age increases, the physical strength of the elderly declines, and the decline in muscle strength leads to motor dysfunction, and the elderly become less and less fond of outdoor activities. With the reduction of outdoor activities, the motor function of the lower limbs will decline accordingly, and this cycle repeats itself in a vicious circle, resulting in many physical problems. Now that people have higher and higher requirements for the quality of life, the elderly should improve their walking ability and increase walking, which not only exercises the body, but also increases social activities. The rapid development of lower limb assisted exoskeleton technology can improve the lower limb function of the elderly, enhance their walking ability, and improve the rehabi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/1679Y02T10/72
Inventor 郭士杰张旭瑞相倩李军强
Owner HEBEI UNIV OF TECH
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