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Cooperative control method of upper limb exoskeleton with dynamic load compensation

A collaborative control, dynamic load technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of increased human-machine force and excessive load weight, and achieve a wide range of adaptability and minimized human-machine force. Effect

Inactive Publication Date: 2019-05-14
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Since the existing upper extremity exoskeleton controller directly controls the force through the interaction force between the human and the machine, there are serious deficiencies in the problems of excessive load weight and the increase of the force between the man and the machine with the increase of the load weight.

Method used

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  • Cooperative control method of upper limb exoskeleton with dynamic load compensation
  • Cooperative control method of upper limb exoskeleton with dynamic load compensation
  • Cooperative control method of upper limb exoskeleton with dynamic load compensation

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Embodiment Construction

[0022] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0023] The present invention provides an upper limb exoskeleton cooperative control method with dynamic load compensation, which specifically includes the following steps:

[0024] Step 1: Install an angle sensor and a six-dimensional force / torque sensor between each joint of the upper limb and the designated position to measure the angle of each joint and the generalized force in three-dimensional space.

[0025] The specific installation method is as figure 1 Shown: Install two six-dimensional force / torque sensors on the grip of the upper limb, between the elbow joint of the upper limb exoskeleton and the end effector, and install several angle sensors on the shoulder joint and elbow joint of the upper limb (the specific number depends on the structure of the upper limb. degree of freedom to determine).

[0026] Step 2: The operator wears the upper ext...

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Abstract

The invention discloses a cooperative control method of upper limb exoskeleton with dynamic load compensation, which utilizes the generalized force of the load on the upper limb exoskeleton and the corresponding jacoby matrix to obtain a joint torque Tload required for compensating the load influence; the joint torque Tg caused by the dead weight of the upper limb exoskeleton is obtained through inverse dynamics, the torque Th of the human-machine interaction force mapped to the joint space is obtained by using the interaction force between the human and the upper limb exoskeleton and the corresponding jacoby matrix, and each joint of the upper limb exoskeleton is controlled by using the final joint torque T, wherein T = T g+T load+T h, and then the interaction force fhr between the humanand the exoskeleton is measured; when fhr is not 0, the human-machine interaction force caused by the load can be compensated in real time through feedback compensation of the direct force controllerand PID controller.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, and in particular relates to an upper limb exoskeleton cooperative control method with dynamic load compensation. Background technique [0002] A robotic exoskeleton system is a human-robot collaboration system that augments the wearer's strength in a variety of environments. The human operator is only responsible for the robot's position control, force control and motion signal generation. The system is in the form of a mechanical structure that engages with the outside of the body to improve the wearer's muscular strength. Applications in various industries are currently being studied, including industrial applications, medical rehabilitation and other fields. [0003] Since the existing upper extremity exoskeleton controller directly performs direct force control through the interaction force between the human and the machine, there are serious deficiencies in the problems of exce...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
Inventor 宋遒志祁卓王鑫刘亚丽郭超越
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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