Power-assisted exoskeleton control system and method

A control system and exoskeleton technology, which is applied in the field of exoskeleton robots and robots, can solve the problems of rapid population growth, inability to meet the rehabilitation needs of the elderly, and low equipment efficiency and intelligence.

Active Publication Date: 2019-10-08
TSINGHUA UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional sports rehabilitation medical equipment will not be able to meet the rehabilitation needs of the elderly. On the one hand, it is due to the rapid increase in population, and on the other hand, it is due to the low efficiency and intelligence of traditional equipment.

Method used

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  • Power-assisted exoskeleton control system and method
  • Power-assisted exoskeleton control system and method
  • Power-assisted exoskeleton control system and method

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Embodiment Construction

[0031] In order to understand the technical content of the present invention more clearly, the following examples are given in detail.

[0032] see figure 1 Shown is the structural diagram of the power-assisted exoskeleton control system of the present invention.

[0033] In one embodiment, the system includes: a sensory communication execution subsystem and a processing planning decision-making subsystem.

[0034] The sensor communication execution subsystem is used to perceive the motion intention, motion state and physiological information. Its computing main control platform makes command decisions based on the human-machine coupling information, and drives the robot joints to provide timely and appropriate assistance;

[0035] The processing and planning decision-making subsystem is used to realize the fusion of human-computer information interaction and human-machine consciousness based on the motion intention identification method and bioelectrical signal analysis tech...

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Abstract

The invention relates to a power-assisted exoskeleton control system and method, and belongs to the technical field of robots. The system comprises a sensing communication execution subsystem and a processing planning decision subsystem. The sensing communication execution subsystem is used for sensing the motion intention, the motion state and the physiological information, and a computing main control platform makes a command decision on the basis of the man-machine coupling information and drives a joint of a robot to timely and appropriately assist; and the processing planning decision subsystem is used for realizing human-machine information interaction mode and human-machine consciousness fusion on the basis of a motion intention identification method and a bioelectrical signal analysis technology, realizing gait planning on the basis of a multi-variable depth learning gait planning method and ensuring overall comfort and safety of the control system on the basis of variable impedance control, so that a user achieves the optimal use effect.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to the technical field of exoskeleton robots, and specifically refers to the design of a power-assisted exoskeleton control system. Background technique [0002] Aging will gradually reduce the flexibility of the limbs of the elderly and increase the probability of disability of the elderly rapidly. With the increasing problem of domestic aging, the population ratio of elderly disabled people in my country will increase significantly. Traditional sports rehabilitation medical equipment will not be able to meet the rehabilitation needs of the elderly. On the one hand, it is due to the rapid increase in population, and on the other hand, it is due to the low efficiency and intelligence of traditional equipment. At the same time, there will be a huge market demand for intelligent exoskeleton robots with adaptive adjustment capabilities. In the process of studying the control s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/1633B25J9/1664B25J9/1671
Inventor 张涛薛涛张萌
Owner TSINGHUA UNIV
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