Walking assisting flexible exoskeleton and control method thereof

Abstract

The invention discloses walking assisting flexible exoskeleton and a control method thereof. The flexible exoskeleton is mainly composed of a control system, a detection system, a pneumatic flexible execution system and an air pipe assembly. The control system analyzes user movement information and pressure information of the flexible assistance execution system acquired by the detection system, and realizes identifying and understanding of movement intention of lower limbs on the basis of a gait estimation model; and calculating is conducted to obtain corresponding instructions of aerodynamicforce opening and closing, pressure, flow rate and the like based on a hip joint moment model, corresponding actions are executed, real-time control is conducted on the negative pressure input and unloading processes of the pneumatic flexible execution system, the pneumatic flexible execution system can convert air pressure provided by the control system into mechanical energy capable of realizing linear movement in real time, assisting moment required by buckling and stretching of a hip joint is provided in real time according to the walking posture of a user, and the purpose of walking assisting is achieved.

Description

technical field [0001] The invention belongs to the technical field of flexible exoskeleton robots, lower limb exoskeletons and flexible actuators, and in particular relates to a walking-assisting flexible exoskeleton and a control method thereof. Background technique [0002] It is one of the important scientific goals of interdisciplinary basic scientific research such as robotics to repair and enhance human movement ability with engineering scientific methods. Robotic exoskeleton is the carrier of this scientific research. The robot exoskeleton is a device worn in parallel on the outside of the human body. It is generally driven by motors, hydraulic pressure or air pressure. The detection system detects the movement state of the limbs and the movement intention of the human body in real time, and realizes human-machine cooperation through the drive system and control system. The goal of enhancing limb strength or assisting human movement, such as the HAL series hybrid leg...

AI Technical Summary

Problems solved by technology

First, there will be hysteresis during the inelastic deformation process, which is difficult to precisely control

Secondly, pneumatic artificial muscles usually have a high "threshold". When the air pressure is lower than the "threshold", the artificial muscle cannot perform the corresponding movement

Thirdly, during the repeated use of the pneumatic artificial muscle, the high working pressure is likely to cause partial damage or even explosion of the pneumatic artificial muscle

At present, the inflatable pneumatic muscle will increase the radial volume after being inflated and deformed, which is not suitable for occasions with limited space.

Images