Wearable flexible knee joint exoskeleton and control method thereof

Abstract

The invention discloses a wearable flexible knee joint exoskeleton and a control method thereof. The wearable flexible knee joint exoskeleton is mainly composed of a control and air pressure output system, a sensing system and a flexible power-assisted execution system, wherein the control and air pressure output system are used for analyzing the user motion information collected by the sensing system and the pressure information of the flexible power-assisted execution system, algorithms such as a gait estimation model and a knee joint torque model are adopted to calculate corresponding instructions such as an aerodynamic force switch, a pressure and a flow speed, corresponding actions are executed, quantitative positive pressure or negative pressure is provided for the flexible power-assisted execution system, the flexible power-assisted execution system transmits the positive-pressure or negative-pressure aerodynamic force provided by the control and air pressure output system to thighs and legs of the left leg and right leg of an user, when the negative pressure is input, the flexible power-assisted execution system generates auxiliary bending torque to assist knee joints to bebent, when the negative pressure is switched to positive pressure input, the flexible power-assisted execution system generates torque which is changed into stretching by bending, the knee joints areassisted to be expanded, and the purpose of auxiliary walking is achieved.

Description

technical field [0001] The invention belongs to the technical field of flexible exoskeleton robots, lower limb exoskeletons and flexible actuators, and particularly relates to a wearable flexible knee joint 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 sensor 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. To achieve the goal of enhancing limb strength or assisting human movement. [0003] At present, th...

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