Negative pressure pneumatic flexible knee joint exoskeleton real-time feedback and closed-loop control method

Abstract

The invention discloses a negative pressure pneumatic flexible knee joint exoskeleton real-time feedback and closed-loop control method. An exoskeleton consists of a controller, a micro air pump, a two-position three-way negative pressure gas valve, a two-position three-way positive pressure gas valve, an IMU module, an air pressure sensor, a negative pressure rotary elastomer driver; and the real-time feedback and closed-loop control method comprises the following steps that firstly, the controller analyzes the angle parameters of the human lower limbs collected by the IMU module, the walkinggait is identified, the torque input equation provided by the negative pressure elastomer driver at different moments in one gait cycle is then established, then the correspondence between the angle,the air pressure and the torque of the negative pressure elastomer driver is calculated, finally a pressure-rotating speed-valve command model is built, the micro air pump, the two-position three-waynegative pressure gas valve and the two-position three-way positive pressure gas valve are constructed to execute corresponding actions according to the model instruction, and the auxiliary torque matching the gait cycle and the knee joint torque requirement is provided for a user through the negative pressure elastomer driver.

Description

technical field [0001] The invention belongs to the technical field of flexible exoskeleton robots, lower extremity exoskeletons and negative pressure elastic body drivers, and particularly relates to a negative pressure pneumatic flexible knee joint exoskeleton real-time feedback and closed-loop control method. Background technique [0002] The robot exoskeleton is a device that is worn in parallel on the outside of the human body. The control system detects the movement status of the limbs in real time through the sensor system, and realizes joint assistance through the drive system to achieve the goal of enhancing limb strength or assisting human movement. The biggest difference between exoskeleton robots and industrial robots and mobile robots is that they need to be in close contact with the human body, forming a so-called "human-in-the-loop" human-machine hybrid system, which significantly increases the difficulty of its design, perception and control research. General...

AI Technical Summary

Problems solved by technology

Generally speaking, the current international and domestic wearable lower extremity exoskeletons are still mainly focused on the mechanical structure design of the exoskeleton. In terms of understanding and recognition of human limb movement intentions, some literature studies have discussed the problem of movement intention detection but have not solved the problem. Insufficient, and the existing research results on the control of lower extremity exoskeleton are even more limited, which leads to the inability of lower extremity exoskeleton to coordinate movement according to human motion intention and rhythm in a complex environment, resulting in huge metabolic consumption of the wearer. Far from the goal of enhancing the wearer's movement

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