Wearable waist assistance exoskeleton mechanism and control method thereof

Abstract

The invention discloses a wearable waist assistance exoskeleton mechanism and a control method thereof. The wearable waist assistance exoskeleton mechanism comprises a waist assembly, a leg assembly,a hip joint assembly, a driving assembly, a controller and a data collector; the data collector comprises a tilt angle sensor and an acceleration sensor, the tile angle sensor is used for collecting an angle when a backplane produces an inclined angle, the acceleration sensor is used for collecting the angle acceleration when the backplane produces the inclined angle, the controller constructs anexoskeleton assistance model through the angle and the angle acceleration, and then controls algorithm to identify the motion intention of a wearer. According to the wearable waist assistance exoskeleton mechanism, five degrees of freedom are achieved, the fully matching between the freedom of motion of a robot and the freedom of motion of a person can be achieved, an exoskeleton thigh bar is in contact with the human led only when assisting, when the exoskeleton does not work, the exoskeleton thigh bar and the human leg are separated, and thus the wearing comfort of the waist assistance exoskeleton is improved.

Description

technical field [0001] The invention relates to an assisting mechanism in the field of robots, in particular to a wearable waist assisting exoskeleton mechanism and a control method thereof. Background technique [0002] In construction sites, logistics companies, shipyards, aircraft production workshops, etc., workers often need to repeat various moving actions, such as bending over to lift heavy objects, leaning forward to carry heavy objects and walking, etc. During these actions, the waist often Bearing a lot of force, after a long period of handling, many workers will suffer serious back injuries. The waist-assisted exoskeleton is a wearable robot system that pulls the worker's back upright through the exoskeleton assist system, and transmits part of the load to the legs through the mechanical structure. When workers bend over to lift heavy objects, the waist-assisted exoskeleton can effectively relieve the pressure on the spine and reduce the damage to the back muscle...

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