An active waist-assisted exoskeleton robot electrical system

Abstract

The invention discloses an electrical system for an active waist-assisted exoskeleton robot, which includes a main control unit, a handheld terminal, a drive unit, a heading reference system, a current detection unit, a power supply unit, a handheld terminal, a drive unit, and a heading reference system The current detection unit and the main control unit are electrically connected. The main control unit, attitude reference system, current detection unit, and power supply unit are installed on the back of the exoskeleton robot. The drive unit is installed on the hip joints of the two legs of the exoskeleton robot. The handheld terminal is independent For the exoskeleton robot body, the drive unit includes a motor, a reducer, and a motor driver. The current detection unit is used to measure the current of the drive unit. The attitude reference system leans forward relative to the back of the exoskeleton robot. The electrical system of the active waist-assisted exoskeleton robot of the present invention effectively solves the problem of the singularity of the MPU6050 acceleration sensor in measuring the 90° angle by installing the attitude reference system with the back of the exoskeleton robot leaning forward.

Description

technical field [0001] The invention relates to the technical field of power-assisted exoskeleton robots, in particular to an electrical system of an active waist power-assisted exoskeleton robot. Background technique [0002] The waist-assisted exoskeleton is mainly used in the process of industrial production or processing, where the staff needs to lift repeatedly, and the trunk is bent or twisted for a long time. In this project, the lumbar muscles are prone to fatigue and even strain, which increases the risk of musculoskeletal diseases for workers. Exoskeleton robots can be divided into active exoskeleton and passive exoskeleton according to whether they use energy or not. Active exoskeletons need to provide power energy, generally including batteries, drive components, sensors and other components. [0003] The main structure of the active lumbar exoskeleton is composed of the back and the thighs on both sides, which are assisted by the drive components installed on ...

AI Technical Summary

Problems solved by technology

[0004] Existing active waist-assisted exoskeleton robots need to use many sensors when judging human body posture and motion state, including attitude reference system for measuring attitude angle and acceleration, encoders or potentiometers for measuring joint angles, and measuring human body. The pressure sensor of machine interaction force, etc., the mechanism for installing these sensors is relatively complicated and the number of wiring harnesses connecting each sensor and the main control unit is large

On the one hand, this increases the volume and weight of the exoskeleton robot, which affects the wearing comfort. On the other hand, it significantly increases the complexity of the installation, commissioning and post-maintenance of the exoskeleton robot, and increases the time cost and personnel in the production process of the exoskeleton robot. Cost, it is not easy to industrialize the development of exoskeleton robots

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