Motion control method suitable for exoskeleton robots

An exoskeleton robot and motion control technology, which is applied in the direction of program control manipulators, applications, manipulators, etc., can solve the problems of inability to adjust the step length, single motion mode, and inability to adjust the motion, etc.

Active Publication Date: 2020-09-01
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the existing exoskeleton robots use the method of tracking fixed joint motion reference trajectories. In the process of assisting the patient's movement, the exoskeleton robot cannot adjust the movement in real time according to the wearer's movement status, and the adaptability is not good, and the movement mode is single.
Some exoskeleton robots can adjust the reference trajectory in real time according to the stability of the exoskeleton-wearer system. However, they cannot automatically obtain the wearer's motion intention quickly and accurately, nor can they adjust the step size in real time according to the wearer's motion status.

Method used

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  • Motion control method suitable for exoskeleton robots
  • Motion control method suitable for exoskeleton robots
  • Motion control method suitable for exoskeleton robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0126] This embodiment provides a motion control method capable of realizing automatic recognition of the movement intention of the exoskeleton robot, specifically: the walking finite state machine of the exoskeleton robot is preset to include: the half-step swing state of the right leg (state 1), Half-step swing state of the left leg (state 2), swing state of the right leg (state 3), state of double-leg support with right leg in front (state 4), swing state of left leg (state 5), state of double-leg support with left leg in front (state 6) and standing state. Each state is defined as a series of joint reference trajectories, and the transition between states needs to meet some state transition conditions such as thresholds. In the right leg half-step swing state, the right leg swings half a step, which is used to transition from standing to starting walking or ending walking to standing; the left leg is in the support phase, and both crutches are in contact with the ground. ...

Embodiment 2

[0179] This embodiment provides a motion control method capable of realizing online adjustment of the walking step length of the exoskeleton robot, specifically: the walking finite state machine of the exoskeleton robot is preset to include: the half-step swing state of the right leg, the half-step swing state of the left leg Step swing state, right leg swing state, right leg in front double leg support state, left leg swing state, left leg in front double leg support state and standing state. The details are the same as those in Embodiment 1, and will not be repeated here.

[0180] The motion control method includes the steps of:

[0181] Step S201, exercise information acquisition steps:

[0182] The angle and ground reaction force information of each part of the exoskeleton robot are collected in real time.

[0183] Step S202, step size adjustment data calculation steps:

[0184] In the process of walking, according to the collected angle and ground reaction force inform...

Embodiment 3

[0199] This embodiment provides a motion control method that can realize the automatic recognition of the motion intention of the exoskeleton robot and the online adjustment of the walking step length, specifically:

[0200] The walking finite state machine of the exoskeleton robot is preset to include: the half-step swing state of the right leg, the half-step swing state of the left leg, the swing state of the right leg, the support state of the right leg in front, the swing state of the left leg, and the swing state of the left leg. Legs in the front legs support state and standing state. The details are the same as those in Embodiment 1, and will not be repeated here.

[0201] The motion control method includes the steps of:

[0202] Step S301, exercise information acquisition steps:

[0203] The angle and ground reaction force information of each part of the exoskeleton robot are collected in real time.

[0204] Step S302, calculation steps of the ground pressure center...

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Abstract

The invention provides a motion control method suitable for exoskeleton robots. By establishing a seven-link kinematics model, collecting exoskeleton-wearer system motion information based on a multi-sensor system, calculating the wearer's ground pressure center position, and designing an exoskeleton walking finite state machine, the wearer's walking motion intention and the state transitions in the walking finite state machine can be quickly, accurately and automatically recognized, effective and smooth motion assistance for paralyzed patients who have no perception and strength of the lowerlimbs is realized, the walking intention of the exoskeleton robot is automatically recognized and controlled, and the convenience and intelligence of using the exoskeleton robots are improved. At thesame time, by calculating the distance between the ankle joint of the front leg and the location of the crutches after the exoskeleton-wearer system moves forward with both crutches during the leg support period, the step length of the wearer under different walking conditions is determined, the exoskeleton joint motion reference trajectory is updated in real time, and real-time adjustment and control of the wearer's walking step length is realized.

Description

technical field [0001] The invention relates to the technical field of lower extremity exoskeleton robots, in particular to a motion control method suitable for exoskeleton robots. Background technique [0002] An exoskeleton robot is a wearable mechatronic device that can be worn on the operator's limbs to provide the operator with functions such as protection, body support, rehabilitation training, and sports assistance. After wearing the exoskeleton, paralyzed patients can achieve the same actions as normal people, such as standing up / sitting down, walking, going up and down stairs, etc. under the support of the exoskeleton and its power drive, which can greatly improve their quality of life and enjoyment. Exoskeleton technology combines robotic technologies such as sensing, control, information fusion, and mobile computing, and combines human intelligence with the "physical strength" of robots. The exoskeleton robot designed for paralyzed patients combines biomechanics,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16A61H3/00A61B5/11
CPCA61B5/1116A61B5/1121A61H3/00A61H2201/0192A61H2201/5007A61H2201/5041A61H2201/5053B25J9/0006B25J9/1664
Inventor 陈兵王兵
Owner HEFEI UNIV OF TECH
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