Sensing and control system and method for lower limb joint assisting exoskeleton system

Abstract

The invention discloses a sensing and control system and method for a lower limb joint assisting exoskeleton system. The system comprises a joint angle encoder, a gait phase sensor, a joint angle position controller, and a joint torque controller, wherein the joint angle encoder measures a joint angle position, and transmits an output signal to the gait phase sensor, the joint angle controller andthe joint torque controller; the gait phase sensor performs gait phase judgment according to the joint angle signal and divides the gait phase into a support phase and a swing phase; when the gait phase sensor judges that a robot is currently in the support phase, a joint angle position control mode is adopted; and when the gait phase sensor judges that the robot is currently in the swing phase,a joint torque control mode is adopted. According to the sensing and control system, sensor configuration is simplified, reliability and rapidity of the sensing system are improved, wearable performance of other fittings is not influenced, active assistance is realized, and the man-machine following performance can be improved.

Description

technical field [0001] The invention belongs to the technical field of robot control, and more specifically relates to a perception and control system and method for a lower extremity joint assisting exoskeleton system. Background technique [0002] The whole-body rigid exoskeleton system based on multi-joint drive seriously restricts the practical process of equipment due to its heavy weight, poor flexibility, and high power consumption. The exoskeleton system powered by some joints (hip, knee, ankle) of the lower limbs has more significant practical value in light-loaded maneuvering operations due to its light weight, flexibility and the advantages of effectively reducing the constraints on the human body. Lockheed Martin Corporation of the United States developed the ONYX exoskeleton system, which uses a knee joint drive booster solution. The system has a self-weight of 6.4Kg and is powered by a 2.7Kg lithium battery module. Soldiers will only feel a little fatigue after...

AI Technical Summary

Problems solved by technology

Among them, the inertial sensing solution based on the IMU sensor has the advantage of being easy to wear, but its anti-vibration and shock performance is poor, and the dynamic accuracy is low due to the limitation of the algorithm solution time, so it cannot be applied to fast-moving occasions; gait recognition based on plantar pressure sensing The control scheme has the advantages of high real-time gait perception and recognition, and a simple gait recognition algorithm, but it needs to be equipped with an additional pair of sensor shoes for the exoskeleton system, which is inconvenient to wear and take off and has poor adaptability; based on surface electromyography ( sEMG)’s biological perception and control scheme has the advantages of more timely perception of human action intentions, but the surface electromyography signal is weak and susceptible to interference, resulting in poor measurement reliability and large differences in measurement between different individuals. These factors limit the The application of this scheme in outdoor load motor sports occasions

[0004] In view of the respective characteristics and shortcomings of the above three schemes, the researchers proposed a perception and control scheme that uses a variety of sensor measurement data fusion, but this brings the following problems: ⑴. A variety of sensor measurement equipment makes the entire exoskeleton system Poor wearability, on the one hand, increases the complexity and time of wearing the exoskeleton system, and on the other hand, it will cause interference with other work equipment on the body; (2) The multi-sensor data fusion algorithm increases the processing time of perception decision data, resulting in exoskeleton The system response lags, and the movement mismatch between the exoskeleton and the wearer affects the power assist effect

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