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Novel exoskeleton control scheme

A control scheme and exoskeleton technology, applied in the field of exoskeleton, can solve the problems of complex control mode and low signal strength, and achieve the effect of simple control mode, high signal strength and comfortable wearing

Active Publication Date: 2021-02-05
河南水滴智能技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the deficiencies of the existing technology, the present invention provides a new type of exoskeleton control scheme, which has the advantages of low learning cost, simple control mode, and high signal strength, and solves the problems of complex control mode and low signal strength

Method used

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Experimental program
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Effect test

Embodiment 1

[0037] Embodiment 1: establish the data information database of the patient's walking habits, and transmit it to the cloud and the local end, record in the hard disk and the cloud disk, analyze and process the data according to the patient's habits in combination with a practical big data algorithm, specifically:

[0038] 101) Large-scale data sampling, including normal people, mild patients and severe patients, and in-depth investigation, data screening, leaving useful data for processing and recording;

[0039] 102) Establish a cloud data center, all data are stored in the data center, and set up a data hard disk in the specific offline exoskeleton use area, communicate with the cloud, establish a data sharing bridge, and help improve patient experience and improve the use of exoskeleton Effect;

[0040]103) Use big data algorithms to analyze and process the collected data, retain more than 80% of the same data, and use it as a specific design sample for future work.

Embodiment 2

[0041] Embodiment 2: The daily walking pattern of the patient is obtained through processing, and two daily control patterns are designed respectively, and the walking speed, span, and angle are calculated, and corresponding instructions are written using logic programming, and stored in the terminal program library, specifically:

[0042] 201) The two daily control methods are upright standing control mode and upright walking control mode. The upright standing control mode is the cooperation of the exoskeleton thigh support and the knee joint booster to give the patient upward support and reduce the exoskeleton. Working range, so that patients do not have a strong sense of force;

[0043] 202) The control method of upright walking is that the waist actuator cooperates with the thigh support, and the power unit of the lower leg support works to generate torque to assist the patient to walk upright, and appropriately increase the height of the lower leg support from the ground w...

Embodiment 3

[0046] Embodiment 3: According to the ergonomic structure, a set of exoskeleton equipment matching most patients is designed, using alloy and synthetic plastic materials, setting multiple power sources and actuators, and installing multiple signal processors, specifically:

[0047] 301) It adopts carbon fiber material and synthetic metal material, which has good plasticity, is convenient for patients to wear and take off, and ensures the comfort of patients during the wearing process;

[0048] 302) The power source adopts electric power, adopts the battery board method, and is fixedly installed on one side of the thigh exoskeleton, and a charging socket is provided

[0049] 303) The actuators are installed on the exoskeleton parts of the joints, thighs, calves and crotch. There are eight in total. Small stepping motors and small air cylinders are used, and they are installed on the side, which does not affect the wearing effect of the patient.

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Abstract

The invention discloses a novel exoskeleton control scheme. The novel exoskeleton control scheme comprises the steps of establishing a data information base, storing the data information base in a cloud and a hard disk, obtaining daily walking modes of a patient, respectively designing two daily control modes, designing a set of exoskeleton equipment matched with most patients according to an ergonomic structure, and performing data acquisition on a plurality of acquired samples; and acquiring finger movement modes of most patients, and designing an effective instruction transmitter, so that the patients can conveniently wear effective instruction transmitter on hands. According to the novel exoskeleton control scheme, a normal operation mode is adopted, the scheme is only a set of new interaction logic for controlling exoskeleton actions through finger actions, the learning cost is low, exoskeleton operation can be more complete, and continuous learning and evolution can be achieved.The effective instruction transmitter interacts with exoskeleton equipment through different actions of fingers, the exoskeleton control process is greatly simplified, signal strength is high, transmission speed is high and response is rapid.

Description

technical field [0001] The invention relates to the technical field of exoskeleton, in particular to a novel exoskeleton control scheme. Background technique [0002] The current rehabilitation exoskeleton control schemes are generally divided into two types, active and passive (active is to collect some information of the user, EMG signal, EEG signal or perceive some weak force signals, according to these signals to perform some control related to the exoskeleton). There are basically two ways to acquire myoelectric signals and EEG signals. One is to use the contact method to collect some electrical signals through the bonding of the sensing electrodes. There are big problems with judgment. A similar type is to use an embedded signal acquisition method. The acquisition device is implanted into the human body to achieve signal acquisition. The advantage is that the signal strength is guaranteed and the signal is relatively clean. The disadvantage is that due to the use of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
CPCA61H3/00Y02P90/02
Inventor 王瑷珲马蕾蕾陈晓雨裴创辉
Owner 河南水滴智能技术有限公司
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