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Walking aid equipment based on position error characteristic, and walking aid method thereof

An auxiliary equipment and error technology, applied in the direction of claw arms, manipulators, program-controlled manipulators, etc., can solve problems such as poor user experience and poor force sense of the power-assisted exoskeleton system, and achieve the effect of avoiding power mismatch and fast and effective matching

Inactive Publication Date: 2021-02-26
江苏恒毅运控智能设备科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a walking aid device and a walking aiding method based on position error characteristics to solve the existing technical problems mentioned in the above-mentioned background technology: the existing power-assisted exoskeleton system has poor sense of force, Problems leading to poor user experience

Method used

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  • Walking aid equipment based on position error characteristic, and walking aid method thereof
  • Walking aid equipment based on position error characteristic, and walking aid method thereof
  • Walking aid equipment based on position error characteristic, and walking aid method thereof

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Embodiment 1

[0044] see Figure 1-4 As shown, the present invention is a walking aid device based on position error features, including a backpack main body 1, the inner side of the backpack main body 1 is equipped with a sealing cover 2 for fixing the power module, and both ends of the backpack main body 1 are fixed with connecting columns 3. The end of the connecting column 3 away from the main body 1 of the backpack is fixed with a motor housing 4, the top of the motor housing 4 is fixed with a support frame 9, and one end of the support frame 9 is connected to the connecting column 3, and the inside of the motor housing 4 is fixed with a rotor motor 11;

[0045] A power module is fixed inside the backpack main body 1. The power module is electrically connected to the rotor motor 11. The output end of the rotor motor 11 is connected to the L-shaped first swing arm 6 through a spline. The motor is placed at one end of the shell 4 and is located at the first The outer side of the swing a...

Embodiment 2

[0055] On the basis of the above-mentioned embodiment 1, the walking aid method of the device is disclosed:

[0056] First, analyze the characteristics of the human body when walking;

[0057] Such as Figure 5 As shown, let the vertical downward dotted line be the zero point reference line. With the zero point line as a reference, the swinging leg towards the front is marked as a positive value, and the swinging leg towards the back is marked as a negative value.

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Abstract

The invention discloses walking aid equipment based on a position error characteristic, and a walking aid method thereof, and relates to the technical field of exoskeleton aids. The walking aid methodcomprises the steps of obtaining the reading value of an angle sensor, and calculating the difference value between right and left leg sensors; judging whether the difference value reaches the maximum value or not; detecting the maximum value, and generating an assist curve by taking the maximum value and the minimum value of the difference value as references; and applying assisting power through a rotor motor according to the assisting curve, receiving a feedback signal of the angle sensor, and adjusting the applied assisting power according to the feedback signal in real time. According tothe walking aid method, the mapping relation between a position error and output force is established by utilizing the periodicity and symmetry of a human body during walking, so that the required power for a user to walk can be sensed more accurately, and the power disorder of the user due to speed fluctuation under the condition of different strides and periods can be avoided.

Description

technical field [0001] The invention belongs to the technical field of power-assisted exoskeleton, and in particular relates to a walking aid device and a walking aiding method based on position error characteristics. Background technique [0002] At present, the main technical solutions for assisting the hip joint (thigh) are as follows: 1. Install a thin-film pressure sensor on the sole of the foot, combined with a leg gyroscope or a hip joint angle sensor, to estimate the walking intention, and use an electric actuator, such as a motor, push rod , wire rope, etc., to provide a certain amount of assistance, for example, the Harvard flexible exoskeleton, the swing leg landing point is used as the assist start point, and the assist is provided for a certain period of time, and this point is used as the assist start point, and the assist time is about 30% of the walking cycle ;2. Use the Kalman filter to estimate and judge the trajectory of the attitude sensor installed on th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J18/00
CPCB25J9/0006B25J18/00
Inventor 杨有
Owner 江苏恒毅运控智能设备科技有限公司
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