Upper limb exoskeleton control method and device based on voice input

A technology of voice input and exoskeleton, which is applied in the direction of program-controlled manipulators, manufacturing tools, and manipulators. It can solve problems such as unfavorable newcomers getting started quickly, complicated control methods, and difficult exoskeleton control.

Active Publication Date: 2021-04-09
SHENZHEN MILEBOT ROBOTICS CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In the actual use scenario, since the upper limbs on both sides of the user are in working condition, there is no time to operate the external equipment, which makes the control of

Method used

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  • Upper limb exoskeleton control method and device based on voice input
  • Upper limb exoskeleton control method and device based on voice input
  • Upper limb exoskeleton control method and device based on voice input

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Embodiment Construction

[0046] In order to make the purpose, features and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Apparently, the described embodiments are some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0047] It should be noted that, in any embodiment of the present application, the method and the device are applied to control the upper extremity exoskeleton by acquiring interaction signals generated by parts other than the wearer's upper limbs; specifically, the The above-mentioned interactive signals generated by parts other than the upper limbs may include: the interactive signals generated by the we...

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PUM

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Abstract

The invention provides an upper limb exoskeleton control method and device based on voice input. The method and device are used for controlling an upper limb exoskeleton by obtaining interaction signals generated by portions, except for an upper limb, of a wearer. The method comprises the steps: obtaining a first interaction signal, and determining a first working mode of the upper limb exoskeleton according to the first interaction signal; obtaining the current position of an arm with the upper limb exoskeleton and dynamic parameters used for performing gravity compensation on the upper limb exoskeleton, and determining a first expected moment track according to the first working mode, the current position, the dynamic parameters and static parameters used for performing gravity compensation on the upper limb exoskeleton; and controlling the upper limb exoskeleton to execute an action corresponding to the first working mode according to the first expected moment track. The upper limb exoskeleton is controlled by adopting the portions except for the upper limb, work depending on the upper limb cannot be affected, meanwhile, the control complexity degree is simplified, and the wearer can conveniently and rapidly use the upper limb exoskeleton.

Description

technical field [0001] The present application relates to the field of industrial upper extremity assisting exoskeleton, in particular to a control method and control device for an upper extremity exoskeleton based on voice input. Background technique [0002] In industrial scenarios, for workers who need to raise their hands for a long time (such as construction workers, takeaway delivery personnel, express sorting personnel, assembly personnel of automobiles, airplanes, ships, etc.) and other people who need to raise their hands (such as Arm movement rehabilitation patients, etc.), major research institutions and companies have designed various related exoskeleton equipment, which can provide an auxiliary force for the upper limbs of the human body by wearing the exoskeleton equipment. [0003] In the current research, most of the exoskeleton control methods are to control the start, pause, and switching of various working modes and parameters of the exoskeleton through th...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/16B25J9/1664
Inventor 刘俊郭登极林颖何鹏王旭晟张希胡新尧叶晶陈功
Owner SHENZHEN MILEBOT ROBOTICS CO LTD
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