Exoskeleton device and exoskeleton motion control method

A control method and exoskeleton technology, which can be applied to program control manipulators, manufacturing tools, and appliances that help people move around. sexual effect

Pending Publication Date: 2021-04-13
MEBOTX INTELLIGENT TECH SUZHOU CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present application provides an exoskeleton device and an exoskeleton motion control method, which can

Method used

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  • Exoskeleton device and exoskeleton motion control method
  • Exoskeleton device and exoskeleton motion control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] Such as figure 1 As shown, an exoskeleton device includes a foot member that is connected to the lower leg using an underactuated degree of freedom with a sagittal plane (no external input (such as a motor or hydraulic line) at the joint actively drives the joint). joint); said foot member includes:

[0054] The sole plate 3 is used to contact the ground;

[0055] The double-side boards are respectively arranged on both sides of the sole board, one side board 4 is provided with an energy buckle, and the other side board is equipped with a strap; the energy buckle 1 and the strap 2 can be buckled together;

[0056] Infrared sensing device, built into one side board, is used to detect whether the sole board is in contact with the ground;

[0057] A photoelectric sensor, built into one side board, is used to detect the movement status of the sole board;

[0058] The foot IMU, built into the side panel, is used to detect the motion state of the human body on which the ex...

Embodiment 2

[0062] Such as image 3 As shown, an exoskeleton control method for an exoskeleton device. After a brief description, after power-on, the main controller is initialized, that is, the main controller automatically enters the initial state; human body posture recognition is performed; if it is detected as a walking state, walking assistance is performed Control; if it is detected as a non-walking state, follow-up motion control is performed.

[0063] Specifically include the following steps:

[0064] Initialize the main controller, and obtain the reference value of the infrared sensing device, the photoelectric sensor and the foot IMU in the foot component;

[0065] Obtain the lower limb joint angle information and the back IMU angle information in the current exoskeleton device, and the main controller determines the gait control scheme. Among them, the main controller determines the gait control scheme:

[0066] If the current angle data shows that the human body is in an u...

Embodiment 3

[0088] The specific implementation steps are as follows:

[0089] Step 1. Turn on the device. After the system is initialized, it will automatically enter the initial state, assist the wearer to stand upright, and obtain the benchmark values ​​of various sensors.

[0090] Step 2. The established program identifies the motion posture state of the human body, and performs torque planning and motion control according to the motion state of the human body.

[0091] Step 3. Since this structure can assist in the recognition of the leg-raising action, after the leg-raising action is successfully identified, the motor that actively drives the joint instantly outputs a gradual torque to assist the human body to lift the leg. In the rest of the actions, since the interaction force is planned to be 0, there is no Obvious sense of stagnation. Thereby assisting the human body in the process of continuous exercise.

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Abstract

The invention belongs to the field of power exoskeletons, and relates to an exoskeleton device and an exoskeleton motion control method. The exoskeleton device comprises a foot component, and the foot component and a shank are connected through an underactuated freedom degree with a sagittal plane; the foot component includes: a sole plate for contacting the ground; two side plates arranged on the two sides of the sole plate respectively, wherein an energy buckle is arranged on one side plate, and a bandage is installed on the other side plate; the energy buckle can be buckled with the bandage; an infrared sensing device arranged in one side plate and used for detecting whether the sole plate is in contact with the ground or not; a photoelectric sensor arranged in one side plate and used for detecting the motion state of the sole plate; a foot IMU arranged in one side plate and used for detecting the motion state of the human body where the exoskeleton device is installed. According to the technical scheme, the problem that in the prior art, a pressure sensor is prone to problems in the frequent use process is effectively solved.

Description

technical field [0001] The invention belongs to the field of powered exoskeleton, and relates to an exoskeleton device and an exoskeleton motion control method. Background technique [0002] Lower extremity exoskeleton robots have broad application prospects in medical rehabilitation and military fields. In the medical field, lower extremity exoskeleton robots have been successfully applied to a variety of rehabilitation equipment. In the military field, lower extremity exoskeleton robots are mainly used in the direction of strength enhancement and load enhancement. Whether it is rehabilitation equipment or strength enhancement exoskeletons, the following technologies need to be involved: human gait motion perception and motion information extraction, for different sensing devices, The motion perception technology on the exoskeleton equipment is also different. For the full lower limb power-assisted exoskeleton, the common motion perception method is to place angle sensors ...

Claims

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Application Information

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IPC IPC(8): A61H3/00B25J9/00
CPCA61H3/00B25J9/0006A61H2003/005A61H2201/5092A61H2230/625
Inventor 魏巍林西川查士佳
Owner MEBOTX INTELLIGENT TECH SUZHOU CO LTD
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