Wearable mountaineering power-assisted robot and power-assisted control method thereof

Abstract

The invention relates to a wearable power-assisted robot, in particular to a wearable mountaineering power-assisted robot which comprises a wearable mechanical exoskeleton, wherein in each gait period, hip joints on the same side of the wearable mechanical exoskeleton actively output buckling direction power-assisted torque and hip joints on the different sides of the wearable mechanical exoskeleton synchronously and actively output stretching direction power-assisted torque; an inertia measurement unit used for measuring hip joint angle values and angular speed values of the two legs of the human body in each gait period; and a microprocessor used for obtaining a walking phase angle according to a feedback value of the inertia measurement unit in each gait period, so that a function relationship between the walking phase angle and a parameterized assistance curve is obtained by establishing a mapping model, and then the microprocessor outputs a PWM driving signal to control the hip joints of the wearable mechanical exoskeleton to actively output an assisting torque corresponding to the parameterized assistance curve. Meanwhile, the invention further designs a power-assisted control method. The technical problem of mountain climbing assistance online adjustment is solved, and mountain climbing assistance experience is optimized.

Description

technical field [0001] The invention relates to a wearable power-assisted robot, in particular to a wearable mountain-climbing power-assisted robot, and a power-assisted control method of the wearable mountain-climbing power-assisted robot. Background technique [0002] With the development of mountaineering tourism, there are more and more auxiliary equipment for mountaineering. The main purpose is to help passengers reduce excessive physical exertion during mountaineering, reduce the loss of lower limb joints, and improve the overall experience of mountaineering and enjoying the scenery. [0003] For example, a four-action system mountaineering auxiliary belt recorded in the Chinese invention patent application document with application number CN201810679111. Belts and right shoulder straps are fixed with buckles at the front and bottom, and the buckles are used to connect the biceps femoris support strap; the upper back of the left shoulder strap and the right shoulder st...

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