Method for assisting robot in walking

A technology of robots and walking robots, which is applied in the directions of appliances, instruments, and radio wave reflection/reradiation to help people walk, and can solve problems such as unpredictable terrain types, and achieve the effect of ensuring smoothness of walking and balance of walking

Inactive Publication Date: 2021-05-07
XINTIANDI BARCODE TECH ZHUHAI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, traditional assisted walking robots cannot an...

Method used

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  • Method for assisting robot in walking

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Embodiment approach

[0044] The present invention also has the following implementation manner, the method further includes: determining the motion state: determining whether the motion state of the at least one joint is changed based on the corrected motion instruction. The at least one joint includes at least one of a hip joint, a knee joint, and an ankle joint.

[0045] The walking assistance robot has a sensing unit that can sense the motion of at least one joint. In order to control each joint (such as the left hip joint, the right hip joint, the left knee joint, and the right knee joint), the motion of each joint may be determined individually, and an individual control signal may be generated based on the determined result. Therefore, the motions of the left and right hip joints and the left and right knee joints are continuously determined in all walking phases, and motion information is calculated based on the determined motions.

[0046] In some embodiments, the method further includes a ...

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Abstract

The invention provides a method for assisting a robot in walking. The method comprises the steps that a control mode of the walking robot is determined by analyzing ground information; an action instruction is generated based on the determined control mode to control the walking robot; action information is collected by sensing or measuring the action of at least one joint of the walking robot; the action state of the at least one joint is determined based on the collected action information; and the action instruction is corrected based on the determined action state of the at least one joint. Ground information detection is conducted to generate the action instruction based on the current ground, and thus the walking robot is assisted in conducting adaptive walking under the current road surface; and information of all the joints is detected to correct the action instruction in real time, and thus walking balance and walking smoothness of the walking robot are ensured.

Description

technical field [0001] The invention relates to the field of walking robots, in particular to a method for assisting a robot to walk. Background technique [0002] A walking aid device is a device that assists a user in performing the motion of walking. A user may have difficulty walking due to various reasons including weak leg muscle strength caused by, for example, congenital causes such as genetic defects or acquired causes such as disease or accidents. [0003] Assisted walking devices may include assisted walking vehicles and assisted walking robots. In the assisted walking vehicle, a rotation unit and a support portion for supporting a user are installed, and the rotation unit and the support portion are moved in response to a pushing force applied by a user. [0004] On the other hand, the assisting walking robot is fixed to the user's leg and supplements the lack of strength required for walking by applying the force required for walking to muscles. For example, ...

Claims

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Application Information

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IPC IPC(8): A61H3/00G01S13/931
CPCA61H3/00G01S13/931A61H2003/005A61H2003/007A61H2201/14A61H2201/1642A61H2201/1659A61H2201/50A61H2205/10A61H2205/085A61H2205/102A61H2205/12
Inventor 刘笑彤李小山陈伯行黄海军
Owner XINTIANDI BARCODE TECH ZHUHAI
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