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Man-machine interaction intelligent control method of load maneuvering exoskeleton and exoskeleton system

A technology of human-computer interaction and intelligent control, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems such as system instability and poor tracking performance of exoskeleton force, and achieve simplified position calculation, improved control performance, and dynamic balanced effect

Active Publication Date: 2021-06-22
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current human-computer interaction control of exoskeleton still has deficiencies: (1) due to human joint motion, the force tracking performance of exoskeleton is still poor; (2) it is limited by the physical interaction between the wearer and the exoskeleton impact, which may lead to system instability

Method used

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  • Man-machine interaction intelligent control method of load maneuvering exoskeleton and exoskeleton system
  • Man-machine interaction intelligent control method of load maneuvering exoskeleton and exoskeleton system
  • Man-machine interaction intelligent control method of load maneuvering exoskeleton and exoskeleton system

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Embodiment 1

[0088] This embodiment discloses a human-computer interaction intelligent control method for a mobile payload exoskeleton. The method is applied in the mobile payload exoskeleton system 100, so that the mobile payload exoskeleton system can realize coordinated movement with the human body.

[0089] The human-computer interaction intelligent control method includes the following steps:

[0090] S1. Model the human body and the load-mobile exoskeleton as a 5-link model consisting of a torso, two left and right thighs, and two left and right calves. The 5-link model mainly focuses on the study of dynamic characteristics on the sagittal plane, and other planes are ignored due to the small range of motion and the insignificant impact on the dynamics of the exoskeleton system. The 5-link model can be found in figure 1 , figure 1 The left leg in the figure is the support leg, the right leg is the swing leg, q 1 ~q 7 Represent the rotation angles of each part or joint position res...

Embodiment 2

[0162] This embodiment discloses a computer-readable storage medium, which stores a program. When the program is executed by a processor, the human-computer interaction intelligent control method of the load-driven exoskeleton described in Embodiment 1 is realized, specifically as follows:

[0163] S1. Model the human body and the mobile exoskeleton as a 5-link model consisting of a torso, two left and right thighs, and two left and right calves;

[0164] S2. According to the characteristics of the walking of the human body as a cyclical and reciprocating process of the supporting phase and the swinging phase of the two legs, the 5-link model is divided into two subsystems: the supporting leg model and the swinging leg model, and then use the Lagrangian motion equation, Establish the dynamic equations of the supporting leg model and the swinging leg model respectively;

[0165] S3. Design a hybrid control method combining position control and tracking differentiator-based AIA ...

Embodiment 3

[0168] This embodiment discloses a computing device, including a processor and a memory for storing executable programs of the processor. When the processor executes the program stored in the memory, the human body with a mobile-loaded exoskeleton described in Embodiment 1 is realized. The computer interactive intelligent control method is as follows:

[0169] S1. Model the human body and the mobile exoskeleton as a 5-link model consisting of a torso, two left and right thighs, and two left and right calves;

[0170] S2. According to the characteristics of the walking of the human body as a cyclical and reciprocating process of the supporting phase and the swinging phase of the two legs, the 5-link model is divided into two subsystems: the supporting leg model and the swinging leg model, and then use the Lagrangian motion equation, Establish the dynamic equations of the supporting leg model and the swinging leg model respectively;

[0171] S3. Design a hybrid control method c...

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Abstract

The invention discloses a man-machine interaction intelligent control method of a load maneuvering exoskeleton and an exoskeleton system. The method comprises the following steps: firstly, modeling a human body and the load maneuvering exoskeleton into a five-connecting-rod model consisting of a trunk, a left thigh, a right thigh, a left shank and a right shank; dividing the five-connecting-rod model into a supporting leg model and a swinging leg model, and respectively establishing kinetic equations of the two models by utilizing a Lagrange motion equation; and then designing a hybrid control method combining position control and AIA control based on a tracking differentiator, applying the position control to the supporting leg model in a gait period, enabling the joint angle of an exoskeleton to track the joint angle of the human body in real time, applying the AIA control based on the tracking differentiator to the swinging leg model, enabling the exoskeleton to adapt to the human body movement and environment of a wearer by self, achieving the two control methods alternately according to a supporting phase and a swinging phase of the gait cycle, so that the exoskeleton tracks the position of the human body in real time. Coordinated movement of the exoskeleton and the human body can be achieved.

Description

technical field [0001] The invention relates to the technical field of exoskeleton control, in particular to a human-computer interaction intelligent control method and an exoskeleton system for a mobile-loaded exoskeleton. Background technique [0002] The load-mobile exoskeleton is a typical human-machine coupling system. Through the integration of bionics, informatics, advanced control and other technologies, it combines the intelligence of the human body with the power of machinery, which is the perfect combination of the human body and the machine. The thighs and calves of the load-mobile exoskeleton are connected to the hydraulic actuator in a triangle structure at the knee joint. The hydraulic actuator is controlled by a servo drive system and bears the weight of the exoskeleton itself and the external load. [0003] Since the action of the exoskeleton involves the participation of the human body, the human body and the exoskeleton become an organic and unified system...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/00
CPCB25J9/1605B25J9/1607B25J9/1615B25J9/1628B25J9/0006
Inventor 屈盛官尹鹏杨靓曲希帅曾德政姜笑天
Owner SOUTH CHINA UNIV OF TECH
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