Method for generating auxiliary standing track of robot

Abstract

The invention provides a method for generating an auxiliary standing track of a robot, and the method comprises the following steps: 1, obtaining human body measurement parameters, including the lengths, masses, mass center positions and rotational inertia of feet, shanks, thighs and whole upper limb torso of a human body; 2, inputting anthropometric parameters into the simplified human body model to obtain a simplified human body dynamic model, and converting the simplified dynamic model into a state-space equation which takes the human body joint torque as a control quantity and takes the human body joint angle and angular velocity as state quantities; and step 3, inputting the obtained state-space equation into a robot-assisted standing track generator to obtain a track. The different auxiliary standing tracks can be generated according to the heights, weights and physical conditions of different human bodies, the adaptability of the auxiliary standing tracks of the robot to different human bodies is enhanced, and the trouble that the auxiliary tracks are generated by collecting human body postures through an external sensor is avoided.

Description

technical field [0001] The invention relates to the field of medical aided rehabilitation, in particular to a method for generating a robot-assisted standing trajectory. Background technique [0002] The decline of lower limb muscle strength due to aging or other diseases is the main reason why many elderly and disabled people cannot complete independent standing and walking, and the transfer and handling of such people is an important part of nursing work. Using robots instead of nursing staff to complete the transfer and handling work can greatly reduce the workload of nursing staff. At present, a large number of research institutions and medical equipment companies are developing and developing robots or other auxiliary equipment for transferring and handling the elderly. According to the way of transfer and handling, these devices can be divided into hanging bag type, backpack type, standing type and so on. Wherein, the standing transfer equipment generally relies on a...

AI Technical Summary

Problems solved by technology

However, they did not consider the constraints of the end effector of the standing assistance system when designing the optimal control problem, which makes the standing assistance system may not be able to complete the assisting standing task according to the generated trajectory

At the same time, they did not consider the changes in the human body trajectory during the natural standing process of the human body when the body leans forward.

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