Flexible exoskeleton system and method capable of monitoring multivariate physiological energy consumption of wearer

Abstract

The present invention provides a flexible exoskeleton system and method capable of monitoring the multivariate physiological energy consumption of the wearer, the whole structure is fixed to the wearer through a soft shell, a wire spool is driven to rotate through a high-power steering engine, Bowden wires wound around the wire spool are driven to be wound and unwound, and power assisting and unloading of hip joints and ankle joints are achieved; the flexible exoskeleton control module collects motion information through an IMU, performs motion intention recognition, generates a PWM signal according to a recognition result, drives a stay wire steering engine to rotate, collects a Bowden cable tail end tension through a tension and compression sensor, feeds back a tension result to generate a PWM signal, and drives the stay wire steering engine to rotate; the multi-element physiological energy consumption analysis module collects physiological signals, carries out filtering, feature extraction and weighted fusion on the signals and carries out energy consumption calculation in the upper computer, an energy consumption calculation result is transmitted to the microprocessor through a TCP protocol, the energy consumption result is fed back to generate a PWM signal, and the stay wire steering engine is driven to rotate; and meanwhile, real-time display is carried out based on a labview energy consumption monitoring display interface.

Description

technical field [0001] The invention relates to the interdisciplinary technical field of biomedical engineering and mechatronic engineering, in particular to a flexible exoskeleton system and method capable of monitoring multiple physiological energy consumption of a wearer. Background technique [0002] Human-machine collaboration is the development trend of modern industry. With the development of robotics and biomedical engineering technology, the interaction and cooperation between exoskeleton robots and human bodies has become more harmonious. The biggest feature is that the development of exoskeletons pays more and more attention to the biological level. Human-computer interaction, using the motion intention recognition results to control the movement of the exoskeleton, so as to ensure the comfort and safety of the human body while effectively assisting. [0003] At present, there are already some lower extremity exoskeleton devices at home and abroad, most of which u...

AI Technical Summary

Problems solved by technology

[0006] To sum up, the existing exoskeleton system makes the movement of the joints of the lower limbs unnatural, and cannot effectively solve the problems of excessive consumption of human body metabolism caused by the exercise of certain groups of people. There is no tension feedback, safety cannot be guaranteed, and energy consumption cannot be guaranteed. Evaluation, poor real-time human-computer interaction

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