Flexible exoskeleton system and method capable of monitoring wearer's multiple physiological energy consumption

Abstract

The invention provides a flexible exoskeleton system and method capable of monitoring multiple physiological energy consumption of the wearer. The overall structure is fixed with the wearer by using a soft shell, and the winding reel is driven to rotate by a high-power steering gear to drive the exoskeleton wound on the reel. The Bowden line is retracted and released to realize the boost and unloading of the hip joint and ankle joint; the flexible exoskeleton control module collects motion information through the IMU and recognizes the motion intention, generates a PWM signal according to the recognition result, and drives the wire steering gear to rotate. At the same time, the tensile force at the end of the Bowden line is collected through the tension and pressure sensor, and the result of the tension is fed back to generate a PWM signal to drive the steering gear of the cable to rotate; the multivariate physiological energy consumption analysis module collects physiological signals, and performs filtering, feature extraction, and weighted fusion on the signals. The energy consumption calculation is carried out in the upper computer, and the energy consumption calculation result is transmitted to the microprocessor through the TCP protocol, and the energy consumption result is fed back to generate a PWM signal to drive the pull-wire steering gear to rotate; at the same time, it is displayed in real time based on the 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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