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Exoskeleton control system and method based on Internet of Things

Active Publication Date: 2021-11-23
HANGZHOU ROBOCT TECH DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, and provide an exoskeleton control system and method based on the Internet of Things, so as to overcome the problems of misjudgment and hysteresis in the existing exoskeleton collaborative control, and to reduce the exoskeleton the cost of

Method used

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  • Exoskeleton control system and method based on Internet of Things
  • Exoskeleton control system and method based on Internet of Things
  • Exoskeleton control system and method based on Internet of Things

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Experimental program
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Embodiment 1

[0035] Such as figure 1 , 2 As shown, the exoskeleton control system based on the Internet of Things described in this embodiment includes a controller 2, at least one camera 1, and at least one exoskeleton 3; the controller is respectively connected to the camera and the exoskeleton in communication; the camera Installed in the activity space of the exoskeleton user, such as on a wall or on a column, and used to collect images in the activity space of the exoskeleton user in real time; the activity space of the user of the exoskeleton refers to the The space where the exoskeleton is located, or the preset space in which the exoskeleton user can perform activities, such as home, hospital, rehabilitation center and other places, the activity space can be closed or open. The controller is used to obtain and recognize the images collected by the camera, so as to recognize the motion intention and / or gait of the user of the exoskeleton, and control the action of the exoskeleton a...

Embodiment 2

[0046] Such as image 3 As shown, the exoskeleton control method based on the Internet of Things described in this embodiment can use the exoskeleton control system of the first embodiment, and the control method includes:

[0047] Step 1: at least one camera set in the exoskeleton activity space collects images in the exoskeleton user activity space in real time, and transmits the images to the controller;

[0048] Step 2: The controller recognizes the image collected by the camera, and judges whether there is an exoskeleton device in the image; if it exists, execute step 3, and if not, return to step 1;

[0049] Step 3: According to the above image, further judge whether the exoskeleton is worn on the user's body, if so, identify the exoskeleton ID set on the exoskeleton, and make the controller establish a short-distance communication connection with the exoskeleton corresponding to the exoskeleton ID ;

[0050] Step 4: The controller recognizes the user's motion intentio...

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Abstract

The invention relates to the technical field of exoskeleton cooperative control, in particular to an exoskeleton control system and method based on the Internet of Things. The system comprises a controller, at least one camera and at least one exoskeleton, wherein the controller is in communication connection with the camera and the exoskeleton; the camera is installed in the activity space of an exoskeleton user; the camera is installed in the activity space of an exoskeleton user, and is used for acquiring images in the activity space of the exoskeleton user; and the controller is used for obtaining and recognizing the images acquired by the camera so as to recognize the motion intention and / or gait of the exoskeleton user and is used for optimizing exoskeleton control parameters in a targeted mode, so that a customized rehabilitation scheme and rehabilitation strategy adjustment in different stages are achieved. According to the exoskeleton control system and method, the exoskeleton used in the activity space is controlled in the aspect of motion intention and / or gait recognition by using the existing camera and controller as well as a mature image recognition technology.

Description

technical field [0001] The present invention relates to the technical field of exoskeleton cooperative control, in particular to an exoskeleton control system and method based on the Internet of Things. Background technique [0002] In the gait synchronization control of the existing exoskeleton, the plantar pressure sensor, inclination sensor, etc. are usually used to sense the human's movement intention or gait, so as to realize the human-machine cooperative movement of the exoskeleton and the human. However, physical sensors have a lag in time, which is prone to misjudgment when the ground is uneven or when going up and down stairs. Bioelectric sensing information can directly reflect the wearer's motion intention. Compared with physical sensors, its response is faster, but the price is more expensive and the technology is not mature enough. [0003] Now the Internet of Things technology has been widely used, and it is very common for smart devices, including surveillanc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/16B25J9/1697B25J9/1679
Inventor 王天
Owner HANGZHOU ROBOCT TECH DEV CO LTD