Online torque generator for passive training of exoskeleton robot

Abstract

The invention discloses an online torque generator for passive training of an exoskeleton robot, the exoskeleton robot is a mechano-electronic power device mainly composed of four joints of a left hip, a left knee, a right hip and a right knee, each joint comprises a direct current servo motor, a motor encoder, a Hall sensor and a harmonic speed reducing mechanism, the joint drives the coupling rod piece to move, and the patient and the exoskeleton robot move synchronously in combination with the bandage fixing and connecting piece; the linear torque generator comprises a motion data acquisition and processing module, a man-machine coupling dynamics model based on a genetic algorithm, an online gait track generation module, an online torque generation module and a motor driving module. According to the method, when the patient walks on the ground, the robustness characteristic and the anti-interference characteristic of motion of the robot making contact with the environment can be enhanced, motor operation is effectively protected, harmonic speed reduction equipment for torque output is protected, and the patient walks on the ground more comfortably.

Description

technical field [0001] The invention relates to an online moment generator for passive training of an exoskeleton robot, which belongs to the robot technology. Background technique [0002] The power-assisted exoskeleton robot is a wearable lower limb bionic mechanical leg for walking. It is human-centered, collects the trend of human body movement through sensors, and assists the joints in the same gait direction as the human in terms of assistance. Corresponding movements to stimulate the corresponding skeletal muscle groups; traditional exoskeleton robots still have room for improvement in terms of current direct drive and variable stiffness position control when driving patients for walking training. [0003] Chinese patent application 202010403012.4 proposes a control method, device and system for a powered lower extremity exoskeleton to judge landing by sending torque and collecting torque. The purpose is to reduce the number of sensors of the exoskeleton itself, and i...

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Problems solved by technology

[0005] Purpose of the invention: For the existing exoskeleton robot in the rehabilitation training of the patient using the position mode, because the position mode will cause an impact on the harmonic transmission device when the exoskeleton is manned and walking on the ground, and the position control will cause the motor to generate more useless work rate consumption, shortening the battery power supply time for walking, etc., the present invention provides an online torque generator for active training of exoskeleton robots, which can control the movement of patients according to the change of the center of gravity during walking under the condition that the exoskeleton robot drives the patient to move. The trajectory is corrected online. Through impedance control and feedback compensation, it can achieve the purpose of changing the stiffness of walking, reduce the impact on the mechanical transmission device of the exoskeleton when walking on the ground, improve the service life of harmonics, prolong the use time of batteries, and achieve the goal of taking into account the passiveness of patients. The purpose of training, protecting harmonics and prolonging the use time

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