Application compliance auxiliary control method for variable stiffness exoskeleton

An auxiliary control and exoskeleton technology, applied in the field of robots, to achieve the effects of easy implementation, improved adaptability, and reduced costs

Pending Publication Date: 2022-07-15
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The reference trajectory of the exoskeleton can be changed in real time according to the user's movement, but there is still a certain delay between the signal

Method used

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  • Application compliance auxiliary control method for variable stiffness exoskeleton
  • Application compliance auxiliary control method for variable stiffness exoskeleton
  • Application compliance auxiliary control method for variable stiffness exoskeleton

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Embodiment Construction

[0062] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0063] The method steps are described in detail below in conjunction with the flow chart: Figure 4 As shown, a voluntary compliance-assisted control method for a variable stiffness exoskeleton, taking the knee joint as an example, includes the following steps:

[0064] Step S1, acquiring and executing a preset control program;

[0065] In step S2, the surface EMG signals of the user's vastus medialis, vastus lateralis, semimembrano...

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Abstract

The invention discloses a volunteer compliance auxiliary control method for a variable stiffness exoskeleton. The control method comprises the following steps: 1) firstly substituting a preprocessed surface electromyogram signal into a musculoskeletal model to calculate and obtain an estimated torque and stiffness of a human joint; 2) setting the auxiliary torque and rigidity of the exoskeleton according to the estimated human joint torque and rigidity; and (3) the torque and rigidity control of the exoskeleton joint is realized by utilizing the elastic characteristic of the variable-rigidity joint. According to the control method, the auxiliary torque of the exoskeleton can be effectively controlled according to the willingness of the user, and the rigidity can be adjusted in real time according to the movement behavior of the user; according to the torque assisting method, a reference track does not need to be set, an additional torque sensor is not needed either, and the assisting requirements of a user in different motion modes are met; the adaptive capacity of the exoskeleton to the environment can be improved through variable stiffness control, and the interaction flexibility of the exoskeleton and a user is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a voluntary compliance auxiliary control method for a variable stiffness exoskeleton. Background technique [0002] my country has entered an aging society, and the number of people with lower extremity motor dysfunction due to age-related diseases is increasing day by day. Lower extremity motor dysfunction has seriously affected their daily life and brought a huge financial and mental burden to their families. Exoskeleton robots are an exciting potential solution to help people with motor impairments return to their daily activities. [0003] Traditional exoskeleton robots are usually driven by a motor with a high reduction ratio and a reducer, which can achieve precise position control. However, it is difficult for users to back-drive the exoskeleton robot due to the high deceleration usually resulting in high back-drive impedance. Especially in the case of sensor failure, it is diffic...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1679
Inventor 朱杨辉吴青聪陈柏赵子越鲁嵩山陈志贤张烨虹
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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