Outer limb robot auxiliary supporting method based on variable stiffness

Abstract

The invention discloses an outer limb robot auxiliary supporting method based on variable stiffness. The method comprises the following steps: firstly, acquiring data of a surface myoelectricity sensor and an inertial sensor; processing the data of the inertial sensor, and judging whether the wearer has an operation intention or not; preprocessing the data of the surface myoelectricity sensor, wherein the preprocessing comprises full-wave rectification, low-pass filtering and normalization; the preprocessed surface electromyogram signals are used for estimating the reference stiffness of the arm of the wearer; the reference rigidity of the arm is mapped into an impedance control model of the outer limb robot. According to the method, the human body arm rigidity and the mechanical arm rigidity are coordinated, man-machine cooperation of people and outer limbs in the overhead supporting task is achieved, and the personnel investment in the task can be reduced. When the rigidity of the arm of the wearer is reduced, the rigidity of the mechanical arm is increased, the outer limbs can generate larger supporting force when the operator is tired, the working intensity of the wearer is reduced, and the risk that the wearer is tired and injured is reduced.

Description

technical field [0001] The invention belongs to the field of wearable robots, and in particular relates to an auxiliary support method for an external limb robot based on variable stiffness. Background technique [0002] With the rapid development of the population aging trend and the change of people's work concept, the problem of labor shortage has gradually become prominent. The "2020 Migrant Workers Monitoring Survey Report" released by the National Bureau of Statistics shows that in 2020, the total number of migrant workers in the country will decrease by 5.17 million or 1.8% compared with last year, and the proportion of migrant workers over 50 years old will be 26.4%, an increase from the previous year. 1.8 percentage points. Therefore, solving the problem of labor shortage and improving working conditions has become a difficult problem that needs to be solved in the development of China and the world at present. With the advancement of robot technology, robots have...

AI Technical Summary

Problems solved by technology

[0003] At present, common wearable auxiliary robots include prosthetics and exoskeleton robots. Prosthetics can be used to compensate for the lack of motor skills of the human body, but cannot increase the wearer's work space; exoskeleton robots fit the wearer's limbs and drive through the joints The device assists the human body but restricts the wearer's limb movement

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