Human body assisting apparatus and accessory motion testing platform, and operation method

Abstract

A human body assisting apparatus and an accessory motion testing platform, comprising: a mobile motion platform (2), a multi-degree-of-freedom robotic arm (5), a motion capture system (8), a ground acting force measurement table (1), and a controller. By controlling the mobile motion platform (2) and the multi-degree-of-freedom robotic arm (5), the testing platform reproduces three-dimensional trajectories and postures of some limbs of a human body in a motion process and an interaction force between the limbs of the human body, so as to quickly verify some motion functions of an artificial limb, and shorten a research and development period of a human body assisting apparatus (7) comprising the artificial limb. In addition, the motion capture system (8) is used for measuring three-dimensional trajectories and postures of the multi-degree-of-freedom robotic arm (5) and the human body assisting apparatus (7), and the ground acting force measurement table (1) is used for measuring an interaction force between the human body assisting apparatus (7) and the ground. The motion testing platform can accurately reproduce motion trajectories and motion postures of limbs of a human body and an interaction force between the limbs, thereby improving the motion testing efficiency and accuracy of the human body assisting apparatus, and significantly reducing the human body testing cost. Further provided is an operation method for a human body assisting apparatus and an accessory motion testing platform.

Description

A human body power assist device and accessory motion testing platform and operation method Technical Field

[0001] The invention belongs to the technical field of design and control of robot bionic control and human body power-assisting devices, and relates to a human body power-assisting device and an accessory motion test platform and an operation method. Background Art

[0002] Due to limb disability or stroke, lower limb amputees and stroke patients suffer impaired motor function and a significant decline in their quality of life. This issue has garnered widespread public and government attention. To address this issue, researchers and rehabilitation medical companies have developed a variety of human-assistance devices to help people with impaired motor function, such as amputees and the elderly, regain motor function. The design and control of traditional human-assistance devices requires recruiting a large number of suitable subjects for experimental testing of the developed devices, a time-consuming, labor-intensive, and expensive process.

[0003] As mentioned above, there are many problems with the existing functional testing methods of human power assist devices. First, human testing needs to meet the complicated ethical permits for human testing. The application and acquisition of ethical permits will take a lot of time to prepare the relevant application materials and wait for the review and approval of the relevant departments. Secondly, during the human testing process, factors such as the subject's exercise fatigue and exercise safety need to be considered. The motion test of the human power assist device will be dangerous and there is a probability of causing harm to the experimenter. Human testing requires the accompaniment of a professional orthotic, and the subject also needs a certain amount of adaptation time, which will greatly increase the cost of prosthetic testing. In addition, the amount of data required for the motion test of the human power assist device is large, and the experimenter needs to conduct the test for a long time and multiple times, which places high physical demands on the experimenter.

[0004] Summary of the Invention

[0005] The present invention proposes a motion testing platform and operation method for a human power-assist device and its accessories, which can accurately reproduce the motion trajectory, motion posture and interaction force between human limbs, thereby replacing early human testing, improving the efficiency and accuracy of motion testing of human power-assist devices, helping designers to quickly verify and iterate, speeding up the device's research and development process, and significantly reducing the cost of human testing.

[0006] The technical solution of the present invention to solve the above problems is: a human body power assist device and accessory motion testing platform, which is special in that it includes:

[0007] A mobile motion platform is used to realize horizontal movement, oblique upward or oblique downward movement of the test platform, thereby expanding the motion range of the test platform;

[0008] A multi-degree-of-freedom robotic arm is mounted on the mobile motion platform, and an actuator end of the multi-degree-of-freedom robotic arm is connected to a human power-assist device being tested, such as a lower limb prosthesis, a lower limb exoskeleton, an upper limb prosthesis, or an upper limb exoskeleton, to reproduce a specific three-dimensional trajectory and posture, while also being able to control the interaction force and torque with the human power-assist device;

[0009] A motion capture system for detecting the three-dimensional coordinates and posture of each joint and the actuator end of the multi-degree-of-freedom robotic arm, and detecting the three-dimensional coordinates and posture of each joint of the human power assist device;

[0010] A ground force detection platform for detecting the interaction force and torque between the human body power assist device and the ground;

[0011] The controller controls the angle, angular velocity, angular acceleration, and driving torque of each joint of the mobile motion platform and the multi-degree-of-freedom robotic arm based on feedback signals such as force, torque, displacement, angle, velocity, angular velocity, angular acceleration, and acceleration of the mobile motion platform, the multi-degree-of-freedom robotic arm, and the motion capture system, and the ground force detection platform.

[0012] Furthermore, the mobile motion platform can adopt a variety of driving modes, including wheel drive, track drive, rail drive, etc., and can move on flat ground, slopes, and stairs, and can realize feedback and control of displacement, speed, and acceleration.

[0013] Furthermore, the multi-degree-of-freedom robotic arm should include at least 3 degrees of freedom when used for specific three-dimensional trajectory tracking, and at least 6 degrees of freedom when used for specific three-dimensional trajectory and posture tracking.

[0014] Furthermore, the multi-degree-of-freedom robotic arm should include at least 2 degrees of freedom when used for specific planar trajectory tracking, and should include at least 4 degrees of freedom when used for specific planar trajectory and posture tracking.

[0015] Furthermore, a three-axis force and torque sensor is installed between the actuator end of the multi-degree-of-freedom robotic arm and the human body assist device, which is used to detect the interaction force and torque between the actuator end of the multi-degree-of-freedom robotic arm and the human body assist device in real time.

[0016] Furthermore, when the multi-degree-of-freedom robotic arm is used for testing below-knee prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point of the calf of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the below-knee prosthesis and exoskeleton should reproduce the mutual force and torque between the lower and upper parts of the calf of a normal person, amputee or stroke patient.

[0017] Furthermore, when the multi-degree-of-freedom robotic arm is used to test above-knee prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the thigh of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the above-knee prosthesis and exoskeleton should reproduce the mutual force and torque between the lower and upper parts of the thigh of a normal person, amputee or stroke patient.

[0018] Furthermore, when the multi-degree-of-freedom robotic arm is used for testing lower-limb prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the trunk and pelvis of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the lower-limb prosthesis and exoskeleton should reproduce the mutual force and torque between the lower and upper parts of the trunk and pelvis of a normal person, amputee or stroke patient.

[0019] Furthermore, when the multi-degree-of-freedom robotic arm is used for testing upper limb arm prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the shoulder of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down slopes, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the upper limb arm prosthesis and exoskeleton should reproduce the mutual force and torque of the shoulder and arm of a normal person, amputee or stroke patient.

[0020] Furthermore, when the multi-degree-of-freedom robotic arm is used for testing upper arm prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the upper arm of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the upper limb prosthesis and exoskeleton should reproduce the mutual force and torque between the lower end and the upper end of the upper arm of a normal person, amputee or stroke patient.

[0021] Furthermore, the motion capture system can be an inertial measurement unit, which is fixed on the multi-degree-of-freedom robotic arm and the human power assist device, and can detect information such as the position, speed, acceleration, angle, angular velocity and posture of the multi-degree-of-freedom robotic arm and the human power assist device in real time.

[0022] Furthermore, the motion capture system can be an optical infrared capture system, in which infrared reflective marking points are fixed on the multi-degree-of-freedom robotic arm and the human power assist device. The position of the infrared reflective marking points can be captured in real time by an infrared camera installed on the ground, and information such as the position, speed, acceleration, angle, angular velocity and posture information of the multi-degree-of-freedom robotic arm and the human power assist device can be obtained through calculation.

[0023] Furthermore, the motion capture system can be a combination of an optical infrared capture system and an inertial measurement unit, which is used to measure the position, speed, acceleration, angle, angular velocity and posture information of the freedom robot arm and the human power assist device.

[0024] Furthermore, the motion capture system can be an optical infrared capture system, in which an infrared reflective marker point is fixed on the mobile motion platform, and the position of the infrared reflective marker point can be captured in real time by an infrared camera installed on the ground, and the position, speed and acceleration of the mobile motion platform can be obtained by calculation.

[0025] Furthermore, the ground force detection platform can be installed on flat ground, treadmill, slope and stairs, and is used to detect the interaction force and torque between the human power assist device and the ground in the corresponding motion mode, including forces in three directions and torques in three directions.

[0026] Furthermore, the hardware part of the controller includes a signal processing module, a control module, a drive module, and a power supply module.

[0027] Furthermore, the control module in the controller is used to store the motion control algorithm for running the mobile motion platform and the multi-degree-of-freedom robotic arm, thereby controlling the mobile motion platform to run according to the set route and speed, and the multi-degree-of-freedom robotic arm to move according to the planned trajectory and posture, while controlling the interaction force and torque between the multi-degree-of-freedom robotic arm and the human body power assist device.

[0028] In addition, the present invention also proposes an operating method based on the above-mentioned human power assist device and accessory motion testing platform, which is characterized by comprising the following steps:

[0029] S1. Identify the type of human power assist device being tested, such as ankle-foot prosthesis, ankle-foot exoskeleton, knee prosthesis, knee exoskeleton, lower limb exoskeleton, upper limb exoskeleton, upper limb prosthesis, etc.

[0030] S2. Collecting motion information of a potential user of the human power assist device, such as the three-dimensional trajectory, velocity, acceleration, and three-dimensional posture information of a fixed point on the thigh of an above-knee amputee with a knee prosthesis while walking on flat ground, on a treadmill, walking up / downhill, or walking up / down stairs, establishing a mathematical model of human limb motion, and analyzing the interaction force and torque between the lower thigh and the upper thigh;

[0031] S3. Processing the collected human body dynamics data, such as the 3D trajectory, velocity, acceleration, and 3D posture information of a fixed point on the thigh, separating the horizontal translation from the 3D trajectory to control the mobile motion platform. The remaining 3D trajectory components and 3D posture are used to control the multi-degree-of-freedom robotic arm for tracking and reproduction. In addition, the interaction force and torque between the multi-degree-of-freedom robotic arm and the human body assist device also require feedback control;

[0032] S4. Feedback measurement. To enable the mobile motion platform and multi-degree-of-freedom robotic arm to achieve their intended functions, the displacement, velocity, and acceleration of the mobile motion platform must be measured. The angles, angular velocities, three-dimensional coordinates, and postures of the joints and actuator ends of the multi-degree-of-freedom robotic arm must also be measured. The interaction force between the end of the multi-degree-of-freedom robotic arm and the human body assist device, as well as the force between the assist device and the ground, must also be measured. The measurement sensors may be one or more of an angle sensor, a laser displacement sensor, a force sensor, a torque sensor, a displacement sensor, or an optical infrared motion capture system.

[0033] S5. Closed-loop control: Determine the motion trajectory of the end effector of the robotic arm based on the above-mentioned mathematical model of human limb motion, calculate the position and posture of each joint of the robotic arm and the forward distance of the robotic arm in space at the same time through inverse kinematics, and design the motion control algorithm and instructions of the robotic arm and mobile chassis.

[0034] S6. Compare the data obtained from the human body power assist device and accessory motion test platform with the errors of the human limb motion mathematical model, adjust and optimize the motion control algorithm and instructions, improve the accuracy and stability of the human limb model in reproducing the motion state, and update the human body power assist device and accessory based on the data to improve the performance of the human body power assist device and accessory;

[0035] Advantages of the present invention:

[0036] The present invention uses a robotic arm in conjunction with a human limb model to replace the experimenter in performing the motion test of the human power-assist device and its accessories, avoiding the possibility of physical harm to the experimenter during the test and the ethical review issue of experiments on disabled people. Under normal power supply conditions, the platform can work continuously for several hours, improving the efficiency of the motion test of the human power-assist device and its accessories. The robotic arm performs operations according to predetermined instructions, avoiding human errors. The robotic arm integrated by the computer can record experimental data in real time to ensure the integrity of the experimental data. The robotic arm can work in a specific environment, improving the reliability of the test of the human power-assist device and its accessories. The platform can test different human power-assist devices and accessories, and has motion test diversity. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic diagram showing the characteristics of a complete gait cycle of a human body;

[0038] Figure 2 is a schematic diagram of the changes in hip joint angle during a complete gait cycle of a human body (walking on a treadmill);

[0039] Figure 3 is a schematic diagram of the changes in knee joint angle during a complete gait cycle of a human body (walking on a treadmill);

[0040] Figure 4 is a schematic diagram of the ankle joint angle changes during a complete gait cycle of a human body (walking on a treadmill);

[0041] Figure 5 is a schematic diagram of the vertical force acting on the ground during a complete gait cycle of a human body (walking on a treadmill);

[0042] Figure 6 is a schematic diagram of the horizontal ground forces during a complete gait cycle of a human body (walking on a treadmill);

[0043] Figure 7 is a schematic diagram of the three-dimensional trajectory of the straight line connecting the thigh marker point and the knee joint marker point during the human gait cycle (walking on a treadmill);

[0044] Figure 8 shows a wheeled human power assist device and accessory motion performance test platform equipped with an optical infrared capture system and a ground force plate;

[0045] Figure 9 shows a wheeled human power assist device and accessory motion performance test platform equipped with an inertial measurement unit and ground force plates;

[0046] Figure 10 shows a wheeled human body power assist device and accessory motion performance test platform for testing prosthetic limb performance on a ramp;

[0047] Figure 11 shows a guide rail type human power assist device and accessories motion performance test platform equipped with a motion capture system to test prosthetic performance;

[0048] Figure 12 shows a guide rail type human body power assist device and accessories motion performance test platform staircase test prosthetic performance;

[0049] FIG13 is a method for using and operating a guide rail type human power assist device and an accessory motion performance test platform;

[0050] Description of reference numerals:

[0051] 1. Force plate; 2. Wheeled mobile operating platform; 3. Control box; 4. Ultrasonic sensor; 5. Operating robot arm; 6. Connectors; 7. Prosthesis; 8. Motion capture camera; 9. Reflective marking points; 10. Inertial measurement unit; 11. Drive motor; 12. Guide rail; 13. Limiter; 14. Synchronous belt; 15. Sliding operating platform. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is claimed, but merely represents selected embodiments of the present invention.

[0053] The present invention provides a human body power-assisting device and an accessory motion testing platform, comprising a mobile motion platform, a multi-degree-of-freedom mechanical arm, a motion capture system, a ground force detection platform and a controller.

[0054] The mobile motion platform is used to realize horizontal movement, oblique upward or oblique downward movement of the test platform, thereby expanding the motion range of the test platform.

[0055] Specifically, the mobile motion platform can adopt a variety of drive modes, including wheel drive, track drive, and guide rail drive, enabling movement on flat ground, slopes, and stairs, and providing feedback and control of displacement, velocity, and acceleration. The drive mode of the mobile chassis is determined by the installation conditions of the human power assist device and accessory motion test platform, improving the adaptability of the human power assist device and accessory motion test platform.

[0056] The multi-degree-of-freedom robotic arm is installed on the mobile motion platform, and the actuator end of the multi-degree-of-freedom robotic arm is connected to the human power-assisting device being tested, such as a lower limb prosthesis, a lower limb exoskeleton, an upper limb prosthesis, and an upper limb exoskeleton, to reproduce a specific three-dimensional trajectory and posture, and at the same time control the interaction force and torque with the human power-assisting device.

[0057] The motion capture system is used to detect the three-dimensional coordinates and posture of each joint and execution end of the multi-degree-of-freedom robotic arm, and to detect the three-dimensional coordinates and posture of each joint of the human power assist device.

[0058] The ground force detection platform is used to detect the interaction force and torque between the human body power-assisting device and the ground.

[0059] The controller controls the angle, angular velocity, angular acceleration, and driving torque of each joint of the mobile motion platform and the multi-degree-of-freedom robotic arm based on feedback signals such as force, torque, displacement, angle, velocity, angular velocity, angular acceleration, and acceleration of the mobile motion platform, the multi-degree-of-freedom robotic arm, and the motion capture system, and the ground force detection platform.

[0060] Specifically, when the multi-degree-of-freedom robotic arm is used for specific three-dimensional trajectory tracking, it should include at least 3 degrees of freedom, and when used for specific three-dimensional trajectory and posture tracking, it should include at least 6 degrees of freedom; when the multi-degree-of-freedom robotic arm is used for specific planar trajectory tracking, it should include at least 2 degrees of freedom, and when used for specific planar trajectory and posture tracking, it should include at least 4 degrees of freedom.

[0061] Specifically, a three-axis force and torque sensor can be installed between the actuator end of the multi-degree-of-freedom robotic arm and the human body assist device to detect the interaction force and torque between the actuator end of the multi-degree-of-freedom robotic arm and the human body assist device in real time.

[0062] As a preferred embodiment of the present invention, the multi-degree-of-freedom robotic arm should meet the following requirements when used for testing:

[0063] When the multi-degree-of-freedom robotic arm is used to test below-knee prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point of the lower leg of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the below-knee prosthesis and exoskeleton should reproduce the mutual force and torque between the lower and upper parts of the lower leg of a normal person, amputee or stroke patient;

[0064] When the multi-degree-of-freedom robotic arm is used to test above-knee prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the thigh of a healthy person, amputee, or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, or going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity, and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the above-knee prosthesis and exoskeleton should reproduce the mutual force and torque between the lower and upper parts of the thigh of a healthy person, amputee, or stroke patient;

[0065] When the multi-degree-of-freedom robotic arm is used to test lower-limb prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the trunk and pelvis of a normal person, amputee, or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, or going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity, and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the lower-limb prosthesis and exoskeleton should reproduce the mutual force and torque between the lower and upper parts of the trunk and pelvis of a normal person, amputee, or stroke patient;

[0066] When the multi-degree-of-freedom robotic arm is used for testing upper limb prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the shoulder of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the upper limb prosthesis and exoskeleton should reproduce the mutual force and torque of the shoulder and arm of a normal person, amputee or stroke patient;

[0067] When the multi-degree-of-freedom robotic arm is used for testing upper arm prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the upper arm of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the upper limb prosthesis and exoskeleton should reproduce the mutual force and torque between the lower end and the upper end of the upper arm of a normal person, amputee or stroke patient.

[0068] As a preferred embodiment of the present invention, the motion capture system can be an inertial measurement unit, which is fixed on the multi-degree-of-freedom robotic arm and the human power assist device, and can detect information such as the position, speed, acceleration, angle, angular velocity and posture of the multi-degree-of-freedom robotic arm and the human power assist device in real time.

[0069] The motion capture system can also be an optical infrared capture system, in which infrared reflective marking points are fixed on the multi-degree-of-freedom robotic arm and the human power assist device. The position of the infrared reflective marking points can be captured in real time by an infrared camera installed on the ground, and information such as the position, speed, acceleration, angle, angular velocity and posture information of the multi-degree-of-freedom robotic arm and the human power assist device can be obtained through calculation.

[0070] Of course, the motion capture system can also be a combination of an optical infrared capture system and an inertial measurement unit to measure the position, speed, acceleration, angle, angular velocity and posture information of the freedom robot arm and the human power assist device.

[0071] As a preferred embodiment of the present invention, the motion capture system can be an optical infrared capture system, in which the infrared reflective marking point is fixed on the mobile motion platform, and the position of the infrared reflective marking point can be captured in real time by an infrared camera installed on the ground, and the position, speed and acceleration of the mobile motion platform can be obtained by calculation.

[0072] Specifically, the ground force detection platform can be installed on flat ground, treadmill, slope and stairs, and is used to detect the interaction force and torque between the human body power assist device and the ground in the corresponding motion mode, including forces in three directions and torques in three directions.

[0073] As a preferred embodiment of the present invention, the hardware part of the controller includes a signal processing module, a control module, a drive module, and a power supply module.

[0074] Specifically, the control module in the controller is used to store the motion control algorithm for running the mobile motion platform and the multi-degree-of-freedom robotic arm, thereby controlling the mobile motion platform to run according to the set route and speed, and the multi-degree-of-freedom robotic arm to move according to the planned trajectory and posture, while controlling the interaction force and torque between the multi-degree-of-freedom robotic arm and the human body power assist device.

[0075] See Figure 8, which shows a wheeled human body assist device and accessory motion performance testing platform equipped with an optical infrared capture system and a ground force plate. Specifically, it includes: a force plate 1, a wheeled mobile operating platform 2, a control box 3, an ultrasonic sensor 4, an operating manipulator 5, connectors 6, a prosthetic limb 7, and a motion capture camera 8. The force plate 1 is mounted on a level surface, the control box 3 is fixed to the wheeled mobile operating platform 2, the controller is located inside the control box 3, and the ultrasonic sensor 4 is fixed to the outside of the control box 3. To provide real-time feedback on the motion speed of the mobile chassis, a photoelectric encoder is installed on the output shaft of the motor that drives the drive wheels. Through signal processing and calculation, the speed of the mobile chassis is fed back to the control module in the control box in real time. The base of the manipulator arm 5 is fixed to the top of the control box 3 using universal fasteners, and the rotary joint, drive motor, chain, and end effector are installed in sequence. The end effector can be equipped with a mechanical gripper, flange, etc. according to the device being tested. A sensor for feedback of the interaction force between the human power assist device and the manipulator arm 5 is installed at the bottom of the manipulator arm 5 end effector, and the power cord is connected to the power module in the control box 3. The human limb model is fixed to the manipulator arm end effector using a connector 6, or the end of the human limb model is directly clamped using a mechanical gripper when stability is guaranteed. The human power assist device and accessories are then worn on the manipulator arm. Marking points for feedback of motion trajectories are affixed to key parts and joint positions of the manipulator arm end effector, the human limb model, and the human power assist device and accessories. In addition, dynamic capture cameras 8 for capturing motion are installed around the mobile chassis. The force measurement platform for feedback of the interaction force between the human power assist device and the ground is installed in a rectangular shape. Referring to Figure 10, the force plate 1 is set on a slope. The wheeled human power assist device and accessory motion performance test platform can test prosthetic performance on a slope.

[0076] FIG9 is a wheeled human power assist device and accessory motion performance test platform, which differs from the test platform shown in FIG8 in that the human power assist device is equipped with an inertial measurement unit 10 .

[0077] Refer to Figure 11, which shows a guide rail type human power assist device and accessory motion performance test platform, which is equipped with a motion capture system to test the performance of the prosthesis. The mobile motion platform adopts a guide rail drive mode, specifically including: a drive motor 11, a guide rail 12, a limiter 13, a synchronous belt 14 and a sliding operating platform 15. The force plate 1 is set on the horizontal ground, the guide rail 12 is fixed as a whole, the drive motor 11 drives the synchronous belt 14 to move, and the synchronous belt 14 drives the sliding operating platform 15 to move horizontally along the guide rail 12. The limiters 13 are set at both ends of the mobile motion platform for limiting the sliding operating platform 15. The base of the operating robot arm is fixed to the sliding operating platform 15 by universal fasteners. The end effector can be installed with mechanical grippers, flanges, etc. according to the device under test. The sensor for feedback of the interaction force between the human power assist device and the operating robot arm is installed at the bottom of the end effector of the operating robot arm; the human limb model is fixed to the end effector of the robot arm through a connector, or the end of the human limb model is directly clamped with a mechanical gripper while ensuring stability, and the human power assist device and accessories are worn on the human limb model; the identification points for feedback of the motion trajectory are pasted to the key parts and joint positions of the end effector of the robot arm, the human limb model, the human power assist device and accessories, and optical cameras for capturing movements are installed all around.

[0078] Referring to FIG12 , the force plate 1 is set on the stairs, and the motion performance of the guide rail type human power assist device and its accessories can be used to test the performance of the prosthesis on the platform stairs.

[0079] Referring to FIG13 , the present invention provides an operating method of the above-mentioned human body power assist device and accessory motion testing platform, and the specific steps are as follows:

[0080] S1. Identify the type of human assistance device being tested;

[0081] S2. In the motion perception interaction system (see Figures 1-7), experimenters attach markers to key parts and joints of a normal person's upper and / or lower limbs. Using numerous sensors in the system, they measure the limb's motion speed, angular velocity, trajectory, joint rotation angles, and the interaction forces between various devices and the human power assist device and the ground, thereby establishing a mathematical model of human limb motion.

[0082] S3. Plan the motion trajectory of the robotic arm end effector based on the mathematical model of human limb motion. Separate the horizontal translation from the three-dimensional trajectory to control the mobile motion platform. The remaining three-dimensional trajectory components and three-dimensional posture are used to control the multi-degree-of-freedom robotic arm for tracking and reproduction. Use inverse kinematics to obtain the position and posture of each joint of the robotic arm and the distance the robotic arm end effector moves in space. Design the control algorithm and instructions for the robotic arm and mobile chassis.

[0083] S4. In the motion perception interaction system, the robot arm is mounted with a fixed human limb model, a human power assist device, and accessories, and the aforementioned marking points are affixed. The robot arm and the mobile chassis are controlled by executing control commands. A number of sensors are used to measure the movement speed and trajectory of the end of the robot arm, the interaction force between the human power assist device and the robot arm, and the interaction force between the human power assist device and the force measurement platform, among other data.

[0084] S5. Closed-loop control: Determine the motion trajectory of the end effector of the robotic arm based on the above-mentioned mathematical model of human limb motion. Calculate the position and posture of each joint of the robotic arm and the distance the robotic arm moves in space at the same time through inverse kinematics. Design the motion control algorithm and instructions for the robotic arm and mobile chassis.

[0085] S6. Compare the data obtained from the human body power assist device and accessory motion test platform with the errors of the mathematical model of human limb motion, improve and optimize the control algorithms and instructions of the robotic arm and mobile chassis, so as to more accurately reproduce the human limb motion state and better conduct motion tests of the human body power assist device and accessories.

[0086] The above descriptions are merely embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied to other related system fields, are also included in the scope of protection of the present invention.

Claims

1. A human body power assist device and accessory motion test platform, characterized in that: include: A mobile motion platform is used to realize horizontal movement, oblique upward or oblique downward movement of the test platform, thereby expanding the motion range of the test platform; A multi-degree-of-freedom robotic arm, mounted on the mobile motion platform, wherein the actuator end of the multi-degree-of-freedom robotic arm is connected to the human power assist device under test, and is used to reproduce a specific three-dimensional trajectory and posture, while being able to control the interaction force and torque between the multi-degree-of-freedom robotic arm and the human power assist device; A motion capture system for detecting the three-dimensional coordinates and posture of each joint and the actuator end of the multi-degree-of-freedom robotic arm, and detecting the three-dimensional coordinates and posture of each joint of the human power assist device; A ground force detection platform for detecting the interaction force and torque between the human body power assist device and the ground; The controller controls the angle, angular velocity, angular acceleration and driving torque of each joint of the mobile motion platform and the multi-degree-of-freedom robotic arm based on feedback signals from the mobile motion platform, the multi-degree-of-freedom robotic arm, the motion capture system and the ground force detection platform.

2. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: The mobile motion platform includes wheel drive, crawler drive or guide rail drive, can move on flat ground, slopes and stairs, and can realize feedback and control of displacement, speed and acceleration.

3. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: The multi-degree-of-freedom manipulator should include at least 3 degrees of freedom when used for specific three-dimensional trajectory tracking, and at least 6 degrees of freedom when used for specific three-dimensional trajectory and posture tracking.

4. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: The multi-degree-of-freedom manipulator should include at least 2 degrees of freedom when used for specific planar trajectory tracking, and should include at least 4 degrees of freedom when used for specific planar trajectory and posture tracking.

5. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: A three-axis force and torque sensor is installed between the actuator end of the multi-degree-of-freedom robotic arm and the human body assist device, which is used to detect the interaction force and torque between the actuator end of the multi-degree-of-freedom robotic arm and the human body assist device in real time.

6. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: When a multi-degree-of-freedom robotic arm is used to test below-knee prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point of the calf of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down slopes, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the below-knee prosthesis and exoskeleton should reproduce the mutual force and torque between the lower and upper parts of the calf of a normal person, amputee or stroke patient.

7. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: When a multi-degree-of-freedom robotic arm is used to test above-knee prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the thigh of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the above-knee prosthesis and exoskeleton should reproduce the mutual force and torque between the lower and upper parts of the thigh of a normal person, amputee or stroke patient.

8. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: When a multi-degree-of-freedom robotic arm is used to test lower-limb prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the trunk and pelvis of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the lower-limb prosthesis and exoskeleton should reproduce the mutual force and torque between the lower and upper parts of the trunk and pelvis of a normal person, amputee or stroke patient.

9. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: When a multi-DOF manipulator is used for upper limb prosthesis and exoskeleton testing, the end of the actuator of the multi-DOF manipulator should be able to reproduce the movement of a normal person, an amputee or a stroke patient. The motion trajectory and motion posture of a fixed point on the shoulder when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration, and the interaction force and torque between the multi-degree-of-freedom robotic arm and the upper limb arm prosthesis and exoskeleton should reproduce the mutual force and torque of the shoulder and arm of a normal person, amputee or stroke patient.

10. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: When a multi-degree-of-freedom robotic arm is used to test upper arm prostheses and exoskeletons, the end of the actuator of the multi-degree-of-freedom robotic arm should be able to reproduce the motion trajectory and motion posture of a fixed point on the upper arm of a normal person, amputee or stroke patient when walking on flat ground, walking on a treadmill, going up / down a slope, and going up / down stairs, including motion position, motion speed, acceleration, angle, angular velocity and angular acceleration. The interaction force and torque between the multi-degree-of-freedom robotic arm and the upper limb prosthesis and exoskeleton should reproduce the mutual force and torque between the lower end and the upper end of the upper arm of a normal person, amputee or stroke patient.

11. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: The motion capture system is an inertial measurement unit, which is fixed on the multi-degree-of-freedom robotic arm and the human power assist device to detect the position, speed, acceleration, angle, angular velocity and posture information of the multi-degree-of-freedom robotic arm and the human power assist device in real time.

12. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: The motion capture system is an optical infrared capture system. Infrared reflective marking points are fixed on the multi-degree-of-freedom robotic arm and the human power assist device. The positions of the infrared reflective marking points are captured in real time by an infrared camera. The position, speed, acceleration, angle, angular velocity and posture information of the multi-degree-of-freedom robotic arm and the human power assist device can be obtained through calculation.

13. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: The motion capture system is a combination of an optical infrared capture system and an inertial measurement unit, and is used to measure the position, speed, acceleration, angle, angular velocity and posture information of the freedom robot arm and the human power assist device.

14. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: The motion capture system is an optical infrared capture system. Infrared reflective marking points are fixed on the mobile motion platform. The positions of the infrared reflective marking points are captured in real time by an infrared camera. The position, speed and acceleration of the mobile motion platform can be obtained by calculation.

15. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: The ground force detection platform is installed on flat ground, treadmill, slope and stairs, and is used to detect the interaction force and torque between the human power assist device and the ground in the corresponding motion mode, including the force in three directions and the torque in three directions.

16. The human body power assist device and accessory motion testing platform according to claim 1, characterized in that: The hardware part of the controller includes a signal processing module, a control module, a drive module and a power supply module.

17. The human body power assist device and accessory motion testing platform according to claim 16, characterized in that: The control module in the controller is used to store the motion control algorithm for running the mobile motion platform and the multi-degree-of-freedom robotic arm, thereby controlling the mobile motion platform to run according to the set route and speed, and the multi-degree-of-freedom robotic arm to move according to the planned trajectory and posture, while controlling the interaction force and torque between the multi-degree-of-freedom robotic arm and the human body power assist device.

18. A method for operating a human body power assist device and an accessory motion test platform, characterized in that: The steps include: S1. Identify the type of human assistance device being tested; S2, collecting three-dimensional trajectory, velocity, acceleration, and three-dimensional posture information of a potential user of the human body assist device, and establishing a mathematical model of human limb movement; S3. Processing the collected human body dynamics data, separating the horizontal translation from the three-dimensional trajectory for use in controlling the mobile motion platform. The remaining three-dimensional trajectory components and three-dimensional posture are used to control the multi-degree-of-freedom robotic arm for tracking and reproduction. In addition, the interaction force and torque between the multi-degree-of-freedom robotic arm and the human body assist device also require feedback control; S4. Feedback measurement: measuring the motion displacement, velocity, and acceleration of the mobile motion platform; measuring the angle, angular velocity, three-dimensional coordinates, and posture of each joint and actuator end of the multi-degree-of-freedom manipulator; measuring the interaction force between the multi-degree-of-freedom manipulator end and the human power assist device; and measuring the force between the power assist device and the ground. The measurement sensors are one or more of an angle sensor, a laser displacement sensor, a force sensor, a torque sensor, a displacement sensor, or an optical infrared motion capture system. S5. Closed-loop control: Determine the motion trajectory of the end effector of the robotic arm based on the above-mentioned mathematical model of human limb motion. Calculate the position and posture of each joint of the robotic arm and the distance the robotic arm moves in space at the same time through inverse kinematics. Design the motion control algorithm and instructions for the robotic arm and mobile chassis. S6. Compare the data obtained from the human body power assist device and accessory motion test platform with the errors of the mathematical model of human limb motion, adjust the above motion control algorithms and instructions, optimize them, improve the accuracy and stability of the human limb model in reproducing the motion state, and update the human body power assist device and accessories based on the data to improve the performance of the human body power assist device and accessories.

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