A lower limb robot motion detection system and detection method for disabled people

Abstract

The present invention provides a disabled person's lower limb robot motion detection system and detection method. The disabled person's lower limb robot motion detection system of the present invention comprises a left leg data acquisition module, a right leg data acquisition module, an analog-to-digital conversion module 1, an analog-to-digital conversion module 2, a microprocessor module, a Bluetooth module and a computer terminal; the left leg data acquisition module is electrically connected to the analog-to-digital conversion module 1; the right leg data acquisition module is electrically connected to the analog-to-digital conversion module 2; the analog-to-digital conversion module 1 and the analog-to-digital conversion module 2 are both electrically connected to the microprocessor module; the Bluetooth module is electrically connected to the microprocessor module. The present invention can effectively improve the accuracy and stability of lower limb motion detection.

Description

Technical field:

[0001] The invention relates to a lower limb robot motion detection system and a detection method for disabled persons, belonging to the field of medical mechanical systems. Background technology:

[0002] With the arrival of an aging population, the number of patients with lower limb movement disorders due to physiological function decline or accidents has increased sharply, which provides an opportunity for the development of lower limb robotics technology. The lower limbs are the most important part of people's daily life, such as walking. Therefore, it has become an urgent need in the field of lower limb robotics to use lower limb robots to assist patients in standing and walking, help patients reduce complications and pain, and enable them to return to normal life as much as possible.

[0003] As a new type of intelligent wearable device, lower limb robots incorporate advanced research results in the fields of mechanics, control, and ergonomics. They can enhance human senses and strength, strengthen human athletic ability and endurance, and have extremely broad application prospects in military, civil, medical, nursing, and emergency rescue. With the gradual deepening of research and the growing market demand, how to obtain sensor information of lower limb robot movement is a problem worthy of attention.

[0004] Currently, most of the attitude measurement methods are based on MEMS. However, due to the low accuracy of low-cost MEMS attitude measurement, it is easy to cause false data. Summary of the invention:

[0005] On this premise, the present invention proposes a lower limb robot motion detection system and method for the disabled, which improves the accuracy and stability of lower limb motion detection based on high-precision sliding encoder technology.

[0006] The above purpose is achieved through the following technical solutions:

[0007] A robot motion detection system for lower limbs of a disabled person comprises a left leg data acquisition module, a right leg data acquisition module, an analog-to-digital conversion module 1, an analog-to-digital conversion module 2, a microprocessor module, a Bluetooth module and a computer terminal; the left leg data acquisition module is electrically connected to the analog-to-digital conversion module 1; the right leg data acquisition module is electrically connected to the analog-to-digital conversion module 2; the analog-to-digital conversion module 1 and the analog-to-digital conversion module 2 are both electrically connected to the microprocessor module; the Bluetooth module is electrically connected to the microprocessor module.

[0008] The robot motion detection system for lower limbs of the disabled, the left leg data acquisition module includes two multi-turn adjustable potentiometers, and the two multi-turn adjustable potentiometers are used to detect the potential signals at the lower limb joints and thigh joints of the left leg respectively.

[0009] The robot motion detection system for lower limbs of the disabled, the right leg data acquisition module includes two multi-turn adjustable potentiometers, and the two multi-turn adjustable potentiometers are used to detect the potential signals at the lower limb joints and thigh joints of the right leg respectively.

[0010] The disabled lower limb robot motion detection system, the multi-turn adjustable potentiometer adopts the multi-turn adjustable potentiometer of model WXD3-13-2W.

[0011] In the disabled lower limb robot motion detection system, the analog-to-digital conversion module 1 and the analog-to-digital conversion module 2 both include a 14-bit analog-to-digital conversion chip AD9240 and peripheral circuits.

[0012] A method for detecting the movement of a disabled person's lower limb robot using the above-mentioned disabled person's lower limb robot movement detection system comprises the following steps:

[0013] S1. The digital signals obtained by the multi-turn adjustable potentiometers of the left leg data acquisition module and the right leg data acquisition module and converted by the analog-to-digital conversion module 1 and the analog-to-digital conversion module 2 are respectively processed by sliding window mean;

[0014] S2. converting the data processed by the sliding window mean in step S1 into the lower limb movement angle;

[0015] S3. Using the lower limb movement angle obtained in step S2, match the corresponding movement pattern according to the established database

[0016] S4. Gait calculation: Detect the number of walking steps through the changes in the lower limb movement angle obtained in step S2.

[0017] In the method for detecting motion of a robot for lower limbs of a disabled person, the formula for the sliding window mean value processing in step S1 is as follows:

[0018]

[0019]

[0020]

[0021]

[0022] Among them, L i M represents the digital signal obtained after the left leg multi-turn adjustable potentiometer 1 is collected and converted into digital form; i It represents the digital signal obtained after the left leg multi-turn adjustable potentiometer 2 is collected and converted into digital form; N i It represents the digital signal obtained after the multi-turn adjustable potentiometer 1 of the right leg is collected and converted into digital form; Q irepresents the digital signal obtained after the multi-turn adjustable potentiometer 2 of the right leg is collected and converted into digital form; N represents the sliding window width of 150s; A1, A2, A3, A4 represent L i 、M i 、N i , Q i Data after sliding window mean processing.

[0023] In the method for detecting lower limb motion of a disabled person robot, the data processed by the sliding window mean value in step S2 is converted into the lower limb motion angle, and the conversion formula is as follows:

[0024]

[0025]

[0026]

[0027]

[0028] Among them, P is the maximum value corresponding to the multi-turn adjustable potentiometer; Z1 represents the angle value corresponding to the multi-turn adjustable potentiometer 1 of the left leg; Z2 represents the angle value corresponding to the multi-turn adjustable potentiometer 2 of the left leg; Z3 represents the angle value corresponding to the multi-turn adjustable potentiometer 1 of the right leg; Z4 represents the angle value corresponding to the multi-turn adjustable potentiometer 2 of the right leg.

[0029] The method for detecting the movement of the robot for the disabled lower limbs, the method for detecting the number of walking steps by the change of the lower limb movement angle obtained in step S2 in step S4 is to judge the number of walking steps according to the angle value Z1 corresponding to the left leg multi-turn adjustable potentiometer 1 and the angle value Z3 corresponding to the right leg multi-turn adjustable potentiometer 1, as follows:

[0030] S41. Get the current angle values ​​of Z1 and Z3;

[0031] S42. Find the maximum and minimum values ​​of the angle curves of Z1 and Z3;

[0032] S43. When two angle curves have a maximum or minimum value at the same time at a certain moment, it is considered that a step has been taken at that moment.

[0033] Beneficial effects:

[0034] 1. The present invention further improves the accuracy and stability of lower limb movement detection.

[0035] 2. The present invention can realize Bluetooth wireless transmission and is easy to use. Description of the drawings:

[0036] Figure 1 : System structure diagram of the present invention.

[0037] Figure 2 : Schematic diagram of sensor installation of the present invention.

[0038] Figure 3 : Flow chart of detection method of the present invention. Specific implementation method:

[0039] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] like Figure 1-2 As shown: A robot motion detection system for lower limbs of a disabled person in this embodiment includes a left leg data acquisition module, a right leg data acquisition module, an analog-to-digital conversion module 1, an analog-to-digital conversion module 2, a microprocessor module, a Bluetooth module and a computer terminal; the left leg data acquisition module is electrically connected to the analog-to-digital conversion module 1; the right leg data acquisition module is electrically connected to the analog-to-digital conversion module 2; the analog-to-digital conversion module 1 and the analog-to-digital conversion module 2 are both electrically connected to the microprocessor module; the Bluetooth module is electrically connected to the microprocessor module. The microprocessor module in this embodiment adopts an STM32F407 processor, and the Bluetooth module model is RSBRS02AA.

[0041] The robot motion detection system for lower limbs of the disabled, the left leg data acquisition module includes two multi-turn adjustable potentiometers, and the two multi-turn adjustable potentiometers are used to detect the potential signals at the lower limb joints and thigh joints of the left leg respectively.

[0042] The robot motion detection system for lower limbs of the disabled, the right leg data acquisition module includes two multi-turn adjustable potentiometers, and the two multi-turn adjustable potentiometers are used to detect the potential signals at the lower limb joints and thigh joints of the right leg respectively.

[0043] The disabled lower limb robot motion detection system, the multi-turn adjustable potentiometer adopts the multi-turn adjustable potentiometer of model WXD3-13-2W.

[0044] In the disabled lower limb robot motion detection system, the analog-to-digital conversion module 1 and the analog-to-digital conversion module 2 both include a 14-bit analog-to-digital conversion chip AD9240 and peripheral circuits.

[0045] A method for detecting the movement of a disabled person's lower limb robot using the above-mentioned disabled person's lower limb robot movement detection system comprises the following steps:

[0046] S1. The digital signals obtained by the multi-turn adjustable potentiometers of the left leg data acquisition module and the right leg data acquisition module and converted by the analog-to-digital conversion module 1 and the analog-to-digital conversion module 2 are respectively processed by sliding window mean;

[0047] S2. converting the data processed by the sliding window mean in step S1 into the lower limb movement angle;

[0048] S3. Using the lower limb movement angle obtained in step S2, matching the corresponding movement pattern according to the established database;

[0049] The database is as follows:

[0050] 0~10(unit degree) 10~20(unit degree) 30 or more (unit: degree) 0~5(unit degree) Severe disability Moderate disability Mild disability 5~10(unit degree) Severe disability Moderate disability Mild disability 10 or more (unit: degree) Mild disability Mild disability Normal walking

[0051] The above table judges the left leg and the right leg respectively. The left leg is judged according to the values ​​of Z1 and Z2; the right leg is judged according to the values ​​of Z3 and Z4.

[0052] In the above table, the horizontal parameters represent the corresponding Z1 or Z3, and the vertical parameters represent the corresponding Z2 or Z4.

[0053] S4. Gait calculation: Detect the number of walking steps through the changes in the lower limb movement angle obtained in step S2.

[0054] In the method for detecting motion of a robot for lower limbs of a disabled person, the formula for the sliding window mean value processing in step S1 is as follows:

[0055]

[0056]

[0057]

[0058]

[0059] Among them, L i M represents the digital signal obtained after the left leg multi-turn adjustable potentiometer 1 is collected and converted into digital form; i It represents the digital signal obtained after the left leg multi-turn adjustable potentiometer 2 is collected and converted into digital form; N i It represents the digital signal obtained after the multi-turn adjustable potentiometer 1 of the right leg is collected and converted into digital form; Q i represents the digital signal obtained after the multi-turn adjustable potentiometer 2 of the right leg is collected and converted into digital form; N represents the sliding window width of 150s; A1, A2, A3, A4 represent L i 、M i 、N i , Q i Data after sliding window mean processing.

[0060] In the method for detecting lower limb motion of a disabled person robot, the data processed by the sliding window mean value in step S2 is converted into the lower limb motion angle, and the conversion formula is as follows:

[0061]

[0062]

[0063]

[0064]

[0065] Among them, P is the maximum value corresponding to the multi-turn adjustable potentiometer; Z1 represents the angle value corresponding to the multi-turn adjustable potentiometer 1 of the left leg; Z2 represents the angle value corresponding to the multi-turn adjustable potentiometer 2 of the left leg; Z3 represents the angle value corresponding to the multi-turn adjustable potentiometer 1 of the right leg; Z4 represents the angle value corresponding to the multi-turn adjustable potentiometer 2 of the right leg.

[0066] The method for detecting the movement of the robot for the disabled lower limbs, the method for detecting the number of walking steps by the change of the lower limb movement angle obtained in step S2 in step S4 is to judge the number of walking steps according to the angle value Z1 corresponding to the left leg multi-turn adjustable potentiometer 1 and the angle value Z3 corresponding to the right leg multi-turn adjustable potentiometer 1, as follows:

[0067] S41. Get the current angle values ​​of Z1 and Z3;

[0068] S42. Find the maximum and minimum values ​​of the angle curves of Z1 and Z3;

[0069] S43. When two angle curves have a maximum or minimum value at the same time at a certain moment, it is considered that a step has been taken at that moment.

[0070] Finally, it should be noted that the above are the technical solutions and specific implementation methods of the present invention, but they are not intended to limit the technical solutions described in the present invention. Although detailed and specific descriptions have been given, when implementing the present invention, technicians can make corresponding modifications or equivalent replacements according to actual conditions. All technical solution improvements that do not depart from the spirit and scope of the present invention should be covered by the claims of the present invention.

Claims

1. A method for detecting motion of a robot for lower limbs of a disabled person, the method being applied to a robot for lower limbs of a disabled person's motion detection system, characterized in that: The robot motion detection system for lower limbs of the disabled includes a left leg data acquisition module, a right leg data acquisition module, an analog-to-digital conversion module 1, an analog-to-digital conversion module 2, a microprocessor module, a Bluetooth module and a computer terminal; the left leg data acquisition module is electrically connected to the analog-to-digital conversion module 1; the right leg data acquisition module is electrically connected to the analog-to-digital conversion module 2; the analog-to-digital conversion module 1 and the analog-to-digital conversion module 2 are both electrically connected to the microprocessor module; the Bluetooth module is electrically connected to the microprocessor module; the left leg data acquisition module includes two multi-turn adjustable potentiometers, which are respectively used to detect the potential signals at the lower limb joints and thigh joints of the left leg; the right leg data acquisition module includes two multi-turn adjustable potentiometers, which are respectively used to detect the potential signals at the lower limb joints and thigh joints of the right leg; The detection method comprises the following steps: S1. The digital signals obtained by the multi-turn adjustable potentiometers of the left leg data acquisition module and the right leg data acquisition module and converted by the analog-to-digital conversion module 1 and the analog-to-digital conversion module 2 are respectively subjected to sliding window mean processing. The formula for the sliding window mean processing is as follows: Among them, L i M represents the digital signal obtained after the left leg multi-turn adjustable potentiometer 1 is collected and converted into digital form; i It represents the digital signal obtained after the left leg multi-turn adjustable potentiometer 2 is collected and converted into digital form; N i It represents the digital signal obtained after the multi-turn adjustable potentiometer 1 of the right leg is collected and converted into digital form; Q i represents the digital signal obtained after the multi-turn adjustable potentiometer 2 of the right leg is collected and converted into digital form; N represents the sliding window width of 150s; A1, A2, A3, A4 represent L i 、M i 、N i , Q i Data after sliding window mean processing; S2. Convert the data processed by the sliding window mean in step S1 to the lower limb movement angle. The conversion formula for converting the data processed by the sliding window mean to the lower limb movement angle is as follows: Among them, P is the maximum value corresponding to the multi-turn adjustable potentiometer; Z1 represents the angle value corresponding to the multi-turn adjustable potentiometer 1 of the left leg; Z2 represents the angle value corresponding to the multi-turn adjustable potentiometer 2 of the left leg; Z3 represents the angle value corresponding to the multi-turn adjustable potentiometer 1 of the right leg; Z4 represents the angle value corresponding to the multi-turn adjustable potentiometer 2 of the right leg; S3. Using the lower limb movement angle obtained in step S2, matching the corresponding movement pattern according to the established database; S4. Gait calculation: Detect the number of walking steps through the changes in the lower limb movement angle obtained in step S2.

2. A method for detecting lower limb robot motion of a disabled person according to claim 1, characterized in that: The multi-turn adjustable potentiometer adopts a multi-turn adjustable potentiometer of model WXD3-13-2W.

3. A method for detecting lower limb robot motion of a disabled person according to claim 2, characterized in that: The analog-to-digital conversion module 1 and the analog-to-digital conversion module 2 both include a 14-bit analog-to-digital conversion chip AD9240 and peripheral circuits.

4. A method for detecting lower limb robot motion of a disabled person according to claim 1, characterized in that: The method described in step S4 for detecting the number of walking steps by the change of the lower limb movement angle obtained in step S2 is to determine the number of walking steps according to the angle value Z1 corresponding to the left leg multi-turn adjustable potentiometer 1 and the angle value Z3 corresponding to the right leg multi-turn adjustable potentiometer 1, as follows: S41. Get the current angle values ​​of Z1 and Z3; S42. Find the maximum and minimum values ​​of the angle curves of Z1 and Z3; S43. When two angle curves have a maximum or minimum value at the same time at a certain moment, it is considered that a step has been taken at that moment.

Images