Upper limb exoskeleton assisting device and control method

Abstract

The application discloses an upper limb exoskeleton assisting device and a control method. The upper limb exoskeleton assisting device comprises a back traction device, a left suspension device and a right suspension device. The back traction device comprises a main processor and an inertial measurement module. The left suspension device and the right suspension device each comprise a proximity sensor, a tension sensor and a coprocessor. The main processor and the inertial measurement module are connected, and the proximity sensor and the tension sensor are connected with the coprocessor. The upper limb exoskeleton assisting device is worn on the back through the back traction device via a back strap, the left suspension device is hung on the left shoulder, and the right suspension device is hung on the right shoulder. The left suspension device and the right suspension device replace the hands, and the hands are released when lifting heavy objects, so that wearing is more convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of power-assisting devices, and in particular to an upper limb exoskeleton power-assisting device and a control method thereof. Background Art

[0002] Exoskeleton robotics integrates sensing, control, information, and mobile computing to provide operators with a wearable mechanical structure. Advances in science and technology have led to breakthroughs in materials, sensors, bionics, and control technologies, spurring the development of exoskeleton robotic systems. In workplaces like factories, warehouses, and freight transport, workers are required to frequently and long-term lift heavy objects, placing a significant strain on their upper limbs.

[0003] Existing upper limb exoskeleton robots utilize multiple arms connected by multiple motors, each of which is secured to the torso via straps. This makes donning and doffing complicated, heavy, and physically demanding. The resulting lack of flexibility and ineffective assistance also creates a complex overall structure, slow response, and relatively difficult control, making them unsuitable for real-world use. While improvements have been made by switching from motor drive to hydraulic drive, which only reduces the overall weight, the drawbacks of donning and doffing, control difficulties, and slow response remain unresolved.

[0004] Therefore, existing upper limb exoskeleton power-assisting devices have problems such as complicated putting on and taking off, difficult control, and slow response speed. Summary of the Invention

[0005] The purpose of the present invention is to provide an upper limb exoskeleton power-assisting device and a control method, which frees both hands when lifting heavy objects by arranging a back traction device, a left suspension device and a right suspension device.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] An upper limb exoskeleton power-assisting device, comprising: a back traction device and a left suspension device and a right suspension device connected to the back traction device, wherein the back traction device is used to drive the left suspension device and the right suspension device to move;

[0008] The left suspension device and the right suspension device both include a suspension arm and a suspension hook. The suspension hook is connected to the back traction device through the suspension arm. The suspension hook is used to take and place heavy objects under the drive of the back traction device.

[0009] Optionally, the back traction device includes: a main processor and an inertial measurement module; the left suspension device and the right suspension device both include: a proximity sensor, a tension sensor and a coprocessor; the main processor is connected to the inertial measurement module, and the proximity sensor and the tension sensor are both connected to the coprocessor.

[0010] Optionally, the back traction device further includes: a left drive mechanism and a right drive mechanism, each of the left drive mechanism and the right drive mechanism includes a motor and a motor driver, and the motor driver is connected to the main processor and the motor, respectively.

[0011] Optionally, the back traction device further includes: an encoder, wherein the encoder is connected to the main processor and the motor respectively, and the encoder includes a left encoder and a right encoder.

[0012] Optionally, the back traction device further comprises: a traction-end wireless communication module, the traction-end wireless communication module being connected to the main processor;

[0013] The left suspension device and the right suspension device also include: a suspension end wireless communication module; the suspension end wireless communication module is connected to the coprocessor.

[0014] Optionally, the back traction device further includes: a traction end power supply module;

[0015] The left suspension device and the right suspension device also include: a suspension end power supply module and a wireless charging module;

[0016] The main processor, the inertial measurement module, the motor driver, the encoder, the traction-end wireless communication module, and the wireless charging module are all connected to the traction-end power supply module;

[0017] The coprocessor, the proximity sensor, the tension sensor and the wireless charging module are all connected to the suspension end power supply module.

[0018] Optionally, the left suspension device and the right suspension device also include a connecting assembly; the connecting assembly is arranged on the boom, and the connecting assembly includes a pulley and a wire rope; the wire rope is wound on the pulley, one end of the wire rope is wound on the drum of the motor, and the other end of the wire rope is connected to the hook.

[0019] Optionally, the back traction device is fixed to the human body via a shoulder strap.

[0020] A method for controlling an upper limb exoskeleton power assist device is provided, and is applied to the upper limb exoskeleton power assist device. The method comprises:

[0021] Acquiring human body posture information, a left approach signal collected by the left suspension device, a left tension signal collected by the left suspension device, a right approach signal collected by the right suspension device, and a right tension signal collected by the right suspension device;

[0022] controlling the movement of the hook in the left suspension device according to the human body posture information, the left approach signal, and the left tension signal;

[0023] The movement of the hook in the right suspension device is controlled according to the human body posture information, the right approach signal and the right tension signal.

[0024] Optionally, controlling the movement of the hook in the left suspension device according to the human body posture information, the left approach signal, and the left tension signal specifically includes:

[0025] When the left approach signal and the left tension signal are both non-zero, the hook in the left suspension device is controlled to move downward until the left approach signal and the left tension signal are both zero and the hook in the left suspension device is at a position where a heavy object is located, and then the hook in the left suspension device is controlled to stop moving;

[0026] When the human body posture information indicates standing up, the proximity signal is zero, and the tension signal increases, the hook in the left suspension device is controlled to move upward, until the left proximity signal is zero and the left tension signal suddenly changes, and the hook in the left suspension device is controlled to stop moving;

[0027] When the human body posture information indicates bending over or squatting, the left approach signal is zero, and the left tension signal begins to decrease, controlling the hook in the left suspension device to move downward until the left approach signal and the left tension signal are both zero and the hook in the left suspension device is at the target position of the weight, and then controlling the hook in the left suspension device to stop moving;

[0028] When the left approach signal is not zero and the left tension signal is zero, the hook in the left suspension device is controlled to move upward until the left approach signal and the left tension signal are both zero and the hook in the left suspension device is in the initial position, and then the hook in the left suspension device is controlled to stop moving.

[0029] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0030] The present invention discloses an upper limb exoskeleton power-assist device and control method. The upper limb exoskeleton power-assist device includes a back traction device, a left suspension device, and a right suspension device. The back traction device includes a main processor and an inertial measurement module. The left and right suspension devices each include a proximity sensor, a tension sensor, and a coprocessor. The main processor is connected to the inertial measurement module, and the proximity sensor and tension sensor are both connected to the coprocessor. The upper limb exoskeleton power-assist device is carried on the back via a strap, the left suspension device is hung on the left shoulder, and the right suspension device is hung on the right shoulder. The left and right suspension devices replace both hands, freeing both hands when lifting heavy objects and making it more convenient to wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 Schematic diagram of the structure of the upper limb exoskeleton power assist device provided by an embodiment of the present invention

[0033] Figure 2 This is a diagram of the internal structure of the upper limb exoskeleton power-assisting device provided in an embodiment of the present invention.

[0034] Explanation of symbols: 1- back traction device, 2- left suspension device, 3- right suspension device, 4- boom, 5- hook, 6- left drive mechanism, 7- right drive mechanism. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 efforts are within the scope of protection of the present invention.

[0036] The present invention aims to provide an upper limb exoskeleton power-assist device and control method. The device, which is designed to free the hands when lifting heavy objects by providing a back traction device, a left suspension device, and a right suspension device, can be applied to the technical field of power-assist devices. The upper limb exoskeleton power-assist device disclosed in the present invention utilizes a back traction device carried on the back via a strap, a left suspension device hung on the left shoulder, and a right suspension device hung on the right shoulder. The left and right suspension devices replace the hands, freeing the hands when lifting heavy objects and making it more convenient to wear.

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] Figure 1 A schematic structural diagram of an upper limb exoskeleton power-assisting device provided in an embodiment of the present invention. Figure 2 This is a diagram showing the internal structure of the upper limb exoskeleton power assist device provided by an embodiment of the present invention. Figure 1 and Figure 2 As shown, the upper limb exoskeleton power assist device in this embodiment includes: a back traction device 1 and a left suspension device 2 and a right suspension device 3 connected to the back traction device 1. The back traction device 1 is used to drive the left suspension device 2 and the right suspension device 3 to move.

[0039] The left suspension device 2 and the right suspension device 3 both include a suspension arm 4 and a hook 5 . The hook 5 is connected to the back traction device 1 via the suspension arm 4 . The hook 5 is used to pick up and place heavy objects under the drive of the back traction device 1 .

[0040] As an optional embodiment, the back traction device 1 includes: a main processor and an inertial measurement module; the left suspension device 2 and the right suspension device 3 both include: a proximity sensor, a tension sensor and a coprocessor; the main processor is connected to the inertial measurement module, and the proximity sensor and the tension sensor are both connected to the coprocessor.

[0041] Specifically, the main processor is an STM32F407, the inertial measurement module is an MPU9250, the proximity sensor is an E3F-DS30C4, the tension sensor is a DYMH-106, and the coprocessor is an STM32F103. The proximity sensor detects whether a hand is gripping the left and / or right suspension devices and generates a proximity signal. The tension sensor detects tension and generates a tension signal. The coprocessor receives the proximity and tension signals and transmits them to the main processor. The inertial measurement module acquires human posture information.

[0042] As an optional embodiment, the back traction device 1 further includes: a left drive mechanism 6 and a right drive mechanism 7, each of which includes a motor and a motor driver, and the motor driver is connected to the main processor and the motor respectively.

[0043] Specifically, the model of the motor is AK80-6, and the model of the motor driver is NTMFS4935NT1G.

[0044] As an optional embodiment, the back traction device 1 further includes an encoder, which is connected to the main processor and the motor respectively, and includes a left encoder and a right encoder. The encoder is used to detect the initial position of the motor and send the initial position to the main processor.

[0045] Specifically, the encoder model is AS5047P.

[0046] As an optional embodiment, the back traction device 1 further includes: a traction-end wireless communication module, which is connected to the main processor.

[0047] The left suspension device 2 and the right suspension device 3 also include: a suspension end wireless communication module; the suspension end wireless communication module is connected to the coprocessor.

[0048] Specifically, the models of the traction end wireless communication module and the suspension end wireless communication module are both BLE-TPT.

[0049] As an optional implementation, the back traction device 1 further includes: a traction-end power supply module.

[0050] The left suspension device 2 and the right suspension device 3 also include: a suspension end power supply module and a wireless charging module. Specifically, the model of the wireless charging module is XKT901-19.

[0051] The main processor, inertial measurement module, motor driver, encoder, traction end wireless communication module and wireless charging module are all connected to the traction end power module.

[0052] The coprocessor, proximity sensor, tension sensor and wireless charging module are all connected to the suspension end power module.

[0053] The traction end power module is used to power the main processor, inertial measurement module, motor driver, encoder, traction end wireless communication module and suspension end power module.

[0054] The suspension end power supply module is used to supply power to the coprocessor, proximity sensor, tension sensor and suspension end wireless communication module.

[0055] As an optional embodiment, the left suspension device 1 and the right suspension device 2 also include a connecting assembly; the connecting assembly is arranged on the boom 4, and the connecting assembly includes a pulley and a wire rope; the wire rope is wound on the pulley, one end of the wire rope is wound on the drum of the motor, and the other end of the wire rope is connected to the hook 4.

[0056] As an optional embodiment, the back traction device 1 is fixed to the human body via a shoulder strap.

[0057] The present invention also provides an upper limb exoskeleton power-assistance control method, which is applied to the above-mentioned upper limb exoskeleton power-assistance device. The control method includes:

[0058] Human body posture information, a left approach signal collected by the left suspension device, a left tension signal collected by the left suspension device, a right approach signal collected by the right suspension device, and a right tension signal collected by the right suspension device are acquired.

[0059] The movement of the hook in the left suspension device is controlled according to the human body posture information, the left approach signal and the left tension signal.

[0060] The movement of the hook in the right suspension device is controlled according to the human body posture information, the right approach signal and the right tension signal.

[0061] As an optional embodiment, controlling the movement of the hook in the left suspension device according to the human body posture information, the left approach signal and the left tension signal specifically includes:

[0062] When the left approach signal and the left tension signal are both non-zero, it indicates that the hook in the left suspension device needs to be moved to the position where the heavy object is located, and the hook in the left suspension device is controlled to move downward until the left approach signal and the left tension signal are both zero and the hook in the left suspension device is at the position where the heavy object is located, and then the hook in the left suspension device is controlled to stop moving, and then the heavy object is hung on the hook in the left suspension device.

[0063] When the human body posture information indicates standing up, the approach signal is zero and the tension signal increases, it means that the weight has been hung and starts to move. The hook in the left suspension device is controlled to move upward until the left approach signal is zero and the left tension signal suddenly changes, indicating that the weight has reached above the target position, and the hook in the left suspension device is controlled to stop moving.

[0064] When the human body posture information indicates bending or squatting, the left approach signal is zero and the left tension signal begins to decrease, it means that the weight is to be put down, and the hook in the left suspension device is controlled to move downward until the left approach signal and the left tension signal are both zero and the hook in the left suspension device is at the target position of the weight, and the hook in the left suspension device is controlled to stop moving, and then the weight is removed from the hook 3 in the left suspension device and placed at the target position.

[0065] When the left approach signal is not zero and the left tension signal is zero, it indicates that the hook in the left suspension device is about to stop working, and the hook in the left suspension device is controlled to move upward until the left approach signal and the left tension signal are both zero and the hook in the left suspension device is in the initial position, and the hook 3 in the left suspension device is controlled to stop moving, and then the hook in the left suspension device is charged.

[0066] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0067] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the device, method, and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. An upper limb exoskeleton power-assisting method, which is implemented using an upper limb exoskeleton power-assisting device, characterized in that: The upper limb exoskeleton power-assisting device comprises: a back traction device and a left suspension device and a right suspension device connected to the back traction device, wherein the back traction device is used to drive the left suspension device and the right suspension device to move; The left suspension device and the right suspension device each include a suspension arm and a hook, wherein the hook is connected to the back traction device via the suspension arm, and the hook is used to take and place heavy objects under the drive of the back traction device; The back traction device includes: a main processor and an inertial measurement module; the left suspension device and the right suspension device each include: a proximity sensor, a tension sensor and a coprocessor; the main processor is connected to the inertial measurement module, and the proximity sensor and the tension sensor are both connected to the coprocessor; The main processor is STM32F407, the inertial measurement module is MPU9250, the proximity sensor is E3F-DS30C4, the tension sensor is DYMH-106, and the coprocessor is STM32F103. The proximity sensor is used to detect whether the hand is holding the left and / or right suspension device and generate a proximity signal. The tension sensor is used to detect tension and generate a tension signal. The coprocessor is used to receive the proximity signal and the tension signal and transmit them to the main processor. The inertial measurement module is used to obtain human posture information. The back traction device further comprises: a left drive mechanism and a right drive mechanism, each of the left drive mechanism and the right drive mechanism comprising a motor and a motor driver, the motor driver being connected to the main processor and the motor respectively; The back traction device further includes: an encoder, the encoder being connected to the main processor and the motor respectively, the encoder including a left encoder and a right encoder; The upper limb exoskeleton power-assisting method comprises: Acquiring human body posture information, a left approach signal collected by the left suspension device, a left tension signal collected by the left suspension device, a right approach signal collected by the right suspension device, and a right tension signal collected by the right suspension device; controlling the movement of the hook in the left suspension device according to the human body posture information, the left approach signal, and the left tension signal; controlling the movement of the hook in the right suspension device according to the human body posture information, the right approach signal, and the right tension signal; The controlling the movement of the hook in the left suspension device according to the human body posture information, the left approach signal and the left tension signal specifically includes: When the left approach signal and the left tension signal are both non-zero, the hook in the left suspension device is controlled to move downward until the left approach signal and the left tension signal are both zero and the hook in the left suspension device is at a position where a heavy object is located, and then the hook in the left suspension device is controlled to stop moving; When the human body posture information indicates standing up, the proximity signal is zero, and the tension signal increases, the hook in the left suspension device is controlled to move upward, until the left proximity signal is zero and the left tension signal suddenly changes, and the hook in the left suspension device is controlled to stop moving; When the human body posture information indicates bending over or squatting, the left approach signal is zero, and the left tension signal begins to decrease, controlling the hook in the left suspension device to move downward until the left approach signal and the left tension signal are both zero and the hook in the left suspension device is at the target position of the weight, and then controlling the hook in the left suspension device to stop moving; When the left approach signal is not zero and the left tension signal is zero, the hook in the left suspension device is controlled to move upward until the left approach signal and the left tension signal are both zero and the hook in the left suspension device is in the initial position, and then the hook in the left suspension device is controlled to stop moving.

2. The upper limb exoskeleton assistance method according to claim 1, characterized in that: The back traction device further includes: a traction-end wireless communication module, the traction-end wireless communication module being connected to the main processor; The left suspension device and the right suspension device also include: a suspension end wireless communication module; the suspension end wireless communication module is connected to the coprocessor.

3. The upper limb exoskeleton power assist method according to claim 2, characterized in that: The back traction device further includes: a traction end power supply module; The left suspension device and the right suspension device also include: a suspension end power supply module and a wireless charging module; The main processor, the inertial measurement module, the motor driver, the encoder, the traction-end wireless communication module, and the wireless charging module are all connected to the traction-end power supply module; The coprocessor, the proximity sensor, the tension sensor and the wireless charging module are all connected to the suspension end power supply module.

4. The upper limb exoskeleton power-assisting method according to claim 1, characterized in that: The left suspension device and the right suspension device also include a connecting assembly; the connecting assembly is arranged on the boom, and the connecting assembly includes a pulley and a wire rope; the wire rope is wound on the pulley, one end of the wire rope is wound on the drum of the motor, and the other end of the wire rope is connected to the hook.

5. The upper limb exoskeleton assistance method according to claim 1, characterized in that: The back traction device is fixed on the human body through a shoulder strap.

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