A wearable exoskeleton device control method

Abstract

The application provides a wearable exoskeleton device control method, comprising the following steps: obtaining environment information around a human body through a sensor; performing multi-mode information fusion processing on the environment information; identifying a human body movement intention; obtaining a human body movement gait; the human body movement gait comprises a standing phase and a swing phase; calculating a joint desired torque through a man-machine coupling dynamics model; and controlling a wearable exoskeleton device to provide a corresponding joint desired torque through a man-machine collaborative motion controller. The application controls the wearable exoskeleton device to provide a corresponding joint desired torque through the hip joint rotating part and the knee joint rotating part of the man-machine collaborative motion controller, assists human body movement, and improves the compliance control effect of the system.

Description

[0001] The present application is a divisional application, the original application's application number is 202210491154X, the application date is 20220507, and the invention name is "a wearable exoskeleton device"

TECHNICAL FIELD

[0002] The present application relates to the technical field of lower limb walking aid devices, in particular to a wearable exoskeleton device control method.

BACKGROUND

[0003] With the development of society, the lower limb paralyzed patients gradually get the attention of society, and their demand for walking aid devices is more urgent. Lower limb training mechanical devices as mechanical devices for treatment and solving daily activities have rapidly developed under such conditions. The bionic leg control on the market is not fine enough, and the comfort is not high.

SUMMARY

[0004] The purpose of the present application is to provide a wearable exoskeleton device control method, which is fine in control and high in comfort.

[0005] The present application provides a wearable exoskeleton device control method, comprising the following steps:

[0006] S1: obtaining preliminary information, wherein the preliminary information includes exoskeleton state information obtained from the wearable exoskeleton device;

[0007] S2: identifying human motion intention according to the preliminary information, and generating motion intention information;

[0008] S3: identifying human motion gait according to the preliminary information to obtain human motion gait information, wherein the human motion gait information includes standing phase and swing phase;

[0009] S4: substituting the preliminary information, the motion intention information and the human motion gait information into the man-machine coupling dynamics model to calculate the joint expected torque information;

[0010] S5: the man-machine cooperative motion controller controls the wearable exoskeleton device to output corresponding joint torque according to the obtained joint expected torque information.

[0011] Further, in step S4, the following steps are further included:

[0012] S401: obtaining adjustment information, wherein the error information includes disturbance information obtained by a disturbance observer, error information and man-machine interaction force information;

[0013] S402: input the adjustment information into the machine learning network, and output the optimized joint desired torque information to the human-robot collaborative motion controller through the machine learning network, so that the wearable exoskeleton device outputs corresponding joint torque according to the obtained optimized joint desired torque information.

[0014] Further, in step S1, the following steps are further included:

[0015] S101: obtain preliminary information, wherein the preliminary information includes exoskeleton state information obtained from the wearable exoskeleton device; the exoskeleton state information includes visual information obtained from a camera on the wearable exoskeleton device and force tactile information obtained by a sensor;

[0016] S102: after multi-modal information fusion processing of the visual information and the force tactile information, proceed to step S2.

[0017] Further, in step S4, the following steps are further included:

[0018] S411: obtain safety information, wherein the safety information includes zero moment point information and system pressure center information;

[0019] S412: input the safety information into the human-robot coupling dynamics model.

[0020] Further, in step S1, the preliminary information further includes human-robot interaction information obtained from a human-robot interaction interface system, and the human-robot interaction information includes language recognition information and visual environment recognition information.

[0021] Further, the human-robot coupling dynamics model includes a human-robot interaction impedance mechanics model and a joint torque model, and the human-robot collaborative motion controller includes a servo control system.

[0022] After the exoskeleton state information is input into the human-robot interaction impedance mechanics model, the output result is input into the joint torque model, and the joint torque model outputs joint desired torque information to the servo control system, so that after the human-robot collaborative motion controller outputs corresponding joint torque,

[0023] The human-robot interaction impedance mechanics model obtains target torque from the wearable exoskeleton device, and makes the target torque correspond to the joint torque.

[0024] Further, the human-robot coupling dynamics model includes a dynamics inverse solution model, which calculates the torque corresponding to the current joint according to the current position, velocity and acceleration of each joint, and together with the output result of the joint interaction torque model, forms the joint desired torque.

[0025] Further, the wearable exoskeleton device comprises a waist support part, a leg support part, an environment information collection system, a central processing system and a human-machine collaborative motion controller, the leg support part comprises a thigh support part, a shank support part and a foot sole support part, the waist support part is connected with the thigh support part through a hip joint rotating part, the thigh support part is connected with the shank support part through a knee joint rotating part, a reducer is arranged in the hip joint rotating part and / or the knee joint rotating part, the reducer is used for limiting the relative rotating speed of the waist support part and the thigh support part; or limiting the relative rotating speed of the thigh support part and the shank support part.

[0026] Further, the reducer comprises a sun gear fixing frame and a reducer connecting frame, a sun gear is arranged in the middle of the sun gear fixing frame, a planet carrier is arranged on the sun gear fixing frame, a planet gear is arranged on the planet carrier, the planet gear is engaged with the sun gear, an elastic member is arranged in the middle of the sun gear, and the elastic member is used for providing resistance to the rotation of the sun gear.

[0027] The sun gear fixing frame is connected with the waist support part, and the reducer connecting frame is connected with the thigh support part; or the sun gear fixing frame is connected with the thigh support part, and the reducer connecting frame is connected with the shank support part.

[0028] Further, the elastic member is in interference connection with the sun gear.

[0029] Compared with the prior art, the present application has the following advantages:

[0030] The environment information collection system collects the environment information around the human body; the sensor comprises a visual sensor for collecting environment information and a force tactile sensor for collecting force tactile information; the central processing system performs multi-mode information fusion processing on the environment information; the central processing system identifies the human motion intention; the central processing system obtains the human motion gait; the human motion gait comprises a standing phase and a swing phase; the central processing system calculates the joint desired torque through a human-machine coupling dynamics model; the central processing system controls the hip joint rotating part and the knee joint rotating part of the wearable exoskeleton device through the human-machine collaborative motion controller to provide the corresponding joint desired torque, thereby assisting the human motion; and the system compliance control effect is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The flowchart of the control method of the wearable exoskeleton device.

[0032] Figure 2 The schematic diagram of the wearable exoskeleton device of the present application.

[0033] Figure 3 The schematic diagram of the wearable exoskeleton device of the present application.

[0034] Figure 4 This is a top view of the speed reducer in this application.

[0035] Figure 5 This is a schematic diagram of the sun gear mounting bracket of this application.

[0036] Figure 6 This is an exploded view of the ankle adjustment section of this application.

[0037] Figure 7 This is a schematic diagram of the ankle adjustment part of this application.

Detailed Implementation Methods

[0038] To make the above features and advantages of this application more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings, but this application is not limited thereto.

[0039] like Figure 1 As shown, a method for controlling a wearable exoskeleton device includes the following steps:

[0040] S1: Obtain preliminary information, which includes exoskeleton status information obtained from the wearable exoskeleton device;

[0041] S2: Identify the human movement intention based on preliminary information and generate movement intention information;

[0042] S3: Identify human gait based on preliminary information to obtain human gait information, wherein the human gait information includes the standing phase and the swinging phase;

[0043] S4: Substitute the preliminary information, motion intention information and human gait information into the human-machine coupled dynamics model to calculate the joint expected torque information;

[0044] S5: The human-machine collaborative motion controller controls the wearable exoskeleton device to output corresponding joint torques based on the obtained joint desired torque information. This assists in human movement and improves the system's compliant control effect.

[0045] Step S4 also includes the following steps:

[0046] S401: Obtain adjustment information, including error information such as disturbance information, error information and human-machine interaction force information obtained through the disturbance observer;

[0047] S402: input the adjustment information into the machine learning network, and output the optimized joint desired torque information to the human-robot collaborative motion controller through the machine learning network, so that the wearable exoskeleton device outputs corresponding joint torque according to the obtained optimized joint desired torque information. The disturbance observer measures disturbance error data and provides the disturbance error data to the human-robot collaborative motion controller for calculation. The disturbance observer can detect the human-robot interaction force and position error between the human body and the exoskeleton caused by some uncertain factors in real time, and feed back the human-robot interaction force and position error to the human-robot collaborative motion controller to improve the stability of the motion.

[0048] In step S1, the following steps are further included:

[0049] S101: obtaining preliminary information, wherein the preliminary information includes exoskeleton state information obtained from the wearable exoskeleton device; the exoskeleton state information includes visual information obtained from a camera on the wearable exoskeleton device and force tactile information obtained by a sensor;

[0050] S102: after the multi-modal information fusion processing of the visual information and the force tactile information, proceed to step S2. The result is more accurate.

[0051] In step S4, the following steps are further included:

[0052] S411: obtaining safety information, wherein the safety information includes zero moment point information and system pressure center information;

[0053] S412: inputting the safety information into the human-robot coupling dynamics model.

[0054] In step S1, the preliminary information further includes human-robot interaction information obtained from a human-robot interaction interface system, and the human-robot interaction information includes language recognition information and visual environment recognition information.

[0055] The human-robot coupling dynamics model includes a human-robot interaction impedance mechanics model and a joint torque model, and the human-robot collaborative motion controller includes a servo control system.

[0056] After the exoskeleton state information is input into the human-robot interaction impedance mechanics model, the output result is input into the joint torque model, and the joint torque model outputs joint desired torque information to the servo control system, so that after the human-robot collaborative motion controller outputs corresponding joint torque,

[0057] The human-robot interaction impedance mechanics model obtains target torque from the wearable exoskeleton device, and makes the target torque correspond to the joint torque.

[0058] The human-machine coupling dynamics model includes an inverse dynamics model, which calculates the torque corresponding to the current joint based on the current joint position, velocity, and acceleration, and together with the result output by the joint interaction torque model, constitutes the desired torque of the joint.

[0059] like Figures 2-7 As shown, the wearable exoskeleton device includes a waist support unit 1, a main leg support unit 2, an environmental information collection system, a central processing system, and a human-machine collaborative motion controller. The main leg support unit 2 includes a thigh support unit 21, a calf support unit 22, and a foot support unit 23. The waist support unit 1 and the thigh support unit 21 are connected through a hip joint rotation unit 3, and the thigh support unit 21 and the calf support unit 22 are connected through a knee joint rotation unit 4. The hip joint rotation unit 3 and the knee joint rotation unit 4 output the joint desired torque provided by the central processing system.

[0060] The hip joint rotating part 3 and / or the knee joint rotating part 4 are provided with a speed reducer 5, which is used to limit the relative rotational speed between the waist support part 1 and the thigh support part 21; or to limit the relative rotational speed between the thigh support part 21 and the calf support part 22, so as to improve the deceleration and cushioning effect.

[0061] The reducer 5 includes a sun gear holder 51 and a reducer connecting frame 55. A sun gear 52 is located in the middle of the sun gear holder 51. A planet carrier 53 is mounted on the sun gear holder 51, and planet gears 54 are mounted on the planet carrier 53. The planet gears 54 mesh with the sun gear 52. An elastic element 6 is located in the middle of the sun gear 52, providing resistance to the rotation of the sun gear 52. The sun gear holder 51 is connected to the waist support 1, and the reducer connecting frame 55 is connected to the thigh support 21; or the sun gear holder 51 is connected to the thigh support 21, and the reducer connecting frame 55 is connected to the calf support 22. The torsional force generated by the twisting of the elastic element 6 further improves the deceleration and cushioning effect.

[0062] The elastic element 6 is interference-fitted with the sun gear 52. The elastic element 6 is fixedly connected to the sun gear holder 51. The interference-fitted connection between the elastic element 6 and the sun gear 52 effectively utilizes the torsional force generated by the elastic element 6, and the structure is simple and easy to process.

[0063] The elastic element 6 has threads on the side facing the sun gear 52. This can further increase the interaction force between the elastic element 6 and the sun gear 52, and further improve the deceleration and buffering effect.

[0064] The reducer connecting frame 55 is provided with an internal gear 551 outside the planetary gear 54, and the planetary gear 54 is engaged with the internal gear 551. Further improve the reduction, buffering effect.

[0065] The ankle adjusting part 7 is arranged between the calf supporting part 22 and the instep supporting part 23, and is used for keeping the inclination of the instep and the ground. The instep can be kept in a more natural and comfortable position.

[0066] The ankle adjusting part 7 comprises an ankle adjusting plate 71, and the instep supporting part 23 is provided with a foot support 72, and the ankle adjusting plate 71 is hinged to the foot support 72. The hinge connection facilitates the adjustment of the direction.

[0067] The ankle adjusting plate 71 and the foot support 72 are provided with a universal ball head hinge 73, the universal ball head hinge 73 comprises a universal ball head first connecting part 731 connected with the ankle adjusting plate 71, a universal ball head second connecting part 732 connected with the universal ball head first connecting part 731, and a universal ball head connecting part 733 connected with the universal ball head second connecting part 732, the universal ball head connecting part 733 can rotate in the universal ball head cavity 7321 of the universal ball head second connecting part 732, and the ankle adjusting plate 71 is further provided with a hinge cover 75. The instep can be rotated in multiple directions, which is more suitable for the human body and more stable.

[0068] The ankle adjusting plate 71 and the foot support 72 are provided with a torsional spring 74. The direction of the instep can be adjusted, and the structure is simple and the cost is low.

[0069] The instep supporting part 23 is provided with an upper 231 for fixing. It is convenient to fix the instep or shoes.

[0070] During work, the environment information around the human body is collected through the environment information collection system; the sensor comprises a visual sensor for collecting environment information and a force tactile sensor for collecting force tactile information;

[0071] The central processing system performs multi-mode information fusion processing on the environment information;

[0072] The central processing system identifies the human motion intention;

[0073] The central processing system obtains the human motion gait; the human motion gait comprises a standing phase and a swing phase;

[0074] The central processing system calculates the expected joint torque through the man-machine coupling dynamics model;

[0075] The central processing system controls the hip joint rotating part 3 and the knee joint rotating part 4 of the wearable exoskeleton device through the man-machine cooperative motion controller to provide corresponding joint desired torque, thereby assisting human motion and improving the compliance control effect of the system.

[0076] The reducer 5 arranged in the hip joint rotating part 3 and the knee joint rotating part 4 improves the deceleration and buffering effect; the elastic member 6 in the reducer 5 provides torsional force, can provide higher buffering performance, has better deceleration and buffering effect; meanwhile, the foot ankle adjusting part 7 is used to adjust the inclination of the foot and the ground, so that the person is more comfortable when walking with the wearable exoskeleton device.

Claims

1. A wearable exoskeleton device, characterized by, The wearable exoskeleton device comprises a waist supporting part (1), a leg supporting part (2), an environment information collecting system, a central processing system and a human-machine collaborative motion controller, the leg supporting part (2) comprises a thigh supporting part (21), a shank supporting part (22) and a foot sole supporting part (23), the waist supporting part (1) is connected with the thigh supporting part (21) through a hip joint rotating part (3), the thigh supporting part (21) is connected with the shank supporting part (22) through a knee joint rotating part (4), a reducer (5) is arranged in the hip joint rotating part (3) and / or the knee joint rotating part (4), the reducer (5) is used for limiting the relative rotating speed of the waist supporting part (1) and the thigh supporting part (21) or limiting the relative rotating speed of the thigh supporting part (21) and the shank supporting part (22), the reducer (5) comprises a sun gear fixed frame (51) and a reducer connecting frame (55), a sun gear (52) is arranged in the middle of the sun gear fixed frame (51), a planet carrier (53) is arranged on the sun gear fixed frame (51), a planet gear (54) is arranged on the planet carrier (53), the planet gear (54) is engaged with the sun gear (52), an elastic element (6) is arranged in the middle of the sun gear (52), and the elastic element (6) is used for providing resistance to the rotation of the sun gear (52); the sun gear fixed frame (51) is connected with the waist supporting part (1), and the reducer connecting frame (55) is connected with the thigh supporting part (21); or the sun gear fixed frame (51) is connected with the thigh supporting part (21), and the reducer connecting frame (55) is connected with the shank supporting part (22), an ankle adjusting part (7) for keeping the inclination of the foot sole and the ground is arranged between the shank supporting part (22) and the foot sole supporting part (23), the ankle adjusting part (7) comprises an ankle adjusting plate (71), a foot supporting frame (72) is arranged on the foot sole supporting part (23), the ankle adjusting plate (71) is hinged with the foot supporting frame (72), a universal ball head hinge (73) is arranged between the ankle adjusting plate (71) and the foot supporting frame (72), the universal ball head hinge (73) comprises a universal ball head first connecting part (731) connected with the ankle adjusting plate (71), a universal ball head second connecting part (732) connected with the universal ball head first connecting part (731) and a universal ball head connecting part (733) connected with the universal ball head second connecting part (732), the universal ball head connecting part (733) can rotate in a universal ball head cavity (7321) of the universal ball head second connecting part (732), and the elastic element (6) is connected with the sun gear (52) in an interference mode.

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