Upper limb exoskeleton robot data glove, power assisting system and method

Abstract

The embodiment of the invention discloses an upper limb exoskeleton robot data glove, a power assisting system and a method. The data glove comprises a pressure acquisition palm which comprises a plurality of thin film pressure sensors, the positions of the thin film pressure sensors are set according to a pressure change contour map of the palm part in the human body carrying process, and the pressure acquisition palm is used for acquiring pressure signals of different parts of the palm; the electrical unit comprises an MCU (Microprogrammed Control Unit) and a wireless radio frequency module; when the wireless radio frequency module does not establish communication with the controller of the robot, the wireless radio frequency module enters a low-power-consumption monitoring state, and the MCU stops receiving the pressure signal; in response to a starting instruction of the controller, the wireless radio frequency module enters a timing sending state, and the MCU sends the pressure signal to the controller through the wireless radio frequency module; the buffering and anti-skidding glove comprises an upper-layer buffering cushion and a lower-layer buffering cushion which cover the two sides of the pressure collecting palm and the two sides of the electric unit.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of power-assisted exoskeletons, and in particular to an upper limb exoskeleton robot data glove, a power-assisted system, and a method. Background Art

[0002] The upper limb exoskeleton robot can provide the wearer with movement power, improve human strength, and enhance the efficiency of lifting operations. The passive upper limb exoskeleton robot increases the wearer's consumption when there is no load due to the unidirectional nature of the passive energy storage assistance; the active upper limb exoskeleton robot also increases the wearer's useless work because it cannot obtain the wearer's lifting status. Pressure detection gloves mainly obtain the interaction information between the load and the human hand, and detect the accuracy and effectiveness of lifting the load, which is the key to ensuring the efficient assistance of the upper limb exoskeleton.

[0003] The patent with publication number CN 105242788 A discloses a circuit layout and sensor configuration method of a wireless data glove based on a bending sensor. The resistance change signal generated according to the different bending degrees of the fingers is transmitted to the microprocessor for processing and then sent to the wireless transmission module. The wireless transmission module sends the signal to the PC device through the wireless receiving module. The invention is both practical and economical.

[0004] The patent with publication number CN210199703 U discloses a flexible tactile glove based on the supercapacitor sensing principle. The entire palm surface of the tactile glove is covered with an array of sensor units. The distribution density of the sensor units is high, which can accurately sense the pressure distribution of the entire palm and fingers of the tactile glove.

[0005] The patent with publication number CN219982223 U discloses a wearable smart glove based on a microstructured flexible pressure sensor. The microstructured flexible pressure sensor is used as a sensing module, which can improve the response sensitivity, response range and wearing comfort of the wearable smart glove, and can realize interactive functions such as inward and outward bending recognition and gesture recognition.

[0006] At present, common data gloves are used for tactile recognition and gesture recognition, but their range and functions are insufficient when applied to upper limb exoskeleton robots. Summary of the invention

[0007] The embodiments of the present invention provide an upper limb exoskeleton robot data glove, a power assistance system and a method to solve the above-mentioned technical problems.

[0008] In a first aspect, an embodiment of the present invention provides an upper limb exoskeleton robot data glove, characterized in that it is worn on the hand of a user and is used to collect hand weight information;

[0009] The data glove comprises:

[0010] The pressure collection palm includes a plurality of thin film pressure sensors, the positions of which are set according to the contour map of the pressure changes in the palm during the human body transportation process, and are used to collect pressure signals at different parts of the palm;

[0011] The electrical unit comprises an MCU and a wireless radio frequency module, wherein the MCU is electrically connected to each film pressure sensor and the wireless radio frequency module respectively; when communication with the controller of the robot is not established, the wireless radio frequency module enters a low-power listening state, and the MCU stops receiving the pressure signal; in response to a start instruction of the controller, the wireless radio frequency module enters a timed sending state, and the MCU sends the pressure signal to the controller through the wireless radio frequency module;

[0012] The cushioning and anti-slip glove comprises an upper cushioning liner and a lower cushioning liner covering the pressure collecting palm and both sides of the electrical unit.

[0013] Optionally, each thin film pressure sensor is respectively located on the proximal phalanx of the thumb, the proximal phalanx of the index finger, the middle phalanx of the index finger, the proximal phalanx of the middle finger, the middle phalanx of the middle finger, the proximal phalanx of the ring finger, the middle phalanx of the ring finger and the metacarpal bone.

[0014] Optionally, the MCU includes an AD module;

[0015] After the MCU is powered on, the wireless radio frequency module is initialized, and both the MCU and the wireless radio frequency module enter a sleep mode, and the wireless radio frequency module is set to enter a receiving mode from the sleep mode every B milliseconds;

[0016] After the receiving mode lasts for 2A milliseconds, if the wireless RF module does not receive the startup command from the controller, it will resume the sleep mode; if the wireless RF module receives the startup command from the controller, it will resume to the working mode together with the MCU, turn on the AD module to convert the pressure signal into a digital signal, and send it to the controller regularly.

[0017] Optionally, the MCU sends the combined pressure force collected by the multiple thin film pressure sensors to the controller, and the controller determines whether the exoskeleton robot is in a load-bearing state.

[0018] Optionally, B is 50 to 100 times greater than A.

[0019] Optionally, the electrical unit includes a main control board and a battery, wherein the MCU and the wireless radio frequency module are integrated in the main control board; the main control board also includes: a waterproof Micro USB interface, a charging circuit, a waterproof touch switch, a switch circuit and a pressure collection circuit;

[0020] The waterproof Micro USB interface is connected to an external power source by connecting a standard Micro USB plug, charges the battery through the charging circuit, and downloads the debugging program to the MCU;

[0021] The waterproof touch switch is connected to the switch circuit and is used to control the power on and power off of the electrical unit inside the data glove;

[0022] The MCU is connected to each pressure film sensor through the pressure acquisition circuit. The pressure acquisition circuit 15 is a resistor voltage divider circuit. The AD module of the MCU acquires the analog voltage signal of each film pressure sensor and converts it into a digital pressure signal through the voltage divider resistor.

[0023] Optionally, the MCU stores the pressure resultant force F collected by the multiple thin film pressure sensors. 合 The MCU predicts the weight mass based on the corresponding relationship.

[0024] In a second aspect, an embodiment of the present invention provides an upper limb exoskeleton power-assisting system, comprising:

[0025] Upper limb exoskeleton robots are worn on the user's upper limbs to provide assistance for upper limb movements;

[0026] An upper arm inertial sensor is installed on the upper arm structure of the upper limb exoskeleton robot and is used to collect upper arm posture angle and joint angular velocity information;

[0027] An upper limb exoskeleton robot data glove, worn on the user's hand, for collecting hand weight information; the data glove comprises: a pressure collection palm, comprising a plurality of thin film pressure sensors, the position of each thin film pressure sensor is set according to a contour map of pressure changes in the palm during human body handling, for collecting pressure signals of different parts of the palm; an electrical unit, comprising an MCU and a wireless radio frequency module, wherein the MCU is electrically connected to each thin film pressure sensor and the wireless radio frequency module respectively; when communication with the robot's controller is not established, the wireless radio frequency module enters a low-power listening state, and the MCU stops receiving the pressure signal; in response to a start-up instruction of the controller, the wireless radio frequency module enters a timed sending state, and the MCU sends the pressure signal to the controller through the wireless radio frequency module; a cushioning and anti-slip glove, comprising an upper cushioning pad and a lower cushioning pad covering both sides of the pressure collection palm and the electrical unit;

[0028] The controller is used to control the upper limb exoskeleton robot to generate an upper limb assist torque according to information fed back by the upper arm inertial sensor and the data glove.

[0029] In a third aspect, an embodiment of the present invention further provides an upper limb exoskeleton power assistance method, which is applied to the above-mentioned upper limb exoskeleton control system, and the method comprises:

[0030] The upper arm inertial sensor collects upper arm posture angle and joint angular velocity information;

[0031] The data glove collects hand weight information;

[0032] The controller calculates the assist torque of the robot according to the collected information.

[0033] In summary, the embodiments of the present invention can achieve the following beneficial effects:

[0034] (1) The upper limb exoskeleton robot data glove provided in the embodiment of the present invention integrates functions such as pressure collection, wireless transmission, pressure buffering and power supply. It does not require an external power supply bus and data transmission bus, and can realize the real-time collection and wireless transmission of hand pressure data. The overall size of the data glove is no different from that of ordinary gloves, and the system integration is strong.

[0035] (2) The upper limb exoskeleton robot data glove provided in the embodiment of the present invention adopts a wireless radio frequency module of a specific frequency. By writing a transmission protocol that meets the control requirements, compared with Bluetooth transmission and WIFI transmission methods, it does not require a complex handshake mechanism and cumbersome transmission protocol, thereby ensuring the real-time and rapid transmission of pressure data, and can achieve a data delay transmission performance as low as 3ms.

[0036] (3) The upper limb exoskeleton robot data glove provided in the embodiment of the present invention optimizes the layout and size of the pressure collection points according to the contour distribution diagram of the hand pressure changes during the handling operation. Through the determination method set by the present invention, the lifting status can be quickly and accurately identified.

[0037] (4) The present invention provides an upper limb exoskeleton robot data glove, which adopts a low-power MCU controller, a low-power wireless radio frequency module, a remote wake-up logic mechanism or a sleep mode, so that the standby time and working time of the data glove can reach 48 hours and 24 hours respectively, solving the problem of long-term battery life of the upper limb exoskeleton robot data glove. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of an upper limb exoskeleton power-assisting system provided by the present invention;

[0040] Figure 2 A schematic diagram of another upper limb exoskeleton power-assisting system provided by the present invention;

[0041] Figure 3 A schematic diagram of an upper limb exoskeleton robot data glove provided by the present invention;

[0042] Figure 4 A schematic diagram of the composition of an electrical unit provided in an embodiment of the present invention;

[0043] Figure 5 A flow chart of wireless RF module mode conversion provided by an embodiment of the present invention;

[0044] Figure 6 A contour map of pressure changes in the palm area provided by an embodiment of the present invention;

[0045] Figure 7 A distribution diagram of the thin-film pressure sensors (pressure collection points) on the palm of the pressure collection hand provided by an embodiment of the present invention;

[0046] Figure 8 A schematic diagram of a control mainboard provided by an embodiment of the present invention;

[0047] Fig. 9 A flowchart of an upper limb exoskeleton assistance method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. 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 creative work belong to the scope of protection of the present invention.

[0049] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0050] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] The embodiment of the present invention provides an upper limb exoskeleton robot data glove. In order to explain the data glove, the upper limb exoskeleton power-assisting system applied by the data glove is first introduced. Figure 1 and Figure 2 are schematic diagrams of an upper limb exoskeleton power assist system provided by an embodiment of the present invention, combined with Figure 1 and Figure 2 As shown, the power assist system includes:

[0052] Upper limb exoskeleton robots are worn on the user's upper limbs to provide assistance for upper limb movements;

[0053] An upper arm inertial sensor is installed on the upper arm structure of the upper limb exoskeleton robot and is used to collect upper arm posture angle and joint angular velocity information;

[0054] Upper limb exoskeleton robot data gloves, worn on the user's hands, are used to collect hand load information;

[0055] The upper limb exoskeleton robot controller is used to control the upper limb exoskeleton robot to generate an upper limb assist torque according to the information fed back by the upper arm inertial sensor and the data glove.

[0056] Based on the above system, combined with Figure 3 This embodiment provides an upper limb exoskeleton robot data glove, which includes an electrical unit 3, a pressure collection palm 2, and a cushioning and anti-slip glove 1. Figure 4 The electrical unit includes a main control board 5 and a battery 4. The main control board 5 includes a micro control unit (MCU), an inertial sensor and a wireless radio frequency module.

[0057] The pressure collection palm 2 uses a thin film pressure sensor to convert the pressure signals of different parts of the palm into analog voltage signals. Optionally, the thin film pressure sensor is soft and can withstand deformation during lifting. At the same time, the sensitivity range of the thin film pressure sensor with a diameter of 10mm is 5kg-50kg, which can well cover the load range of 5kg-35kg of the upper limb exoskeleton, thereby overcoming the problem of insufficient range.

[0058] The MCU is electrically connected to the wireless radio frequency module. The MCU is powered on to initialize the wireless radio frequency module. When communication with the upper limb exoskeleton robot controller is not established, the wireless radio frequency module enters a low-power listening state. In this state, the AD conversion module in the MCU does not collect and convert analog voltage signals. After receiving the start-up instruction from the host computer, the wireless radio frequency module enters a timed transmission state, and the AD conversion module in the MCU starts to receive analog voltage signals, converts the analog voltage signals into digital voltage signals, and sends them to the host computer via the wireless radio frequency module. Figure 5 Through this customized remote wake-up protocol and the selection of low-power types for each device, the problem of long-term battery life of data gloves is solved.

[0059] The battery 4 supplies power to the electrical components of the entire data glove.

[0060] The buffering and anti-slip glove 1 includes an upper buffering pad and a lower buffering pad located on both sides of the pressure collection palm 2 and the electrical unit 3, which are used to cover the pressure collection palm 2 and the electrical unit 3 to prevent the pressure collection palm 2 and the electrical unit 3 from being exposed outside the data glove, and to buffer the gravity load to prevent damage caused by direct pressure from the weight.

[0061] Furthermore, the data gloves are used to assist in exoskeleton operations, and the lifting status of the wearer needs to be identified during the exoskeleton control process. In a specific embodiment, the position of the film pressure sensor, i.e., the pressure collection point, is optimized in consideration of the different load shapes and hand load points during the handling process. Optionally, the position of the film pressure sensor is set according to the contour map of the pressure change in the palm of the hand during the human body handling process. Specifically, Figure 6 The contour map of the pressure change of the palm is displayed, and the sensors are arranged in places where the pressure values ​​of green, yellow, red, etc. are greater than the set threshold. Figure 7 As shown, the thin film pressure sensors are distributed on the proximal phalanx (I) of the thumb, the proximal phalanx (II) of the index finger, the middle phalanx (III) of the index finger, the proximal phalanx (IV) of the middle finger, the middle phalanx (V) of the middle finger, the proximal phalanx (VI) of the ring finger, the middle phalanx (VII) of the ring finger, and the metacarpal bone (VIII), corresponding to pressure collection points I to VIII respectively. Pressure collection point I is responsible for collecting the pressure at the proximal position of the thumb, pressure collection point II is responsible for collecting the pressure at the proximal position of the index finger, pressure collection point III is responsible for collecting the pressure at the middle position of the index finger, pressure collection point IV is responsible for collecting the pressure at the proximal position of the middle finger, pressure collection point V is responsible for collecting the pressure at the middle position of the middle finger, pressure collection point VI is responsible for collecting the pressure at the proximal position of the ring finger, pressure collection point VII is responsible for collecting the pressure at the middle position of the ring finger, and pressure collection point VIII is responsible for collecting the pressure at the palm position. Considering the width between the contour lines of pressure change in the palm, the diameter of the pressure collection area of ​​the thin film pressure sensor is not less than 10 mm.

[0062] Based on the above pressure collection points, the MCU can calculate the pressure resultant force at the pressure collection points, and the controller can reasonably analyze the load state of the robot according to the pressure. Figure 7 As shown, F1 represents the pressure at pressure collection point I, F2 represents the pressure at pressure collection point II, F3 represents the pressure at pressure collection point III, F4 represents the pressure at pressure collection point IV, F5 represents the pressure at pressure collection point V, F6 represents the pressure at pressure collection point VI, F7 represents the pressure at pressure collection point VII, and F8 represents the pressure at pressure collection point VIII. When F1+F2+F3+F4+F5+F6+F7+F8≥threshold, the robot is judged to be in a loaded state; when F1+F2+F3+F4+F5+F6+F7+F8<threshold, the robot is judged to be in a non-loaded state. Preferably, the threshold is not greater than 50N.

[0063] In another specific implementation, in addition to solving the long-term battery life problem of the data glove through the low-power monitoring method of the wireless RF module, the MCU and the wireless RF module can also be set to sleep mode to reduce power consumption and extend the battery life. Specifically, after the MCU is powered on, the wireless RF module is initialized, and both the MCU and the wireless RF module enter the sleep mode. The wireless RF module is set to enter the receiving mode from the sleep mode every B milliseconds, and the receiving mode lasts for 2A milliseconds. If the host computer startup command is not received, the sleep mode is restored; if the startup command is received, a signal is sent to the MCU to restore it to the working mode, turn on the AD module, and the wireless RF module itself is also restored to the working mode, and a digital voltage signal is sent to the host computer at regular intervals.

[0064] Optionally, in working mode, if the signal collected by the AD module continues to be lower than the minimum pressure threshold within a set time, the MCU and the wireless RF module re-enter sleep mode until they are awakened and enter working mode again, thereby achieving ultra-low power consumption operation.

[0065] Optionally, in working mode, the duration for the wireless RF module to send a digital voltage signal to the host computer is A milliseconds. In order to take into account both standby endurance and wake-up real-time performance, the interval duration B for the wireless RF module to enter the receiving mode from the sleep mode is determined to be 50 to 100 times the duration A.

[0066] In another specific embodiment, Figure 8 As shown, the main control board 5 in the electrical unit also includes: a waterproof MicroUSB interface 6, a charging circuit 10, a protection circuit 11, a waterproof touch switch 12, a switch circuit 13, a power conversion circuit 14, a micro connector 16 and a pressure collection circuit 15.

[0067] Among them, the waterproof Micro USB interface 6 is the only external interface of the data glove. It is connected to the power supply by connecting the standard Micro USB plug to charge the product battery, such as 5V charging. It can also be used as an interface to download the debugging program to the MCU during the debugging stage. The charging circuit 10 is connected to the waterproof Micro USB interface 5. The protection circuit 11 is connected to the charging circuit 10, the battery 6 and the switch circuit 13 to form a battery charging path. The charging circuit 10 and the protection circuit 11 can be a conventional 4.25V lithium battery charging circuit and protection circuit. The waterproof touch switch 12 is connected to the switch circuit 13 to control the power on and off of the electrical unit inside the data glove. For example, by briefly pressing the waterproof touch switch 12, the electrical unit in the data glove is powered on. If it is pressed for a long time (more than two seconds) in the powered-on state, the electrical unit inside the data glove is powered off. The two ends of the power conversion circuit 14 are respectively connected to the switch circuit 13 and the MCU 17, which are used to convert the battery voltage (such as 3.6-4.2V) into the stable voltage (such as 3.3V) required by the MCU; the MCU 17 is connected to the power conversion circuit 14, the pressure acquisition circuit 15 and the wireless radio frequency module 18, which is a STM32 low-power series product, such as STM32L0, to achieve low power consumption during normal operation; the wireless radio frequency module 18 selects a wireless radio frequency module commonly used in tire pressure monitoring, preferably with a low-power sleep function; the pressure acquisition circuit 15 is a resistor divider circuit, and by reasonably setting the voltage divider resistor, the AD module of the MCU 17 collects the analog voltage signal of the thin film pressure sensor and converts the analog voltage signal into a digital pressure signal; the pressure acquisition circuit 15 is connected to the thin film pressure sensor 1 through the micro connector 16, so that the AD module obtains the pressure value of the corresponding pressure acquisition point in the thin film pressure sensor 1.

[0068] Optionally, considering the signal diffraction capability and real-time communication capability, the transmission frequency of the wireless RF module is selected as 433 MHz or 868 MHz.

[0069] In this embodiment, the main control board realizes the integrated design of MCU, wireless RF module, switch and other components. Considering the requirements of the use environment, the main control board is placed in a metal main control board shell, including an upper shell of the main control board and a lower shell of the main control board. The main control board shell is placed at the wrist of the pressure glove. The metal shell material is lightweight aluminum alloy, which can protect the electrical part from gravity and impact force during the wearer's carrying process.

[0070] In another specific implementation, the corresponding relationship between the pressure resultant force and the weight can be established in advance through a lifting and standing experiment, and stored in the MCU. Specifically, the robot can be made to wear data gloves to lift boxes of 10kg, 15kg, 20kg, and 25kg respectively, stand still for 10s, collect F1~F8 at each moment, and calculate the resultant force F 合=(F1+F2+F3+F4+F5+F6+F7+F8), there are N collection moments, and N groups of F are collected 合1 ~F 合N , according to the formula M=(F 合1 +....+F 合N ) / (N×g), where g is the acceleration due to gravity, to obtain the estimated load mass M. If the estimated value M≤10kg, the actual load mass is judged to be 5kg; if 10kg≤M<15kg, the actual load mass is judged to be 10kg; if 15kg≤M<20kg, the actual load mass is judged to be 15kg; if 20kg≤M<25kg, the actual load mass is judged to be 20kg; if M≥25kg, the actual load mass is judged to be 25kg, and the upper limb exoskeleton robot lifting weight is divided into 5 levels.

[0071] Optionally, the MCU of the data glove can generate a pressure force F 合 After estimating the actual mass of the box, the mass and inertial sensor information are sent to the upper limb exoskeleton robot controller through the wireless radio frequency module. The controller obtains the angle θ1 between the upper arm and the direction of gravity and the angle θ2 between the forearm and the direction of gravity through the posture angle information of the upper arm inertial sensor and the data glove inertial sensor, obtains the length of the upper arm L1 and the length of the forearm L2 through measurement, and calculates the assist torque T through the following formula:

[0072] T=(Mg+Ma)×(L1sinθ1+L2sinθ2)×η

[0073] Wherein, η is the power-assistance efficiency, a is the z-axis acceleration of the data glove inertial sensor, and (Mg+Ma)×(L1sinθ1+L2sinθ2) represents the required joint torque, i.e., the torque of the shoulder joint drive mechanism of the upper limb exoskeleton robot. The controller sends instructions to the upper limb exoskeleton robot according to the calculation results to provide the power-assistance torque T.

[0074] In summary, the embodiments of the present invention provide an upper limb exoskeleton robot data glove and power assistance system, which can achieve the following beneficial effects:

[0075] (1) The upper limb exoskeleton robot data glove provided in the embodiment of the present invention integrates functions such as pressure collection, wireless transmission, pressure buffering and power supply. It does not require an external power supply bus and data transmission bus, and can realize the real-time collection and wireless transmission of hand pressure data. The overall size of the data glove is no different from that of ordinary gloves, and the system integration is strong.

[0076] (2) The upper limb exoskeleton robot data glove provided in the embodiment of the present invention adopts a wireless radio frequency module of a specific frequency. By writing a transmission protocol that meets the control requirements (mainly referring to the content and format of the transmitted data, such as 16-bit pressure value, 16-bit attitude angle, and 16-bit z-axis acceleration), compared with Bluetooth transmission and WIFI transmission methods, it does not require a complex handshake mechanism and cumbersome transmission protocol, thereby ensuring the real-time and rapid transmission of pressure data, and can achieve a data delay transmission performance as low as 3ms.

[0077] (3) The upper limb exoskeleton robot data glove provided in the embodiment of the present invention optimizes the layout and size of the pressure collection points according to the contour distribution diagram of the hand pressure changes during the handling operation. Through the determination method set by the present invention, the lifting status can be quickly and accurately identified; at the same time, the required joint torque is calculated through the load gravity, inertia force and the posture of the upper limbs, and multiplied by the corresponding power assistance efficiency to calculate the power assistance instruction.

[0078] (4) The present invention provides an upper limb exoskeleton robot data glove, which adopts a low-power MCU controller, a low-power wireless radio frequency module, a remote wake-up logic mechanism or a sleep mode, so that the standby time and working time of the data glove can reach 48 hours and 24 hours respectively, solving the problem of long-term battery life of the upper limb exoskeleton robot data glove.

[0079] Fig. 9 1 is a flow chart of an upper limb exoskeleton power assist method provided by an embodiment of the present invention, which is applied to the upper limb exoskeleton control system described in any of the above embodiments. Fig. 9 As shown, the method includes:

[0080] S110, the upper arm inertial sensor collects upper arm posture angle and joint angular velocity information.

[0081] S120: The data glove collects hand weight information.

[0082] S130. The controller calculates the assist torque of the robot according to the collected information.

[0083] It is worth mentioning that the upper limb exoskeleton assistance method and assistance system described in this embodiment are based on the same inventive concept as any of the above-mentioned data glove embodiments. The assistance method and assistance system of this embodiment may include any of the limitations in the above-mentioned data glove embodiments, and can achieve the same technical effects as the above-mentioned data gloves.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. An upper limb exoskeleton robot data glove, characterized in that: Worn on the user's hand to collect hand weight information; The data glove comprises: The pressure collection palm (2) includes a plurality of thin film pressure sensors, the positions of the thin film pressure sensors are set according to the contour map of the pressure change of the palm during the human body transportation process, and are used to collect pressure signals of different parts of the palm; The electrical unit (3) comprises an MCU and a wireless radio frequency module, wherein the MCU is electrically connected to each thin film pressure sensor and the wireless radio frequency module respectively; when communication with the controller of the robot is not established, the wireless radio frequency module enters a low power consumption monitoring state, and the MCU stops receiving the pressure signal; in response to a start instruction of the controller, the wireless radio frequency module enters a timed transmission state, and the MCU sends the pressure signal to the controller through the wireless radio frequency module; The cushioning and anti-slip gloves (1) include an upper cushioning pad and a lower cushioning pad covering the pressure collection palm (2) and both sides of the electrical unit (3).

2. The data glove according to claim 1, characterized in that: The thin film pressure sensors are respectively located on the proximal phalanx (I) of the thumb, the proximal phalanx (II) of the index finger, the middle phalanx (III) of the index finger, the proximal phalanx (IV) of the middle finger, the middle phalanx (V) of the middle finger, the proximal phalanx (VI) of the ring finger, the middle phalanx (VII) of the ring finger and the metacarpal bone (VIII).

3. The data glove according to claim 1, characterized in that: The MCU includes an AD module; After the MCU is powered on, the wireless radio frequency module is initialized, and both the MCU and the wireless radio frequency module enter a sleep mode, and the wireless radio frequency module is set to enter a receiving mode from the sleep mode every B milliseconds; After the receiving mode lasts for 2A milliseconds, if the wireless radio frequency module does not receive the start-up instruction from the controller, the sleep mode is restored; If the wireless radio frequency module receives a start-up instruction from the controller, it will restore to the working mode together with the MCU, turn on the AD module to convert the pressure signal into a digital signal, and send it to the controller regularly.

4. The data glove according to claim 3, characterized in that: The MCU sends the combined pressure force collected by the multiple thin film pressure sensors to the controller, and the controller determines whether the exoskeleton robot is in a load-bearing state.

5. The data glove according to claim 3, characterized in that: B is 50 to 100 times that of A.

6. The data glove according to claim 1, characterized in that: The electrical unit comprises a main control board (5) and a battery (4), wherein the MCU (17) and the wireless radio frequency module are integrated into the main control board (5); the main control board (5) further comprises: a waterproof Micro USB interface (6), a charging circuit (10), a waterproof touch switch (12), a switch circuit (13) and a pressure collection circuit (15); The waterproof Micro USB interface (6) is connected to an external power source by connecting a standard Micro USB plug, charges the battery (4) through the charging circuit (10), and downloads the debugging program to the MCU (17); The waterproof touch switch (12) is connected to the switch circuit (13) and is used to control the power on and power off of the electrical unit (3) inside the data glove; The MCU (17) is connected to each pressure film sensor via the pressure acquisition circuit (15); the pressure acquisition circuit 15 is a resistor voltage divider circuit, and the AD module of the MCU (17) acquires analog voltage signals of each film pressure sensor via voltage divider resistors and converts them into digital pressure signals.

7. The method according to claim 1, characterized in that The MCU (17) stores the pressure resultant force F collected by the multiple thin film pressure sensors. 合 The MCU predicts the weight mass based on the corresponding relationship.

8. An upper limb exoskeleton power-assisting system, characterized in that: include: Upper limb exoskeleton robots are worn on the user's upper limbs to provide assistance for upper limb movements; An upper arm inertial sensor is installed on the upper arm structure of the upper limb exoskeleton robot to collect upper arm posture angle and joint angular velocity information; Upper limb exoskeleton robot data gloves, worn on the user's hands, are used to collect hand load information; The data glove comprises: a pressure collection palm (2), comprising a plurality of thin film pressure sensors, the positions of the thin film pressure sensors being set according to a contour map of pressure changes in the palm during the human body handling process, and being used to collect pressure signals of different parts of the palm; an electrical unit (3), comprising an MCU (17) and a wireless radio frequency module, wherein the MCU is electrically connected to each thin film pressure sensor and the wireless radio frequency module respectively; when communication with the controller of the robot is not established, the wireless radio frequency module enters a low power consumption monitoring state, and the MCU stops receiving the pressure signal; in response to a start instruction of the controller, the wireless radio frequency module enters a timed transmission state, and the MCU sends the pressure signal to the controller through the wireless radio frequency module; a cushioning and anti-slip glove (1), comprising an upper cushioning pad and a lower cushioning pad covering both sides of the pressure collection palm (2) and the electrical unit (3); The controller is used to control the upper limb exoskeleton robot to generate an upper limb assist torque according to information fed back by the upper arm inertial sensor and the data glove.

9. An upper limb exoskeleton power assist method, applied to the upper limb exoskeleton control system as claimed in claim 8, characterized in that: The method comprises: The upper arm inertial sensor collects upper arm posture angle and joint angular velocity information; The data glove collects hand weight information; The controller calculates the assist torque of the robot according to the collected information.

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