Upper limb power assisting device and power assisting control method

Abstract

The invention discloses an upper limb power assisting device and a power assisting control method. The upper limb power assisting device comprises a sensing system, a power module, a trunk module, an arm module, a sling system and a main control module. The sensing system comprises an inclinometer and an angle sensor, and the inclinometer is arranged on the trunk module; the angle sensor is arranged on the power module; the power module comprises a shoulder power module, and the shoulder power module comprises a shoulder power base and a shoulder power output disc rotationally connected with the shoulder power base; the trunk modules are arranged on the two sides of the human trunk and fixed to the human trunk. The front end of the arm module is in transmission connection with the sling system, and the sling system is used for assisting in lifting the palm or the weight of the human body. According to the power-assisted control method, the intention of raising or lowering the arm of the wearer is sensed through the sensing system, so that the control is more sensitive, the action is more stable, shaking is avoided, and the universality is good. The method is simple and easy to use, and conforms to natural action habits; the sensing system is light, thin, small, low in cost and small in influence on an existing mechanism of the system.

Description

Technical Field

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

[0002] In daily work and life, humans often encounter situations where they want to enhance the strength and endurance of their upper limbs. Wearable powered exoskeleton devices are devices that meet this type of application, including upper limb power-assisted exoskeleton devices, etc. There are many existing documents that disclose the implementation mechanisms of such devices.

[0003] Existing upper limb assist exoskeleton devices can help the wearer lift / support heavy objects when raising their arms or palms, reducing the burden on the shoulders, arms, wrists, etc. of the wearer's arms when lifting heavy objects. In these existing upper limb assist exoskeleton devices, how to sense the wearer's intention to raise or lower his arms, so that the wearer can very sensitively control the exoskeleton to help lift or lower heavy objects, or stably rotate or adjust the angle of the heavy objects, or accurately keep the load from shaking while the wearer walks, is a difficult problem that needs to be solved. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide an upper limb assist device and an assist control method, aiming to solve the problem that the existing upper limb assist device is difficult to accurately sense the wearer's intention to raise or lower his arms, causing the device to be insensitive, unstable, and easy to shake.

[0005] To achieve the above-mentioned purpose, in a first aspect, an embodiment of the present invention provides an upper limb power assist device, including a sensor system, a power module, a trunk module, an arm module, a sling system, and a main control module;

[0006] The sensing system includes an inclinometer and an angle sensor. The inclinometer is arranged on the trunk module and is used to measure one or more of the angle, angular velocity, and upward and downward acceleration of the trunk when the human body bends over or lifts the trunk; the angle sensor is arranged on the power module and is used to measure the relative angle between the trunk module and the arm module;

[0007] The power module comprises a shoulder power module, the shoulder power module comprises a shoulder power base and a shoulder power output disk, the shoulder power output disk is rotatably connected to the shoulder power base, and the rotation plane is parallel to the sagittal plane of the human body;

[0008] The trunk modules are arranged on both sides of the human trunk and fixed to the human trunk, and the upper ends of the trunk modules are transmission-connected to the shoulder power modules;

[0009] The root of the arm module is drivingly connected to the shoulder power output disc;

[0010] The sling system includes a sling bracelet and / or a hook, the front end of the arm module is connected to the sling bracelet and / or transmission, and the sling bracelet and / or hook are used to assist in lifting a human hand or a heavy object;

[0011] The main control module is arranged on the trunk module, the inclinometer and the angle sensor are both electrically connected to the main control module, and the shoulder power module is electrically connected to the main control module.

[0012] In a second aspect, an embodiment of the present invention provides a power assist control method for an upper limb power assist device, comprising:

[0013] Step S11, the inclinometer monitors the inclination angle θ between the human body trunk and the vertical direction; the angle sensor monitors the angle β between the trunk module and the arm module;

[0014] Step S12, controlling the shoulder power module so that β is negatively correlated with the inclination angle θ: the larger the inclination angle θ is in the positive direction, the smaller β is; the smaller the inclination angle θ is in the positive direction, the larger β is.

[0015] The device of the present invention measures the angle and / or angular velocity of the human body leaning over or raising the trunk through an inclinometer, and measures the relative angle between the trunk module and the arm module through an angle sensor, so that the upper limb power-assist device can sense the wearer's intention to raise or lower the arm, making the upper limb power-assist device more sensitive to control, more stable in movement, and less shaky. The device of the present invention has the following advantages: 1. It is simple and easy to use, in line with natural movement habits; 2. The sensing system is light, thin and compact, low in cost, and has little impact on the existing mechanism of the system; 3. The control algorithm has good versatility and a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0017] Figure 1 It is a side view of an upper limb assisting device embodiment 1 of the present invention;

[0018] Figure 2 It is a side view of an upper limb assisting device embodiment 2 of the present invention;

[0019] Figure 3 It is a schematic diagram of the principle of algorithm M1 in a power assist control method of the present invention;

[0020] Figure 4It is a schematic diagram of the principle of algorithm M1 in a power assist control method of the present invention;

[0021] Figure 5 It is a schematic diagram of the principle of algorithm M2 in a power assist control method of the present invention;

[0022] Figure 6 It is a schematic diagram of the principle of algorithm M3 in a power assist control method of the present invention;

[0023] Figure 7 It is a schematic diagram of the principle of algorithm M4 in a power assist control method of the present invention;

[0024] Figure 8 It is a schematic diagram of the structure of the finger pressure sensor in the sensing system of the present invention;

[0025] Fig. 9 A schematic diagram of wearing and using a finger pressure sensor in the sensing system of the present invention;

[0026] Fig.10 It is a schematic diagram of the finger button of the sensor system of the present invention being arranged on a load.

[0027] The reference numerals are as follows:

[0028] 1—sensing system; 11—inclinometer; 12—angle sensor; 13—finger pressure sensor; 131—sensing base; 1311—base head; 1312—base body; 1313—base tail; 1314—base opening; 1315—base cavity; 1316—base pull ring; 132—sensing pressure plate; 1321—sensing pressure point; 133—sensing circuit; 134—sensing lead wire; 135—sensing drawstring; 1351—drawstring head; 1352—drawstring tail; 136—sensing leather case; 14—finger button;

[0029] 2—power module; 21—shoulder power module; 211—shoulder power base; 212—shoulder power output disk; 22—hip power module; 221—hip power base; 222—hip power output disk;

[0030] 3-torso module; 31-vertical rod; 311-upper end of the vertical rod; 32-waist belt; 33-shoulder strap; 34-waist support; 35-chest support;

[0031] 4—arm module; 41—big arm lever; 411—big arm main lever; 412—big arm root axis; 42—small arm lever; 43—elbow joint axis;

[0032] 5—leg rod module; 51—leg rod; 52—leg shell; 53—leg strap;

[0033] 6—sling system; 61—sling; 62—sling bracelet; 63—hook;

[0034] 7—Main control module. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Similar component numbers in the drawings represent similar components. Obviously, the embodiments described below 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 are within the scope of protection of the present invention.

[0036] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0037] It should also be understood that the terms used in this description of the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present invention. As used in the description of the embodiments of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include plural forms.

[0038] Figure 1 FIG. 1 is a side view of an upper limb assisting device embodiment 1 of the present invention. Figure 1 As shown, the upper limb assist device includes a sensor system 1, a power module 2, a trunk module 3, an arm module 4, a sling system 6, and a main control module 7;

[0039] The sensing system 1 includes an inclinometer 11 and an angle sensor 12. The inclinometer 11 is arranged on the trunk module 3, and is used to measure one or more of the angle of a human body bending over or raising the trunk, the angular velocity of a human body bending over or raising the trunk, the upward acceleration of the trunk, and the downward acceleration of the trunk; the angle sensor 12 is arranged on the power module 2, and is used to measure the relative angle between the trunk module 3 and the arm module 4;

[0040] The power module 2 includes a shoulder power module 21, which is arranged on the front side of the human shoulder and the inner side of the arm. Two shoulder power modules 21 are arranged, distributed on the left and right sides of the front side of the human shoulder. Each shoulder power module 21 includes a shoulder power base 211 and a shoulder power output disk 212. The shoulder power output disk 212 is rotationally connected to the shoulder power base 211, and the rotation plane is parallel to the sagittal plane of the human body, that is, the shoulder power output disk 212 is parallel to the sagittal plane of the human body. The shoulder power output disk 212 can rotate relative to the shoulder power base 211 under the control of the main control module 7. The rotational movement of the shoulder power output disk 212 will lift or lower the arm module 4, and then the upward / downward movement of the small arm rod 42 can lift / lower the wearer's palm and arm through the sling bracelet 62.

[0041] The trunk modules 3 are arranged on both sides of the human trunk and fixed to the human trunk, and the upper ends of the trunk modules 3 are transmission-connected to the shoulder power modules 21 . Specifically, the torso module 3 includes a vertical rod 31, a waist belt 32, a shoulder strap 33, a waist support 34 and a chest support 35. The vertical rod 31 is arranged on both sides of the front of the human body's torso, and the lower end of the vertical rod 31 is arranged on both sides of the human body's waist. The lower end of the vertical rod 31 is transmission-connected with the waist support 34, and the waist belt 32 fixes the waist support 34 to the human body's waist, and then fixes the lower end of the vertical rod 31 to both sides of the human body's waist; the upper end of the vertical rod 31 (i.e., the upper end 311 of the vertical rod) is transmission-connected with the shoulder power module 21, and the chest support 35 is arranged under the armpits of the human body. The chest support 35 is rotationally connected to the upper end of the vertical rod 31 in the vertical axis direction to meet the wearer's arm movement requirements of spreading his arms to both sides; the shoulder strap 33 fixes the chest support 35 to the shoulders and back of the human body, and then fixes the vertical rod 31 to the shoulders and back of the human body; the shoulder strap 33 is fixed to the shoulder power base 211.

[0042] The root of the arm module 4 is connected to the shoulder power output disk 212 by transmission. Specifically, the arm module 4 includes a large arm rod 41, a small arm rod 42 and an elbow joint shaft 43. The arm module 4 is arranged along the human arm. The large arm rod 41, the elbow joint shaft 43 and the small arm rod 42 are connected in sequence by transmission. The large arm rod 41 and the small arm rod 42 are connected by rotation based on the elbow joint shaft 43. The large arm rod 41 includes a large arm main rod 411 and a large arm root shaft 412 arranged at the root of the large arm main rod 411. The axis direction of the large arm root shaft 412 is perpendicular to the main body direction of the arm module 4. The root of the large arm rod 41 is connected to the shoulder power output disk 212 by rotation through the large arm root shaft 412 to support the outward expansion of the wearer's arm. Among them, the axis of the elbow joint shaft 43 is parallel to the swing axis of the human elbow. The arm modules 4 are provided in two numbers, distributed along the arms on both sides of the human body, and are rotationally connected through the shoulder power output disc 212 on the corresponding side of the upper arm root shaft 412.

[0043] The sling system 6 includes a sling bracelet 62, the front end of the arm module 4 is transmission-connected to the sling bracelet 62, and the sling bracelet 62 is fixed to the palm of the human body.

[0044] The strap bracelet 62 may also be a hook 63 (see Figure 2 ), the hook 63 is rotatably connected to the arm module 4, which can directly hook up the heavy object without passing through the human palm. The human hand can grasp the hook 63 to control the direction and use the device of the present invention to assist in lifting the heavy object. The human shoulder, arm and hand can be completely relaxed, and the experience is better.

[0045] The main control module 7 is disposed on the trunk module 3 , the inclinometer 11 and the angle sensor 12 are both electrically connected to the main control module 7 , and the shoulder power module 21 is electrically connected to the main control module 7 .

[0046] like Figure 1 As shown, the upper end of the shoulder strap 33 is fixed to the shoulder power base 211, and when the shoulder strap 33 is tightened, the shoulder power module 21 and the vertical rod 31 will be pressed against both sides of the human chest; the waist belt 32 will tightly fix the waist support 34 to both sides of the wearer's waist; when the wearer's upper limbs lift heavy objects, the upper limb assist device of the present invention outputs a torque to lift the heavy object upward, and the heavy object is lifted up through the sling bracelet 62 and the human fingers, and the weight of the heavy object is transferred to the torso module 3 through the arm module 4, and the waist support 34 distributes the weight from the heavy object to both sides of the human pelvis, and the shoulder strap 33 will tighten the shoulder power module 21 and the vertical rod 31 toward the human body, and press the back of the human body to balance the overturning moment from the heavy object ( Figure 1The waist support 34 and the chest support 35 can disperse the pressure from the heavy objects and improve the comfort of the wearer when using the device of the present invention; the sling bracelet 62 is fixed to the palm of the wearer and can be made of flexible webbing or rubber. When the small arm rod 42 is lifted upward under the action of power, the sling bracelet 62 can be pulled upward and then the wearer's palm can be pulled upward, thereby further reducing the burden of the wearer lifting the heavy objects upward.

[0047] The inclinometer 11 can be a gyroscope or an accelerometer or a combination of the two, which can be arranged on the shoulder belt 33 or the vertical rod 31 or the waist belt 32 or the waist support 34; the angle sensor 12 can be arranged on the shoulder power output disk 212, or on the shoulder power base 211; when the upper limb assist device of the present invention is working, the shoulder belt 33 or the vertical rod 31 or the waist belt 32 or the waist support 34 are all tightly fixed to the human body trunk, so the movement of the trunk leaning over or lifting up will be reflected in the shoulder belt 33 or the vertical rod 31 or the waist belt 32 or the waist support 34. 4, the inclinometer 11 thereon can sense the angle and / or angular velocity information of the pitch movement of the human body trunk, and transmit the information to the main control module 7; the power module 2 is electrically connected to the main control module 7, and the main control module 7 is equipped with a microprocessor, which will control the shoulder power module 21 to lift up or lower the arm module 4 according to the angle and / or angular velocity information of the human body trunk, so that the upper limb power assist device of the present invention can realize the function of controlling the arm module 4 to lift or lower heavy objects according to the pitch movement of the human body trunk.

[0048] Figure 2It is a side view of Example 2 of an upper limb power assist device of the present invention. Similar to Example 1, Example 2 also includes a sensor system 1, a power module 2, a trunk module 3, an arm module 4, a sling system 6, and a main control module 7, and its working principles are similar. Specifically, the sensor system 1 is arranged on the trunk module 3, the power module 2 includes a shoulder power module 21, and the shoulder power module 21 includes a shoulder power base 211 and a shoulder power output disk 212. The shoulder power output disk 212 is rotatably connected relative to the shoulder power base 211, and its rotation plane is parallel to the sagittal plane of the human body; the trunk module 3 is arranged on both sides of the human body's trunk, including a vertical rod 31, a waist belt 32, a shoulder belt 33 and a waist support 34. The vertical rod 31 is arranged on both sides of the rear of the human body's trunk, and the upper end of the vertical rod 31 is connected to the shoulder power module 21 transmission connection, the lower ends of the vertical rod 31 are arranged on both sides of the human waist, the lower ends of the vertical rod 31 are transmission connected with the waist support 34, the waist belt 32 fixes the waist support 34 and the lower ends of the vertical rod 31 to both sides of the human waist, and the shoulder belt 33 fixes the vertical rod 31 to the human trunk; the arm module 4 includes a large arm rod 41, which is transmission connected with the shoulder power output disk 212, and the shoulder power output disk 212 can be controlled by the main control module 7. Relative to the shoulder power base 211, the shoulder power output disk 212 can be rotated relative to the shoulder power base 211, thereby driving the large arm rod 41 to be lifted up or lowered.

[0049] Different from Example 1, the shoulder power module 21 is arranged on the back side of the human shoulder, the torso module 3 is arranged on both sides of the back of the human torso, and the upper arm rod 41 is arranged above the human shoulder; the sling system 6 includes a sling 61 and a hook 63, and the hook 63 is transmission-connected with the sling 61 at the end. In this embodiment, the hook 63 is used to hook up the weight, and the wearer's hand only needs to hold the weight to ensure that the hook does not fall off, and the human hand is more relaxed when wearing the hook 63; but these differences do not affect the same working principle and similar implementation effects.

[0050] When the wearer's torso bends over or lifts up, the movement will be reflected on the inclinometer 11 on the torso module 3, and the inclinometer 11 can sense the angle and / or angular velocity information of the pitch movement of the human torso, and transmit the information to the main control module 7; the main control module 7 is equipped with a microprocessor, which will control the shoulder power module 21 to lift up or lower the arm module 4 according to the angle and / or angular velocity information of the human torso, thereby driving the sling bracelet 62 connected to it to lift up or lower it, so that the upper limb power assist device of the present invention can realize the function of controlling the arm module 4 to lift or lower heavy objects according to the pitch movement of the human torso.

[0051] The sling system 6 includes a sling 61 and a sling bracelet 62, and the sling bracelet 62 is connected to the upper arm 41 through the sling 61. The lifting or lowering of the upper arm 41 can drive the human hand to be lifted or lowered, thereby helping to lift or lower heavy objects (loads); the main control module 7 is arranged on the torso module 3.

[0052] Figure 2 In the embodiment 2 shown, the power module 2 also includes a hip power module 22, and the hip power module 22 is electrically connected to the main control module 7. The upper limb assist device also includes a leg rod module 5; the hip power module 22 includes a hip power base 221 and a hip power output disk 222. The hip power module 2 is arranged near the hip joints on both sides of the wearer. The hip power base 221 can be arranged on the vertical rod 31, the waist belt 32, the shoulder belt 33 or the waist support 34, and the hip power output disk 222 can be relative to the hip power The base 221 rotates relatively and outputs torque; the leg rod module 5 includes a leg rod 51, a leg shell 52 and a leg belt 53; the leg rod module 5 is arranged on the outside of the wearer's thigh, the upper end of the leg rod 51 is transmission-connected to the hip power output disk 222, and the lower end is transmission-connected to the leg shell 52, the leg shell 52 is arranged on the front or back side of the wearer's thigh, and is fixed to the wearer's thigh by the leg belt 53 that surrounds the wearer's thigh; the hip power module 22 can drive the leg rod module 5 to drive the wearer's legs to swing forward or backward.

[0053] like Figure 2 As shown, when the upper limb assist device of the present invention is working, when the wearer's torso is lifted upward or bent downward, the hip power module 2 synchronously applies or reduces the hip extension torque, and the leg rod module 5 obtains the extension torque relative to the torso module 3. At this time, the leg rod module 5 will press the wearer's thigh through the leg shell 52, and the torso module 3 will pull the wearer's shoulders upward through the vertical rod 31 and the shoulder strap 33 to provide hip extension assistance to the wearer, thereby providing assistance to the wearer's upper limbs while reducing the burden of lifting heavy objects on the waist.

[0054] The hip power module 22 and the leg rod module 5 described in this embodiment 2 can also be applied to the device in embodiment 1. The implementation method, principle and use effect are the same and will not be repeated here.

[0055] The present invention provides an algorithm M1 in a power assist control method, which includes:

[0056] Step S11, the inclinometer 11 monitors the inclination angle θ between the human body trunk and the vertical direction; the angle sensor 12 monitors the angle β between the trunk module 3 and the arm module 4 (the upper arm rod 41 and the shoulder power base 211);

[0057] Step S12, control the shoulder power module 21 so that β is negatively correlated with the inclination angle θ: the larger the positive inclination angle θ is, that is, the larger the torso leaning angle is, the smaller β is, that is, the more the arm module 4 is lowered; the smaller the positive inclination angle θ is, that is, the smaller the torso leaning angle is, the larger β is, that is, the higher the arm module 4 is lifted; and then return to step S11.

[0058] The beneficial effects of the algorithm M1 are: Figure 3 , Figure 4 As shown, when the wearer's torso is lifted from position A to position B, the inclination angle θ of the human torso and the vertical direction sensed by the inclinometer 11 changes from θ1 to θ2. At this time, the main control module 7 will control the rotation of the shoulder power module 21 based on this information, and increase the angle between the torso module 3 and the arm module 4 from β1 to β2; in this way, the wearer can control the arm module 4 to lift or put down heavy objects only by pitching the torso.

[0059] The present invention provides an algorithm M2 in a power assist control method, which includes:

[0060] Step S21, the inclinometer 11 monitors the inclination angle θ of the human body trunk with respect to the vertical direction; the angle sensor 12 monitors the angles βL and βR between the left and right arm modules 4 and the trunk module 3 (the upper arm rod 41 and the shoulder power base 211) respectively;

[0061] Step S22, controlling the shoulder power module 21 so that the weighted average value β- of the βL and βR is negatively correlated with the inclination angle θ: the larger the inclination angle θ is in the positive direction, that is, the larger the trunk leaning angle is, the smaller β- is, that is, the more the arm module 4 is lowered; the smaller the inclination angle θ is in the positive direction, that is, the smaller the trunk leaning angle is, the larger β- is, that is, the higher the arm module 4 is lifted;

[0062] Step S23, respectively adjust the output torque of the shoulder power module 21 on the left and right sides according to the absolute value of the left and right angles |βL-βR|, so that the assist torque on the side with a larger angle β between the trunk module 3 and the arm module 4 is K1*|βL-βR| smaller than the assist torque on the other side, that is, the assist torque on the side where the arm module 4 is lifted higher is smaller than the assist torque on the side where it is lifted lower; K1 is a coefficient; and then return to step S21.

[0063] The schematic diagram of the algorithm M2 is as follows Figure 5As shown, the position of the wearer's right arm module 4 is lower than that of the left arm module 4, that is, βR<βL. According to algorithm M2, at this time, the assist torque TR output by the right shoulder power module 21 increases, and the assist torque TL output by the left shoulder power module 21 decreases, TR>TL; the beneficial effect brought by the algorithm M2 is that the wearer can not only control the arm module 4 to lift or put down heavy objects by pitching the trunk, but the upper limb assist device of the present invention also supports the wearer to lift heavy objects when the heights of the left and right sides are inconsistent, the lower side has greater assist and the higher side has less assist, which can help the wearer maintain balance when lifting heavy objects, and can also flexibly rotate or manipulate the heavy objects.

[0064] The present invention provides an algorithm M3 in a power assist control method, which includes:

[0065] Step S31, the inclinometer 11 monitors the change △θ of the inclination angle of the human body trunk with the vertical direction within a set time period; the angle sensor 12 monitors the change △β of the angle between the trunk module 3 and the arm module 4 (the upper arm rod 41 and the shoulder power base 211) within a set time period;

[0066] Step S32, control the shoulder power module 21 so that the changing direction of △β is opposite to the changing direction of △θ: that is, if the human body trunk tilts forward, the angle β between the trunk module 3 and the arm module 4 is controlled to become larger, and the arm module 4 is lifted upward to compensate for the forward tilt of the arm module 4 caused by the forward tilt of the trunk, so as to keep the end of the arm module 4 stable during the wearer's walking; then return to step S31.

[0067] like Figure 6 As shown, at a certain moment in the wearer's walking process, his trunk tilts forward △θ, which will cause the entire upper limb power-assisting device including the arm module 4 to also tilt forward △θ, that is, the arm module 4 will be lowered △θ. At this time, controlling the arm module 4 to lift up an angle △β can compensate for the shaking of the end of the arm module 4 caused by the shaking of the wearer's trunk during walking, thereby improving the stability of the end of the arm module 4; the beneficial effect brought by the algorithm M3 is: the upper limb power-assisting device of the present invention can support the wearer to maintain the stability of the camera in the vertical direction when holding a camera equipment for shooting while walking, thereby reducing the shaking of the picture; the trunk will have a slight inclination angle during the walking process of the human body, and the algorithm M3 can control the angle change △β between the torso module 3 and the arm module 4 by detecting the change in the torso inclination angle △θ to compensate for the displacement of the arm, thereby maintaining a better shooting effect.

[0068] The present invention provides an algorithm M4 in a power assist control method, which includes:

[0069] Step S41, the inclinometer 11 monitors the displacement △H of the human body trunk in the vertical direction within a set time period; the angle sensor 12 monitors the change △β of the angle between the trunk module 3 and the arm module 4 (the upper arm rod 41 and the shoulder power base 211) within the set time period;

[0070] Step S42, control the shoulder power module 21 so that the changing direction of △β is opposite to the changing direction of the displacement △H: that is, if the human body trunk is displaced downward by a distance of △H at a certain moment, the angle β between the torso module 3 and the arm module 4 is controlled to become larger, and the arm module 4 is lifted upward by an angle of △β to compensate for the translation of the arm module 4 caused by the downward movement of the torso, thereby maintaining the stability of the end of the arm module 4 during the wearer's walking process; and then return to step S41.

[0071] like Figure 7 As shown, at a certain moment in the wearer's walking process, his torso moves down △H, which will cause the entire upper limb power-assisting device including the arm module 4 to also move down △H, that is, the end of the arm module 4 will also move downward △H. At this time, controlling the arm module 4 to lift up by an angle △β can compensate for the shaking of the end of the arm module 4 caused by the shaking of the wearer's torso during walking, thereby improving the stability of the end of the arm module 4; the beneficial effect brought by the algorithm M4 is: the upper limb power-assisting device of the present invention can support the wearer to maintain the stability of the camera in the vertical direction when holding a camera equipment for shooting while walking, thereby reducing the shaking of the picture; the torso will have a slight up and down displacement during the human body's walking process, and the algorithm M4 can detect the up and down displacement amount △H of the human body's torso during walking, and compensate for the up and down displacement amount △H of the torso by controlling the angle change △β between the torso module 3 and the arm module 4, thereby maintaining a better shooting effect.

[0072] The up-and-down displacement ΔH in the algorithm M4 can be obtained by quadratically integrating the acceleration of the angular velocity in the inclinometer 11 in the vertical direction.

[0073] like Figure 8 and 9 As shown, the sensing system 1 further includes a finger pressure sensor 13 , and the finger pressure sensor 13 includes a sensing base 131 , a sensing pressure plate 132 , a sensing circuit 133 , a sensing lead 134 , a sensing drawstring 135 and a sensing leather case 136 .

[0074] The sensor base 131 is a C-shaped structure, which is arranged around the finger. The sensor base 131 includes a base head 1311, a base body 1312, a base tail 1313, a base opening 1314, a base cavity 1315 and a base pull ring 1316. The base head 1311 and the base tail 1313 are distributed at both ends of the C-shaped structure. The base head 1311 and the base tail 1313 have greater thickness and rigidity. The base head 1311 and the base tail 1313 are separated by the base opening 1314; the base body 1312 is connected to the base head 1311 and the base tail 1313 at both ends respectively. The base body 1312 is thin, flexible, and can be bent and deformed; the base pull ring 1316 is arranged on the outside of the base head 1311.

[0075] The sensing pressure plate 132 is also a C-shaped structure, which is arranged on the outside of the base body 1312 and has a shape matching that of the base body 1312 ; the sensing pressure plate 132 is provided with a plurality of raised sensing pressure points 1321 , whose positions correspond to those of the sensing circuit 133 .

[0076] The sensing circuit 133 is disposed between the base body 1312 and the sensing pressure plate 132; the sensing circuit 133 may be a pressure-sensitive film (such as a piezoresistor) or a thin sheet pressure switch, and there may be multiple of them.

[0077] The sensing lead 134 is accommodated in the base cavity 1315, one end of the sensing lead 134 is electrically connected to the sensing circuit 133, and the other end is electrically connected to the main control module 7; the sensing pressure plate 132 is pressed from the outside, and the sensing pressure plate 132 squeezes the sensing pressure point 1321, and the pressure is sensed by the sensing circuit 133, and the information sensed by the sensing circuit 133 is uploaded to the main control module 7 through the sensing lead 134; that is, the finger pressure sensor 13 is electrically connected to the main control module 7 through the sensing lead 134.

[0078] The tail of the sensing strap 135 (i.e. the strap tail 1352) is fixed to the base tail 1313, and the head of the sensing strap (i.e. the strap head 1351) is fixed to the base pull ring 1316. The strap head 1351 can pass through the base pull ring 1316 and then be bonded and fixed to itself.

[0079] The sensing leather case 136 is sleeved outside the base body 1312 and the sensing pressure plate 132. The sensing leather case 136 is a rubber case or a silicone case. The sensing leather case 136 is mainly used to prevent the sensing pressure plate 132 from being separated from the base body 1312. It has the function of preventing the sensing pressure plate 132 from being separated from the base body 1312, and also has the function of preventing slipping and protecting the sensor from damage.

[0080] The base body 1312 is a sheet-like structure made of elastic material. It can be deformed when subjected to force to adapt to fingers of different thicknesses. The elastic material is plastic, carbon fiber, glass fiber or metal. The sensing strap 135 passes through the base pull ring 1316 and is tightened and self-adhered to achieve length fixation, so that the base head 1311 and the base tail 1313 can be tightened; when the user uses the finger pressure sensor 13, his finger is inserted into the sensor base 131, and the elasticity of the base body 1312 can expand the base opening 1314, so that the user's finger can be inserted into the sensor base 131. At this time, the sensing strap 135 is tightened and the length is fixed, so that the finger pressure sensor 13 can be tightly fixed to the human finger.

[0081] When the wearer uses the finger pressure sensor 13, the finger passes through the finger pressure sensor 13. When grasping a heavy object, the sensor circuit 133 can be pressed by squeezing the sensing pressure plate 132 of the finger pressure sensor 13, thereby transmitting the information of the wearer's finger manipulation to the main control module 7.

[0082] like Fig.10 As shown, in some applications, a finger button 14 may be provided on the grasped load, and the main control module 7 is electrically connected to the finger button 14 provided on the load grasped by the human body through a wireless or wired manner, so that the main control module 7 senses the pressing information of the finger button 14. The main control module 7 is provided with a corresponding wireless unit, which can receive the pressing information of the finger button 14. Fig.10 The finger button 14 is powered and sensed by the load, and its pressing information is transmitted to the main control module 7 wirelessly.

[0083] Based on the above structure, the finger pressure sensor 13 has the following advantages: 1. It can surround the human finger to sense pressure, with a large sensing area and high sensitivity; 2. It is strong and durable, with high reliability; 3. The diameter of the ring-shaped finger sensor can be adjusted to suit wearers with different finger thicknesses; 4. It is low cost and suitable for industrial mass production.

[0084] Based on the upper limb power assist device with finger pressure sensors, the present invention further provides an algorithm M5 in a power assist control method, comprising:

[0085] Step S51, the main control module 7 monitors the state of the finger pressure sensor 13 and / or the external command (i.e., the state of the finger button 14). If the pressure value sensed by the finger pressure sensor 13 exceeds the set threshold and / or receives an external command (i.e., the finger button 14 is in a pressed state), go to step S52; otherwise, go to step S53;

[0086] Step S52, control the shoulder power module 21 to be in torque mode: the magnitude of the assist force generated by the assist torque is approximately equal to the weight of the load, and the wearer can use his hands to manipulate the load up and down to different positions; return to step S51;

[0087] Step S53, control the shoulder power module 21 to be in position mode: the assist torque controls the load to be locked at the set position, when the load is higher than the set position, the assist torque decreases or moves downward to cause the load to return to the set position downward, when the load is lower than the set position, the assist torque increases to cause the load to return to the set position upward; then return to step S51.

[0088] Based on algorithm M5, when the wearer uses the upper limb power-assisting device of the present invention to hold a camera to shoot, when the wearer releases the camera, the upper limb power-assisting device of the present invention can provide power assistance to automatically lock the camera in the current position; when the wearer presses the finger pressure sensor 13 or the finger button 14 on the camera, the position of the camera can be flexibly controlled to achieve up and down movement and arbitrary adjustment.

[0089] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0090] The above is a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An upper limb assist device, characterized in that: The upper limb power-assist device includes a sensor system, a power module, a trunk module, an arm module, a sling system, and a main control module; The sensing system includes an inclinometer and an angle sensor. The inclinometer is arranged on the trunk module and is used to measure one or more of the angle, angular velocity, and upward and downward acceleration of the trunk when the human body bends over or lifts the trunk; the angle sensor is arranged on the power module and is used to measure the relative angle between the trunk module and the arm module; The power module comprises a shoulder power module, the shoulder power module comprises a shoulder power base and a shoulder power output disk, the shoulder power output disk is rotatably connected to the shoulder power base, and the rotation plane is parallel to the sagittal plane of the human body; The trunk modules are arranged on both sides of the human trunk and fixed to the human trunk, and the upper ends of the trunk modules are transmission-connected to the shoulder power modules; The root of the arm module is drivingly connected to the shoulder power output disc; The sling system includes a sling bracelet and / or a hook, and the front end of the arm module is transmission-connected to the sling bracelet and / or the hook, and the sling bracelet and / or the hook are used to assist in lifting a human hand or a heavy object; The main control module is arranged on the trunk module, the inclinometer and the angle sensor are both electrically connected to the main control module, and the shoulder power module is electrically connected to the main control module.

2. The upper limb assist device according to claim 1, characterized in that: The shoulder power module is arranged on the front or rear side of the human shoulder, and the torso module includes a vertical rod, a waist belt, a shoulder belt and a waist support. The vertical rod is arranged on both sides of the front or rear of the human torso, and the lower end of the vertical rod is arranged on both sides of the human waist. The lower end of the vertical rod is connected to the waist support by transmission, and the waist belt fixes the waist support to the human waist; the upper end of the vertical rod is connected to the shoulder power module by transmission; and the shoulder belt fixes the vertical rod to the shoulders and back of the human body; The arm module comprises a large arm lever, the root of which is rotatably connected to the shoulder power output disc; The lifting or lowering of the large arm lever drives the sling wristband or hook to help lift or lower the load.

3. The upper limb assist device according to claim 1, characterized in that: The power module also includes a hip power module, which is electrically connected to the main control module. The upper limb power assist device also includes a leg rod module; the hip power module includes a hip power base and a hip power output disk, and the hip power module is arranged near the hip joints on both sides of the human body. The hip power output disk can rotate relative to the hip power base and output torque; the leg rod module includes a leg rod, a leg shell and a leg belt; the leg rod module is arranged on the outer side of the human thigh, the upper end of the leg rod is transmission-connected to the hip power output disk, and the lower end is transmission-connected to the leg shell, the leg shell is arranged on the front or back side of the human thigh, and is fixed to the human thigh through the leg belt that surrounds the human thigh; the hip power module can drive the leg rod module to drive the human leg to swing forward or backward.

4. The upper limb assist device according to claim 2, characterized in that: The inclinometer is a gyroscope or an accelerometer or a combination of the two, and the inclinometer is arranged on the shoulder strap or the vertical rod or the waist belt or the waist support.

5. The upper limb assist device according to any one of claims 1 to 4, characterized in that: The sensing system further comprises a finger pressure sensor, which comprises a sensing base, a sensing pressure plate, a sensing circuit, a sensing lead, and a sensing drawstring; The sensor base is a C-shaped structure, which is arranged around the finger. The sensor base includes a base head, a base body, a base tail, a base opening, a base cavity and a base pull ring. The base head and the base tail are distributed at both ends of the C-shaped structure, and the base head and the base tail are separated by the base opening; the two ends of the base body are respectively connected to the base head and the base tail, the base body can be bent and deformed, and the base pull ring is arranged on the outside of the base head; The sensing pressure plate is also a C-shaped structure, arranged on the outside of the base body, and its shape matches that of the base body; the sensing pressure plate is provided with a plurality of raised sensing pressure points, the positions of which correspond to the sensing circuit; The sensing circuit is arranged between the base body and the sensing pressure plate; The sensing lead is accommodated in the base cavity, one end of the sensing lead is electrically connected to the sensing circuit, and the other end is electrically connected to the main control module; Pressing the sensing pressure plate from the outside, the sensing pressure plate will squeeze the sensing pressure point, and the pressure is sensed by the sensing circuit. The information sensed by the sensing circuit is uploaded to the main control module through the sensing lead; The tail of the sensing drawstring is fixed on the tail of the base, and the head of the sensing drawstring is fixed to the draw ring of the base.

6. The upper limb assist device according to claim 5, characterized in that: The finger pressure sensor also includes a sensing leather case, which is arranged outside the base body and the sensing pressure plate, and the sensing leather case is a rubber case or a silicone case.

7. The upper limb assist device according to claim 5, characterized in that: The base body is a sheet-type structure and is made of elastic material, wherein the elastic material is plastic, carbon fiber, glass fiber or metal.

8. The upper limb assist device according to claim 5, characterized in that: The main control module is electrically connected to a finger button arranged on a load grasped by a human body in a wireless or wired manner, so that the main control module senses the pressing information of the finger button.

9. A method for controlling the power assist of an upper limb power assist device according to any one of claims 1 to 8, characterized in that: include: Step S11, the inclinometer monitors the inclination angle θ between the human body trunk and the vertical direction; the angle sensor monitors the angle β between the trunk module and the arm module; Step S12, controlling the shoulder power module so that β is negatively correlated with the inclination angle θ: the larger the inclination angle θ is in the positive direction, the smaller β is; the smaller the inclination angle θ is in the positive direction, the larger β is.

10. The power assist control method according to claim 9, characterized in that: Also includes: Step S21, the inclinometer monitors the inclination angle θ of the human body trunk with respect to the vertical direction; the angle sensor monitors the angles βL and βR between the left and right arm modules and the trunk module respectively; Step S22, controlling the shoulder power module so that the weighted average value β- of the βL and βR is negatively correlated with the inclination angle θ: the larger the inclination angle θ is in the positive direction, the smaller β- is; the smaller the inclination angle θ is in the positive direction, the larger β- is; Step S23, respectively adjust the output torque of the shoulder power modules on the left and right sides according to the absolute value of the left and right angles |βL-βR|, so that the assist torque on the side with a larger angle β between the torso module and the arm module is K1*|βL-βR| smaller than the assist torque on the other side; K1 is a coefficient.

11. A method for controlling the power assist of an upper limb power assist device according to any one of claims 1 to 8, characterized in that: include: Step S31, the inclinometer monitors the change Δθ of the inclination angle of the human body trunk with respect to the vertical direction within a set time period; The angle sensor monitors the change Δβ of the angle between the torso module and the arm module within a set time period; Step S32, controlling the shoulder power module so that the changing direction of Δβ is opposite to the changing direction of Δθ: if the human body trunk falls forward, the angle β between the trunk module and the arm module is controlled to become larger.

12. A method for controlling the power assist of an upper limb power assist device according to any one of claims 1 to 8, characterized in that: include: Step S41, the inclinometer monitors the displacement △H of the human body trunk in the vertical direction within a set time period; The angle sensor monitors the change Δβ of the angle between the torso module and the arm module within a set time period; Step S42, controlling the shoulder power module so that the changing direction of Δβ is opposite to the changing direction of the displacement ΔH: if the human body trunk displaces downward, the angle β between the trunk module and the arm module is controlled to become larger.

13. The power assist control method of an upper limb power assist device according to any one of claims 9 to 12, wherein the upper limb power assist device is an upper limb power assist device according to any one of claims 5 to 8, characterized in that: The power assist control method further includes: Step S51, the main control module monitors the status of the finger pressure sensor and / or the external command. If the pressure value sensed by the finger pressure sensor exceeds the set threshold and / or receives an external command, go to step S52; otherwise, go to step S53; Step S52, controlling the shoulder power module to be in a torque mode: the magnitude of the assist force generated by the assist torque is approximately equal to the load weight, and returning to step S51; Step S53, control the shoulder power module to be in position mode: the assist torque controls the load to be locked in the set position, when the load is higher than the set position, the assist torque decreases or moves downward to cause the load to return to the set position downward, and when the load is lower than the set position, the assist torque increases to cause the load to return to the set position upward.

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