A flexible exoskeleton robot and control method for multi-position conversion

Abstract

The present application discloses a flexible exoskeleton robot for multi-position conversion and a control method, wherein the flexible exoskeleton robot for multi-position conversion includes a driving component, a binding component, a measuring component and a control unit, wherein the control unit is respectively connected to the driving component and the measuring component, wherein the driving component is connected to the binding component, and the measuring component is connected to the binding component; the driving component includes a driving motor and a winding disk, wherein the output shaft of the driving motor is fixedly connected to the winding disk, and the winding disk has two tracks, wherein one track corresponds to winding a first Bowden cable, and the other track corresponds to winding a second Bowden cable, and the measuring component includes two strap structures, wherein the two strap structures are correspondingly installed on the legs of the user, and the first Bowden cable and the second Bowden cable are connected to the two strap structures one by one. The present application can improve the gait recognition accuracy in multi-position conversion and realize the rehabilitation needs of transitional positions.

Description

Technical Field

[0001] The present application relates to the technical field of exoskeleton robots, and in particular to a flexible exoskeleton robot for multi-position conversion and a control method thereof. Background Art

[0002] The current lower limb rehabilitation exoskeleton is mainly rigid in design, with a large overall size and mass. It mainly assists or provides impedance training for walking gait, and has a certain auxiliary effect on the rehabilitation of patients with lower limb motor dysfunction or paralysis. However, the exoskeleton system often requires the cooperation of treadmills, wheelchairs and other devices. The system is highly complex and cannot meet the rehabilitation needs of transitional positions, such as sitting-walking, walking-climbing stairs. At the same time, due to the rigid structural design, the overall device has poor human-machine interaction and human-machine integration, a high rate of joint mismatch, and unnatural movement postures.

[0003] Due to the above-mentioned defects of rigid exoskeletons, the development of flexible exoskeletons based on rope drive has gradually emerged. Rope-driven exoskeletons mainly use motors to drive the winding reel, and use high-strength materials such as Bowden cables to pull binding devices such as straps to achieve power assistance. Compared with rigid exoskeletons, rope-driven exoskeletons are small in size and light in weight, and are flexible in traction on human joints, with higher overall human-machine compatibility and safety.

[0004] The number of motor drive units in existing rope-driven exoskeletons is generally consistent with the number of motion joints in the human body, that is, a configuration of two or four motors on both sides drives the knee or ankle joints to achieve assisted rehabilitation. However, for gaits such as walking or going up and down stairs, the movements are all alternating legs, and the unilateral leg motor drive process is periodic, and there is no need to drive both sides of the motor at the same time. Therefore, the overall configuration scheme is redundant, resulting in high cost and energy consumption of existing rope-driven exoskeletons. At the same time, current rehabilitation training is mainly based on walking on flat ground or going up and down stairs, and the gait recognition ability and accuracy for transitional positions are poor, which greatly limits the application scenarios of rope-driven exoskeletons.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] The main purpose of this application is to provide a flexible exoskeleton robot and control method for multi-body position conversion, aiming to solve the problem in the prior art that the rope-driven exoskeleton driving structure has poor gait recognition accuracy for transitional body positions during rehabilitation training mainly based on walking on flat ground or going up and down stairs.

[0007] In a first aspect, an embodiment of the present application provides a flexible exoskeleton robot for multi-body position conversion, the flexible exoskeleton robot for multi-body position conversion comprises: a driving component, a binding component, a measuring component and a control unit, the control unit is respectively connected to the driving component and the measuring component, the driving component is connected to the binding component, the measuring component is connected to the binding component, the binding component is used to be installed on the user's waist, and the measuring component is used to be installed on the user's legs; the driving component comprises a driving motor and a winding drum, the output shaft of the driving motor is fixedly connected to the winding drum, the winding drum has two tracks, one of the tracks corresponds to winding a first Bowden cable, and the other track corresponds to winding a first Bowden cable. The measuring component comprises two strap structures, which are respectively mounted on the legs of the user, the first Bowden cable and the second Bowden cable are respectively connected to the two strap structures, and the driving motor drives the cable winding disc to rotate, so that the first Bowden cable drives one strap structure to be tightened, and the second Bowden cable drives the other strap structure to be loosened; the control unit obtains the acceleration data collected by the measuring component on the user, determines the movement intention of the user according to the acceleration data, and determines the output parameters of the driving component according to the movement intention, and the driving component operates according to the output parameters to change the winding length of the first Bowden cable and the second Bowden cable.

[0008] Optionally, in one embodiment of the present application, a first inertial measurement sensor is provided on one of the strap structures, and a second inertial measurement sensor is provided on the other strap structure, and the first inertial measurement sensor and the second inertial measurement sensor are arranged on the user's legs for collecting acceleration data of the user.

[0009] Optionally, in one embodiment of the present application, the binding assembly is a waist belt, and the driving assembly further includes a back plate and a motor shaft seat, the back plate is fixedly connected to the outer side of the waist belt, the driving motor is arranged on the back plate, one end of the motor shaft seat is fixedly connected to the output shaft, and the other end of the motor shaft seat is fixedly connected to the winding reel.

[0010] Optionally, in one embodiment of the present application, the driving assembly further includes a battery and a speed regulator, the battery is mounted on the back plate, the battery is connected to the driving motor, and the speed regulator is connected to the battery.

[0011] Optionally, in one embodiment of the present application, the drive assembly further includes a motor fixing seat and a wire drum fixing frame, the motor fixing seat is mounted on the back plate, and the drive motor is fixedly connected to the motor fixing seat, the wire drum fixing frame is connected to the back plate and the motor fixing seat, and the winding drum is connected to the wire drum fixing frame.

[0012] Optionally, in one embodiment of the present application, the drive assembly further includes a disc sleeve, a first wire sleeve and a second wire sleeve, the disc sleeve is mounted on the wire sleeve fixing frame, the wire winding disc is arranged in the disc sleeve, one end of the first wire sleeve and the second wire sleeve on the same side is mounted on the belt, the other end of the first wire sleeve and the second wire sleeve on the same side is mounted on the disc sleeve, a portion of the first Bowden cable is arranged in the first wire sleeve, and a portion of the second Bowden cable is arranged in the second wire sleeve.

[0013] Optionally, in one embodiment of the present application, the belt is provided with a first wire buckle and a second wire buckle, the first wire loop is connected to the first wire buckle correspondingly, the second wire loop is connected to the second wire buckle correspondingly, the first Bowden cable is connected to one of the strap structures via the first wire loop and the first wire buckle, and the second Bowden cable is connected to another of the strap structures via the corresponding second wire loop and the second wire buckle.

[0014] Optionally, in one embodiment of the present application, the strap structure is tied to at least one position of the user's thigh, calf and knee.

[0015] A second aspect of an embodiment of the present application also provides a control method for a flexible exoskeleton robot for multi-body posture conversion based on any one of the above-mentioned schemes, wherein the control method includes: the control unit obtains acceleration data collected by the measurement component on the user; the control unit determines the user's movement intention based on the acceleration data, wherein the movement intention includes sitting, walking on flat ground, and going up and down stairs; the control unit determines the output parameters of the drive component based on the movement intention, wherein the output parameters include motor speed and output shaft position; the control unit controls the drive component to operate according to the motor speed and the output shaft position to change the winding length of the Bowden cable.

[0016] Optionally, in one embodiment of the present application, the control unit determines the user's motion intention based on the acceleration data, specifically including: the control unit extracts features from the acceleration data to obtain feature data; the control unit constructs a motion model and obtains simulation features, and trains the motion model based on the simulation features to obtain a trained motion model; the control unit inputs the feature data into the trained motion model to obtain the user's motion intention.

[0017] Beneficial effects: The present application provides a flexible exoskeleton robot and a control method for multi-body position conversion. In the flexible exoskeleton robot, a first Bowden cable and a second Bowden cable are arranged to be wound in two tracks of a double-track winding disk, and a control unit controls the output of a single drive motor to realize alternating tensioning of the two Bowden cables, thereby pulling the user to walk or go up and down stairs (i.e., going up and down stairs). In conjunction with the measurement components (strap structure and inertial measurement sensor) bound to the user's legs, when the user performs transitional body position movements, the Bowden cable winding length can be adjusted according to the perception data, thereby controlling the swinging leg movement angle, which can reduce costs and system complexity, improve gait recognition accuracy in multi-body position conversion, meet the rehabilitation needs of transitional body positions, and increase the application scenarios of the exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A stereogram of a preferred embodiment of the flexible exoskeleton robot for multi-position conversion of the present application;

[0020] Figure 2 A stereoscopic view of a preferred embodiment of the flexible exoskeleton robot for multi-position conversion in the present application from another perspective;

[0021] Figure 3 This is a disassembled schematic diagram of a drive assembly in a preferred embodiment of the flexible exoskeleton robot for multi-position conversion of the present application;

[0022] Figure 4 A three-dimensional diagram of a line reel in a preferred embodiment of a flexible exoskeleton robot for multi-position conversion of the present application;

[0023] Figure 5 A three-dimensional diagram of a first thread buckle in a preferred embodiment of the flexible exoskeleton robot for multi-position conversion of the present application;

[0024] Figure 6 A flowchart of a preferred embodiment of the present application for a flexible exoskeleton robot capable of multiple body position conversions.

[0025] Description of reference numerals:

[0026] 1. Driving assembly; 2. Binding assembly; 3. Measuring assembly; 101. First wire sleeve; 102. Second wire sleeve; 103. Coil sleeve; 104. Coil winding reel; 105. Motor shaft seat; 106. Coil fixing frame; 107. Motor fixing seat; 108. Battery; 109. Driving motor; 110. Speed ​​regulator; 111. Back plate; 112. Second Bowden cable; 113. First Bowden cable; 201. Second wire buckle; 202. First wire buckle; 301. First inertial measurement sensor; 302. Second inertial measurement sensor.

[0027] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and effect of the present application clearer and more specific, the technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. The described embodiments are only possible technical implementations of the present application, not all possible implementations. Based on the embodiments in the present application, those skilled in the art can completely combine the embodiments of the present application to obtain other embodiments without creative work, and these embodiments are also within the scope of protection of the present application.

[0029] The following describes the flexible exoskeleton robot and control method for multi-position conversion of the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the rope-driven exoskeleton driving structure has poor gait recognition accuracy for transitional positions in the above-mentioned related art during rehabilitation training mainly based on walking on flat ground or going up and down stairs, the present application provides a flexible exoskeleton robot for multi-position conversion, in which the first Bowden cable and the second Bowden cable are arranged to be wound in two tracks of a double-track winding disk, and the control unit controls the output of a single drive motor to achieve alternating tensioning of the two Bowden cables, thereby pulling the user to walk or go up and down steps (i.e., going up and down stairs), and cooperates with the measurement components (binding structure and inertial measurement sensor) bound to the user's legs. When the user performs transitional body movements, the length of the Bowden cable reel can be adjusted according to the perception data, thereby controlling the swing leg movement angle, which can reduce costs and system complexity, improve gait recognition accuracy in multi-position conversion, achieve the rehabilitation needs of transitional positions, and increase the application scenarios of the exoskeleton. Thereby, the technical problem in the related art that the rope-driven exoskeleton driving structure has poor gait recognition accuracy for transitional body positions during rehabilitation training mainly based on walking on flat ground or going up and down stairs is solved.

[0030] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0031] like Figure 1 As shown, an embodiment of the present application provides a flexible exoskeleton robot for multi-body position conversion, the flexible exoskeleton robot for multi-body position conversion includes a driving component 1, a binding component 2, a measuring component 3 and a control unit, the control unit is respectively connected to the driving component 1 and the measuring component 3, the driving component 1 is connected to the binding component 2, the measuring component 3 is connected to the binding component 2, the binding component 2 is used to be installed on the user's waist, and the measuring component 3 is used to be installed on the user's legs; the driving component 1 includes a driving motor 109 and a winding drum 104, the output shaft of the driving motor 109 is fixedly connected to the winding drum 104, and the winding drum 104 has two tracks, one of the tracks corresponds to winding the first Bowden wire 113, and the other track corresponds to winding Around the second Bowden cable 112, the measuring component 3 includes two strap structures, the two strap structures are correspondingly installed on the legs of the user, the first Bowden cable 113 and the second Bowden cable 112 are connected to the two strap structures one by one, and the driving motor 109 drives the winding disk 104 to rotate, so that the first Bowden cable 113 drives one of the strap structures to tighten, and the second Bowden cable 112 drives the other strap structure to loosen; the control unit obtains the acceleration data collected by the measuring component 3 on the user, determines the user's movement intention according to the acceleration data, and determines the output parameters of the driving component 1 according to the movement intention, and the driving component 1 operates according to the output parameters to change the winding length of the first Bowden cable and the second Bowden cable.

[0032] It is worth noting that the embodiment of the present application adopts a single-disk dual-track winding disk 104 design, and the motor torque output can realize the alternating tension of the two Bowden cables, pulling the user to swing their legs while walking or climbing stairs. At the same time, in order to further solve the problem of transitional gait recognition, an IMU (Inertial Measurement Unit) sensor is used to calculate the movement posture of both legs, obtain acceleration data, perceive the user's movement intention, and then control the motor speed and position output, change the Bowden cable winding length, and control the swing leg movement angle to achieve the rehabilitation needs of the transitional position. In general, this solution can simplify the configuration of the flexible exoskeleton drive motor 109, reduce costs and system complexity, and at the same time can realize the rehabilitation function of multi-position conversion, significantly enriching the application scenarios of rope-driven rehabilitation exoskeleton.

[0033] Specifically, Figure 1 and Figure 2As shown, the flexible exoskeleton robot includes a driving component 1, a waist binding component 2 and a measuring component 3, and the measuring unit is also an IMU component (Inertial Measurement Unit). The back plate 111 in the driving component 1 is fixedly connected to the waist binding component 2, and at the same time, it is connected to the human waist through a strap, and the overall weight of the robot is borne by the human waist. In this embodiment, the driving component 1 is located on the back side of the human body, and the IMU component is located on the front side of the human body, but it is not limited to this and can be set according to actual needs.

[0034] In one embodiment of the present application, a first inertial measurement sensor 301 is provided on one of the strap structures, and a second inertial measurement sensor 302 is provided on the other strap structure. The first inertial measurement sensor 301 and the second inertial measurement sensor 302 are arranged on the user's legs to collect the user's acceleration data.

[0035] Specifically, the IMU (inertial measurement sensor) is used to obtain acceleration changes, sense the user's movement intention, control the motor speed and position output, change the length of the Bowden cable reel, and control the swing leg movement angle to achieve transitional body position rehabilitation processes such as sitting-walking on the ground, and walking on the ground-going up and down stairs. For fixed body positions, such as lying down, going up and down stairs, sitting, and walking on the ground, rehabilitation assistance is achieved through the periodic forward and reverse rotation of the motor.

[0036] It should be noted that the embodiment of the present application uses a single motor to assist in double-leg rehabilitation training, and a single-disc dual-track structure is adopted in the flexible exoskeleton mechanical design. The alternating control effect of tightening one side of the Bowden cable and relaxing the other side is achieved through the forward and reverse rotation of the motor, which corresponds to the gait characteristics of the legs walking on flat ground, climbing stairs, etc.

[0037] In one embodiment of the present application, the strap structure is tied to at least one position of the user's thigh, calf and knee.

[0038] Specifically, in this embodiment, the IMU component is connected to the human thigh and fixed to the thigh through a strap (i.e., a strap structure), the first inertial measurement sensor 301 is fixedly connected to one strap structure, and the second inertial measurement sensor 302 is fixedly connected to another strap structure.

[0039] It is understandable that the IMU assembly binding position may be changed, and it may be set at the calf or knee. The core function of the IMU is to identify the movement gait characteristics of the lower limbs of the human body. The position arranged in this application is only an implementation example.

[0040] In one embodiment of the present application, the binding component 2 is a waist belt, and the driving component 1 also includes a back plate 111 and a motor shaft seat 105, the back plate 111 is fixedly connected to the outer side of the waist belt, the driving motor 109 is arranged on the back plate 111, one end of the motor shaft seat 105 is fixedly connected to the output shaft, and the other end of the motor shaft seat 105 is fixedly connected to the winding reel 104.

[0041] In one embodiment of the present application, the driving assembly 1 further includes a battery 108 and a speed regulator 110 . The battery 108 is mounted on the back plate 111 , and the battery 108 is connected to the driving motor 109 . The speed regulator 110 is connected to the battery 108 .

[0042] The embodiment of the present application uses a flexible exoskeleton (single motor drive) and an IMU to jointly realize multi-position rehabilitation exercises. Multi-position rehabilitation exercises include fixed positions and transitional positions. The IMU identifies the user's movement intention, controls the motor speed, position and other outputs, realizes the Bowden cable traction speed, length change, and meets the thigh rehabilitation exercise phase in different positions.

[0043] It is understandable that the driving method may be different. The single motor drive can be changed to a push rod or a linear motor drive, and one side can be tightened and the other side can be relaxed through unidirectional movement. The core of the driving method is the rope length control. The line release and line retraction need to be performed at the same time to meet the gait requirements when the legs walk alternately. The method used in this application is only an example of the implementation of the core driving method.

[0044] In one embodiment of the present application, the driving assembly 1 also includes a motor fixing seat 107 and a wire drum fixing frame 106, the motor fixing seat 107 is installed on the back plate 111, and the driving motor 109 is fixedly connected to the motor fixing seat 107, the wire drum fixing frame 106 is connected to the back plate 111 and the motor fixing seat 107, and the winding drum 104 is connected to the wire drum fixing frame 106.

[0045] In one embodiment of the present application, the drive assembly 1 also includes a disc sleeve 103, a first wire sleeve 101 and a second wire sleeve 102, the disc sleeve 103 is installed on the wire disc fixing frame 106, the winding disc 104 is arranged in the disc sleeve 103, the first wire sleeve 101 and the second wire sleeve 102 are installed on the belt at one end on the same side, the first wire sleeve 101 and the second wire sleeve 102 are installed on the disc sleeve 103 at the other end on the same side, the first Bowden cable 113 is partially arranged in the first wire sleeve 101, and the second Bowden cable 112 is partially arranged in the second wire sleeve 102.

[0046] Specifically, Figure 3As shown, the drive assembly 1 includes a first wire sleeve 101, a second wire sleeve 102, a coil sleeve 103, a wire coil, a motor shaft seat 105, a coil fixing frame 106, a motor fixing seat 107, a battery 108, a driving motor 109, a speed regulator 110 (i.e., a driver) and a back plate 111. The back plate 111 is fixedly connected to the battery 108, and the battery 108 is fixed to the driver above. The back plate 111 is also fixedly connected to the coil fixing frame 106, and the coil fixing frame 106 is also fixedly connected to the motor fixing seat 107 and the coil sleeve 103. The motor fixing seat 107 is connected to the motor fixing port to ensure that the central axis of rotation is consistent. The motor output shaft is connected to the motor shaft seat 105 through a top screw to achieve synchronous rotation. The motor shaft seat 105 and the wire coil are fixed by bolts, and the central axis of rotation of the two is consistent. The rotation of the motor can drive the two to rotate synchronously. The first wire sleeve 101 and the second wire sleeve 102 are fixed to the disc sleeve 103 by bolts. The first wire sleeve 101 passes through the middle of the first wire sleeve 101, and the second wire sleeve 102 passes through the middle of the second wire sleeve 102.

[0047] The back plate 111 is fixedly connected to the battery 108 to provide stable support for the battery 108; the back plate 111 is fixedly connected to the driver to ensure that the driver can work stably; the back plate 111 is fixedly connected to the wire drum fixing frame 106 to provide a stable installation foundation for the wire drum fixing frame 106. The wire drum fixing frame 106 is also fixedly connected to the motor fixing seat 107 and the disk sleeve 103, connecting the motor fixing seat 107, the disk sleeve 103 and the back plate 111 into an integral structure. The motor fixing seat 107 is connected to the motor fixing port to ensure that the rotation center axis of the motor is consistent with the rotation center axis of the entire assembly. The motor shaft seat 105 is connected to the motor output shaft through a top screw to achieve synchronous rotation of the motor shaft seat 105 and the motor. The motor shaft seat 105 is fixed to the wire drum by bolts to ensure that the rotation center axis of the wire drum is consistent with the motor shaft seat 105. The disk sleeve 103 is fixed to the wire drum fixing frame 106 by bolts to provide an installation position for the first wire sleeve 101 and the second wire sleeve 102. The first wire sleeve 101 and the second wire sleeve 102 are fixed to the disc sleeve 103 by bolts respectively. The first wire sleeve 101 passes through the middle of the first wire sleeve 101, and the second wire sleeve 102 passes through the second Bowden wire 112 for transmitting power or signals.

[0048] It should be noted that the back plate 111, as the supporting structure of the entire assembly, has sufficient strength and rigidity to provide a stable installation foundation for the battery 108, the driver, the wire drum fixing frame 106, etc.; the battery 108 provides electrical energy to power the drive motor 109 and the driver to ensure that the entire drive assembly 1 can work normally; the driver (speed regulator 110) can adjust the speed of the motor to achieve precise control of the drive assembly 1, and adjust the speed of the motor according to demand to meet different work requirements; the wire drum fixing frame 106 has a stable structure and sufficient bearing capacity, provides stable support for the wire drum, and ensures that the wire drum can rotate smoothly; the motor fixing seat 107 has It has precise positioning and fixing functions to ensure that the rotation center axis of the motor is consistent with the rotation center axis of the entire component, thereby improving the stability and accuracy of the component; the motor shaft seat 105 is tightly connected to the motor output shaft, and has sufficient strength and rigidity to achieve synchronous rotation of the motor and the cable drum, thereby ensuring the stability and reliability of power transmission; the cable drum can store and release cables or ropes, and has sufficient capacity and carrying capacity for storing and releasing cables such as Bowden cables to meet the transmission requirements of the drive component 1; the first cable sleeve 101 and the second cable sleeve 102 have a stable structure and sufficient wear resistance to provide protection and support for the Bowden cable; the Bowden cable has good flexibility and wear resistance.

[0049] like Figure 4 As shown, the cable drum has two tracks, which are respectively wound around the first Bowden cable 113 and the second Bowden cable 112 in opposite directions, so as to achieve the effect of tightening one side and loosening the other side. The tightened side will be used for traction of the thigh strap structure.

[0050] In one embodiment of the present application, Figure 5 As shown, the waist belt is provided with a first wire buckle 202 and a second wire buckle 201, the first wire sleeve 101 is connected to the first wire buckle 202 correspondingly, the second wire sleeve 102 is connected to the second wire buckle 201 correspondingly, the first Bowden cable 113 is connected to one of the strap structures through the first wire sleeve 101 and the first wire buckle 202, and the second Bowden cable 112 is connected to another of the strap structures through the corresponding second wire sleeve 102 and the second wire buckle 201.

[0051] Specifically, the first cable buckle 202 has the same structure as the second cable buckle 201, and the first cable buckle 202 and the second cable buckle 201 are adjacently arranged on the binding assembly 2 (i.e., the waist belt). The first cable buckle 202 is used as an example for explanation. The first cable buckle 202 is provided with a through slot, and the waist belt is installed through the through slot of the first cable buckle 202. The upper layer of the first cable buckle 202 is inclined to prevent contact with the user's waist and cause discomfort. The first cable buckle 202 is specifically a through hole, and one end of the first cable sleeve 101 is installed in the through hole, so that the first Bowden cable 113 extends into the through hole through the inside of the first cable sleeve 101, and extends from the lower end of the through hole to connect with the binding belt structure. The first cable buckle 202 is also provided with an abutment interface, which is interconnected with the through hole. The abutment interface is inserted into the abutment interface by a connector to abut or slide with the first Bowden cable 113 in the through hole, so that the first Bowden cable 113 can be fixed or the moving speed of the first Bowden cable 113 can be limited.

[0052] Based on the above embodiments, the preferred embodiment of the present application also provides a control method for a flexible exoskeleton robot for multi-position conversion, such as Figure 6 As shown, the flexible exoskeleton robot for multi-position conversion includes the following steps:

[0053] In step S101, the control unit obtains acceleration data collected by the measurement component on the user.

[0054] In step S102, the control unit determines the user's movement intention according to the acceleration data, wherein the movement intention includes sitting, walking on flat ground, and going up and down stairs.

[0055] In a possible implementation, the control unit extracts features from the acceleration data to obtain feature data; the control unit constructs a motion model and obtains simulation features, and trains the motion model based on the simulation features to obtain a trained motion model; the control unit inputs the feature data into the trained motion model to obtain the user's motion intention.

[0056] Specifically, first of all, data processing is performed to collect the acceleration data of both legs from the IMU sensor. These data usually include acceleration values ​​on three axes (X, Y, and Z); the raw acceleration data is filtered to eliminate noise and interference, effectively smooth the data and reduce errors; the filtered acceleration data is standardized for subsequent analysis. Standardization usually involves scaling the data to a specific range or removing the mean and standard deviation of the data. Then feature extraction is performed to calculate the acceleration amplitude based on the acceleration values ​​on the three axes; time domain features such as mean, variance, peak, and valley are extracted from the acceleration data. These features can reflect the user's movement pattern and intensity; frequency domain analysis such as Fourier transform is performed on the acceleration data to extract frequency domain features. These features can reveal the periodicity and frequency components used for movement. Then, through motion pattern recognition, an acceleration database containing various motion patterns (such as sitting, walking on flat ground, going up and down stairs, etc.) is established in advance. These databases can be obtained through experiments or simulations and contain typical features of each motion pattern; the extracted acceleration features are matched with the features in the motion pattern database by calculating the similarity or distance between the features, such as using Euclidean distance, Mahalanobis distance, etc.; a classifier is trained using a machine learning algorithm (such as support vector machine, decision tree, neural network, etc.) to identify different motion patterns. During the training process, the acceleration data of the known motion pattern is used as input, and the corresponding motion pattern is labeled as output. After the training is completed, the classifier is tested using a test data set to evaluate its performance. Finally, motion intention recognition, the acceleration data collected in real time is input into the trained classifier to identify the user's current motion intention. The classifier will output the most likely motion pattern, thereby realizing the recognition of the user's motion intention. The identified motion intention is output in an understandable way, such as displaying it on the screen or sending it to other systems for further processing.

[0057] In step S103, the control unit determines output parameters of the drive component according to the motion intention, wherein the output parameters include motor speed and output shaft position.

[0058] Specifically, based on the identified movement intention, the user's specific needs for the swing leg movement angle in the current movement state are further analyzed, and the setting is made by combining factors such as the user's physical condition, rehabilitation stage, and rehabilitation plan.

[0059] It should be noted that the motor speed refers to the rotation speed of the motor itself, usually expressed in revolutions per minute (rpm) or revolutions per second (revs / s). Determine the appropriate motor speed based on the user's exercise needs and the transmission characteristics of the Bowden cable. The speed should be selected to ensure that the Bowden cable can be retracted and extended smoothly while avoiding excessive impact force or hysteresis.

[0060] The motor position refers to the position or angle of the motor output shaft, which determines the length of the Bowden cable and the movement angle of the swing leg. The motor's target position or angle is determined based on the user's exercise intention and rehabilitation plan. The motor position is monitored in real time through an encoder or position sensor and adjusted as needed.

[0061] In step S104, the control unit controls the driving assembly to operate according to the motor speed and the output shaft position to change the take-up lengths of the first Bowden cable and the second Bowden cable.

[0062] Specifically, during the generation and execution of the motor control instructions, the corresponding control instructions are generated according to the determined motor speed and position. These instructions include pulse signals, voltage signals or current signals, etc., which are used to drive the motor to rotate at the specified speed and position. The control unit sends the generated control instructions to the drive motor and the speed regulator to accurately control the drive motor and the speed regulator. As the motor rotates, the Bowden cable will be retracted and released according to the speed and position of the motor. When the motor rotates forward, the Bowden cable is tightened; when the motor rotates reversely, the Bowden cable is relaxed. By accurately controlling the speed and position of the motor, the retraction and release length of the Bowden cable can be accurately controlled; the retraction and release of the Bowden cable will drive the swing leg to move. By adjusting the retraction and release length and speed of the Bowden cable, the swing leg movement angle and speed can be accurately controlled. During the entire control process, it is necessary to monitor the motor speed, position, and retraction and release state of the Bowden cable in real time; according to the real-time monitored data, the control instructions of the motor are feedback adjusted. If it is found that the speed or position of the motor is not consistent with expectations, or the retraction and release state of the Bowden cable is abnormal, the control instructions can be adjusted in time to correct the deviation.

[0063] In the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0064] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0065] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0066] It should be noted that: in this application, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0067] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0068] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A flexible exoskeleton robot for multi-position conversion, characterized in that: The flexible exoskeleton robot for multi-body position conversion comprises: a driving component, a binding component, a measuring component and a control unit, wherein the control unit is respectively connected to the driving component and the measuring component, the driving component is connected to the binding component, the measuring component is connected to the binding component, the binding component is used to be installed on the waist of the user, and the measuring component is used to be installed on the legs of the user; The driving assembly comprises a driving motor and a winding drum, wherein the output shaft of the driving motor is fixedly connected to the winding drum, and the winding drum has two tracks, one of which is corresponding to winding a first Bowden cable, and the other of which is corresponding to winding a second Bowden cable. The measuring assembly comprises two strap structures, which are correspondingly mounted on the legs of the user, and the first Bowden cable and the second Bowden cable are connected to the two strap structures in a one-to-one correspondence. The driving motor drives the winding drum to rotate, so that the first Bowden cable drives one of the strap structures to tighten, and the second Bowden cable drives the other of the strap structures to loosen. The control unit obtains acceleration data collected by the measuring component on the user, determines the user's movement intention based on the acceleration data, and determines the output parameters of the driving component based on the movement intention. The driving component operates according to the output parameters to change the take-up lengths of the first Bowden cable and the second Bowden cable.

2. The flexible exoskeleton robot for multi-position conversion according to claim 1 is characterized in that: A first inertial measurement sensor is provided on one of the strap structures, and a second inertial measurement sensor is provided on the other strap structure. The first inertial measurement sensor and the second inertial measurement sensor are arranged on the user's legs to collect acceleration data of the user.

3. The flexible exoskeleton robot for multi-position conversion according to claim 2 is characterized in that: The binding component is a waist belt, and the driving component also includes a back plate and a motor shaft seat. The back plate is fixedly connected to the outer side of the waist belt, and the driving motor is arranged on the back plate. One end of the motor shaft seat is fixedly connected to the output shaft, and the other end of the motor shaft seat is fixedly connected to the winding reel.

4. The flexible exoskeleton robot for multi-position conversion according to claim 3 is characterized in that: The driving assembly also includes a battery and a speed regulator. The battery is mounted on the back plate and connected to the driving motor. The speed regulator is connected to the battery.

5. The flexible exoskeleton robot for multi-position conversion according to claim 3 is characterized in that: The driving assembly also includes a motor fixing seat and a wire drum fixing frame, the motor fixing seat is installed on the back plate, and the driving motor is fixedly connected to the motor fixing seat, the wire drum fixing frame is connected to the back plate and the motor fixing seat, and the winding drum is connected to the wire drum fixing frame.

6. The flexible exoskeleton robot for multi-position conversion according to claim 5, characterized in that: The drive assembly also includes a disc sleeve, a first wire sleeve and a second wire sleeve, the disc sleeve is installed on the wire disc fixing frame, the winding disc is arranged in the disc sleeve, one end of the first wire sleeve and the second wire sleeve on the same side is installed on the belt, and the other end of the first wire sleeve and the second wire sleeve on the same side is installed on the disc sleeve, a part of the first Bowden cable is arranged in the first wire sleeve, and a part of the second Bowden cable is arranged in the second wire sleeve.

7. The flexible exoskeleton robot for multi-position conversion according to claim 6 is characterized in that: The belt is provided with a first wire buckle and a second wire buckle, the first wire loop is connected to the first wire buckle correspondingly, the second wire loop is connected to the second wire buckle correspondingly, the first Bowden cable is connected to one of the strap structures through the first wire loop and the first wire buckle, and the second Bowden cable is connected to another of the strap structures through the corresponding second wire loop and the second wire buckle.

8. The flexible exoskeleton robot for multi-position conversion according to claim 2 is characterized in that: The strap structure is tied to at least one position of the user's thigh, calf and knee.

9. A control method for a flexible exoskeleton robot for multi-position conversion based on any one of claims 1 to 8, characterized in that: The control method comprises: The control unit obtains acceleration data collected by the measuring component on the user; The control unit determines the user's motion intention according to the acceleration data, wherein the motion intention includes sitting, walking on flat ground, and going up and down stairs; The control unit determines the output parameters of the drive assembly according to the motion intention, wherein the output parameters include motor speed and output shaft position; The control unit controls the driving assembly to operate according to the motor speed and the output shaft position to change the take-up lengths of the first Bowden cable and the second Bowden cable.

10. The control method of the flexible exoskeleton robot for multi-position conversion according to claim 9, characterized in that: The control unit determines the user's motion intention according to the acceleration data, specifically including: The control unit extracts features from the acceleration data to obtain feature data; The control unit constructs a motion model and obtains simulation features, and trains the motion model according to the simulation features to obtain a trained motion model; The control unit inputs the feature data into the trained motion model to obtain the user's motion intention.

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