Barometric pressure driven bionic multi-muscle type exoskeleton system and control method

Abstract

The present application belongs to the technical field of bionic exoskeleton, and particularly relates to a pneumatic driving bionic multi-muscle type exoskeleton system and a control method. The exoskeleton system comprises a bionic multi-muscle type exoskeleton worn on a lower limb of a human body, an air source for providing power for the bionic multi-muscle type exoskeleton, and a control system for controlling movement of the bionic multi-muscle type exoskeleton; the bionic multi-muscle type exoskeleton comprises a lower leg wearing member for being worn on a lower leg of the human body and a training boot for being worn on a foot of the human body; six pneumatic muscles; and five anchor point connectors. The six pneumatic muscles are arranged on the periphery of the lower leg wearing member, and the six pneumatic muscles are attached to muscle groups of the human body, so that not only single movement of plantar flexion, dorsal flexion, internal rotation and external rotation can be assisted, but also cooperative movement of the plantar flexion, the dorsal flexion, the internal rotation and the external rotation can be assisted, and the problems of low power to mass ratio, limited assisted movement and poor movement compliance in the existing exoskeleton are solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of bionic exoskeletons, and particularly relates to a pneumatic driving bionic multi-muscle type exoskeleton system and a control method. BACKGROUND

[0002] Stroke causes many patients to have impaired walking function, especially limited ankle dorsiflexion, high gastrocnemius muscle tension, and limited knee and hip joint movement. Clinical studies have shown that systematic rehabilitation assistance training can effectively improve the ankle movement function of stroke patients, and further improve their walking ability and quality of life.

[0003] As a new rehabilitation treatment method, exoskeleton technology can provide personalized rehabilitation assistance programs according to the actual situation of patients. Traditional exoskeletons usually use metal structures, which have strong support and structural rigidity, but their heavy weight limits the freedom of movement and has poor adaptability, making it inconvenient to wear. In contrast, some new wire-driven exoskeletons are designed using flexible materials, which can better fit the natural form of the human body, reduce the burden on the wearer, improve comfort, and reduce skin friction and discomfort when worn. Wire-driven exoskeleton technology has shown higher flexibility and adaptability in clinical rehabilitation, and can more effectively provide comfortable and personalized rehabilitation assistance training for patients.

[0004] At present, most wire-driven exoskeletons use motor-Bowden cable driving form. Although the motor is easy to achieve precise control of torque and displacement, it has problems such as complex structure, low power-to-mass ratio, and poor motion compliance. At the same time, existing exoskeletons usually assist ankle plantar flexion and dorsiflexion movement, and have less assistance for ankle inversion and eversion movement, which is difficult to meet the multi-dimensional movement needs of the wearer in actual application scenarios. SUMMARY

[0005] The purpose of the present application is to overcome the defects of limited assisted movement, low power-to-mass ratio, poor motion compliance, and poor human-machine adaptability in the prior art, and to provide a pneumatic driving bionic multi-muscle type exoskeleton system and control method that uses multiple pneumatic muscles to simulate the ankle muscle group of the human body, and through the coordinated action of multiple pneumatic muscles, can meet the human multi-dimensional movement assistance needs, and has good compliance and strong human-machine adaptability.

[0006] The technical solution adopted by the present application to solve its technical problems is:

[0007] As a first aspect, a pneumatic driving bionic multi-muscle type exoskeleton system includes a bionic multi-muscle type exoskeleton worn on the lower limbs of a human body, a gas source for providing power to the bionic multi-muscle type exoskeleton, and a control system for controlling the movement of the bionic multi-muscle type exoskeleton.

[0008] The bionic multi-muscle type exoskeleton comprises a lower leg wearing part for wearing on a lower leg of a human body and a training boot for wearing on a foot of the human body;

[0009] Six pneumatic muscles are fixedly installed on the lower leg wearing part along a lower leg axis direction; the pneumatic muscles comprise a first pneumatic muscle, a second pneumatic muscle, a third pneumatic muscle, a fourth pneumatic muscle, a fifth pneumatic muscle and a sixth pneumatic muscle;

[0010] Five anchor point connectors, which comprise a first front anchor point connector, a second front anchor point connector, a rear anchor point connector, a left anchor point connector and a right anchor point connector, are respectively installed on a forefoot end, a rear end, a left side and a right side of the training boot;

[0011] The lower end of the first pneumatic muscle and the first front anchor point connector, the lower end of the second pneumatic muscle and the second front anchor point connector, the lower end of the fifth pneumatic muscle and the rear anchor point connector, the lower end of the sixth pneumatic muscle and the rear anchor point connector, the lower end of the third pneumatic muscle and the left anchor point connector, and the lower end of the fourth pneumatic muscle and the right anchor point connector are connected by Bowden wires.

[0012] Further, when the bionic multi-muscle type exoskeleton is worn on the human body, the first pneumatic muscle and the second pneumatic muscle correspond to a tibialis anterior muscle of the human body, the third pneumatic muscle corresponds to a gastrocnemius long muscle of the human body, the fourth pneumatic muscle corresponds to a tibialis posterior muscle of the human body, and the fifth pneumatic muscle and the sixth pneumatic muscle both correspond to a gastrocnemius muscle of the human body.

[0013] Further, the control system comprises six two-position three-way electromagnetic valves in communication with a gas path of an output end of the gas source, a silencer installed corresponding to the two-position three-way electromagnetic valves, an inertial measurement unit installed on the training boot for detecting an ankle joint motion angle, and a main control module for calculating and controlling motion of the bionic multi-muscle type exoskeleton.

[0014] Further, an air inlet P of any two-position three-way electromagnetic valve is in communication with an output port of the gas source, and a working port A of any two-position three-way electromagnetic valve is in communication with an air inlet and outlet of a corresponding pneumatic muscle; the silencer is installed on an output port B of the two-position three-way electromagnetic valve.

[0015] Further, the two-position three-way electromagnetic valves comprise a first two-position three-way electromagnetic valve, a second two-position three-way electromagnetic valve, a third two-position three-way electromagnetic valve, a fourth two-position three-way electromagnetic valve, a fifth two-position three-way electromagnetic valve and a sixth two-position three-way electromagnetic valve;

[0016] The first two-position three-way electromagnetic valve is connected with the first pneumatic muscle, the second two-position three-way electromagnetic valve is connected with the second pneumatic muscle, the third two-position three-way electromagnetic valve is connected with the third pneumatic muscle, the fourth two-position three-way electromagnetic valve is connected with the fourth pneumatic muscle, the fifth two-position three-way electromagnetic valve is connected with the fifth pneumatic muscle, and the sixth two-position three-way electromagnetic valve is connected with the sixth pneumatic muscle.

[0017] Further, the bionic multi-muscle type exoskeleton further comprises a first connecting ring and a second connecting ring arranged on the front upper of the training boot.

[0018] The Bowden wire between the lower end of the first pneumatic muscle and the first front anchor connector is guided through the first connecting ring, and the Bowden wire between the lower end of the second pneumatic muscle and the second front anchor connector is guided through the second connecting ring.

[0019] As a second aspect, the control method of the bionic multi-muscle type exoskeleton system driven by air pressure comprises the following contents:

[0020] The movement mode of the bionic multi-muscle type exoskeleton is set;

[0021] The corresponding two-position three-way electromagnetic valve on-off control instruction is matched and set for the movement mode;

[0022] The expected angle of the human ankle movement demand is obtained;

[0023] The pneumatic muscle contraction is controlled by the matched two-position three-way electromagnetic valve according to the movement mode control instruction, and the human ankle is driven by the Bowden wire to move in the corresponding movement mode;

[0024] The actual movement angle of the human ankle is collected in real time by the inertial measurement unit;

[0025] The expected angle and the actual movement angle are subtracted by the main control module, and the movement angle error is calculated;

[0026] The movement of the bionic multi-muscle type exoskeleton is dynamically adjusted according to the movement angle error.

[0027] Specifically, the movement mode includes dorsiflexion movement mode, dorsiflexion and eversion cooperative movement mode, dorsiflexion and inversion cooperative movement mode, eversion and plantar flexion cooperative movement mode, and eversion movement mode.

[0028] Specifically, the movement mode matching and setting corresponding two-position three-way electromagnetic valve on-off control instruction specifically comprises the following contents:

[0029] When the first two-position three-way electromagnetic valve and the second two-position three-way electromagnetic valve are powered on at the same time, the corresponding dorsiflexion movement mode is matched;

[0030] Only when the first two-position three-way electromagnetic valve is powered, corresponding to the dorsiflexion and eversion synergistic movement mode;

[0031] Only when the second two-position three-way electromagnetic valve is powered, corresponding to the dorsiflexion and inversion synergistic movement mode;

[0032] When the third two-position three-way electromagnetic valve and the fifth two-position three-way electromagnetic valve are powered at the same time, corresponding to the eversion and plantar flexion synergistic movement mode;

[0033] Only when the third two-position three-way electromagnetic valve is powered, corresponding to the eversion movement mode;

[0034] Only when the fifth two-position three-way electromagnetic valve is powered, corresponding to the plantar flexion movement mode;

[0035] When the fourth two-position three-way electromagnetic valve and the fifth two-position three-way electromagnetic valve are powered at the same time, corresponding to the plantar flexion and inversion synergistic movement mode;

[0036] Only when the fourth two-position three-way electromagnetic valve is powered, corresponding to the inversion movement mode.

[0037] Specifically, the master control module includes a calculation module, an angle controller and a PWM generator;

[0038] The dynamic adjustment of the movement according to the movement angle error includes the following contents:

[0039] The calculation module calculates the movement angle error according to the expected angle and the actual movement angle;

[0040] The angle controller receives the movement angle error output signal to control the duty cycle of the PWM generator;

[0041] The opening time of the two-position three-way electromagnetic valve is controlled according to the duty cycle, and the movement angle is dynamically adjusted.

[0042] The pneumatic driving bionic multi-muscle type exoskeleton system and the control method thereof have the following beneficial effects:

[0043] The present application is provided with six pneumatic muscles on the periphery of the lower leg wearing part, and the positions of the six pneumatic muscles are matched with the muscle groups of the human body, simulating the movement of the muscle groups around the ankle joint of the human body. When one or more pneumatic muscles are inflated and contracted, the other pneumatic muscles are in a stretched state or remain in the original state. Based on the movement recruitment principle of human skeletal muscles, multiple pneumatic muscles synergistically act on each other, not only providing single movement assistance in the directions of plantar flexion, dorsiflexion, inversion and eversion, but also providing compound movement assistance in the directions of plantar flexion, dorsiflexion, inversion and eversion, to meet the multi-dimensional movement assistance needs of the wearer in actual application scenarios.

[0044] Meanwhile, the bionic multi-muscle type exoskeleton system adopts pneumatic muscle as the actuator, compared with the motor, the pneumatic muscle has the advantages of simple structure, high power mass ratio, and can quickly provide strong driving force under the light weight structure. Meanwhile, the pneumatic muscle has good flexibility, can naturally adapt to the human motion posture, and avoids the rigid constraint problem that may be caused by the motor driving. BRIEF DESCRIPTION OF DRAWINGS

[0045] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0046] Figure 1 is a structural schematic diagram of the pneumatic driving bionic multi-muscle type exoskeleton system in the embodiment of the application.

[0047] Figure 2 is a first perspective view of the bionic multi-muscle type exoskeleton in the embodiment of the application.

[0048] Figure 3 is a second perspective view of the bionic multi-muscle type exoskeleton in the embodiment of the application.

[0049] Figure 4 is a front view of the bionic multi-muscle type exoskeleton in the embodiment of the application.

[0050] Figure 5 is a rear view of the bionic multi-muscle type exoskeleton in the embodiment of the application.

[0051] Figure 6 is a control system schematic diagram of the bionic multi-muscle type exoskeleton in the embodiment of the application.

[0052] Figure 7 is a motion state combination diagram of the bionic multi-muscle type exoskeleton in the embodiment of the application.

[0053] Figure 8 is a pneumatic muscle state diagram of the first two-position three-way electromagnetic valve in the embodiment of the application.

[0054] Figure 9 is a pneumatic muscle state diagram of the second two-position three-way electromagnetic valve in the embodiment of the application.

[0055] Figure 10 is a pneumatic muscle state diagram of the third two-position three-way electromagnetic valve in the embodiment of the application.

[0056] Figure 11 is a pneumatic muscle state diagram of the fourth two-position three-way electromagnetic valve in the embodiment of the application.

[0057] Figure 12 is a pneumatic muscle state diagram of the fifth two-position three-way electromagnetic valve in the embodiment of the application.

[0058] Figure 13 This is a pneumatic muscle state diagram in which the first two-position three-way solenoid valve and the second two-position three-way solenoid valve are energized simultaneously in an embodiment of the present invention.

[0059] Figure 14 This is a pneumatic muscle state diagram when the third two-position three-way solenoid valve and the fifth two-position three-way solenoid valve are energized simultaneously in an embodiment of the present invention.

[0060] Figure 15 This is a pneumatic muscle state diagram when the fourth two-position three-way solenoid valve and the fifth two-position three-way solenoid valve are energized simultaneously in an embodiment of the present invention.

[0061] Figure 16 This is a pneumatic muscle state diagram when the third two-position three-way solenoid valve and the fourth two-position three-way solenoid valve are energized simultaneously in an embodiment of the present invention.

[0062] Figure 17 This is a flow chart of motion angle control in a bionic multi-muscle exoskeleton according to an embodiment of the present invention.

[0063] In the figure: 1. Bionic multi-muscle exoskeleton, 11. Calf wearable component, 12. Training boots, 13. Pneumatic muscle, 131. First pneumatic muscle, 132. Second pneumatic muscle, 133. Third pneumatic muscle, 134. Fourth pneumatic muscle, 135. Fifth pneumatic muscle, 136. Sixth pneumatic muscle, 14. Anchor connector, 141. First front anchor connector, 142. Second front anchor connector, 143. Rear anchor connector, 144. Left Anchor point connector, 145, right anchor point connector, 15, Bowden cable, 16, first connecting ring, 17, second connecting ring, 2, air source, 3, control system, 31, two-position three-way solenoid valve, 311, first two-position three-way solenoid valve, 312, second two-position three-way solenoid valve, 313, third two-position three-way solenoid valve, 314, fourth two-position three-way solenoid valve, 315, fifth two-position three-way solenoid valve, 316, sixth two-position three-way solenoid valve, 32, muffler. DETAILED DESCRIPTION

[0064] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0065] like Figures 1-6 as well as Figure 17 The specific embodiment of the pneumatically driven bionic multi-muscle exoskeleton system of the present invention shown includes a bionic multi-muscle exoskeleton 1 worn on the lower limbs of the human body, an air source 2 for providing power to the bionic multi-muscle exoskeleton 1, and a control system 3 for controlling the movement of the bionic multi-muscle exoskeleton 1.

[0066] likeFigure 1 As shown, the bionic multi-muscle exoskeleton 1 in the embodiment includes a calf wearing part 11 for wearing on the human calf and a training boot 12 for wearing on the human foot, six pneumatic muscles 13 and five anchor connectors 14. The six pneumatic muscles 13 include a first pneumatic muscle 131, a second pneumatic muscle 132, a fifth pneumatic muscle 135, a sixth pneumatic muscle 136, a third pneumatic muscle 133 and a fourth pneumatic muscle 134. The five anchor connectors 14 include a first front anchor connector 141, a second front anchor connector 142, a rear anchor connector 143, a left anchor connector 144 and a right anchor connector 145, which are respectively installed on the front end, the rear end, the left side and the right side of the sole of the training boot 12. It needs to be further explained that the lower end of the first pneumatic muscle 131 and the first front anchor connector 141, the lower end of the second pneumatic muscle 132 and the second front anchor connector 142, the lower end of the fifth pneumatic muscle 135 and the rear anchor connector 143, the lower end of the sixth pneumatic muscle 136 and the rear anchor connector 143, the lower end of the third pneumatic muscle 133 and the left anchor connector 144, and the lower end of the fourth pneumatic muscle 134 and the right anchor connector 145 are connected by Bowden cables 15.

[0067] When the bionic multi-muscle exoskeleton 1 is worn on the human body, the first pneumatic muscle 131 and the second pneumatic muscle 132 correspond to the tibialis anterior muscle of the human body, the third pneumatic muscle 133 corresponds to the gastrocnemius long muscle of the human body, the fourth pneumatic muscle 134 corresponds to the tibialis posterior muscle of the human body, and the fifth pneumatic muscle 135 and the sixth pneumatic muscle 136 correspond to the gastrocnemius muscle of the human body. The present application is provided with six pneumatic muscles 13 on the outer periphery of the calf wearing part 11, the positions of the six pneumatic muscles 13 are in line with the muscle groups of the human body, based on the movement recruitment principle of the skeletal muscles of the human body, the multiple pneumatic muscles 13 are mutually coordinated, the embodiment is provided with six pneumatic muscles 13 on the outer periphery of the calf wearing part 11, the six pneumatic muscles 13 are in line with the muscle groups of the human body, which not only can provide assistance for single movement of plantar flexion, dorsiflexion, inversion and eversion, but also can provide assistance for coordinated movement of plantar flexion, dorsiflexion, inversion and eversion, solve the problems of low power-to-mass ratio, limited assisted movement and poor movement compliance in existing exoskeletons, meet the multi-dimensional movement assistance needs of the wearer in actual application scenarios.

[0068] As Figure 4As shown in Fig. 5, the bionic multi-muscle exoskeleton 1 further comprises a first connecting ring 16 and a second connecting ring 17 arranged on the front surface of the training shoe 12. In use, the Bowden cable 15 between the lower end of the first pneumatic muscle 131 and the first front anchor connecting member 141 is guided through the first connecting ring 16, and the Bowden cable 15 between the lower end of the second pneumatic muscle 132 and the second front anchor connecting member 142 is guided through the second connecting ring 17. As a preferred embodiment, two first connecting rings 16 and two second connecting rings 17 are provided, and the two first connecting rings 16 and the two second connecting rings 17 are arranged in sequence in the respective guiding directions to ensure that the Bowden cables 15 therein can be smoothly guided and moved.

[0069] In specific installation, six independent Bowden cables 15, the upper end of the first pneumatic muscle 131 is fixed on the lower leg wearing member 11, and the lower end is connected with one end of the corresponding Bowden cable 15, and the other end of the Bowden cable 15 is sequentially threaded through the two first connecting rings 16 installed on the training shoe 12 and fixed on the first front anchor connecting member 141 of the training shoe 12. The upper end of the second pneumatic muscle 132 is fixed on the lower leg wearing member 11, and the lower end is connected with one end of the corresponding Bowden cable 15, and the other end of the Bowden cable 15 is sequentially threaded through the two second connecting rings 17 installed on the training shoe 12 and fixed on the second front anchor connecting member 142 of the training shoe 12. The upper end of the third pneumatic muscle 133 is fixed on the lower leg wearing member 11, and the lower end is connected with one end of the corresponding Bowden cable 15, and the other end of the Bowden cable 15 is fixed on the left anchor connecting member 144 of the training shoe 12. The upper end of the fourth pneumatic muscle 134 is fixed on the lower leg wearing member 11, and the lower end is connected with one end of the Bowden cable 15, and the other end of the Bowden cable 15 is fixed on the right anchor connecting member 145 of the training shoe 12. The upper end of the fifth pneumatic muscle 135 is fixed on the lower leg wearing member 11, and the lower end is connected with one end of the independent Bowden cable 15, and the other end of the Bowden cable 15 is fixed on the rear anchor connecting member 143 of the training shoe 12; the upper end of the sixth pneumatic muscle 136 is fixed on the lower leg wearing member 11, and the lower end is connected with one end of the Bowden cable 15, and the other end of the Bowden cable 15 is fixed on the rear anchor connecting member 143 of the training shoe 12. The six pneumatic muscles 13 are evenly distributed around the lower leg and are bound to the lower leg by the lower leg wearing member 11.

[0070] The first pneumatic muscle 131 and the second pneumatic muscle 132 simulate the tibialis anterior muscle to realize the dorsiflexion movement of the ankle joint, the third pneumatic muscle 133 simulates the gastrocnemius muscle and cooperates with the first pneumatic muscle 131 to realize the eversion movement of the ankle joint; the fourth pneumatic muscle 134 simulates the tibialis posterior muscle and cooperates with the second pneumatic muscle 132 to realize the inversion movement, and the fifth pneumatic muscle 135 and the sixth pneumatic muscle 136 simulate the gastrocnemius muscle to realize the plantar flexion movement. The Bowden cable 15 in this embodiment simulates the function of the tendon and is used to transmit the driving force of the pneumatic muscle 13 to realize the corresponding movement function.

[0071] Six pneumatic muscles 13 are arranged on the lower leg, and are connected to the bottom of the training boots 12 in combination with corresponding Bowden cables 15, to simulate the agonist and antagonist muscles around the ankle joint of the human body. When one or more pneumatic muscles 13 are inflated to perform contraction, the other pneumatic muscles 13 are in a stretched state or remain in the original state, which is more in line with the natural movement law of the human foot, and avoids the rigid constraint problem that may be caused by the prior art, thereby ensuring that the bionic multi-muscle exoskeleton system has good movement compliance.

[0072] As shown in Figure 6 , the control system 3 in the embodiment includes six two-position three-way electromagnetic valves 31 in communication with the gas outlet of the gas source 2, six silencers 32 installed in one-to-one correspondence with the two-position three-way electromagnetic valves 31, an inertial measurement unit installed on the training boots 12 for detecting the movement angle of the ankle joint, and a master control module for calculating and controlling the movement of the pneumatic muscles 13. It is further explained that the air inlet P of any two-position three-way electromagnetic valve 31 is in communication with the output port of the gas source 2, and the working port A of any two-position three-way electromagnetic valve 31 is in communication with the air inlet and outlet of the corresponding pneumatic muscle 13; the silencer 32 is installed on the output port B of the two-position three-way electromagnetic valve 31. In use, when the two-position three-way electromagnetic valve 31 is powered, the compressed air in the gas source 2 enters the air inlet and outlet of the corresponding pneumatic muscle 13 through the working port A of the two-position three-way electromagnetic valve 31.

[0073] Specifically, referring to Figure 6 , the two-position three-way electromagnetic valve 31 includes a first two-position three-way electromagnetic valve 311, a second two-position three-way electromagnetic valve 312, a third two-position three-way electromagnetic valve 313, a fourth two-position three-way electromagnetic valve 314, a fifth two-position three-way electromagnetic valve 315, and a sixth two-position three-way electromagnetic valve 316. The first two-position three-way electromagnetic valve 311 is connected to the first pneumatic muscle 131, the second two-position three-way electromagnetic valve 312 is connected to the second pneumatic muscle 132, the third two-position three-way electromagnetic valve 313 is connected to the third pneumatic muscle 133, the fourth two-position three-way electromagnetic valve 314 is connected to the fourth pneumatic muscle 134, the fifth two-position three-way electromagnetic valve 315 is connected to the fifth pneumatic muscle 135, and the sixth two-position three-way electromagnetic valve 316 is connected to the sixth pneumatic muscle 136.

[0074] As shown in Figure 7As shown, the six pneumatic muscles 13 in the embodiment can realize up to 47 combinations by recruiting different numbers of pneumatic muscles 13. Specifically, the number of combinations corresponding to the recruitment of different numbers of pneumatic muscles 13 varies: when 1 pneumatic muscle 13 is recruited, there are 5 combinations; when 2 pneumatic muscles 13 are recruited, there are 11 combinations; when 3 pneumatic muscles 13 are recruited, there are 14 combinations; when 4 pneumatic muscles 13 are recruited, there are 11 combinations; when 5 pneumatic muscles 13 are recruited, there are 5 combinations; and when all 6 pneumatic muscles 13 are contracted at the same time, there is only 1 combination. The diverse combinations enable the bionic multi-muscle exoskeleton to realize a rich variety of movement modes, thereby adapting to a variety of application scenarios. Based on the different combinations of the pneumatic muscles 13 described above, the bionic multi-muscle exoskeleton can realize 9 movement states, covering single movement forms and composite movement forms, such as Figure 7 As shown. The single movement forms include simple plantar flexion, dorsiflexion, inversion, and eversion, while the composite movement forms include the superposition of multiple single movement forms. It is worth noting that the same movement state can be realized by multiple combinations of pneumatic muscles 13, but the movement angles differ under different combinations. The difference in movement angles is mainly due to the difference in torque generated by the pneumatic muscles 13 when they contract, as well as the difference in the extension length of the pneumatic muscles 13. Under the same movement state, recruiting a smaller number of pneumatic muscles 13 can result in a smaller movement angle, while recruiting a larger number of pneumatic muscles 13 can produce a larger movement angle. The flexible and variable combination mode in this embodiment provides more possibilities for the design and optimization of the exoskeleton, thereby better adapting to different application requirements.

[0075] Based on the control method of the bionic multi-muscle exoskeleton control system 3 described above, the following content is included: setting the movement mode of the bionic multi-muscle exoskeleton 1; matching the on-off control instructions of the two-position three-way electromagnetic valve 31 corresponding to the movement mode; obtaining the desired angle of the human ankle movement demand; using the matched two-position three-way electromagnetic valve 31 to control the contraction of the pneumatic muscle 13 according to the movement mode control instruction, driving the human ankle to move in the corresponding movement mode through the Bowden cable 15; using an inertial measurement unit to collect the actual movement angle of the human ankle in real time; the main control module calculates the movement angle error by differencing the desired angle and the actual movement angle; and dynamically adjusting the movement of the bionic multi-muscle exoskeleton 1 according to the movement angle error. It needs to be further explained that the movement mode in this embodiment includes eight modes: dorsiflexion movement mode, dorsiflexion and eversion cooperative movement mode, dorsiflexion and inversion cooperative movement mode, eversion and plantar flexion cooperative movement mode, eversion movement mode, plantar flexion movement mode, plantar flexion and inversion cooperative movement mode, and inversion movement mode, plus a static mode that does not move.

[0076] As Figures 8 to 16As shown, the dorsiflexion / planterflexion angle in the second embodiment is represented by α, and the eversion / inversion angle is represented by β. The two-position three-way electromagnetic valve 31 is used to control the contraction of the pneumatic muscle 13, and the ankle joint movement driven by the Bowden cable 15 includes the following:

[0077] When the first two-position three-way electromagnetic valve 311 and the second two-position three-way electromagnetic valve 312 are powered at the same time, the corresponding dorsiflexion movement mode is implemented, i.e., dorsiflexion movement is performed.

[0078] Only when the first two-position three-way electromagnetic valve 311 is powered, the corresponding dorsiflexion and eversion cooperative movement mode is implemented, i.e., dorsiflexion and eversion cooperative movement is performed.

[0079] Only when the second two-position three-way electromagnetic valve 312 is powered, the corresponding dorsiflexion and inversion cooperative movement mode is implemented, i.e., dorsiflexion and inversion cooperative movement is performed.

[0080] When the third two-position three-way electromagnetic valve 313 and the fifth two-position three-way electromagnetic valve 315 are powered at the same time, the corresponding eversion and plantarflexion cooperative movement mode is implemented, i.e., eversion and plantarflexion cooperative movement is performed.

[0081] Only when the third two-position three-way electromagnetic valve 313 is powered, the corresponding eversion movement mode is implemented, i.e., eversion movement is performed.

[0082] Only when the fifth two-position three-way electromagnetic valve 315 is powered, the corresponding plantarflexion movement mode is implemented, i.e., plantarflexion movement is performed.

[0083] When the fourth two-position three-way electromagnetic valve 314 and the fifth two-position three-way electromagnetic valve 315 are powered at the same time, the corresponding plantarflexion and inversion cooperative movement mode is implemented, i.e., plantarflexion and inversion cooperative movement is performed.

[0084] Only when the fourth two-position three-way electromagnetic valve 314 is powered, the corresponding inversion movement mode is implemented, i.e., inversion movement is performed.

[0085] As an embodiment, the working gas pressure of the gas source 2 is set to 0.35 MPa, and the state changes of the pneumatic muscles 13 are distinguished by different shapes. The details are as follows: when the first two-position three-way electromagnetic valve 311 is powered, the compressed air in the gas source 2 enters the intake and exhaust port of the first pneumatic muscle 131 through the working port A of the first two-position three-way electromagnetic valve 311, so that the first pneumatic muscle 131 is inflated and contracted, and the bionic multi-muscle type exoskeleton produces two movement states of dorsiflexion movement and eversion movement. The states of the remaining pneumatic muscles 13 are as shown in the figure. Figure 8 In dorsiflexion movement, the fifth pneumatic muscle 135 and the sixth pneumatic muscle 136 act as antagonistic muscles and participate in the adjustment of movement by passive stretching. At the same time, the second pneumatic muscle 132 and the fourth pneumatic muscle 134 realize smooth eversion movement by cooperative stretching. In the process of contraction of the first pneumatic muscle 131, the third pneumatic muscle 133 always maintains the initial state.

[0086] When the second two-position three-way electromagnetic valve 312 is energized, the compressed air in the air source 2 enters the intake and exhaust port of the second pneumatic muscle 132 through the working port A of the second two-position three-way electromagnetic valve 312, so that the second pneumatic muscle 132 is inflated and contracted, and thus the bionic multi-muscle exoskeleton produces two motion states: dorsiflexion motion and inversion motion, and the states of the remaining pneumatic muscles 13 are as shown in Figure 9 When the second two-position three-way electromagnetic valve 312 is energized, the compressed air in the air source 2 enters the intake and exhaust port of the second pneumatic muscle 132 through the working port A of the second two-position three-way electromagnetic valve 312, so that the second pneumatic muscle 132 is inflated and contracted, and thus the bionic multi-muscle exoskeleton produces two motion states: dorsiflexion motion and inversion motion, and the states of the remaining pneumatic muscles 13 are as shown in

[0087] When the third two-position three-way electromagnetic valve 313 is energized, the compressed air in the air source 2 enters the intake and exhaust port of the third pneumatic muscle 133 through the working port A of the third two-position three-way electromagnetic valve 313, so that the third pneumatic muscle 133 is inflated and contracted, and thus the bionic multi-muscle exoskeleton produces eversion motion, and the states of the remaining pneumatic muscles 13 are as shown in Figure 10 When the third two-position three-way electromagnetic valve 313 is energized, the compressed air in the air source 2 enters the intake and exhaust port of the third pneumatic muscle 133 through the working port A of the third two-position three-way electromagnetic valve 313, so that the third pneumatic muscle 133 is inflated and contracted, and thus the bionic multi-muscle exoskeleton produces eversion motion, and the states of the remaining pneumatic muscles 13 are as shown in

[0088] When the fourth two-position three-way electromagnetic valve 314 is energized, the compressed air in the air source 2 enters the intake and exhaust port of the fourth pneumatic muscle 134 through the working port A of the fourth two-position three-way electromagnetic valve 314, so that the fourth pneumatic muscle 134 is inflated and contracted, and thus the bionic multi-muscle exoskeleton produces inversion motion, and the states of the remaining pneumatic muscles 13 are as shown in Figure 11 When the fourth two-position three-way electromagnetic valve 314 is energized, the compressed air in the air source 2 enters the intake and exhaust port of the fourth pneumatic muscle 134 through the working port A of the fourth two-position three-way electromagnetic valve 314, so that the fourth pneumatic muscle 134 is inflated and contracted, and thus the bionic multi-muscle exoskeleton produces inversion motion, and the states of the remaining pneumatic muscles 13 are as shown in

[0089] When the fifth two-position three-way electromagnetic valve 315 is energized, the compressed air in the air source 2 enters the intake and exhaust port of the fifth pneumatic muscle 135 through the working port A of the fifth two-position three-way electromagnetic valve 315, so that the fifth pneumatic muscle 135 is inflated and contracted, and thus the bionic multi-muscle exoskeleton produces plantar flexion motion, and the states of the remaining pneumatic muscles 13 are as shown in Figure 12The first pneumatic muscle 131 and the second pneumatic muscle 132 are antagonistic muscles in the dorsiflexion movement, and participate in the regulation of the movement by passive stretching. The third pneumatic muscle 133, the fourth pneumatic muscle 134 and the sixth pneumatic muscle 136 remain in the initial state during the contraction of the fifth pneumatic muscle 135.

[0090] When the first two-position three-way electromagnetic valve 311 and the second two-position three-way electromagnetic valve 312 are energized at the same time, the compressed air in the air source 2 enters the inlet and exhaust ports of the first pneumatic muscle 131 and the second pneumatic muscle 132 through the working ports A of the first two-position three-way electromagnetic valve 311 and the second two-position three-way electromagnetic valve 312 respectively, so that the first pneumatic muscle 131 and the second pneumatic muscle 132 are inflated and contracted at the same time, thereby causing the bionic multi-muscle exoskeleton to produce a dorsiflexion movement, and the states of the remaining pneumatic muscles 13 are as shown in Figure 13 When the first pneumatic muscle 131 is inflated and contracted, the bionic multi-muscle exoskeleton not only produces a dorsiflexion movement, but also causes a certain degree of eversion. When the second pneumatic muscle 132 is inflated and contracted, the bionic multi-muscle exoskeleton produces a dorsiflexion movement and causes an inversion movement at the same time. When the first pneumatic muscle 131 and the second pneumatic muscle 132 are inflated and contracted at the same time, due to the superposition of the two movement modes, the effects of eversion and inversion cancel each other out, thereby causing the bionic multi-muscle exoskeleton to produce a dorsiflexion movement. At the same time, the third pneumatic muscle 133 and the fourth pneumatic muscle 134 remain in the initial state, and the fifth pneumatic muscle 135 and the sixth pneumatic muscle 136 act as antagonistic muscles and are passively stretched during the dorsiflexion movement. The stretching of the antagonistic muscles effectively limits the excessive movement of the bionic multi-muscle exoskeleton, and ensures the stability of the overall movement of the bionic multi-muscle exoskeleton.

[0091] When the third two-position three-way electromagnetic valve 313 and the fifth two-position three-way electromagnetic valve 315 are energized at the same time, the compressed air in the air source 2 enters the inlet and exhaust ports of the third pneumatic muscle 133 and the fifth pneumatic muscle 135 through the working ports A of the third two-position three-way electromagnetic valve 313 and the fifth two-position three-way electromagnetic valve 315 respectively, so that the third pneumatic muscle 133 and the fifth pneumatic muscle 135 are inflated and contracted at the same time, thereby causing the bionic multi-muscle exoskeleton to produce a plantar flexion movement and an eversion movement, and the states of the remaining pneumatic muscles 13 are as shown in Figure 14When the third pneumatic muscle 133 is inflated and contracted, the bionic multi-muscle exoskeleton produces eversion movement. When the fifth pneumatic muscle 135 is inflated and contracted, the bionic multi-muscle exoskeleton produces plantar flexion movement. When the third pneumatic muscle 133 and the fifth pneumatic muscle 135 are inflated and contracted at the same time, the bionic multi-muscle exoskeleton 1 produces plantar flexion movement and eversion movement due to the superposition of the two movement modes. At the same time, the sixth pneumatic muscle 136 remains in the initial state, the first pneumatic muscle 131 and the second pneumatic muscle 132 act as antagonistic muscles and are passively elongated during the plantar flexion movement, and the fourth pneumatic muscle 134 acts as an antagonistic muscle and is passively elongated during the eversion movement.

[0092] When the fourth two-position three-way electromagnetic valve 314 and the fifth two-position three-way electromagnetic valve 315 are energized at the same time, the compressed air in the air source 2 enters the inlet and exhaust ports of the fourth pneumatic muscle 134 and the fifth pneumatic muscle 135 through the working ports A of the fourth two-position three-way electromagnetic valve 314 and the fifth two-position three-way electromagnetic valve 315 respectively, so that the fourth pneumatic muscle 134 and the fifth pneumatic muscle 135 are inflated and contracted at the same time, thereby making the bionic multi-muscle exoskeleton produce plantar flexion movement and inversion movement, and the states of the remaining pneumatic muscles 13 are as shown in Figure 15 When the fourth pneumatic muscle 134 is inflated and contracted, the bionic multi-muscle exoskeleton produces inversion movement. When the fifth pneumatic muscle 135 is inflated and contracted, the bionic multi-muscle exoskeleton produces plantar flexion movement. When the fourth pneumatic muscle 134 and the fifth pneumatic muscle 135 are inflated and contracted at the same time, the bionic multi-muscle exoskeleton produces plantar flexion movement and inversion movement due to the superposition of the two movement modes. At the same time, the sixth pneumatic muscle 136 remains in the initial state, the first pneumatic muscle 131 and the second pneumatic muscle 132 act as antagonistic muscles and are passively elongated during the plantar flexion movement, and the third pneumatic muscle 133 acts as an antagonistic muscle and is passively elongated during the inversion movement.

[0093] When the third two-position three-way electromagnetic valve 313 and the fourth two-position three-way electromagnetic valve 314 are energized at the same time, the compressed air in the air source 2 enters the inlet and exhaust ports of the third pneumatic muscle 133 and the fourth pneumatic muscle 134 through the working ports A of the third two-position three-way electromagnetic valve 313 and the fourth two-position three-way electromagnetic valve 314 respectively, so that the third pneumatic muscle 133 and the fourth pneumatic muscle 134 are inflated and contracted at the same time, thereby making the bionic multi-muscle exoskeleton remain in the initial state, and the states of the remaining pneumatic muscles 13 are as shown in Figure 16When the third pneumatic muscle 133 is inflated and contracted, the bionic multi-muscle exoskeleton generates eversion movement. When the fourth pneumatic muscle 134 is inflated and contracted, the bionic multi-muscle exoskeleton generates inversion movement. When the third pneumatic muscle 133 and the fourth pneumatic muscle 134 are inflated and contracted at the same time, due to the superposition of the two movement modes, the effects of eversion and inversion cancel each other out, and the bionic multi-muscle exoskeleton remains in the initial state. At the same time, the first pneumatic muscle 131, the second pneumatic muscle 132, the fifth pneumatic muscle 135 and the sixth pneumatic muscle 136 remain unchanged in the initial state.

[0094] The master control module in the embodiment includes a calculation module, an angle controller and a PWM generator. The dynamic adjustment of the movement angle according to the movement angle error includes the following contents: the calculation module calculates the movement angle error of the expected angle and the actual movement angle; the angle controller receives the movement angle error output signal to control the duty cycle of the PWM generator; the opening time of the two-position three-way electromagnetic valve 31 is controlled according to the duty cycle, and the movement angle is dynamically adjusted.

[0095] As shown in Figure 17 , the control method of the exoskeleton system of the application adopts closed-loop control, and feedback adjustment is performed through the error e d / e d between the expected angle a s / β s and the actual movement angle a a / β β , so as to realize accurate movement control. The control system 3 generates the expected angle a d of plantar flexion / dorsiflexion and the expected angle b d of inversion / eversion according to the movement requirements of the ankle joint, and the angle sensor measures the actual movement angle a s / β s of the bionic multi-muscle exoskeleton in real time. The error e a / e β between the expected angle and the actual angle is calculated by the calculation module and then transmitted to the angle controller. The output signal of the angle controller determines the duty cycle of the PWM generator, and the duty cycle further determines the on-off time of the two-position three-way electromagnetic valve 31, that is, the inflation and deflation time and duration of the pneumatic muscle 13. When the duty cycle is large, the opening time of the two-position three-way electromagnetic valve 31 is prolonged, and the contraction amount of the pneumatic muscle 13 is increased, so as to change the movement angle of the bionic multi-muscle exoskeleton; on the contrary, when the duty cycle gradually decreases, the contraction amount of the pneumatic muscle 13 decreases, and when the duty cycle is zero, the bionic multi-muscle exoskeleton gradually returns to the initial state. Through this feedback adjustment, the control system 3 can continuously adjust the actual angle during the actual movement, so that the movement trajectory of the bionic multi-muscle exoskeleton can accurately follow the expected angle curve.

[0096] It should be understood that the foregoing description is only illustrative of the application and no limitation of the scope thereof can be read into the description. Obviously many modifications and variations of this application are possible in light of the above teachings. The application, therefore, is to be construed as not limited by the example embodiments but only by the appended claims.

Claims

1. A pneumatic driving bionic multi-muscle exoskeleton system, characterized in that, The application relates to a bionic multi-muscle type exoskeleton (1) worn on the lower limbs of a human body, an air source (2) for providing power for the bionic multi-muscle type exoskeleton (1), and a control system (3) for controlling the movement of the bionic multi-muscle type exoskeleton (1). The bionic multi-muscle type exoskeleton (1) comprises a lower leg wearing part (11) for being worn on the lower leg of a human body and a training boot (12) for being worn on the foot of a human body. Six pneumatic muscles (13) are fixedly installed on the lower leg wearing part (11) along the direction of a lower leg axis; the pneumatic muscles (13) comprise a first pneumatic muscle (131), a second pneumatic muscle (132), a third pneumatic muscle (133), a fourth pneumatic muscle (134), a fifth pneumatic muscle (135) and a sixth pneumatic muscle (136). Five anchor point connectors (14) comprise a first front anchor point connector (141), a second front anchor point connector (142), a rear anchor point connector (143), a left anchor point connector (144) and a right anchor point connector (145) which are respectively installed on the front end, the rear end, the left side and the right side of the sole of the training boot (12). The lower end of the first pneumatic muscle (131) and the first front anchor point connector (141), the lower end of the second pneumatic muscle (132) and the second front anchor point connector (142), the lower end of the fifth pneumatic muscle (135) and the rear anchor point connector (143), the lower end of the sixth pneumatic muscle (136) and the rear anchor point connector (143), the lower end of the third pneumatic muscle (133) and the left anchor point connector (144), and the lower end of the fourth pneumatic muscle (134) and the right anchor point connector (145) are all connected through Bowden wires (15). The control system (3) comprises six two-position three-way electromagnetic valves (31) which are in communication with the air outlet of the air source (2). The six two-position three-way electromagnetic valves (31) are a first two-position three-way electromagnetic valve (311), a second two-position three-way electromagnetic valve (312), a third two-position three-way electromagnetic valve (313), a fourth two-position three-way electromagnetic valve (314), a fifth two-position three-way electromagnetic valve (315) and a sixth two-position three-way electromagnetic valve (316). The first two-position three-way electromagnetic valve (311) is connected with the first pneumatic muscle (131), the second two-position three-way electromagnetic valve (312) is connected with the second pneumatic muscle (132), the third two-position three-way electromagnetic valve (313) is connected with the third pneumatic muscle (133), the fourth two-position three-way electromagnetic valve (314) is connected with the fourth pneumatic muscle (134), the fifth two-position three-way electromagnetic valve (315) is connected with the fifth pneumatic muscle (135), and the sixth two-position three-way electromagnetic valve (316) is connected with the sixth pneumatic muscle (136). When the first two-position three-way electromagnetic valve (311) and the second two-position three-way electromagnetic valve (312) are electrified at the same time, a dorsiflexion movement mode is realized. Only when the first two-position three-way electromagnetic valve (311) is electrified, a dorsiflexion and eversion coordinated movement mode is realized. Only when the second two-position three-way electromagnetic valve (312) is powered, corresponding to the dorsiflexion and inversion synergistic movement mode; When the third two-position three-way electromagnetic valve (313) and the fifth two-position three-way electromagnetic valve (315) are powered at the same time, corresponding to the eversion and plantar flexion synergistic movement mode; Only when the third two-position three-way electromagnetic valve (313) is powered, corresponding to the eversion movement mode; Only when the fifth two-position three-way electromagnetic valve (315) is powered, corresponding to the plantar flexion movement mode; When the fourth two-position three-way electromagnetic valve (314) and the fifth two-position three-way electromagnetic valve (315) are powered at the same time, corresponding to the plantar flexion and inversion synergistic movement mode; Only when the fourth two-position three-way electromagnetic valve (314) is powered, corresponding to the inversion movement mode.

2. The pneumatic driving bionic multi-muscle exoskeleton system according to claim 1, characterized in that: When the bionic multi-muscle type exoskeleton (1) is worn on the human body, the first pneumatic muscle (131) and the second pneumatic muscle (132) correspond to the tibialis anterior muscle of the human body, the third pneumatic muscle (133) corresponds to the gastrocnemius muscle of the human body, the fourth pneumatic muscle (134) corresponds to the tibialis posterior muscle of the human body, and the fifth pneumatic muscle (135) and the sixth pneumatic muscle (136) both correspond to the gastrocnemius muscle of the human body.

3. The pneumatic driving bionic multi-muscle exoskeleton system according to claim 1, characterized in that: The control system (3) further comprises a silencer (32) installed one-to-one corresponding to the two-position three-way electromagnetic valve (31), an inertial measurement unit installed on the training boots (12) for real-time detection of ankle joint movement angle, and a main control module for calculating and controlling the movement of the bionic multi-muscle type exoskeleton (1).

4. The pneumatic driving bionic multi-muscle exoskeleton system according to claim 3, characterized in that: The gas inlet P of any two-position three-way electromagnetic valve (31) is in communication with the output port gas path of the gas source (2), and the working port A of any two-position three-way electromagnetic valve (31) is in communication with the intake and exhaust port gas path of the corresponding pneumatic muscle (13); the silencer (32) is installed on the output port B of the corresponding two-position three-way electromagnetic valve (31).

5. The pneumatic driving bionic multi-muscle exoskeleton system according to claim 1, characterized in that: The bionic multi-muscle type exoskeleton (1) further comprises a first connecting ring (16) and a second connecting ring (17) arranged on the front surface of the training boots (12); The Bowden wire (15) between the lower end of the first pneumatic muscle (131) and the first front anchor point connector (141) is guided through the first connecting ring (16); the Bowden wire (15) between the lower end of the second pneumatic muscle (132) and the second front anchor point connector (142) is guided through the second connecting ring (17).

6. The control method of claim 5, wherein, It includes the following contents: Setting the movement mode of the bionic multi-muscle type exoskeleton (1); Matching the power-on and power-off control instructions of the corresponding two-position three-way electromagnetic valve (31) for the movement mode; Obtaining the expected angle of the ankle joint movement demand of the human body; According to the movement mode control instruction, the pneumatic muscle (13) is contracted by using the matched two-position three-way electromagnetic valve (31) to drive the human ankle joint to move in the corresponding movement mode through the Bowden wire (15); Real-time acquisition of the actual movement angle of the human ankle joint by the inertial measurement unit; The main control module calculates the movement angle error by subtracting the expected angle from the actual movement angle. Dynamic adjustment of the movement of the bionic multi-muscle type exoskeleton (1) according to the movement angle error.

7. The control method of claim 6, wherein: The movement modes include a dorsiflexion movement mode, a dorsiflexion and eversion synergic movement mode, a dorsiflexion and inversion synergic movement mode, an eversion and plantar flexion synergic movement mode, an eversion movement mode, a plantar flexion movement mode, a plantar flexion and inversion synergic movement mode, and an inversion movement mode.

8. The control method of claim 6, wherein: The main control module comprises a calculation module, an angle controller and a PWM generator; The dynamic adjustment of the movement of the bionic multi-muscle type exoskeleton (1) according to the movement angle error comprises the following contents: The calculation module calculates the movement angle error according to the expected angle and the actual movement angle; The angle controller receives the movement angle error output signal to control the duty cycle of the PWM generator; The opening time of the two-position three-way electromagnetic valve (31) is controlled according to the duty cycle, and the movement angle is dynamically adjusted.

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