Lower limb exoskeleton control method based on upper limb big arm motion state as signal input

Abstract

The invention provides a lower limb exoskeleton control method based on an upper limb big arm motion state as signal input, which completes control of a lower limb exoskeleton by taking upper limb big arm motion characteristics as signal input through a natural coordination relationship between upper limb big arm motion and lower limb motion of a human body. Comprising the following steps: S1, acquiring motion data of human big arms relative to a trunk; s2, according to the lower limb exoskeleton control method based on the upper limb and big arm motion state as the signal input in the claim S1, big arm motion data comprises at least one of an angle sensor, an encoder or an IMU acceleration sensor as a hardware basis, and the upper limb and big arm motion state is used as the hardware basis; angle data between the big arms and the trunk of the human body or motion data of any part of the big arms are measured, and the big arm motion state data comprise detection of an angle sensor, an encoder or an IMU acceleration sensor and later calculation between the big arms and the trunk; angle, angular velocity and angular acceleration at each moment; and position, velocity and acceleration degree data of any part of the big arm relative to the trunk. And S3, controlling the motion state of the lower limb exoskeleton by taking the motion data of the upper limbs and the big arms of the human body relative to the trunk obtained in the S2 as an input source. According to the method, the exoskeleton control design difficulty can be greatly reduced, meanwhile, high-precision following and high-speed response of the lower limb exoskeleton are achieved, and therefore the flexibility of the lower limb exoskeleton is improved.

Description

Technical Field

[0001] The present invention relates to the field of exoskeletons, and particularly to a control method for a lower limb exoskeleton based on the motion state of the upper arm as a signal input. Background Art

[0002] A wearable exoskeleton robot is a robot that realizes motion control through human-machine interaction, and has extensive practical application requirements in military defense, agricultural production, medical rehabilitation, industrial production, etc. An exoskeleton robot is a wearable mechanical device designed based on bionics and human ergonomics. Due to the limitations of human physical strength and physical fatigue, there are certain limitations to the range of external loads that humans can bear and the range of continuous work. However, an exoskeleton robot can detect the activity state of the wearer through sensors and complete the control of each driving joint through calculation, so that the wearer can bear a larger range of loads without consuming their own physical energy or consuming very little, helping the wearer to work for a long time. Currently, there are errors in the motion control algorithms of lower limb exoskeletons when tracking the desired trajectories of the human hip joint and knee joint. The research team at the University of California, Berkeley in the United States developed a lower limb exoskeleton using a hybrid control algorithm of position control and sensitivity amplification control; the University of Tsukuba in Japan collected the bioelectric current on the human skin to judge the motion intention of the wearer and controlled the exoskeleton robot to move with the wearer, etc.; all have problems of difficult signal acquisition and poor human-machine following performance. Summary of the Invention

[0003] The purpose of the present invention is to provide a control method for a lower limb exoskeleton based on the motion state of the upper arm as a signal input, so as to improve the human-machine following performance of the lower limb exoskeleton. To achieve the above purpose, the present invention provides the following technical solutions: A control method for a lower limb exoskeleton based on the motion state of the upper arm as a signal input, which completes the control of the lower limb exoskeleton through the natural coordination relationship between the movement of the human upper arm and the lower limb movement. It is characterized in that it includes: S1: Obtain the motion data of the human upper arm relative to the torso; According to the control method for a lower limb exoskeleton based on the motion state of the upper arm as a signal input described in claim S1, it is characterized in that the upper arm motion data includes, based on at least one of an angle sensor, an encoder, or an IMU acceleration sensor as the hardware basis, measuring the angle data between the human upper arm and the torso or the motion data of any part of the upper arm. The upper arm motion state data includes the angle, angular velocity, angular acceleration data between the upper arm and the torso at each moment detected by the angle sensor, encoder, or IMU acceleration sensor and the subsequent calculation, and the position, velocity, and acceleration data of any part of the upper arm relative to the torso; S3: Take the motion data of the human upper arm relative to the torso obtained in S2 as the input source to control the motion state of the lower limb exoskeleton.

[0004] Further, at least one of an angle sensor, an encoder, or an IMU acceleration sensor is provided on the shoulder joint or the upper arm, and the sensor can detect the motion state data of the human upper arm relative to the torso.

[0005] Further, the motion state data of the human upper arm relative to the torso includes subsequent calculations, including: performing coordinate transformation, discrete differentiation, or integral calculation on the angle, angular velocity, and angular acceleration data of the upper arm relative to the torso at each moment using a digital circuit; performing coordinate transformation, discrete differentiation, or integral calculation on the position, velocity, and acceleration data of any part of the upper arm relative to the torso using a digital circuit.

[0006] Analysis shows that the present invention discloses a lower limb exoskeleton control method for the motion state of the upper arm of the limb. This method can greatly reduce the difficulty of exoskeleton control design, and at the same time achieve high-precision following and high-speed response of the lower limb exoskeleton, thereby improving the flexibility of the lower limb exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The schematic diagrams in the specification that form a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Among them:

[0008] Figure 1 Flowchart of a control model in an embodiment of the present invention. Figure 2 、 3 、4. Schematic diagram of measuring angle data in an embodiment of the present invention.

[0009] Figure 5 、 6 、7. Schematic diagram of measuring motion in an embodiment of the present invention. EMBODIMENTS

[0010] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention rather than limitation thereof. In fact, those skilled in the art will appreciate that modifications and variations can be made to the present invention without departing from the scope or spirit thereof. For example, features shown or described as part of one embodiment can be used in another embodiment to yield yet another embodiment. Accordingly, it is intended that the present invention cover such modifications and variations that fall within the scope of the appended claims and their equivalents. In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. The terms "connected", "connected to", "provided with" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate member; it can be a wired connection, a radio connection, or a wireless communication signal connection. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances. One or more examples of the present invention are shown in the accompanying drawings. The detailed description uses numerical and alphabetical labels to refer to features in the drawings. Similar or like labels in the drawings and the description have been used to refer to similar or like parts of the present invention. As used herein, terms such as "α", "β", "θ" and "X", "Y", "Z", etc. can be used interchangeably to distinguish one member from another and are not intended to indicate the position or importance of individual members.

[0011] As Figure 1 shown, according to an embodiment of the present invention, there is provided a lower limb exoskeleton control method based on the movement state of the upper arm of the human body as a signal input, including: S1: obtaining movement data of the human upper arm relative to the torso; S2: According to the lower limb exoskeleton control method based on the movement state of the upper arm of the human body as a signal input described in claim S1, wherein the upper arm movement data includes, based on at least one of an angle sensor, an encoder or an IMU acceleration sensor as a hardware basis, measuring the angle data between the human upper arm and the torso or the movement data of any part of the upper arm, and the upper arm movement state data includes the angle, angular velocity, angular acceleration between the upper arm and the torso detected by the angle sensor, encoder or IMU acceleration sensor and calculated later, and the position, speed, and acceleration data of any part of the upper arm relative to the torso; S3: using the movement data of the human upper limb upper arm relative to the torso obtained in S2 as an input source to control the movement state of the lower limb exoskeleton.

[0012] Preferably, at least one of an angle sensor, an encoder, or an IMU acceleration sensor is installed on the shoulder joint or the upper arm, and the sensor can detect the motion state of the upper arm relative to the torso.

[0013] Preferably, the upper arm motion data includes: as Figure 2 , 3 , as shown in 4, at each moment, the angles, angular velocities, and angular accelerations of the upper arm relative to the torso in the three angular degrees of freedom of α, β, and θ; as Figure 5 , 6 , as shown in 7, at each moment, the positions, velocities, and accelerations of any part of the upper arm relative to the torso in the three degrees of freedom of X, Y, and Z. The acquisition of the above data can be directly obtained through the sensor, or can be obtained through coordinate transformation, discrete differentiation, or discrete integration of the data.

[0014] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: The present invention discloses a lower limb exoskeleton control method based on the motion state of the upper arm as a signal input. The present invention uses at least one of an angle sensor, an encoder, or an IMU acceleration sensor to obtain the motion state data of the upper arm relative to the torso, and uses the motion data of the upper arm relative to the torso as a signal input to control the motion of the lower limb exoskeleton. This method reduces the difficulty of collecting control signals, and at the same time improves the followability of human-computer interaction, thereby effectively enabling the lower limb exoskeleton to adapt to the human body speed.

[0015] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for a lower limb exoskeleton with the motion state of the upper arm as the signal input. Based on the natural coordination relationship between the movement of the upper arm and the lower limb of the human body, taking the movement characteristics of the upper arm as the signal input to complete the control of the lower limb exoskeleton, characterized in that Including: S1: Obtain the motion data of the human upper arm relative to the torso. 2.S2: A lower limb exoskeleton control method based on the motion state of the upper arm as a signal input according to claim S1, characterized in that, The upper arm motion data includes, based on at least one of an angle sensor, an encoder, or an IMU acceleration sensor as the hardware basis, measuring the angle data between the human upper arm and the torso or the motion data of any part of the upper arm. The upper arm motion state data includes the angles, angular velocities, angular accelerations between the upper arm and the torso at each moment, and the position, velocity, and acceleration data of any part of the upper arm relative to the torso detected by the angle sensor, encoder, or IMU acceleration sensor and obtained through subsequent calculations.

3. S3: Using the motion data of the human upper arm relative to the torso obtained in S2 as the input source, control the motion state of the lower limb exoskeleton.

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