Single-motor waist-arm assist exoskeleton based on origami structure and method

Abstract

This invention belongs to the field of biomimetic robots and wearable assistive devices. Specifically, it relates to a single-motor waist-arm assistive exoskeleton and method based on an origami structure. The exoskeleton includes a fixed module, a control module, a power module, an origami module, and a sensing module. The control module and power module are fixed to the fixed module. The origami module is fixedly mounted on the fixed module via a travel sleeve and connected to the output end of the power module via a coupling. The sensing module is mounted on the fixed module and is wirelessly connected to the control module. In use, the origami module, designed using Kresling origami, possesses rotational-axial coupling deformation capabilities. Combined with a two-stage drive structure, it achieves time-sharing single-motor waist-arm assistance. Compared to multi-motor systems, this effectively reduces the weight and cost of the exoskeleton, simplifies the structure, and improves system stability and reliability.

Description

Technical Field

[0001] This invention belongs to the field of bionic robots and wearable assistive devices, specifically relating to a single-motor waist-arm assistive exoskeleton based on origami structure and its method. Background Technology

[0002] With the accelerated automation upgrade of the manufacturing industry and the arrival of an aging society, the burden on the workforce in scenarios such as industrial handling, high-frequency lifting operations, and medical rehabilitation and care is becoming increasingly prominent. To alleviate human fatigue and reduce the risk of sports injuries, flexible wearable exoskeleton technology has emerged as a highly promising solution. Through biomimetic structures and drive systems, it provides physical assistance to specific parts of the human body, helping to complete various movements.

[0003] Currently, most exoskeleton devices on the market adopt a multi-motor control architecture combined with a rigid frame structure to achieve independent assistance for different parts of the human body. However, this type of system has many inherent drawbacks: on the one hand, the combination of multiple motors and a rigid frame makes the device heavy and bulky, which not only increases the extra burden on the wearer but also leads to a complex wearing process and poor adaptability to different body types and movement postures; on the other hand, multi-motor systems significantly increase the complexity of algorithm coordination and overall system control. In dynamic tasks such as industrial handling, when the wearer needs to simultaneously or alternately use the torso and arms to perform weight-bearing operations, the problem of coordinated control of multiple motors becomes more prominent, and the cost of the equipment remains high.

[0004] Meanwhile, flexible structures are gradually becoming a development trend in the field of wearable robots. Among them, origami structures (especially Kresling structures) are widely explored in biomimetic drive units due to their characteristics of light weight, strong deformation compliance, and excellent energy conductivity. Their axial compression and rotational deformation characteristics naturally adapt to the flexible movement requirements of human joints, providing a new path for the flexible and lightweight development of exoskeletons.

[0005] However, the existing technological system still lacks flexible exoskeleton devices that can effectively integrate origami structures with a single drive system and adapt to combined upper limb and torso movements. Specifically, products that pursue high adaptability, time-sharing assistance capabilities, and lightweight integrated design while also ensuring good responsiveness are extremely scarce. Traditional rigid exoskeletons mostly focus on load transmission, lacking flexibility and body fit, which severely restricts the actual wearing experience and the expansion of application scenarios. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a single-motor waist-arm assistive exoskeleton and method based on origami structure.

[0007] According to the present invention, a single-motor waist and arm assistive exoskeleton based on an origami structure includes a fixing module, a control module, a power module, an origami module, and a sensing module. The control module and the power module are fixed on the fixing module. The origami module is fixedly installed on the fixing module through a travel sleeve and is connected to the output end of the power module through a coupling. The sensing module is set on the fixing module and is wirelessly connected to the control module. The sensing module is used to monitor the wearer's movement status in real time to achieve dynamic assistance adjustment.

[0008] Furthermore, the fixing module includes a back fixing plate, a back strap, a waist belt, arm straps, ropes, and thigh straps; the back fixing plate is fixed inside the back strap and is used to install the control module and the power module; the back strap is connected to the waist belt to form the torso fixing part; the power module and the control module are fixed to the waist belt; the arm straps are used to fix the arms, and the arm straps are connected to the control module through ropes, and the arm straps are fixedly connected to the top of the second origami structure through ropes; the thigh straps are used to fix the thighs, and the thigh straps are connected to the waist belt; the back strap, waist belt, arm straps, and thigh straps can all be adjusted according to the wearer's body shape.

[0009] Furthermore, the control module includes an embedded control system, a wireless communication module, and a power management unit; the power management unit is used to supply power to the embedded control system and the wireless communication module, the embedded control system is connected to the wireless communication module, and the wireless communication module is connected to the motor drive module; the embedded control system controls the motor drive based on the "human-in-the-loop" algorithm, and transmits control signals to the motor drive module through the wireless communication module, thereby controlling the operation of the motor.

[0010] Furthermore, the power module includes a motor, a motor drive module, a power supply, and a protective cover; the power supply is electrically connected to the motor drive module via a cable to provide the power required for the motor drive module to operate; the motor drive module is connected to the motor via a cable, and after receiving instructions from the control module, controls the start / stop, speed, and torque output of the motor; the motor drive module and the control module are electrically connected via a circuit; the protective cover is mounted on the motor drive module and is used to protect the motor.

[0011] Furthermore, the origami module includes a first origami structure, a second origami structure, and a secondary drive structure; both the first and second origami structures adopt Kresling origami design and have rotational-axial coupling deformation capability; one end of the first origami structure is fixedly connected to the output shaft of the motor via a coupling; the other end of the first origami structure is fixedly connected to the second origami structure via the secondary drive structure, the secondary drive structure is fixedly installed on the stroke sleeve, and the second origami structure is disposed inside the stroke sleeve.

[0012] Furthermore, the secondary drive structure includes a large-diameter spring, a ratchet, and a ratchet seat; the ratchet is fixedly mounted on the back fixed hard plate through the ratchet seat, and the spring is a hollow sleeve sleeved outside the first folding structure and the second folding structure, forming an axial enclosure of the first folding structure and the second folding structure; the annular structure of the ratchet and the ratchet seat surrounds the outside of the spring, realizing circumferential enclosure of the spring, and the toothed surfaces of the ratchet and the ratchet seat face the spring and control the extension and retraction sequence of the spring through the meshing state.

[0013] Furthermore, the sensing module includes five inertial attitude sensors, which are located on the rear side of the arm strap, waist belt, and back fixation plate, respectively. The inertial attitude sensors are used to monitor the movement status of the arms and waist in real time and wirelessly transmit the data to the control module.

[0014] This invention also provides a method for using a single-motor waist-arm assistive exoskeleton based on an origami structure, comprising the following steps:

[0015] Step S1, Wearing and Initialization: Adjust the length and angle of the fixing module according to the user's body shape, fix the back strap, waist belt, arm straps and thigh straps to the human body, start the control module and power module, and the sensing module starts to collect the motion posture data of the arms, back and waist in real time.

[0016] Step S2, motion perception and command generation: The perception module wirelessly transmits the collected inertial data to the embedded control unit of the control module. The control module identifies the user's motion intention based on the "human in the loop" strategy and generates motor drive commands.

[0017] Step S3, Task Scenario Adaptation: In industrial handling scenarios, prioritize waist assistance for bending and carrying movements, then switch to arm weight-bearing assistance; in rehabilitation training scenarios, set assistance thresholds through the host computer to achieve passive assisted training.

[0018] Step S4, single motor time-sharing drive: The control module sends commands to the motor drive module via CAN communication. The motor drive module controls the start / stop, speed and torque output of the motor according to the commands.

[0019] Step S5, Dynamic Assist Adjustment: The sensing module continuously monitors the motion status, and the control module adjusts the motor speed and torque based on real-time data to optimize the assist effect.

[0020] Furthermore, in step S1, the length and angle of the back strap, waist belt, arm straps, and thigh straps are adjusted to ensure that the device fits snugly against the human body.

[0021] Furthermore, in step S4, when the motor drives the first folding structure to retract, the extension and retraction sequence of the spring is controlled by the secondary drive structure to realize the time-sharing drive of the single motor for waist assistance and arm assistance.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] When used, this invention employs a Kresling origami-designed origami module with rotational-axial coupling deformation capability. Combined with a two-stage drive structure, it achieves time-sharing drive of the waist and arm assistance by a single motor. Compared with multi-motor systems, this effectively reduces the weight and cost of the exoskeleton, while simplifying the structure and improving system stability and reliability.

[0024] When in use, this invention uses a sensing module and a "human in the loop" control algorithm to monitor the human body's movement status in real time through an inertial attitude sensor, accurately identify the intention of the action, and achieve dynamic assistance adjustment; moreover, the components of the fixed module can be flexibly adjusted to fit wearers of different body types closely, which not only meets the needs of multiple scenarios such as industrial handling and rehabilitation training, but also significantly improves wearing comfort and assistance efficiency. Attached Figure Description

[0025] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0026] Figure 1 This is a schematic diagram of the structure of the present invention;

[0027] Figure 2 This is a rear view of the invention worn on the human body;

[0028] Figure 3 This is a side view of the present invention when worn on the human body and being carried while bending over.

[0029] Figure 4 This is a schematic diagram of the control module of the present invention;

[0030] Figure 5 This is a schematic diagram of the two-stage driving structure of the present invention;

[0031] Figure 6 This is a schematic diagram of the ratchet and coupling of the present invention;

[0032] Figure 7 This is a flowchart of the control module of the present invention;

[0033] In the picture:

[0034] Detailed Implementation

[0035] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0036] like Figures 1-6 As shown, this invention discloses a single-motor waist-arm assistive exoskeleton based on an origami structure, including a fixed module, a control module 7, a power module, an origami module, and a sensing module. The control module 7 and the power module are fixed on the fixed module. The origami module is fixedly installed on the fixed module through a travel sleeve 16 and is connected to the output end of the power module through a coupling 12. The sensing module is set on the fixed module and is wirelessly connected to the control module 7. The sensing module is used to monitor the wearer's movement status in real time to achieve dynamic assistance adjustment.

[0037] The fixing module includes a back fixing plate 15, a back strap 2, a waist belt 6, arm straps 4, a binding rope 1, and a thigh strap 8. The back fixing plate 15 is fixed inside the back strap 2 and serves as the back support carrier for the entire device. The back fixing plate 15 is used to install the control module and the power module. The back strap 2 is connected to the waist belt 6 to form the torso fixing part of the wearable system, ensuring that the device fits tightly against the back and waist of the human body. The power module and the control module 7 are fixed on the waist belt 6. The arm straps 4 are used to fix the device to the arm area and are connected to the control module through binding ropes to achieve the wearing fixation of the arm area. The arm straps 4 are fixedly connected to the top of the second origami structure 3 through binding ropes 1. The thigh straps 8 are used to fix the device to the thigh area and are connected to the waist belt 6 to ensure stable wearing of the device on the thigh area. The back straps 2, waist belt 6, arm straps 4, and thigh straps 8 can all be adjusted according to the wearer's body shape to ensure that the device fits tightly against the human body, improving wearing comfort and assist efficiency.

[0038] The control module 7 includes an embedded control system, a wireless communication module, and a power management unit. The power management unit is used to supply power to the embedded control system and the wireless communication module. The embedded control system is connected to the wireless communication module, and the wireless communication module is connected to the motor drive module 9. The embedded control system controls the motor drive based on the "human in the loop" algorithm and transmits the control signal to the motor drive module 9 through the wireless communication module, thereby controlling the operation of the motor 11 and achieving coordinated assistance with the wearer's movements.

[0039] The power module includes a motor 11, a motor drive module 9, a power supply 10, and a protective cover 17. The power supply 10 is electrically connected to the motor drive module 9 via a cable, providing the motor drive module 9 with the power required for its operation. The motor drive module 9 is connected to the motor 11 via a cable. After receiving instructions from the control module, it converts electrical energy into drive signals to control the start / stop, speed, and torque output of the motor. The motor drive module 9 is electrically connected to the control module 7 via a circuit. The protective cover 17 is mounted on the motor drive module 9 and is used to protect the motor 11.

[0040] The origami module includes a first origami structure 5, a second origami structure 3, and a secondary drive structure. Both the first origami structure 5 and the second origami structure 3 adopt Kresling origami design, which has rotational-axial coupling deformation capability and can achieve flexible assistance according to motor drive. One end of the first origami structure 5 is fixedly connected to the output shaft of the motor 11 through a coupling 12. The other end of the first origami structure 5 is fixedly connected to the second origami structure 3 through the secondary drive structure. The secondary drive structure is fixedly installed on the stroke sleeve 16, and the second origami structure 3 is set inside the stroke sleeve 16.

[0041] The secondary drive structure includes a large-diameter spring 18, a ratchet 13, and a ratchet seat 14. The ratchet 13 is fixedly mounted on the back fixed hard plate 15 through the ratchet seat 14. The spring 18 is a hollow sleeve that is sleeved on the outside of the first origami structure 5 and the second origami structure 3, forming an axial enclosure of the first origami structure 5 and the second origami structure 3. The annular structure of the ratchet 13 and the ratchet seat 14 surrounds the outside of the spring 18, realizing the circumferential enclosure of the spring 18. The toothed surfaces of the ratchet 13 and the ratchet seat 14 face the spring 18 and control the extension and retraction sequence of the spring 18 through the meshing state.

[0042] The sensing module includes five inertial attitude sensors, which are located on the back of the arm strap 4, waist belt 6 and back fixation plate 15, respectively. The inertial attitude sensors are used to monitor the movement status of the arms and waist in real time and wirelessly transmit the data to the control module 7 to achieve accurate motion recognition and assistive control.

[0043] like Figure 7 As shown, the present invention also provides a method for using a single-motor waist-arm assistive exoskeleton based on an origami structure, comprising the following steps:

[0044] Step S1, Wearing and Initialization: Adjust the length and angle of the fixing module according to the user's body shape, fix the back strap 2, waist belt 6, arm straps 4 and thigh straps 8 to the human body, start the control module 7 and power module, and the sensing module starts to collect the motion posture data of the arms, back and waist in real time.

[0045] Step S2, motion perception and command generation: The perception module wirelessly transmits the collected inertial data to the embedded control unit of the control module. The control module recognizes the user's motion intention based on the "human in the loop" strategy and generates motor drive commands.

[0046] Step S3, Task Scenario Adaptation: In industrial handling scenarios, prioritize waist assistance for bending and carrying movements, then switch to arm weight-bearing assistance; in rehabilitation training scenarios, set assistance thresholds through the host computer to achieve passive assisted training.

[0047] Step S4, single motor time-sharing drive: The control module 7 sends instructions to the motor drive module 9 via CAN communication. The motor drive module 9 controls the start / stop, speed and torque output of the motor 11 according to the instructions. The motor 11 first drives the first origami structure 5 to retract. When the retraction force reaches the threshold of the spring 18 of the secondary drive structure, the ratchet 13 unlocks, and the motor 11 continues to rotate to drive the second origami structure 3 to rotate, realizing the time-sharing output of waist assistance and arm assistance.

[0048] Step S5, Dynamic Assist Adjustment: The sensing module continuously monitors the motion status, and the control module 7 adjusts the speed and torque of the motor 11 based on real-time data to optimize the assist effect.

[0049] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0050] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A single-motor waist-arm assistive exoskeleton based on origami structure, characterized in that, It includes a fixed module, a control module (7), a power module, an origami module and a sensing module. The control module (7) and the power module are fixed on the fixed module. The origami module is fixed on the fixed module through a travel sleeve (16) and is connected to the output end of the power module through a coupling (12). The sensing module is set on the fixed module and is wirelessly connected to the control module (7). The sensing module is used to monitor the wearer's movement status in real time to achieve dynamic assistance adjustment. The origami module includes a first origami structure (5), a second origami structure (3), and a secondary drive structure. Both the first origami structure (5) and the second origami structure (3) adopt Kresling origami design and have rotation-axial coupling deformation capability. One end of the first origami structure (5) is fixedly connected to the output shaft of the motor (11) through a coupling (12). The other end of the first origami structure (5) is fixedly connected to the second origami structure (3) through the secondary drive structure. The secondary drive structure is fixedly installed on the stroke sleeve (16), and the second origami structure (3) is set inside the stroke sleeve (16). The secondary drive structure includes a large-diameter spring (18), a ratchet (13), and a ratchet seat (14); the ratchet (13) is fixedly mounted on the back fixed hard plate (15) through the ratchet seat (14); the spring (18) is a hollow sleeve sleeved outside the first origami structure (5) and the second origami structure (3), forming an axial enclosure of the first origami structure (5) and the second origami structure (3); the annular structure of the ratchet (13) and the ratchet seat (14) surrounds the outside of the spring (18), realizing the circumferential enclosure of the spring (18); the toothed surfaces of the ratchet (13) and the ratchet seat (14) face the spring (18) and control the extension and retraction sequence of the spring (18) through the meshing state; The motor (11) drives the first origami structure (5) to retract. When the retraction force reaches the threshold of the spring (18) of the secondary drive structure, the ratchet (13) unlocks, and the motor (11) continues to rotate to drive the second origami structure (3) to rotate, thereby realizing the time-sharing output of waist assistance and arm assistance.

2. The single-motor waist-arm assistive exoskeleton based on origami structure according to claim 1, characterized in that, The fixing module includes a back fixing plate (15), a back strap (2), a waist belt (6), arm straps (4), a rope (1), and a thigh strap (8); the back fixing plate (15) is fixed inside the back strap (2), and the back fixing plate (15) is used to install the control module and the power module; the back strap (2) is connected to the waist belt (6) to form the torso fixing part; the power module and the control module (7) are fixed on the waist belt (6); the arm straps (4) are used to fix the arm part, the arm straps (4) are connected to the control module through the rope, and the arm straps (4) are fixedly connected to the top of the second origami structure (3) through the rope (1); the thigh straps (8) are used to fix the thigh part, and the thigh straps (8) are connected to the waist belt (6); the back straps (2), waist belt (6), arm straps (4), and thigh straps (8) can all be adjusted according to the wearer's body shape.

3. The single-motor waist-arm assistive exoskeleton based on origami structure according to claim 1, characterized in that, The control module (7) includes an embedded control system, a wireless communication module and a power management unit; the power management unit is used to supply power to the embedded control system and the wireless communication module. The embedded control system is connected to the wireless communication module, and the wireless communication module is connected to the motor drive module (9); the embedded control system controls the motor drive based on the "human in the loop" algorithm and transmits the control signal to the motor drive module (9) through the wireless communication module, thereby controlling the operation of the motor (11).

4. The single-motor waist-arm assistive exoskeleton based on origami structure according to claim 1, characterized in that, The power module includes a motor (11), a motor drive module (9), a power supply (10), and a protective cover (17). The power supply (10) is electrically connected to the motor drive module (9) via a cable to provide the motor drive module (9) with the power required for operation. The motor drive module (9) is connected to the motor (11) via a cable and, after receiving instructions from the control module, controls the start and stop, speed, and torque output of the motor. The motor drive module (9) is electrically connected to the control module (7) via a circuit. The protective cover (17) is mounted on the motor drive module (9) and is used to protect the motor (11).

5. The single-motor waist-arm assistive exoskeleton based on origami structure according to claim 1, characterized in that, The sensing module includes five inertial attitude sensors, which are located on the back of the arm strap (4), waist belt (6) and back fixing plate (15), respectively. The inertial attitude sensors are used to monitor the movement status of the arm and waist in real time and wirelessly transmit the data to the control module (7).

6. A method of using a single-motor waist-arm assistive exoskeleton based on an origami structure as described in any one of claims 1-5, characterized in that, Includes the following steps: Step S1, Wearing and Initialization: Adjust the length and angle of the fixing module according to the user's body shape, fix the back strap (2), waist belt (6), arm strap (4) and thigh strap (8) to the human body, start the control module (7) and power module, and the sensing module starts to collect the motion posture data of the arms, back and waist in real time. Step S2, motion perception and command generation: The perception module wirelessly transmits the collected inertial data to the embedded control unit of the control module. The control module recognizes the user's motion intention based on the "human in the loop" strategy and generates motor drive commands. Step S3, Task Scenario Adaptation: In industrial handling scenarios, prioritize waist assistance for bending and carrying movements, then switch to arm weight-bearing assistance; in rehabilitation training scenarios, set assistance thresholds through the host computer to achieve passive assisted training. Step S4, single motor time-sharing drive: The control module (7) sends the command to the motor drive module (9) through CAN communication. The motor drive module (9) controls the start and stop, speed and torque output of the motor (11) according to the command. Step S5, Dynamic Assist Adjustment: The sensing module continuously monitors the motion state, and the control module (7) adjusts the speed and torque of the motor (11) according to the real-time data to optimize the assist effect.

7. The method of using the single-motor waist-arm assistive exoskeleton based on origami structure according to claim 6, characterized in that, In step S1, the length and angle of the back strap (2), waist belt (6), arm straps (4) and thigh straps (8) are adjusted to ensure that the device fits closely to the human body.

8. The method of using the single-motor waist-arm assistive exoskeleton based on origami structure according to claim 6, characterized in that, In step S4, when the motor drives the first folding structure to retract, the extension and retraction sequence of the spring is controlled by the secondary drive structure to realize the time-sharing drive of the single motor for waist assistance and arm assistance.

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