Voice control active exoskeleton robot and use method

Abstract

The invention discloses a voice-controlled active exoskeleton robot and a using method, and relates to the technical field of exoskeleton robots, the voice-controlled active exoskeleton robot comprises a structural frame, a power mechanism and a main control system, and the structural frame comprises a fixed waist support and thigh fixing parts; the power mechanism comprises actuators and connecting rods, the actuators are arranged on the two sides of the fixed waist support respectively, and the actuators are in transmission connection with the thigh fixing pieces through the connecting rods; the main control system comprises a voice interaction part and a host control circuit board, the host control circuit board is installed on the fixed waist support, and the host control circuit board is in signal connection with the voice interaction part and the actuator so as to convert voice instructions picked up by the voice interaction part into working actions of the actuator to dynamically meet the movement requirements of a user. The problem of resistance caused by delay of a traditional exoskeleton robot is effectively solved, and timeliness and adaptability of control are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeleton robots, in particular to a sound-controlled active exoskeleton robot and a use method thereof. BACKGROUND

[0002] The passive thigh assisting exoskeleton in the prior art adopts a main control board to control a motor and a reduction box, and the end of the reduction box drives a fixed device wrapped on the thigh through a connecting rod to move, so as to realize the assistance to the thigh. However, this design has obvious defects:

[0003] When the user is a person with weak legs, in the process of lifting the thigh, the main control line board cannot timely sense the position change caused by the connecting rod, resulting in great delay of the rotating action of the motor, so that the motor which should assist becomes resistance to lift the thigh; when the thigh falls back, the main control board also cannot timely sense the falling back position, causing delayed falling back, and the motor movement becomes resistance movement, which greatly reduces the experience of the user. SUMMARY

[0004] The purpose of the present application is to provide a sound-controlled active exoskeleton robot and a use method thereof, which effectively solve the problem of resistance caused by delay of the traditional exoskeleton robot. Compared with the passive design, the present application directly receives the movement intention of the user through the voice interaction piece, and converts it into the action of the actuator in real time through the main control line board, without relying on the complex gait learning and data acquisition process, effectively improving the timeliness and adaptability of the control.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] The present application provides a sound-controlled active exoskeleton robot, comprising a structural frame, a power mechanism and a main control system, the structural frame comprises a fixed waist support for fixing to the waist of a user and two thigh fixing pieces for fixing to the thighs of the user; the power mechanism comprises two actuators and two connecting rods, the two actuators are respectively arranged on the two sides of the fixed waist support, and the actuators are in transmission connection with the corresponding thigh fixing pieces through the connecting rods; the main control system comprises a voice interaction piece and a main control line board, the main control line board is installed on the fixed waist support, the main control line board is in signal connection with the voice interaction piece and the actuators, so as to convert the voice instruction picked up by the voice interaction piece into the working action of the actuators to dynamically match the movement demand of the user, and the working action comprises the swing amplitude and the swing frequency of driving the connecting rod to swing.

[0007] Preferably, the voice interaction piece and the main control line board perform data interaction through a wireless communication module.

[0008] Preferably, the wireless communication module comprises a Bluetooth module or a WI-FI module.

[0009] Preferably, the voice interaction piece is a sound pickup or a microphone.

[0010] Preferably, the actuator comprises a driving motor and a speed reducer, the driving motor is connected with the main control circuit board, and the driving motor is connected with the connecting rod through the speed reducer.

[0011] Preferably, the fixed waist support comprises a waist support body and a quick adjustment locking fastener, one side of the waist support body is provided with an opening, and the quick adjustment locking fastener is arranged at the opening and used for adjusting the surrounding size of the waist support body to adapt to the waist circumference of different users.

[0012] Preferably, the inner side of the fixed waist support is provided with a flexible buffer layer, and the quick adjustment locking fastener is a ratchet type buckle or a magic tape band.

[0013] Preferably, the thigh fixing piece is in an arc structure, and an adjusting band is detachably connected to the inner wall of the thigh fixing piece, and the two ends of the adjusting band are respectively provided with magic tapes matched with each other.

[0014] Preferably, the application further comprises a battery assembly, the battery assembly is installed on the fixed waist support, and the battery assembly is electrically connected with the main control circuit board and the actuator.

[0015] The application also provides a use method of the sound-controlled active exoskeleton robot.

[0016] S1. The user fixes the fixed waist support of the structural frame on the waist through wearing, and fixes two thigh fixing pieces on two thighs respectively;

[0017] S2. After the main control system is started, the voice interaction piece enters a voice instruction pickup state, and the user issues a voice instruction containing a movement intention.

[0018] S3. The voice interaction piece transmits the picked voice instruction to the main control circuit board, the main control circuit board analyzes and processes the voice instruction, determines the working action parameters required by the actuator, i.e., the swing amplitude and swing frequency of the connecting rod, according to a preset movement mapping relationship.

[0019] S4. The main control circuit board sends a control signal to the corresponding actuator, the actuator drives the connecting rod to swing at the set swing amplitude and frequency according to the signal, and then drives the thigh fixing piece to move, so as to assist the user to complete the corresponding limb action.

[0020] S5. During the movement process, the host control circuit board receives the movement feedback information of the actuator in real time, and adjusts the signal combined with the voice instruction that the voice interaction piece may continuously pick up, dynamically optimizes the working action of the actuator, and ensures that the movement demand of the user is kept in real-time matching.

[0021] The present application has the following technical effects relative to the prior art:

[0022] The present application provides a sound control active exoskeleton robot and a use method, which directly picks up the movement intention instruction of the user through the voice interaction piece, omits the complex process of posture recognition of the traditional exoskeleton robot relying on sensors, and effectively solves the problem of force changing into resistance caused by position sensing delay in the prior art. When the user issues voice instructions such as "lift the leg" and "speed up the step frequency", the voice interaction piece quickly transmits the signal to the host control circuit board, and the host control circuit board can complete instruction analysis and issue action signals to the actuator in a very short time based on the preset movement mapping relationship, so as to ensure that the swing amplitude and frequency of the actuator accurately match the real-time movement rhythm of the user. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0024] Figure 1 The structure diagram of the sound control active exoskeleton robot provided by the present application is shown in the figure.

[0025] In the figure: 1, fixed waist support; 2, thigh fixing piece; 3, actuator; 4, connecting rod; 5, host control circuit board; 6, battery assembly. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0027] The purpose of this invention is to provide a voice-controlled active exoskeleton robot and its usage method, effectively solving the resistance problem caused by latency in traditional exoskeleton robots. Compared to passive designs, this invention directly receives the user's movement intentions through a voice interaction device, which are then converted into actuator actions in real time by the host control circuit board. This eliminates the need for complex gait learning and data acquisition processes, effectively improving the timeliness and adaptability of control.

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Example 1

[0030] This embodiment provides a voice-controlled active exoskeleton robot, such as Figure 1 As shown, the system includes a structural frame, a power mechanism, and a main control system. The structural frame includes a fixed lumbar support 1 for fixing to the user's waist and two thigh fixation pieces 2 for fixing to the user's thighs. The power mechanism includes two actuators 3 and two connecting rods 4. The two actuators 3 are respectively located on both sides of the fixed lumbar support 1, and the actuators 3 are connected to the corresponding thigh fixation pieces 2 via the connecting rods 4. The main control system includes a voice interaction device and a host control circuit board 5. The host control circuit board 5 is mounted on the fixed lumbar support 1 and is signal-connected to the voice interaction device and the actuators 3 to convert the voice commands picked up by the voice interaction device into the working actions of the actuators 3 to dynamically match the user's movement needs. The working actions include the swing amplitude and swing frequency of driving the connecting rods 4 to swing. The user's movement intention commands are directly picked up by the voice interaction device, which eliminates the complex process of posture recognition that traditional exoskeleton robots rely on sensors, effectively solving the problem of assistance becoming resistance caused by position perception delay in the existing technology. When the user issues voice commands such as "lift your leg" or "increase your stride frequency", the voice interaction device quickly transmits the signal to the host control circuit board 5. Based on the preset motion mapping relationship, the host control circuit board 5 can complete the command parsing within 0.3 seconds and send the action signal to the actuator 3, ensuring that the swing amplitude and frequency of the actuator 3 accurately match the user's real-time movement rhythm.

[0031] In a preferred scheme of the embodiment, the voice interaction component and the host control circuit board 5 interact with each other through a wireless communication module, which supports bidirectional data transmission, can convert the analog voice signal picked up by the voice interaction component into a digital signal and then send it to the host control circuit board 5, and can also receive the instruction analysis state information fed back by the host control circuit board 5, such as "instruction received" and "executing", so that the user can know the system response in real time. At the same time, the wireless communication module adopts a low-power design, which can reduce the overall energy consumption of the device while ensuring that the data transmission rate is not less than 2 Mbps, thereby prolonging the use time after a single charge.

[0032] In a preferred scheme of the embodiment, the wireless communication module includes a Bluetooth module or a WI-FI module.

[0033] In a preferred scheme of the embodiment, the voice interaction component is a sound pickup or a microphone.

[0034] In a preferred scheme of the embodiment, the actuator 3 includes a driving motor and a speed reducer, the driving motor is signal-connected with the host control circuit board 5, the driving motor is drivingly connected with the connecting rod 4 through the speed reducer, the driving motor is selected to be a 24V DC brushless motor, the maximum output torque of which reaches 30 N·m, the speed reducer adopts a planetary gear transmission structure, and the transmission efficiency thereof reaches 92%, the connecting rod 4 is connected with the thigh fixing part 2 through a spherical hinge, and the spherical hinge allows a swing angle of ±120°, thereby comprehensively covering the joint activity range of daily activities such as normal walking, going upstairs and downstairs, and the like.

[0035] In a preferred scheme of the embodiment, the fixed waist support 1 includes a waist support body and a quick adjusting locking fastener, one side of the waist support body is provided with an opening, and the quick adjusting locking fastener is arranged at the opening and used to adjust the surrounding size of the waist support body to adapt to the waist circumference of different users.

[0036] In a preferred scheme of the embodiment, the inner side of the fixed waist support 1 is provided with a flexible buffer layer, the quick adjusting locking fastener is a ratchet type buckle or a magic tape band, the fixed waist support 1 is made of high-strength aluminum alloy and carbon fiber composite material, the weight of the fixed waist support 1 is controlled to be less than or equal to 1.2 kg while ensuring the stability of the structure, the flexible buffer layer is selected to be a breathable and skin-friendly polyurethane sponge with a thickness of 8 mm, and the flexible buffer layer can disperse the waist pressure and reduce the discomfort of long-time wearing.

[0037] In a preferred scheme of the embodiment, the thigh fixing part 2 has an arc structure, an adjusting band is detachably connected to the inner wall of the thigh fixing part 2, and the two ends of the adjusting band are respectively provided with magic tapes matched with each other, the arc structure of the thigh fixing part 2 is matched with the physiological curve of the human thigh, the adjusting band is made of elastic nylon material, and the adjusting band and the magic tapes realize a surrounding adjustment range of ±5 cm, thereby adapting to the wearing needs of users with different body types.

[0038] In a preferred scheme of the embodiment, a battery assembly 6 is further included, which is mounted on the fixed waist support 1 and electrically connected with the main control circuit board 5 and the actuators 3. The battery assembly 6 adopts a detachable lithium ion battery with a capacity of 10 Ah, can continuously work for 6 hours under medium load working conditions, supports fast charging function, can be fully charged in 2 hours, and has overcharge, overdischarge and short circuit protection mechanisms to ensure use safety.

[0039] In a preferred scheme of the embodiment, a posture sensor is further included, which is mounted on the connecting rod 4 or the thigh fixing member 2, is used to collect posture information such as motion angle and acceleration of the user's limbs in real time, and transmits the collected information to the main control circuit board 5. The main control circuit board 5 combines voice instructions and posture sensor feedback data to cooperatively calibrate the working action of the actuators 3, and further improves the precision and synchronism of motion assistance. The posture sensor can adopt a six-axis gyroscope or a nine-axis motion sensor, can capture dynamic changes of the user's limbs in different scenes such as walking, climbing and squatting, and when it is detected that there is a deviation between the actual motion track and the preset track corresponding to the voice instruction, the main control circuit board 5 will immediately adjust the output parameters of the actuators 3, so as to ensure that the assisting action of the exoskeleton robot is highly consistent with the user's autonomous motion intention, and avoid response delay or action mismatch problems that may be caused by simply relying on voice instructions.

[0040] Embodiment two

[0041] The embodiment further provides a use method of the voice-controlled active exoskeleton robot as in the embodiment one, and the method comprises the following steps:

[0042] S1. The user fixes the fixed waist support 1 of the structural frame on the waist by wearing, fixes the two thigh fixing members 2 on the two thighs respectively, and ensures that each component is firmly attached;

[0043] S2. After the main control system is started, the voice interactive piece enters a voice instruction picking state, and the user issues a voice instruction containing a motion intention, such as "get up", "step", "accelerate" and the like;

[0044] S3. The voice interactive piece transmits the picked voice instruction to the main control circuit board 5, the main control circuit board 5 analyzes and processes the voice instruction, determines the working action parameters of the actuators 3, i.e. the swing amplitude and swing frequency of the connecting rod 4, according to a preset motion mapping relationship;

[0045] S4. The main control circuit board 5 sends a control signal to the corresponding actuator 3, and the actuator 3 drives the connecting rod 4 to swing at the set swing amplitude and frequency according to the signal, and then drives the thigh fixing member 2 to move, so as to assist the user to complete the corresponding limb action;

[0046] S5. During the movement, the host control circuit board 5 receives the movement feedback information of the actuator 3 in real time, and adjusts the signal combined with the voice instruction that the voice interaction piece may continuously pick up, dynamically optimizes the working action of the actuator 3, and ensures that the movement demand of the user is kept in real-time matching.

[0047] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above example is only used to help understand the method and core idea of the present application; meanwhile, for the general technical personnel in the field, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present specification should not be understood as the limitation of the present application.

Claims

1. An acoustically controlled active exoskeleton robot, characterized by: The utility model relates to a kind of intelligent exoskeletons, including: Structural framework, the structural framework includes the fixed waist support (1) for being fixed to user waist and two thigh fasteners (2) for being fixed to user thigh; Power mechanism, the power mechanism includes two actuators (3) and two connecting rods (4), two the actuator (3) is respectively arranged in the two sides of the fixed waist support (1), and the actuator (3) is driven connection with corresponding thigh fastener (2) by the connecting rod (4);And Main control system, the main control system includes voice interaction piece and main control circuit board (5), the main control circuit board (5) is installed on the fixed waist support (1), the main control circuit board (5) is signal connection with the voice interaction piece and the actuator (3), to convert the voice instruction picked up by the voice interaction piece into the working action of the actuator (3) to dynamically match the movement demand of user, the working action includes the swing amplitude and swing frequency of driving the connecting rod (4) swing.

2. The sound-controlled active exoskeleton robot according to claim 1, characterized in that: The voice interaction piece and the main control circuit board (5) interact data through wireless communication module.

3. The sound-controlled active exoskeleton robot according to claim 2, characterized in that: The wireless communication module includes Bluetooth module or WI-FI module.

4. The sound-controlled active exoskeleton robot according to claim 3, characterized in that: The voice interaction piece is a sound pickup or microphone.

5. The sound-controlled active exoskeleton robot according to claim 1, wherein: The actuator (3) includes driving motor and speed reducer, the driving motor is signal connection with the main control circuit board (5), and the driving motor is driving connection with the connecting rod (4) by the speed reducer.

6. The sound-controlled active exoskeleton robot according to claim 1, wherein: The fixed waist support (1) includes waist support body and quick adjustment locking fastener, one side of the waist support body is provided with opening, the quick adjustment locking fastener is arranged at the opening, for adjusting the enclosed size of the waist support body to adapt to the waist circumference of different users.

7. The sound-controlled active exoskeleton robot according to claim 6, characterized in that: The inner side of the fixed waist support (1) is provided with flexible buffer layer, and the quick adjustment locking fastener is a ratchet type buckle or magic tape binding belt.

8. The sound-controlled active exoskeleton robot according to claim 1, wherein: The thigh fastener (2) is in arc structure, and an adjustable binding belt is detachably connected to the inner wall of the thigh fastener (2), and the two ends of the adjustable binding belt are respectively provided with magic tapes matched with each other.

9. The sound-controlled active exoskeleton robot according to claim 1, wherein: Further including battery assembly (6), the battery assembly (6) is installed on the fixed waist support (1), and the battery assembly (6) is electrically connected with the main control circuit board (5) and the actuator (3).

10. A method of using the sound-controlled active exoskeleton robot according to any one of claims 1 to 9, characterized in that: The steps include: S1. The user fixes the fixed waist support (1) of the structural framework to the waist by wearing, and two thigh fasteners (2) are respectively fixed to the two sides of the thigh; S2. After the main control system starts, the voice interaction piece enters the voice instruction pickup state, and the user issues a voice instruction containing a movement intention; S3. The voice interaction piece transmits the picked-up voice instruction to the main control circuit board (5), the main control circuit board (5) analyzes and processes the voice instruction, determines the working action parameters required by the actuator (3), i.e. the swing amplitude and swing frequency of the connecting rod (4), according to the preset movement mapping relationship. S4. The host control circuit board (5) sends a control signal to the corresponding actuator (3), and the actuator (3) drives the connecting rod (4) to swing according to the signal at a set swing amplitude and frequency, thereby driving the thigh fixing part (2) to move, to assist the user to complete the corresponding limb movement; S5. During the movement, the host control circuit board (5) receives the movement feedback information of the actuator (3) in real time, and adjusts the signal combined with the possible continuous pickup of the voice command of the voice interaction part, dynamically optimizes the working action of the actuator (3), and ensures that the movement demand of the user is matched in real time.

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