Exoskeleton Robot Control System
By integrating an online acquisition system with a smart wristband, a patch-type IMU signal acquisition device, and an electromyography sensor, and combining data processing with a Jetson TX2 development board and an ATMEGA2560 microcontroller, precise control of the exoskeleton robot was achieved. This solved the problem of poor feedback and prediction performance in existing technologies, and improved user comfort and rehabilitation effects.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SICHUAN UNIVERSITY OF SCIENCE AND ENGINEERING
- Filing Date
- 2025-07-11
- Publication Date
- 2026-07-03
Smart Images
Figure CN224445955U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of exoskeleton robot control, and in particular to an exoskeleton robot control system. Background Technology
[0002] An exoskeleton robot is an intelligent mechanical device that can be worn on the outside of the human body. With the development of technology, exoskeleton robots are widely used in various fields, such as individual soldier equipment and medical rehabilitation robots.
[0003] Wearing exoskeleton robots can improve a person's physical fitness. However, existing exoskeleton robot control systems primarily rely on traditional methods, using pre-programmed control sequences. This results in poor performance in responding to the wearer's motion information and predicting their next move. Furthermore, existing exoskeleton robots exhibit poor adaptability, particularly for medical rehabilitation robots. Utility Model Content
[0004] The technical problem to be solved by this utility model is to provide an exoskeleton robot control system that is easy to implement, improves control effect, and simplifies control method.
[0005] The technical solution adopted by this utility model to solve its technical problem is: an exoskeleton robot control system, including an exoskeleton robot support, an online acquisition system, a data processor, and an exoskeleton robot controller;
[0006] The online data acquisition system includes a smart bracelet, multiple patch IMU signal acquisition units, and multiple patch electromyography (EMG) sensors; the smart bracelet is capable of detecting heart rate and blood pressure and can achieve WiFi or Bluetooth connectivity; the patch IMU signal acquisition unit integrates an accelerometer and a gyroscope.
[0007] The exoskeleton robot support includes a fixed back plate; the upper end of the fixed back plate is provided with a first lifting block, and the lower end is provided with a second lifting block;
[0008] Both ends of the first lifting block are hinged to a first mounting block via a servo motor; an upper limb exoskeleton frame is provided on the first mounting block;
[0009] The second lifting block has a second mounting block hinged to both ends by a servo motor; the second mounting block is equipped with a lower limb exoskeleton frame;
[0010] The upper limb exoskeleton frame has an upper limb joint servo motor; the lower limb exoskeleton frame has a lower limb joint servo motor;
[0011] A removable battery is installed on the back of the fixed back plate; the data processor and the exoskeleton robot controller are both installed on the back of the fixed back plate.
[0012] The online acquisition system and the exoskeleton robot controller are both electrically connected to the data processor.
[0013] The patch-type IMU signal collector in the online acquisition system is used to collect IMU signals from various joints of the human body; the smart bracelet is used to collect human heart rate, skin temperature, and blood pressure; and the electromyography sensor is used to collect electromyography signals from the upper and lower limbs of the human body.
[0014] The data processor is used to receive and process information collected by the online acquisition system and to issue control commands to the exoskeleton robot controller.
[0015] The exoskeleton robot controller is used to control the rotation of the servo motors on the exoskeleton robot frame.
[0016] Specifically, the online acquisition system uses the Delsys Trigno electromyography (EMG) acquisition system.
[0017] Specifically, the data processor includes a Jetson TX2 development board; the Jetson TX2 development board is equipped with one GPU, two 64-bit CPUs, and a quad-core A57 composite processor.
[0018] Specifically, the data processor is connected to a wireless communication module; the wireless communication module is an ESP8266 WIFI communication module.
[0019] Specifically, the exoskeleton robot controller uses an ATMEGA2560 microcontroller.
[0020] Specifically, a first telescopic device is provided between the fixed back plate and the first lifting block, and a second telescopic device is provided between the fixed back plate and the second lifting block; both the first telescopic device and the second telescopic device are electric push rods.
[0021] The beneficial effects of this invention are as follows: The exoskeleton robot control system of this invention monitors the user's status information in real time through an online acquisition system. This information is fed back to a data processor, which processes the feedback data to issue corresponding control commands based on the user's physical condition. The controller then controls the exoskeleton robot, thus improving control effectiveness, enabling precise control of the exoskeleton robot, and enhancing user comfort. Furthermore, the exoskeleton robot control system of this invention is applicable to the control of medical rehabilitation assistive exoskeleton robots, improving rehabilitation outcomes. Attached Figure Description
[0022] Figure 1 This is a schematic block diagram of the exoskeleton robot control system in an embodiment of this utility model;
[0023] Figure 2 This is a perspective view of the exoskeleton support in an embodiment of this utility model;
[0024] Figure 3 This is a rear view of the exoskeleton support in an embodiment of this utility model;
[0025] The diagram shows: 100 - Online data acquisition system, 110 - First patch IMU signal acquisition device, 120 - Second patch IMU signal acquisition device, 130 - Third patch IMU signal acquisition device, 140 - Fourth patch IMU signal acquisition device, 150 - Smart bracelet, 160 - First electromyography (EMG) sensor, 170 - Second EMG sensor, 180 - Third EMG sensor, 190 - Fourth EMG sensor, 200 - Data processor, 300 - Exoskeleton robot controller, 400 - Wireless communication module, 500 - Exoskeleton robot support. Detailed Implementation
[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0027] like Figures 1 to 3 As shown, the exoskeleton robot control system of this utility model includes an exoskeleton robot support 500, an online acquisition system 100, a data processor 200, and an exoskeleton robot controller 300; the online acquisition system 100 and the exoskeleton robot controller 300 are both electrically connected to the data processor 200.
[0028] Specifically, the online acquisition system 100 includes a smart bracelet, multiple patch-type IMU signal acquisition units, and multiple patch-type electromyography (EMG) sensors; the patch-type IMU signal acquisition units integrate accelerometers and gyroscopes. The online acquisition system 100 uses the Delsys Trigno EMG acquisition system and the smart bracelet. The smart bracelet is capable of detecting heart rate and blood pressure and can achieve WiFi or Bluetooth connectivity.
[0029] The patch-type IMU signal collector in the online acquisition system 100 is used to acquire IMU signals from various joints of the human body; the smart bracelet is used to acquire human heart rate, skin temperature and blood pressure; and the electromyography sensor is used to acquire electromyography signals from the upper and lower limbs of the human body.
[0030] Specifically, multiple patch-type IMU signal acquisition devices and patch-type electromyography sensors can be set up according to needs; such as Figure 1As shown, multiple patch-type IMU signal acquisition devices include a first patch-type IMU signal acquisition device 110, a second patch-type IMU signal acquisition device 120, a third patch-type IMU signal acquisition device 130, and a fourth patch-type IMU signal acquisition device 140. Multiple patch-type electromyography (EMG) sensors include a first EMG sensor 160, a second EMG sensor 170, a third EMG sensor 180, and a fourth EMG sensor 190. The acquisition devices are installed on the subject's thigh, calf, arm, etc., to detect the subject's movement status; a smart bracelet 150 is worn on the wrist.
[0031] The data processor 200 includes a Jetson TX2 development board; the Jetson TX2 development board is equipped with one GPU, two 64-bit CPUs, and a quad-core A57 composite processor. Specifically, the data processor 200 integrates existing algorithms for predicting the next movement of the subject based on motion information status. For example, the motion pattern prediction and switching control method for complex human motion disclosed in CN202010245327. The data processor 200 receives and processes IMU signals acquired by the online acquisition system 100 and issues control commands to the exoskeleton robot controller 300.
[0032] The exoskeleton robot controller 300 uses an ATMEGA2560 microcontroller. The exoskeleton robot controller 300 is used to control the rotation of the servo motors on the exoskeleton robot support 500.
[0033] The exoskeleton robot support 500 has a fixed backplate 510; a first lifting block 520 is provided at the upper end of the fixed backplate 510, and a second lifting block 530 is provided at the lower end; a first telescopic device is provided between the fixed backplate 510 and the first lifting block 520, and a second telescopic device is provided between the fixed backplate 510 and the second lifting block 530; both the first and second telescopic devices are electric push rods. The first and second telescopic devices can be activated by cylinders. Using electric push rods facilitates control and simplifies the structure. This allows all components on the exoskeleton robot support 500 to be electrical components, achieving device uniformity. The main function of the fixed backplate 510 is support; specifically, the fixed backplate 510, the first lifting block, and the second lifting block can all be made of lightweight carbon fiber material.
[0034] The first lifting block 520 has a first mounting block 521 hinged to both ends by a servo motor; an upper limb exoskeleton frame 540 is mounted on the first mounting block 521; the second lifting block 530 has a second mounting block 531 hinged to both ends by a servo motor; a lower limb exoskeleton frame 550 is mounted on the second mounting block 531. The upper limb exoskeleton frame 540 has an upper limb joint servo motor; the lower limb exoskeleton frame 550 has a lower limb joint servo motor 551.
[0035] Specifically, a removable battery 560 is provided on the back of the fixed back plate 510; the data processor 200 and the exoskeleton robot controller 300 are both mounted on the back of the fixed back plate 510. The battery 560 supplies power to the entire system and can be installed in a drawer-type or snap-fit manner on the back of the fixed back plate 510. The data processor 200 and the exoskeleton robot controller 300 are housed in mounting boxes on the fixed back plate 510, facilitating the storage of the connecting cables between them and providing some protection for the data processor 200 and the exoskeleton robot controller 300.
[0036] To facilitate data monitoring throughout the entire usage process, the data processor 200 is further connected to a wireless communication module 400; the wireless communication module 400 adopts an ESP 8266 WIFI communication module. Through the wireless communication module 400, it is possible to connect to a remote computer, thereby facilitating real-time monitoring of usage data and convenient data storage.
Claims
1. An exoskeleton robot control system, characterized by: It includes an exoskeleton robot support (500), an online acquisition system (100), a data processor (200), and an exoskeleton robot controller (300); The online data acquisition system (100) includes a smart bracelet, multiple patch IMU signal acquisition units, and multiple patch electromyography sensors; the smart bracelet is capable of detecting heart rate and blood pressure and can achieve WiFi or Bluetooth connection; the patch IMU signal acquisition unit integrates an accelerometer and a gyroscope. The exoskeleton robot support (500) includes a fixed back plate (510); the fixed back plate (510) has a first lifting block (520) at its upper end and a second lifting block (530) at its lower end; Both ends of the first lifting block (520) are hinged to a first mounting block (521) via a servo motor; an upper limb exoskeleton frame (540) is provided on the first mounting block (521); The second lifting block (530) has a second mounting block (531) hinged at both ends by a servo motor; the second mounting block (531) is provided with a lower limb exoskeleton frame (550); The upper limb exoskeleton frame (540) has an upper limb joint servo motor; the lower limb exoskeleton frame (550) has a lower limb joint servo motor (551); A removable battery (560) is provided on the back of the fixed back plate (510); the data processor (200) and the exoskeleton robot controller (300) are both installed on the back of the fixed back plate (510); The online acquisition system (100) and the exoskeleton robot controller (300) are both electrically connected to the data processor (200); The patch-type IMU signal collector in the online acquisition system (100) is used to acquire IMU signals from various joints of the human body; The smart bracelet is used to collect human heart rate, skin temperature, and blood pressure; the electromyography sensor is used to collect electromyographic signals from the upper and lower limbs. The data processor (200) is used to receive and process information collected by the online acquisition system (100) and to issue control commands to the exoskeleton robot controller (300); The exoskeleton robot controller (300) is used to control the rotation of the servo motors on the exoskeleton robot support (500).
2. The exoskeleton robot control system of claim 1, wherein: The online acquisition system (100) uses the Delsys Trigno electromyography acquisition system and a smart bracelet.
3. The exoskeleton robot control system of claim 1, wherein: The data processor (200) includes a Jetson TX2 development board; the Jetson TX2 development board is equipped with one GPU, two 64-bit CPUs and a quad-core A57 composite processor.
4. The exoskeleton robot control system as described in claim 1, characterized in that: The data processor (200) is connected to a wireless communication module (400); the wireless communication module (400) is an ESP 8266 WIFI communication module.
5. The exoskeleton robot control system of claim 1, wherein: The exoskeleton robot controller (300) uses an ATMEGA2560 microcontroller.
6. The exoskeleton robot control system of claim 1, wherein: A first telescopic device is provided between the fixed back plate (510) and the first lifting block (520), and a second telescopic device is provided between the fixed back plate (510) and the second lifting block (530); both the first telescopic device and the second telescopic device are electric push rods.