CN103263339B - The biomimetic control method of old people's ectoskeleton assistant robot and falling-resistant gait - Google Patents
The biomimetic control method of old people's ectoskeleton assistant robot and falling-resistant gait Download PDFInfo
- Publication number
- CN103263339B CN103263339B CN201310184590.3A CN201310184590A CN103263339B CN 103263339 B CN103263339 B CN 103263339B CN 201310184590 A CN201310184590 A CN 201310184590A CN 103263339 B CN103263339 B CN 103263339B
- Authority
- CN
- China
- Prior art keywords
- assistant robot
- ectoskeleton
- ectoskeleton assistant
- represent
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to a kind of biomimetic control method of old people's ectoskeleton assistant robot and falling-resistant gait.The present invention includes for being connected to the user lower part of the body, auxiliary user completes the ectoskeleton torso member of walking motion of standing, for connecting ectoskeleton torso member, make between each ectoskeleton torso member, to realize joint component that is bending and that stretch, can acceleration, angular velocity signal in Real-time Obtaining robot ambulation process, signal is processed and generates corresponding sports signal and then control the action of ectoskeleton torso member, complete motion generation and the anti-action control unit of separating of motion, auxiliary unit and for providing the power supply of the energy for whole device.Compact conformation of the present invention, control effects is good, the acceleration in Real-time Obtaining three directions and the angular velocity of both direction, more fully judge the ectoskeleton assistant robot state of falling down and merged the postural reflex mechanism of human body, is applicable to unknown, non-structured complicated landform.
Description
Technical field
The present invention relates to a kind of device and control method of rehabilitative engineering technology field, specifically relate to a kind of biomimetic control method of old people's ectoskeleton assistant robot and falling-resistant gait.
Background technology
The result of the 6th national census in 2010 shows, within more than 60 years old, population accounts for 13.26% of national population, estimates that China in 2015 population of more than 60 years old more than 200,000,000, will account for 14% of population, the year two thousand fifty China population of more than 60 years old more than 400,000,000, will account for 21% of population.Old people is due to the decline of physiological function, and the strength of lower limb muscles is very weak, and balanced capacity is very poor, very easily fall down, according to statistics, in the old people fallen down, have the secondary injury that 20% can cause limbs, 10% passes away in 1 year owing to falling down the disease directly or indirectly caused.Meanwhile, there is motor dysfunction of lower limb in old people, causes handicapped, be difficult on the living conditions take care of oneself, to have to long-term bed or by wheel chair sport, usually cause urinary system infection, pressure ulcer, osteoporosis, phlebothrombosis etc., suffer from all the year round in body and mind ordinary person know from experience less than misery.
Ectoskeleton assistant robot is a kind of bio-mechanical-electronic installation, be worn on the lower limb of old people, serve as the ectoskeleton of human body, old people is helped again to stand walking, the motor capacity of expansion old people, blood circulation promoting, prevent amyotrophy, reduce the generation of complication, dignity and the self-confidence of old people can be improved, recover self-care ability and viability.
At present, the conventional control method of ectoskeleton assistant robot motion gait is, Accurate Model is carried out to robot and movement environment, set up suitable adaptive control algorithm, then the optimum movement locus in each joint of ectoskeleton assistant robot is obtained by methods such as track optimizings, in ectoskeleton assistant robot motor process, according to state and the ambient conditions adjustment movement parameter of system, the basis of feedback mechanism controls the motion gait of ectoskeleton assistant robot.The method needs loaded down with trivial details Dynamic Modeling, complicated trajectory planning, can be applicable to simple, structurized level walking, but lacks motility and environmental suitability, is difficult to be applicable to unknown, non-structured complicated landform.
For a normal person, can walk at the unknown, non-structured complicated extreme terrain very like a cork, after running into emergency situations unstability, the attitude that can adjust health rapidly and accurately prevents from falling down, human motion has very strong motility, harmony, stability and environmental suitability, and this mainly has benefited from feedback network abundant in human motion nervous system and rational motor reflex mechanism.The postural reflex mechanism of human body refers to the posture information according to human body, coordinates polymyarian group motion, and the athletic posture of adjustment human body, maintains the balance and stability of limbs, avoid falling down.
Summary of the invention
The present invention is directed to prior art above shortcomings, utilize the postural reflex mechanism of human body, according to bionics principle, a kind of old people's ectoskeleton assistant robot and the falling-resistant gait biomimetic control method based on this old people's ectoskeleton assistant robot are provided, the present invention can realize old people and ectoskeleton assistant robot synchronous coordination moves, Real-Time Monitoring is carried out to the ectoskeleton assistant robot state of falling down, promptly can adjust the athletic posture of ectoskeleton assistant robot flexibly, maintain the balance and stability of whole system, avoid falling down, be applicable to unknown, non-structured complicated landform.
The present invention takes following technical scheme:
Old people's ectoskeleton assistant robot, comprising:
Ectoskeleton torso member, for being connected to the user lower part of the body, auxiliary user completes walking motion of standing, and comprises thigh parts, lower leg component and foot plate;
Joint component, for connecting ectoskeleton torso member, make realize bending between each ectoskeleton torso member and stretch, comprise the hip joint components connecting user waist and thigh parts, connect the knee components of thigh parts and lower leg component, connect the ankle joint parts of lower leg component and sole;
Action control unit, can acceleration, angular velocity signal in Real-time Obtaining robot ambulation process, processes and generates corresponding sports signal and then control the action of ectoskeleton torso member, complete shatter-resistant action to signal;
Auxiliary unit, comprises and tying up at user waist and the belt be fixedly connected on hip joint components, to tie up on user thigh and the binder be fixedly connected on thigh parts and for the protection of user knee joint, is fixedly connected on the cushion knee cap in knee components
And for providing the power supply of the energy for whole device.
Further, described action control unit, comprising can the acceleration of Real-time Obtaining walking process and the sensor of angular velocity, the signal processor of signal condition and digital-to-analogue conversion can be carried out to the signal of sensor collection, be connected with hip joint components and generate the motion controller that motor message controls hip joint components, carry out action generation instead to separate with motion, and action command is transferred to the central processing unit of motion controller, one end is connected with hip joint components, the servomotor that the other end is connected with thigh parts, one end is connected on thigh parts, the other end to be connected on lower leg component and to drive lower leg component to carry out the Pneumatic artificial muscle of coordination exercise.
Further, described sensor comprises the acceleration transducer of Real-time Obtaining walking process acceleration and the angular-rate sensor of Real-time Obtaining walking process angular velocity, and the sensor is all installed on the left lower limb of ectoskeleton assistant robot and right lower limb infall.
Further, described acceleration, angular velocity are for coordinate system oxyz is for initial point o with the mounting points of acceleration transducer and angular-rate sensor, the dead ahead of ectoskeleton assistant robot is x-axis, the front-right of ectoskeleton assistant robot is y-axis, and the direction perpendicular to ground is the numerical value that z-axis obtains.
Based on above-mentioned design, the present invention have also been devised the biomimetic control method of the falling-resistant gait of this old people's ectoskeleton assistant robot, comprises the following steps:
(1) step: when old people dresses the motion of ectoskeleton assistant robot, by being arranged on the acceleration transducer of the left lower limb of ectoskeleton assistant robot and right lower limb infall, the acceleration a of i.e. described x-axis, left and right and described y-axis, up and down i.e. described z-axis before and after Real-time Obtaining ectoskeleton assistant robot direct of travel
x, a
y, a
z; Rotation around z-axis belongs to the rotation of ectoskeleton assistant robot, very little with the relation of falling down attitude, in order to reduce redundancy, by being arranged on the angular-rate sensor of the left lower limb of ectoskeleton assistant robot and right lower limb infall, only obtain ectoskeleton assistant robot inclination and x-axis, the angular velocity omega of pitching and y-axis
x, ω
y.
(2) step: the acceleration obtained and angular velocity predetermined threshold value are corresponding thereto compared, as acceleration a
x, a
y, a
zhave a setting threshold value be greater than in respective direction at least, or angular velocity omega
x, ω
yhas a setting threshold value be greater than in respective direction at least, then show that ectoskeleton assistant robot is by falling down, the action control unit of ectoskeleton assistant robot controls to generate action, prevent from falling down, namely on the basis of original proper motion gait, the postural reflex model that superposition is set up according to the postural reflex mechanism of human body, otherwise return step (1).
(3) step: what judge ectoskeleton assistant robot falls down situation, namely judge that robot is fall forward or falls down backward, if be judged as fall forward, then judge whether the allowance of fall forward is less than zero, if be less than zero, ectoskeleton assistant robot steps forth and could keep balance and stability, otherwise ectoskeleton assistant robot rests on original place, utilizes the balance that the swing of wearer limbs just can recover overall; If judge, ectoskeleton assistant robot is fallen down backward, then judge whether the allowance of falling down backward is less than zero, if be less than zero, ectoskeleton assistant robot strides backward and could keep balance and stability, otherwise ectoskeleton assistant robot rests on original place, utilize the balance that the swing of wearer limbs just can recover overall.
(4) step: according to the judged result of step (3), judge whether the allowance of ectoskeleton assistant robot single stride is less than zero further, if be less than zero, ectoskeleton assistant robot needs again to stride and could keep balance and stability, otherwise ectoskeleton assistant robot just can keep balance and stability through once striding.
(5) step: according to ectoskeleton assistant robot proper motion mode decision the need of end falling-resistant gait, if need to terminate, ectoskeleton assistant robot carries out attitude recovery, revert to original proper motion gait, otherwise returns step (1).
Compared with prior art, advantage of the present invention is mainly manifested in: its modular construction of robot of the present invention's design is compact, control effects is good, human body actual motion needs can be met, simultaneously this method can the acceleration in Real-time Obtaining three directions and the angular velocity of both direction, more fully the ectoskeleton assistant robot state of falling down is judged, improve the accuracy of judgement, strive for the emergency reaction time of falling-resistant and merged the postural reflex mechanism of human body, promptly can adjust the athletic posture of ectoskeleton assistant robot flexibly, maintain balance and stability, avoid falling down, be applicable to unknown, non-structured complicated landform, falling-resistant gait control method of the present invention, is equally applicable to other ectoskeleton assistant robots, has universality, wide adaptability simultaneously.
Accompanying drawing explanation
Fig. 1 is ectoskeleton assistant robot structural representation of the present invention;
Fig. 2 is that user of the present invention and ectoskeleton assistant robot control schematic diagram;
Fig. 3 is the biomimetic control flow chart of ectoskeleton assistant robot falling-resistant gait of the present invention;
Fig. 4 is that acceleration transducer of the present invention and angular-rate sensor installation site and detection side are to schematic diagram;
Fig. 5 is that ectoskeleton assistant robot of the present invention strides illustraton of model.
In figure: 1, belt, 2, central processing unit, 3, power supply, 4, hip joint components, 5, thigh parts, 6, Pneumatic artificial muscle, 7, ankle joint parts, 8, sole, 9, lower leg component, 10, knee components, 11, cushion knee cap, 12, binder, 13, motion controller, 14, servomotor, 15, signal processor, 16, sensor.
Detailed description of the invention
The present invention is described further with specific embodiment by reference to the accompanying drawings.
Embodiment: the ectoskeleton assistant robot of the present invention's design all adopts existing parts or device, its compact conformation, the suitability is strong, and its control method is also not limited to the robot that the design mentions, to can acceleration, angular velocity signal in Real-time Obtaining robot ambulation process, can basis signal to have carried out the assistant robot of motion generation and the anti-other types of separating of motion applicable equally.
The action control unit of the present embodiment, comprising can the acceleration of Real-time Obtaining walking process and the sensor 16 of angular velocity, the signal can collected sensor 16 carries out the signal processor 15 of signal condition and digital-to-analogue conversion, be connected with hip joint components 4 and generate the motion controller 13 that motor message controls hip joint components 4, carry out action generation instead to separate with motion, and action command is transferred to the central processing unit 2 of motion controller 13, one end is connected with hip joint components 4, the servomotor 14 that the other end is connected with thigh parts 5, one end is connected on thigh parts 5, the other end to be connected on lower leg component 9 and to drive lower leg component 9 to carry out the Pneumatic artificial muscle 6 of coordination exercise, the signal collected is sent to connected signal processor 15 by sensor 16, signal processor 15 pairs of signals are nursed one's health and are sent to by signal after digital-to-analogue conversion connected central processing unit 2 and generate action command, generate motor message after the motion controller 13 receiving action order be connected with central processing unit 2 to control servomotor 14 and produce action, Pneumatic artificial muscle 6 coordinate Servo motor 14 moves, and completes shatter-resistant overall process between walking.
Concrete: described servomotor 14 adopts the RE40 series DC servo motor of Maxon company of Switzerland.
Described motion controller 15 adopts the EPOS movement sequence controller of Maxon company of Switzerland.
Described power supply 3 adopts the HMH-J3002410 type rechargeable type lithium battery of Xi'an Hua Mai Electronic Science and Technology Co., Ltd..
Described Pneumatic artificial muscle 6 adopts the artificial pneumatic muscles of Rubbertuator series of Japanese Bridgestone company.
Described acceleration transducer 16 adopts the MMA7330L series acceleration transducer of Freescale company of the U.S., and angular-rate sensor 16 adopts the ADXRS300 series angular-rate sensor of ADI company of the U.S..
Described signal processor 15 adopts the MC68HC series of signals processor of Freescale company of the U.S..
Described central processing unit 2 adopts the MSC1210 central series processor of American TI Company.
As depicted in figs. 1 and 2, old people's ectoskeleton assistant robot, comprising: ectoskeleton torso member, and for being connected to the user lower part of the body, auxiliary user completes walking motion of standing, and comprises thigh parts 5, lower leg component 9 and sole 8, joint component, for connecting ectoskeleton torso member, make realize bending between each ectoskeleton torso member and stretch, comprise the hip joint components 4 connecting user waist and thigh parts 5, connect thigh parts 5 and the knee components 10 of lower leg component 9, connect the ankle joint parts 7 of lower leg component 9 and sole 8, action control unit, comprising can the acceleration of Real-time Obtaining walking process and the sensor 16 of angular velocity, the signal can collected sensor 16 carries out the signal processor 15 of signal condition and digital-to-analogue conversion, be connected with hip joint components 4 and generate the motion controller 13 that motor message controls hip joint components 4, carry out action to generate instead to separate with motion and (namely complete shatter-resistant action to comprise and stepping forth, stride backward and the action such as single stride), and action command is transferred to the central processing unit 2 of motion controller 13, one end is connected with hip joint components 4, the servomotor 14 that the other end is connected with thigh parts 5, one end is connected on thigh parts 5, the other end to be connected on lower leg component 9 and to drive lower leg component 9 to carry out the Pneumatic artificial muscle 6 of coordination exercise, auxiliary unit, comprise and tying up at user waist and the belt 1 be fixedly connected on hip joint components 4, to tie up on user thigh and the binder 12 be fixedly connected on thigh parts 5 and for the protection of user knee joint, be fixedly connected on cushion knee cap 11 in knee components 10 and for providing the power supply 3 of the energy for whole device.
As shown in Figure 3, the present invention relates to the biomimetic control method of above-mentioned old people's ectoskeleton assistant robot falling-resistant gait, comprise the following steps:
In step S101, when old people dresses ectoskeleton assistant robot motion beginning, the acceleration a of Real-time Obtaining ectoskeleton assistant robot
x, a
y, a
zand angular velocity omega
x, ω
y.
In step s 102, the acceleration obtained and predetermined threshold value are compared, as acceleration a
x, a
y, a
zhas a setting threshold value be greater than in respective direction at least, then show that ectoskeleton assistant robot is by falling down, the action control unit of ectoskeleton assistant robot controls to generate action, prevent from falling down, namely on the basis of original proper motion gait, superposition postural reflex model, otherwise return step S101.
In step s 103, the angular velocity obtained and predetermined threshold value are compared, works as angular velocity omega
x, ω
yhave a setting threshold value be greater than in respective direction at least, then show that ectoskeleton assistant robot is by falling down, on the basis of original proper motion gait, superposition postural reflex model, otherwise return step S101.
In step S104, utilize the postural reflex mechanism of human body, according to bionics principle, set up the postural reflex Additive Model of ectoskeleton assistant robot:
Wherein: t express time,
represent ectoskeleton assistant robot proper motion model,
represent ectoskeleton assistant robot postural reflex model, A represents the motion amplitude of ectoskeleton assistant robot, and T represents the period of motion of ectoskeleton assistant robot, T
prepresent the postural reflex period of motion of ectoskeleton assistant robot, α represents that the phase angle of the left lower limb of ectoskeleton assistant robot and right lower limb hip joint is poor, β represent ectoskeleton assistant robot with the knee joint of lower limb and the phase angle of hip joint poor, φ represents the delay phase differential seat angle of postural reflex, subscript h represents the hip joint of ectoskeleton assistant robot, subscript k represents the knee joint of ectoskeleton assistant robot, and subscript p represents postural reflex
represent the hip joint proper motion model of ectoskeleton assistant robot,
represent the knee joint proper motion model of ectoskeleton assistant robot,
represent the hip joint postural reflex model of ectoskeleton assistant robot,
represent the knee joint postural reflex model of ectoskeleton assistant robot, A
hrepresent the proper motion hip joint motion amplitude of ectoskeleton assistant robot, A
krepresent the proper motion motion of knee joint amplitude of ectoskeleton assistant robot, A
h, prepresent the hip joint postural reflex motion amplitude of ectoskeleton assistant robot, A
k,prepresent the knee joint postural reflex motion amplitude of ectoskeleton assistant robot.
In step S105, judge whether the allowance of ectoskeleton assistant robot fall forward is less than zero, if be less than zero, ectoskeleton assistant robot steps forth and could keep balance and stability, otherwise ectoskeleton assistant robot rests on original place, utilize the balance that the swing of wearer limbs just can recover overall.
In step s 106, judge whether the allowance that ectoskeleton assistant robot is fallen down backward is less than zero, if be less than zero, ectoskeleton assistant robot strides backward and could keep balance and stability, otherwise ectoskeleton assistant robot rests on original place, utilize the balance that the swing of wearer limbs just can recover overall.
In step s 107, according to the judged result of step S106 or step S107, judge whether the allowance of ectoskeleton assistant robot single stride is less than zero further, if be less than zero, ectoskeleton assistant robot needs again to stride and could keep balance and stability, otherwise ectoskeleton assistant robot just can keep balance and stability through once striding.
In step S108, according to ectoskeleton assistant robot proper motion mode decision the need of end falling-resistant gait, if need to terminate, ectoskeleton assistant robot carries out attitude recovery, revert to original proper motion gait, otherwise returns step S101.
In the diagram, acceleration transducer and angular-rate sensor are arranged on the left lower limb of ectoskeleton assistant robot and right lower limb infall, the initial point o of coordinate system oxyz is the mounting points of acceleration transducer and angular-rate sensor, x-axis points to the dead ahead of ectoskeleton assistant robot, y-axis points to the front-right of ectoskeleton assistant robot, z-axis perpendicular to ground, original state be ectoskeleton assistant robot upright time.Acceleration transducer detects the acceleration a of front and back (x-axis)
x, left and right (y-axis) acceleration a
y, up and down (z-axis) acceleration a
z.Rotation around z-axis belongs to the rotation of ectoskeleton assistant robot, very little with the relation of falling down attitude, and in order to reduce redundancy, angular-rate sensor just detects the angular velocity omega of inclination (x-axis)
x, pitching (y-axis) angular velocity omega
y.
In Figure 5, T represents the moment of ectoskeleton assistant robot ankle joint, l represents the length of ectoskeleton assistant robot supporting leg, m represents the quality beyond skeleton assistant robot supporting leg except for the outer, D represents the horizontal range of ectoskeleton assistant robot barycenter relative to tiptoe, L represents the length of ectoskeleton assistant robot barycenter to ankle joint, b represents the horizontal range of ectoskeleton assistant robot heel relative to ankle joint, d represents the length that strides of ectoskeleton assistant robot, and θ represents the angle of ectoskeleton assistant robot barycenter and ankle joint line and trunnion axis forward.When barycenter is positioned at initial position, angle is θ
0:
When barycenter horizontal plane projection arrive supporting leg foremost time, angle is θ
1:
When barycenter arrives feet rearmost end in the projection of horizontal plane, angle is θ
2:
θ
3represent the angle of contacting to earth that ectoskeleton assistant robot is led leg:
The allowance that ectoskeleton assistant robot steps forth:
Wherein, E is the kinetic energy of ectoskeleton assistant robot barycenter when being positioned at original position:
ω is ectoskeleton assistant robot barycenter angular velocity relative to ankle joint when being positioned at original position.
P
0for the potential energy of ectoskeleton assistant robot barycenter when initial position:
P
0＝mgL sinθ
0(8)
P
1for ectoskeleton assistant robot barycenter horizontal plane projection arrive feet foremost time potential energy:
P
1＝mgL sinθ
1(9)
Work as S
1during <0, ectoskeleton assistant robot needs to step forth and could keep balance and stability.
Work as S
1when>=0, ectoskeleton assistant robot rests on original place, utilizes the balance that the swing of wearer limbs just can recover overall.
The allowance that ectoskeleton assistant robot strides backward:
Wherein, P
2for ectoskeleton assistant robot barycenter horizontal plane projection arrive feet rearmost end time potential energy:
P
2＝mgL sinθ
2(11)
Work as S
2during <0, ectoskeleton assistant robot needs to stride backward and could keep balance and stability.
Work as S
2when>=0, ectoskeleton assistant robot rests on original place, utilizes the balance that the swing of wearer limbs just can recover overall.
The allowance of ectoskeleton assistant robot single stride:
S
3＝E-(P
1-P
0)-W (12)
Wherein, the W supporting leg that is ectoskeleton assistant robot and leading leg contact to earth after the ceiling capacity that absorbs of ankle joint.
Work as S
3during <0, ectoskeleton assistant robot needs again to stride and could keep balance and stability.
Work as S
3when>=0, ectoskeleton assistant robot just can keep balance and stability through once striding.
The above; be only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; allly be familiar with those skilled in the art in technical scope disclosed by the invention, be equal to replace or change according to technical scheme of the present invention and design of the present invention and all should be encompassed within protection scope of the present invention.
Claims (2)
1. old people's ectoskeleton assistant robot, comprising:
Ectoskeleton torso member, for being connected to the user lower part of the body, auxiliary user completes walking motion of standing, and comprises thigh parts, lower leg component and foot plate;
Joint component, for connecting ectoskeleton torso member, make realize bending between each ectoskeleton torso member and stretch, comprise the hip joint components connecting user waist and thigh parts, connect the knee components of thigh parts and lower leg component, connect the ankle joint parts of lower leg component and sole;
Auxiliary unit, comprise and tying up at user waist and the belt be fixedly connected on hip joint components, to tie up on user thigh and the binder be fixedly connected on thigh parts and for the protection of user knee joint, be fixedly connected on the cushion knee cap in knee components;
And for providing the power supply of the energy for whole device, described robot also comprises can acceleration, angular velocity signal in Real-time Obtaining robot ambulation process, signal processed and generates corresponding sports signal and then control the action of ectoskeleton torso member, completing the action control unit of shatter-resistant process, described action control unit comprises can the acceleration of Real-time Obtaining walking process and the sensor of angular velocity, the signal processor of signal condition and digital-to-analogue conversion can be carried out to the signal of sensor collection, be connected with hip joint components and generate the motion controller that motor message controls hip joint components, carry out action generation instead to separate with motion, and action command is transferred to the central processing unit of motion controller, one end is connected with hip joint components, the servomotor that the other end is connected with thigh parts, one end is connected on thigh parts, the other end to be connected on lower leg component and to drive lower leg component to carry out the Pneumatic artificial muscle of coordination exercise, described sensor comprises the acceleration transducer of Real-time Obtaining walking process acceleration and the angular-rate sensor of Real-time Obtaining walking process angular velocity, and the sensor is all installed on the left lower limb of ectoskeleton assistant robot and right lower limb infall, described acceleration, angular velocity are for coordinate system oxyz initial point o with the mounting points of acceleration transducer and angular-rate sensor, the dead ahead of ectoskeleton assistant robot is x-axis, the front-right of ectoskeleton assistant robot is y-axis, and the direction perpendicular to ground is the numerical value that z-axis obtains, it is characterized in that: the action control unit of described old people's ectoskeleton assistant robot by being arranged on the acceleration transducer of the left lower limb of ectoskeleton assistant robot and right lower limb infall, the acceleration a of i.e. described x-axis, left and right and described y-axis, up and down i.e. described z-axis before and after Real-time Obtaining ectoskeleton assistant robot direct of travel
x, a
y, a
z, rotation around z-axis belongs to the rotation of ectoskeleton assistant robot, very little with the relation of falling down attitude, in order to reduce redundancy, by being arranged on the angular-rate sensor of the left lower limb of ectoskeleton assistant robot and right lower limb infall, only obtain ectoskeleton assistant robot inclination and x-axis, the angular velocity omega of pitching and y-axis
x, ω
y, the acceleration obtained and angular velocity predetermined threshold value are corresponding thereto compared, as acceleration a simultaneously
x, a
y, a
zhave a setting threshold value be greater than in respective direction at least, or angular velocity omega
x, ω
yhas a setting threshold value be greater than in respective direction at least, then show that ectoskeleton assistant robot is by falling down, generate action, prevent from falling down, namely on the basis of original proper motion gait, the postural reflex model that superposition is set up according to the postural reflex mechanism of human body, the postural reflex Additive Model of described ectoskeleton assistant robot:
Wherein: t express time,
represent ectoskeleton assistant robot proper motion model,
represent ectoskeleton assistant robot postural reflex model, A represents the motion amplitude of ectoskeleton assistant robot, and T represents the period of motion of ectoskeleton assistant robot, T
prepresent the postural reflex period of motion of ectoskeleton assistant robot, α represents that the phase angle of the left lower limb of ectoskeleton assistant robot and right lower limb hip joint is poor, β represent ectoskeleton assistant robot with the knee joint of lower limb and the phase angle of hip joint poor, φ represents the delay phase differential seat angle of postural reflex, subscript h represents the hip joint of ectoskeleton assistant robot, subscript k represents the knee joint of ectoskeleton assistant robot, and subscript p represents postural reflex
represent the hip joint proper motion model of ectoskeleton assistant robot,
represent the knee joint proper motion model of ectoskeleton assistant robot,
represent the hip joint postural reflex model of ectoskeleton assistant robot,
represent the knee joint postural reflex model of ectoskeleton assistant robot, A
hrepresent the proper motion hip joint motion amplitude of ectoskeleton assistant robot, A
krepresent the proper motion motion of knee joint amplitude of ectoskeleton assistant robot, A
h, prepresent the hip joint postural reflex motion amplitude of ectoskeleton assistant robot, A
k,prepresent the knee joint postural reflex motion amplitude of ectoskeleton assistant robot.
2. a biomimetic control method for old people's ectoskeleton assistant robot falling-resistant gait, is characterized in that: comprise the following steps
(1) step: when old people dresses the motion of ectoskeleton assistant robot, by being arranged on the acceleration transducer of the left lower limb of ectoskeleton assistant robot and right lower limb infall, the acceleration a of i.e. described x-axis, left and right and described y-axis, up and down i.e. described z-axis before and after Real-time Obtaining ectoskeleton assistant robot direct of travel
x, a
y, a
z; Rotation around z-axis belongs to the rotation of ectoskeleton assistant robot, very little with the relation of falling down attitude, in order to reduce redundancy, by being arranged on the angular-rate sensor of the left lower limb of ectoskeleton assistant robot and right lower limb infall, only obtain ectoskeleton assistant robot inclination and x-axis, the angular velocity omega of pitching and y-axis
x, ω
ywherein said acceleration, angular velocity are for coordinate system oxyz is for initial point o with the mounting points of acceleration transducer and angular-rate sensor, the dead ahead of ectoskeleton assistant robot is x-axis, and the front-right of ectoskeleton assistant robot is y-axis, and the direction perpendicular to ground is the numerical value that z-axis obtains;
(2) step: the acceleration obtained and angular velocity predetermined threshold value are corresponding thereto compared, as acceleration a
x, a
y, a
zhave a setting threshold value be greater than in respective direction at least, or angular velocity omega
x, ω
yhas a setting threshold value be greater than in respective direction at least, then show that ectoskeleton assistant robot is by falling down, the action control unit of ectoskeleton assistant robot controls to generate action, prevent from falling down, namely on the basis of original proper motion gait, the postural reflex model that superposition is set up according to the postural reflex mechanism of human body, the postural reflex model of namely described superposition refers to the postural reflex Additive Model of ectoskeleton assistant robot
T express time,
represent ectoskeleton assistant robot proper motion model,
represent ectoskeleton assistant robot postural reflex model, A represents the motion amplitude of ectoskeleton assistant robot, and T represents the period of motion of ectoskeleton assistant robot, T
prepresent the postural reflex period of motion of ectoskeleton assistant robot, α represents that the phase angle of the left lower limb of ectoskeleton assistant robot and right lower limb hip joint is poor, β represent ectoskeleton assistant robot with the knee joint of lower limb and the phase angle of hip joint poor, φ represents the delay phase differential seat angle of postural reflex, subscript h represents the hip joint of ectoskeleton assistant robot, subscript k represents the knee joint of ectoskeleton assistant robot, and subscript p represents postural reflex
represent the hip joint proper motion model of ectoskeleton assistant robot,
represent the knee joint proper motion model of ectoskeleton assistant robot,
represent the hip joint postural reflex model of ectoskeleton assistant robot,
represent the knee joint postural reflex model of ectoskeleton assistant robot, A
hrepresent the proper motion hip joint motion amplitude of ectoskeleton assistant robot, A
krepresent the proper motion motion of knee joint amplitude of ectoskeleton assistant robot, A
h, prepresent the hip joint postural reflex motion amplitude of ectoskeleton assistant robot, A
k,prepresent the knee joint postural reflex motion amplitude of ectoskeleton assistant robot, otherwise return step (1);
(3) step: what judge ectoskeleton assistant robot falls down situation, namely judge that robot is fall forward or falls down backward, if be judged as fall forward, then judge whether the allowance of ectoskeleton assistant robot fall forward is less than zero, if be less than zero, ectoskeleton assistant robot steps forth, otherwise ectoskeleton assistant robot rests on original place; If judge, ectoskeleton assistant robot is fallen down backward, then judge whether the allowance that ectoskeleton assistant robot is fallen down backward is less than zero, if be less than zero, ectoskeleton assistant robot strides backward, otherwise ectoskeleton assistant robot rests on original place, wherein the allowance of fall forward refers to
Wherein: θ
0expression barycenter is positioned at angle during initial position, θ
1represent barycenter the projection of horizontal plane arrive supporting leg foremost time angle, T represents the moment of ectoskeleton assistant robot ankle joint, kinetic energy when E represents that ectoskeleton assistant robot barycenter is positioned at original position, P
0represent the potential energy of ectoskeleton assistant robot barycenter when initial position, P
1represent ectoskeleton assistant robot barycenter the projection of horizontal plane arrive feet foremost time potential energy, the allowance of falling down backward refers to
Wherein: θ
0expression barycenter is positioned at angle during initial position, θ
2represent the angle of barycenter when the projection of horizontal plane arrives feet rearmost end, T represents the moment of ectoskeleton assistant robot ankle joint, kinetic energy when E represents that ectoskeleton assistant robot barycenter is positioned at original position, P
0represent the potential energy of ectoskeleton assistant robot barycenter when initial position, P
2represent the potential energy of ectoskeleton assistant robot barycenter when the projection of horizontal plane arrives feet rearmost end;
(4) step: according to the judged result of step (3), judge whether the allowance of ectoskeleton assistant robot single stride is less than zero further, if be less than zero, ectoskeleton assistant robot needs again to stride and could keep balance and stability, otherwise ectoskeleton assistant robot just can keep balance and stability through once striding, and wherein the allowance of single stride refers to
S
3＝E-(P
1-P
0)-W
Wherein: kinetic energy when E represents that ectoskeleton assistant robot barycenter is positioned at original position, P
0represent the potential energy of ectoskeleton assistant robot barycenter when initial position, P
1represent ectoskeleton assistant robot barycenter the projection of horizontal plane arrive feet foremost time potential energy, the ceiling capacity that after the supporting leg that W is ectoskeleton assistant robot and leading leg contacts to earth, ankle joint absorbs;
(5) step: according to ectoskeleton assistant robot proper motion mode decision the need of end falling-resistant gait, if need to terminate, ectoskeleton assistant robot carries out attitude recovery, revert to original proper motion gait, otherwise returns step (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310184590.3A CN103263339B (en) | 2013-05-17 | 2013-05-17 | The biomimetic control method of old people's ectoskeleton assistant robot and falling-resistant gait |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310184590.3A CN103263339B (en) | 2013-05-17 | 2013-05-17 | The biomimetic control method of old people's ectoskeleton assistant robot and falling-resistant gait |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103263339A CN103263339A (en) | 2013-08-28 |
| CN103263339B true CN103263339B (en) | 2015-09-23 |
Family
ID=49007039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310184590.3A Expired - Fee Related CN103263339B (en) | 2013-05-17 | 2013-05-17 | The biomimetic control method of old people's ectoskeleton assistant robot and falling-resistant gait |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103263339B (en) |
Families Citing this family (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102115950B1 (en) * | 2013-11-07 | 2020-06-05 | 삼성전자주식회사 | A walk-assistive robot and a method for controlling the walk-assistive robot |
| CN103932868B (en) * | 2014-04-21 | 2017-05-24 | 清华大学 | Control method for paraplegia waling-assisted power exoskeleton |
| CN104156996B (en) * | 2014-08-30 | 2017-04-05 | 长安大学 | The movement generation method that human leg's continuous linear of controllable step-length is walked about in real time |
| CN104224498B (en) * | 2014-09-24 | 2016-04-20 | 哈尔滨工业大学 | A kind of exoskeleton robot system and the control method based on kinesiology end point detection |
| JP6233286B2 (en) * | 2014-12-01 | 2017-11-22 | トヨタ自動車株式会社 | Wearable robot control method |
| CN104434122B (en) * | 2014-12-04 | 2016-08-24 | 电子科技大学 | Crank and rocker mechanism for human body lower limbs joint angles DATA REASONING |
| CN104598896B (en) * | 2015-02-12 | 2017-09-05 | 南通大学 | The falling over of human body automatic testing method followed the trail of based on Kinect skeletons |
| CN104760042A (en) * | 2015-03-20 | 2015-07-08 | 西安超人高仿真机器人科技有限公司 | Simulation robot control system |
| CN105596181B (en) * | 2016-01-30 | 2019-04-16 | 合肥慧加医疗科技有限公司 | A kind of hip joint brace system and control method |
| CN105751204B (en) * | 2016-04-18 | 2018-08-21 | 智造未来（北京）机器人***技术有限公司 | Dress robot |
| CN107361992B (en) * | 2016-05-13 | 2019-10-08 | 深圳市肯綮科技有限公司 | A kind of human body lower limbs movement power assisting device |
| CN106176007B (en) * | 2016-06-29 | 2018-07-31 | 苏州海神联合医疗器械有限公司 | Anti- tumble equipment based on electromyography signal and anti-tumble method |
| CN106325273B (en) * | 2016-08-22 | 2019-04-12 | 江苏中科伟思智能机器人科技有限公司 | The leggy gait handover control system and its control method of assistance exoskeleton robot |
| CN106344355B (en) * | 2016-10-28 | 2017-07-18 | 广州初曲科技有限公司 | A kind of lower limb secondary row movement machine bone with center of gravity self-adjusting balance function |
| CN106344035A (en) * | 2016-11-01 | 2017-01-25 | 成都铅笔科技有限公司 | Human body health monitoring system |
| KR102503955B1 (en) * | 2016-11-02 | 2023-02-28 | 삼성전자주식회사 | Method and apparatus for controlling balance |
| FR3061653B1 (en) * | 2017-01-10 | 2019-05-31 | Wandercraft | METHOD FOR SETTING UP AN EXOSQUELET |
| CN108066106B (en) * | 2017-08-24 | 2020-06-26 | 深圳市罗伯医疗科技有限公司 | Double-cylinder knee joint walking-assistant robot |
| CN108066109B (en) * | 2017-08-24 | 2021-03-19 | 深圳市罗伯医疗科技有限公司 | Walking-aid robot |
| CN107943021B (en) * | 2017-10-19 | 2021-03-30 | 布法罗机器人科技（成都）有限公司 | Self-adaptive stair ascending and descending control system and method |
| CN108044601B (en) * | 2017-11-07 | 2020-05-08 | 深圳市奇诺动力科技有限公司 | Walking assistance apparatus and control method thereof |
| CN107877493B (en) * | 2017-11-10 | 2020-04-03 | 南京师范大学 | Old people indoor activity supporting robot system and application method thereof |
| CN107753246B (en) * | 2017-11-25 | 2020-06-23 | 包梓扬 | Anti-falling auxiliary device |
| CN109992327A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | A kind of control method of robot, robot and storage medium |
| CN108836756B (en) * | 2018-07-09 | 2020-05-12 | 刘阳 | Bionic walking aid for rehabilitation |
| CN110850857A (en) * | 2018-07-26 | 2020-02-28 | 深圳市优必选科技有限公司 | Method and device for determining falling state of robot |
| CN109998870B (en) * | 2019-04-10 | 2021-05-25 | 鄂州职业大学 | Anti-falling device |
| CN109830086A (en) * | 2019-04-16 | 2019-05-31 | 河北工业大学 | A kind of SCM Based the elderly falls down detection system under walking states |
| CN110076795B (en) * | 2019-04-26 | 2020-11-10 | 安徽普华灵动机器人科技有限公司 | Novel science and education intelligent robot |
| CN109968372A (en) * | 2019-05-05 | 2019-07-05 | 蔡晓红 | A kind of bio-robot |
| CN110327187B (en) * | 2019-07-10 | 2021-07-13 | 河北工业大学 | Model-free control method with prior moment for exoskeleton |
| CN111035391B (en) * | 2019-11-27 | 2021-09-17 | 吉林大学 | Old people falling detection method based on combination of feature value weighted average and threshold value method |
| TW202135763A (en) * | 2020-03-30 | 2021-10-01 | 緯創資通股份有限公司 | Force applying auxlilary equipment and control method thereof |
| US11918535B2 (en) * | 2020-04-13 | 2024-03-05 | Toyota Research Institute, Inc. | Wearable exoskeleton |
| CN114376866B (en) * | 2020-10-16 | 2023-07-21 | 深圳市肯綮科技有限公司 | Exercise assisting device with assistance adjusting module and assistance control method thereof |
| CN114376865B (en) * | 2020-10-16 | 2023-07-21 | 深圳市肯綮科技有限公司 | Motion auxiliary device with delay adjustment module and delay control method thereof |
| CN114159278B (en) * | 2021-09-28 | 2024-03-15 | 杭州程天科技发展有限公司 | Automatic correction control method and related equipment suitable for exoskeleton hanger |
| CN117257283B (en) * | 2023-11-22 | 2024-04-09 | 浙江强脑科技有限公司 | Fall protection method and device, intelligent artificial limb, terminal and storage medium |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8096965B2 (en) * | 2008-10-13 | 2012-01-17 | Argo Medical Technologies Ltd. | Locomotion assisting device and method |
| US8418705B2 (en) * | 2010-07-30 | 2013-04-16 | Toyota Motor Engineering & Manufacturing North America, Inc. | Robotic cane devices |
| CN201920940U (en) * | 2011-01-14 | 2011-08-10 | 刘勤 | Linear motor driven device for human body lower limb exoskeleton walking aid device driven by linear motor |
| CN202650197U (en) * | 2012-07-09 | 2013-01-02 | 台州学院 | Fall prevention apparatus |
-
2013
- 2013-05-17 CN CN201310184590.3A patent/CN103263339B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN103263339A (en) | 2013-08-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103263339B (en) | The biomimetic control method of old people's ectoskeleton assistant robot and falling-resistant gait | |
| CN104490568B (en) | Human lower extremity exoskeleton walking aid rehabilitation robot | |
| CN105796286B (en) | Use the lower limb exoskeleton robot control method of air bag sensor | |
| EP3156010A1 (en) | Worn-prosthetic-limb movement assistance device and worn movement assistance device | |
| CN108161905A (en) | A kind of stiffness variable lower limb exoskeleton power-assisting robot | |
| CN103895016A (en) | Method for controlling gait of robot | |
| CN103845186A (en) | Exercise support apparatus and exercise support method | |
| CN106618979A (en) | Gait rehabilitation robot and method for controlling gait rehabilitation robot | |
| CN106859928B (en) | Gait rehabilitation training robot and force-feedback control method for the robot | |
| CN102885661A (en) | Dynamic prosthetic knee joint | |
| CN110721055B (en) | Control method of lower limb walking aid exoskeleton robot and exoskeleton robot | |
| CN111267071A (en) | Multi-joint combined control system and method for exoskeleton robot | |
| CN109044742A (en) | A kind of rehabilitation type lower limb exoskeleton | |
| CN112220650A (en) | Online step generation control system for exoskeleton robot contralateral training | |
| CN107015564A (en) | A kind of assistant robot and combined intelligent control method | |
| Gregg et al. | Biomimetic virtual constraint control of a transfemoral powered prosthetic leg | |
| Lu et al. | Development of a three freedoms ankle rehabilitation robot for ankle training | |
| CN111588597A (en) | Intelligent interactive walking training system and implementation method thereof | |
| CN202875542U (en) | Dynamic fake limb knee joints | |
| CN105769206B (en) | A kind of gait phase method of discrimination based on upper and lower extremities movable information | |
| CN206677945U (en) | A kind of wearable knee joint booster of intelligence | |
| CN111728827B (en) | Power lower limb exoskeleton control method, device and system | |
| CN205630613U (en) | Lower limbs of human body ectoskeleton with semicircular hip structure | |
| VIRK et al. | Exo-legs for elderly persons | |
| Wang et al. | Gait trajectory planning and simulation for the powered gait orthosis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150923 Termination date: 20200517 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |