CN105476822A - Myoelectricity-controlled exoskeleton assistant robot - Google Patents
Myoelectricity-controlled exoskeleton assistant robot Download PDFInfo
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- CN105476822A CN105476822A CN201610108397.5A CN201610108397A CN105476822A CN 105476822 A CN105476822 A CN 105476822A CN 201610108397 A CN201610108397 A CN 201610108397A CN 105476822 A CN105476822 A CN 105476822A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5056—Control means thereof pneumatically controlled
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/106—Leg for the lower legs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/108—Leg for the upper legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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Abstract
The invention discloses a myoelectricity-controlled exoskeleton assistant robot. The robot comprises an air source, a left leg, a right leg, a waist fixing device and a control device; the upper end of the left leg and the upper end of the right leg are fixed to the waist fixing device and symmetrically arranged on the two sides of the waist fixing device; the control device is fixed to the waist fixing device. The robot analyzes the movement demand of a wearer by collecting surface electromyogram signals of the legs to control pneumatic muscles to simulate the activity of muscles of a human body, and assists in movement of the wearer on the basis of fully understanding the movement intention of the wearer to avoid discomfort and even hurt caused by forced movement. The pneumatic muscles with low weight, a high energy conversion rate and good smoothness are used as actuators and directly installed between all joints of the human body to provide assistant power for the wearer. The robot is simple in structure, safe, smooth and fit for the physiological characteristics of the human body, and the comfort level is increased obviously.
Description
Technical field
The present invention relates to wearable ectoskeleton assistant robot technology, be specially the ectoskeleton assistant robot that a kind of myoelectricity controls, human body lower limbs muscle can be assisted to stretch, help old people or walking disorder person to recover lower extremity motor function.
Background technology
Along with day by day increasing the weight of of modern society's Aging Problem, the health problem of old people obtains the extensive concern of the whole society, and wherein walking with difficulty is the major issue affecting life of elderly person.Ectoskeleton assistant robot can provide external power-assisted for old people or walking disorder person, helps it to recover certain motor capacity, and for improving life of elderly person quality, to alleviate the burden of family and society significant.
Current ectoskeleton assistant robot is fixed on two leg outer sides mostly, ectoskeleton wearer (abbreviation wearer) follows ectoskeleton motion passively, a certain distance may be there is in the movement locus of exoskeleton robot with the desired trajectory of wearer, such as, Chinese patent application 201410827881.4 discloses a kind of human body lower limbs ectoskeleton walking aid rehabilitation robot, this invention adopts servomotor to provide power, utilize linkage to drive leg exercise, help wearer walking and rehabilitation training.The drives structure that this invention adopts is comparatively hard, and human body is dressed and easily produced human body and ectoskeleton assistant robot and to move inconsistent phenomenon, causes wearer uncomfortable, even additional injury.
In addition, the motion control method that current ectoskeleton assistant robot is conventional is according to sensor informations such as foot force, joint angles and acceleration.Such as, Chinese patent 201310034245.1 discloses a kind of wearable lower limb exoskeleton assistant robot, this invention, by acquisition and processing foot force and joint angles information, generates corresponding sports signal and controls ectoskeleton simulation human motion, help wearer walking and rehabilitation training.The method lacks the enough attention to wearer self impression, ignores the actual demand of wearer self, easily causes wearer uncomfortable.
Summary of the invention
For the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is, provides the ectoskeleton assistant robot that a kind of myoelectricity controls.This assistant robot is by gathering the surface electromyogram signal of leg, analyze the motion requirement of wearer, control pneumatic muscles simulation human muscle movable, auxiliary wearer motion on the basis fully understanding wearer motion's intention, the discomfort avoiding positive motion to cause even injures.The pneumatic muscles that employing quality is light, energy transformation ratio is higher, compliance is good is as actuator, directly be arranged between each joint of human body by pneumatic muscles, for wearer provides auxiliary power, structure is simple, safety is submissive, meet human physilogical characteristic, comfortableness significantly improves.
The technical scheme that the present invention solve the technical problem is, provides the ectoskeleton assistant robot that a kind of myoelectricity controls, and it is characterized in that described robot comprises source of the gas, left lower limb, right lower limb, waist fixture and control device; The upper end of described left lower limb and right lower limb is separately fixed in waist fixture, and is symmetricly set on waist fixture both sides; Described control device is fixed in waist fixture;
Described left lower limb is identical with the structure of right lower limb; Described left lower limb and right lower limb include thigh force aid system, shank force aid system, ankle joint fixture and knee joint fixture; Waist fixture is fixed in the upper end of described thigh force aid system, and knee joint fixture is fixed in lower end; Knee joint fixture is fixed in the upper end of described shank force aid system, and ankle joint fixture is fixed in lower end;
Described thigh force aid system comprises thigh holding device, the pneumatic execution module of thigh, thigh electromyographic signal sensor assembly and thigh gyro module; The pneumatic execution module of described thigh comprises at least three thigh pneumatic muscles, its one end is fixed on thigh holding device, the other end is individually fixed in knee joint fixture or waist fixture, thigh pneumatic muscles is connected with source of the gas by flexible pipe, is positioned at above human thigh's major muscles during use; Described thigh electromyographic signal sensor assembly comprises at least three thigh electromyographic signal sensors, and during use, thigh electromyographic signal sensor is fixed on human muscle surface corresponding to thigh pneumatic muscles; Described thigh gyro module is fixed on centre position between human body knee joint and hip joint, on front side of human thigh when using; Described thigh pneumatic muscles is identical with the quantity of thigh electromyographic signal sensor;
Described shank force aid system comprises the pneumatic execution module of shank, muscles of leg electric signal sensor module and shank gyro module; The pneumatic execution module of described shank comprises at least two shank pneumatic muscles, its one end is fixed in knee joint fixture, the other end is fixed in ankle joint fixture, and shank pneumatic muscles is connected with source of the gas by flexible pipe, is positioned at above human calf's major muscles during use; Described muscles of leg electric signal sensor module comprises at least two muscles of leg electric signal sensors, and during use, muscles of leg electric signal sensor is fixed on human muscle surface corresponding to shank pneumatic muscles; Described shank gyro module is fixed on centre position between human body knee joint and ankle joint, on front side of human calf when using; Described shank pneumatic muscles is identical with the quantity of muscles of leg electric signal sensor;
During use, waist fixture, ankle joint fixture, knee joint fixture and thigh holding device, be positioned at the waist of human body, ankle joint, knee joint and thigh root place successively;
Described control device is connected with thigh electromyographic signal sensor assembly, muscles of leg electric signal sensor module, thigh gyro module, shank gyro module, the pneumatic execution module of thigh, the pneumatic execution module of shank and source of the gas respectively.
Compared with prior art, beneficial effect of the present invention is:
1. utilize leg surface electromyogram signal identification human motion to be intended to, control pneumatic muscles simulation human muscle movable, the basis of human normal motion increases the contraction power of respective muscle, thus help wearer to improve motor capacity, wearer is main, ectoskeleton assistant robot is auxiliary, efficiently avoid the inconsistent wearer caused of man-machine movement locus uncomfortable.
2. pneumatic muscles is attached to the outside of the true muscle of leg, but not joint or leg outer side, closer to human body lower limbs proper motion, life-time service can not cause added burden and injury to joint.
3. pay attention to wearer impression, be subject to by contact force feedback human body wearing feeling, improve ectoskeleton wearing comfort; Compared with electromyographic signal recognition result by knee joint angle feedback, in time the air inflow of adjustment pneumatic muscles, power-assisted effect is improved significantly.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the ectoskeleton assistant robot embodiment 1 that myoelectricity of the present invention controls;
Fig. 2 is the backsight structural representation of the ectoskeleton assistant robot embodiment 1-3 that myoelectricity of the present invention controls;
Fig. 3 is the right TV structure schematic diagram of the ectoskeleton assistant robot embodiment 1-3 that myoelectricity of the present invention controls;
Fig. 4 is the main TV structure schematic diagram of the ectoskeleton assistant robot embodiment 2 that myoelectricity of the present invention controls;
Fig. 5 is the main TV structure schematic diagram of the ectoskeleton assistant robot embodiment 3 that myoelectricity of the present invention controls; .
Detailed description of the invention
Carry out clear, complete description by the technical scheme in the embodiment of the present invention below, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
Below in conjunction with drawings and Examples, the present invention is further described.
The invention provides the ectoskeleton assistant robot (see Fig. 1-5, being called for short robot) that a kind of myoelectricity controls, it is characterized in that described robot comprises source of the gas, left lower limb, right lower limb, waist fixture 1 and control device 3; The upper end of described left lower limb and right lower limb is separately fixed in waist fixture 1, and is symmetricly set on waist fixture 1 both sides; Described control device 3 is fixed in waist fixture 1; The pneumatic muscles of described source of the gas and left lower limb and right lower limb is by hose connection;
Described left lower limb is identical with the structure of right lower limb; Described left lower limb and right lower limb include thigh force aid system 4, shank force aid system 5, ankle joint fixture 6 and knee joint fixture 7; Waist fixture 1 is fixed in the upper end of described thigh force aid system 4, and knee joint fixture 7 is fixed in lower end; Knee joint fixture 7 is fixed in the upper end of described shank force aid system 5, and ankle joint fixture 6 is fixed in lower end;
Described thigh force aid system 4 comprises thigh holding device 2, the pneumatic execution module 41 of thigh, thigh electromyographic signal sensor assembly 42 and thigh gyro module 43; The pneumatic execution module 41 of described thigh comprises at least three thigh pneumatic muscles, its one end is fixed on thigh holding device 2, the other end is individually fixed in knee joint fixture 7 or waist fixture 1, be positioned at above human thigh's major muscles during use, when source of the gas aerating makes thigh pneumatic muscles inside be full of air, thigh pneumatic muscles diameter increases, contraction in length, form a kind of elastic movement of smoothness, simulation human muscle is movable, help human body lower limbs joint extension or contraction, for wearer provides walking power-assisted; Described thigh electromyographic signal sensor assembly 42 comprises at least three thigh electromyographic signal sensors, during use, thigh electromyographic signal sensor is fixed on human muscle surface corresponding to thigh pneumatic muscles, surface electromyogram signal in order to Real-Time Monitoring muscle changes, and the change of the surface electromyogram signal amplitude of each muscle is fed back to control device 3; Described thigh gyro module 43 is fixed on centre position between human body knee joint and hip joint, on front side of human thigh when using, for measuring human thigh and vertical direction angle, control device 3, by comparing thigh gyro module 43 measurement result and expecting angle calcu-lation, compensates control; Described thigh pneumatic muscles is identical with the quantity of thigh electromyographic signal sensor;
Described shank force aid system 5 comprises the pneumatic execution module 51 of shank, muscles of leg electric signal sensor module 52 and shank gyro module 53; The pneumatic execution module 51 of described shank comprises at least two shank pneumatic muscles, its one end is fixed in knee joint fixture 7, the other end is fixed in ankle joint fixture 6, be positioned at above human calf's major muscles during use, when shank pneumatic muscles inside is full of air, shank pneumatic muscles diameter increases, contraction in length, simulation human muscle is movable, for wearer provides walking power-assisted; Described muscles of leg electric signal sensor module 52 comprises at least two muscles of leg electric signal sensors, and during use, muscles of leg electric signal sensor is fixed on human muscle surface corresponding to shank pneumatic muscles, and the surface electromyogram signal in order to Real-Time Monitoring muscle changes; Described shank gyro module 53 is fixed on centre position between human body knee joint and ankle joint, on front side of human calf when using, for measuring human calf and vertical direction angle; Described shank pneumatic muscles is identical with the quantity of muscles of leg electric signal sensor;
During use, waist fixture 1, ankle joint fixture 6, knee joint fixture 7 and thigh holding device 2, be positioned at human body waist, ankle joint, knee joint and thigh root place, successively for fixing pneumatic muscles.
Described thigh holding device 2 is aluminum alloy material, utilizes three mutual equilibrium principles of node to fix.
Described control device 3 respectively with thigh electromyographic signal sensor assembly 42, muscles of leg electric signal sensor module 52, thigh gyro module 43, shank gyro module 53, the pneumatic execution module 41 of thigh, the pneumatic execution module 51 of shank is connected with source of the gas, control device 3 is for receiving and processing thigh electromyographic signal sensor assembly 42, muscles of leg electric signal sensor module 52, thigh gyro module 43, the signal of shank gyro module 53, by carrying out analysis and synthesis to the information gathered, to the pneumatic execution module 41 of thigh, the pneumatic execution module 51 of shank and source of the gas send control instruction, driven machine people moves, for wearer provides power.
Each thigh pneumatic muscles of the pneumatic execution module of described thigh 41 is configured with 1 thigh high-speed switch valve 411, is arranged on the inlet end of thigh pneumatic muscles; Each shank pneumatic muscles of the pneumatic execution module of described shank 51 is configured with 1 shank high-speed switch valve 511, is arranged on the inlet end of shank pneumatic muscles; Changed the air capacity passing into corresponding pneumatic muscles by gauge tap valve, thus it is flexible to control pneumatic muscles.
Preferably, ectoskeleton assistant robot of the present invention is fixed on the muscle of human body lower limbs surface, pneumatic muscles inner inflatable in power-assisted process, diameter increases, if pneumatic muscles expands excessive, compressing may be caused to below muscle, wearer is felt under the weather even pain.Therefore, between the pneumatic muscles that may occur compressing phenomenon and muscle, contact force sensor module 44 is installed, contact force sensor module 44 is electrically connected with control device 3, for detecting shank pneumatic muscles or the contact force between thigh pneumatic muscles and human body lower limbs surface, adjust power-assisted size with this.
Provide the specific embodiment of ectoskeleton assistant robot of the present invention below.
Embodiment 1
In the present embodiment, the pneumatic execution module 41 of (see Fig. 1-3) thigh is provided with thigh No. 1 pneumatic muscles, thigh No. 2 pneumatic muscles and thigh No. 3 pneumatic muscles; Described thigh No. 1 pneumatic muscles is positioned on the tensor fasciae latae of thigh, and thigh No. 2 pneumatic muscles are positioned on the rectus femoris of thigh, and thigh No. 3 pneumatic muscles are positioned on the biceps femoris of thigh; Thigh electromyographic signal sensor assembly 42 comprises thigh No. 1 electromyographic signal sensor, thigh No. 2 electromyographic signal sensors and thigh No. 3 electromyographic signal sensors, be separately fixed at tensor fasciae latae in embodiment, rectus femoris and biceps femoris surface, the surface electromyogram signal in order to Real-Time Monitoring leg muscle changes.
In an embodiment, the pneumatic execution module 51 of described shank is provided with shank No. 1 pneumatic muscles and shank No. 2 pneumatic muscles, and described shank No. 1 pneumatic muscles is positioned on the tibialis anterior of shank, and shank No. 2 pneumatic muscles are positioned in the gastrocnemius of shank; Muscles of leg electric signal sensor module 52 comprises shank No. 1 electromyographic signal sensor and shank No. 2 electromyographic signal sensors, and be separately fixed at tibialis anterior and gastrocnemius surface in embodiment, the surface electromyogram signal in order to Real-Time Monitoring Calf muscle changes.
Embodiment 2
In the present embodiment (see Fig. 2-4), the pneumatic execution module 41 of described thigh is provided with thigh No. 1 pneumatic muscles, thigh No. 2 pneumatic muscles, thigh No. 3 pneumatic muscles and thigh No. 4 pneumatic muscles, described thigh No. 1 pneumatic muscles is positioned at above the tensor fasciae latae of thigh, thigh No. 2 pneumatic muscles are positioned at above the rectus femoris of thigh, thigh No. 3 pneumatic muscles are positioned at above the biceps femoris of thigh, and thigh No. 4 pneumatic muscles are positioned at above the vastus lateralis of thigh; Thigh electromyographic signal sensor assembly 42 comprises thigh No. 1 electromyographic signal sensor, thigh No. 2 electromyographic signal sensors, thigh No. 3 electromyographic signal sensors and thigh No. 4 electromyographic signal sensors, be separately fixed at tensor fasciae latae in embodiment, rectus femoris, biceps femoris and vastus lateralis surface, the surface electromyogram signal in order to Real-Time Monitoring leg muscle changes.
In an embodiment, the pneumatic execution module 51 of described shank is provided with shank No. 1 pneumatic muscles and shank No. 2 pneumatic muscles, and described shank No. 1 pneumatic muscles is positioned on the tibialis anterior of shank, and shank No. 2 pneumatic muscles are positioned in the gastrocnemius of shank; Muscles of leg electric signal sensor module 52 comprises shank No. 1 electromyographic signal sensor and shank No. 2 electromyographic signal sensors, and be separately fixed at tibialis anterior and gastrocnemius surface in embodiment, the surface electromyogram signal in order to Real-Time Monitoring Calf muscle changes.
Operation principle and the workflow of embodiment 1 and 2 are:
(1) wearer dresses this ectoskeleton assistant robot upper, starting device;
(2) thigh electromyographic signal sensor assembly 42 and muscles of leg electric signal sensor module 52 work, and the surface electromyogram signal of each major muscles of Real-time Collection lower limb, then sends control device 3 to;
(3) the surface electromyogram signal data analysis that will receive of control device 3, determines whether start the pneumatic execution module of thigh 41 and the pneumatic execution module 51 of shank;
(4) if do not start, then step (2) and (3) are repeated;
(5) if desired start, control device 3 sends instruction to the pneumatic execution module of thigh 41, the pneumatic execution module 51 of shank and source of the gas, starts to inflate to pneumatic muscles;
(6) needed for surface electromyogram signal calculating, moment is provided, read the information of thigh gyro module 43 and shank gyro module 53, calculate the joint angles of thigh and shank, in conjunction with moment and joint angles, control the valve opening of the thigh high-speed switch valve 411 of the pneumatic execution module of thigh 41 and the shank high-speed switch valve 511 of the pneumatic execution module 51 of shank, thus control the motion of ectoskeleton assistant robot;
(7), after the thigh high-speed switch valve 411 of the pneumatic execution module of thigh 41 and the shank high-speed switch valve 511 of the pneumatic execution module 51 of shank perform an action, step (2) is jumped to, periodic duty, until ectoskeleton assistant robot quits work.
Embodiment 3
In an embodiment, described thigh force aid system 4 also comprises contact force sensor module 44 (see Fig. 2,3,5), be fixed on rectus femoris surface, be positioned at thigh No. 1 pneumatic muscles and thigh skin contact position, be subject to for Real-Time Monitoring health wearing feeling, prevent pneumatic muscles excessive expansion from causing wearer leg muscle pressurized and uncomfortable.Other are with embodiment 2.
Operation principle and the workflow of embodiment 3 are:
(1) wearer dresses this ectoskeleton assistant robot upper, starting device;
(2) thigh electromyographic signal sensor assembly 42 and muscles of leg electric signal sensor module 52 work, and the surface electromyogram signal of each major muscles of Real-time Collection lower limb, then sends control device 3 to;
(3) the surface electromyogram signal data analysis that will receive of control device 3, determines whether start the pneumatic execution module of thigh 41 and the pneumatic execution module 51 of shank;
(4) if do not start, then step (2) and (3) are repeated;
(5) if desired start, control device 3 sends instruction to the pneumatic execution module of thigh 41, the pneumatic execution module 51 of shank and source of the gas, starts to inflate to pneumatic muscles;
(6) needed for surface electromyogram signal calculating, moment is provided, moment values is converted into control command by control device 3, control the valve opening of the high-speed switch valve of the pneumatic execution module of thigh 41 and the pneumatic execution module 51 of shank, thus control the motion of ectoskeleton assistant robot;
(7) after the thigh high-speed switch valve 411 of the pneumatic execution module of thigh 41 and the shank high-speed switch valve 511 of the pneumatic execution module 51 of shank perform an action, read the information of thigh gyro module 43 and shank gyro module 53, calculate the joint angles of thigh and shank; Read contact force sensor module 44, detect the contact force between pneumatic muscles and lower limb muscles surface; Control device 3 utilizes joint angles and contact force data comprehensively to analyze, by the valve opening of the high-speed switch valve 411 of the pneumatic execution module of feedback control correction thigh 41 and the high-speed switch valve 511 of the pneumatic execution module 51 of shank, improve comfortableness and the power-assisted effect of wearer.
(8) after the thigh high-speed switch valve 411 of the pneumatic execution module of thigh 41 and the shank high-speed switch valve 511 of the pneumatic execution module 51 of shank perform and revise order, jump to step (2), periodic duty, until ectoskeleton assistant robot quits work.
The present invention does not address part and is applicable to prior art.
Claims (5)
1. an ectoskeleton assistant robot for myoelectricity control, is characterized in that described robot comprises source of the gas, left lower limb, right lower limb, waist fixture and control device; The upper end of described left lower limb and right lower limb is separately fixed in waist fixture, and is symmetricly set on waist fixture both sides; Described control device is fixed in waist fixture;
Described left lower limb is identical with the structure of right lower limb; Described left lower limb and right lower limb include thigh force aid system, shank force aid system, ankle joint fixture and knee joint fixture; Waist fixture is fixed in the upper end of described thigh force aid system, and knee joint fixture is fixed in lower end; Knee joint fixture is fixed in the upper end of described shank force aid system, and ankle joint fixture is fixed in lower end;
Described thigh force aid system comprises thigh holding device, the pneumatic execution module of thigh, thigh electromyographic signal sensor assembly and thigh gyro module; The pneumatic execution module of described thigh comprises at least three thigh pneumatic muscles, its one end is fixed on thigh holding device, the other end is individually fixed in knee joint fixture or waist fixture, thigh pneumatic muscles is connected with source of the gas by flexible pipe, is positioned at above human thigh's major muscles during use; Described thigh electromyographic signal sensor assembly comprises at least three thigh electromyographic signal sensors, and during use, thigh electromyographic signal sensor is fixed on human muscle surface corresponding to thigh pneumatic muscles; Described thigh gyro module is fixed on centre position between human body knee joint and hip joint, on front side of human thigh when using; Described thigh pneumatic muscles is identical with the quantity of thigh electromyographic signal sensor;
Described shank force aid system comprises the pneumatic execution module of shank, muscles of leg electric signal sensor module and shank gyro module; The pneumatic execution module of described shank comprises at least two shank pneumatic muscles, its one end is fixed in knee joint fixture, the other end is fixed in ankle joint fixture, and shank pneumatic muscles is connected with source of the gas by flexible pipe, is positioned at above human calf's major muscles during use; Described muscles of leg electric signal sensor module comprises at least two muscles of leg electric signal sensors, and during use, muscles of leg electric signal sensor is fixed on human muscle surface corresponding to shank pneumatic muscles; Described shank gyro module is fixed on centre position between human body knee joint and ankle joint, on front side of human calf when using; Described shank pneumatic muscles is identical with the quantity of muscles of leg electric signal sensor;
During use, waist fixture, ankle joint fixture, knee joint fixture and thigh holding device, be positioned at the waist of human body, ankle joint, knee joint and thigh root place successively;
Described control device is connected with thigh electromyographic signal sensor assembly, muscles of leg electric signal sensor module, thigh gyro module, shank gyro module, the pneumatic execution module of thigh, the pneumatic execution module of shank and source of the gas respectively.
2. the ectoskeleton assistant robot of myoelectricity control according to claim 1, is characterized in that described thigh holding device is aluminum alloy material.
3. the ectoskeleton assistant robot of myoelectricity control according to claim 1, is characterized in that each thigh pneumatic muscles of the pneumatic execution module of described thigh is configured with a thigh high-speed switch valve, is arranged on the inlet end of thigh pneumatic muscles.
4. the ectoskeleton assistant robot of myoelectricity control according to claim 1, is characterized in that each shank pneumatic muscles of the pneumatic execution module of described shank is configured with a shank high-speed switch valve, is arranged on the inlet end of shank pneumatic muscles.
5. the ectoskeleton assistant robot of myoelectricity control according to claim 1, is characterized in that described robot also comprises contact force sensor module; Described contact force sensor module is electrically connected with control device, at shank pneumatic muscles or between thigh pneumatic muscles and human muscle during use.
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