CN105796286A - Method for controlling lower limb exoskeleton robot through air bag sensor - Google Patents
Method for controlling lower limb exoskeleton robot through air bag sensor Download PDFInfo
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- CN105796286A CN105796286A CN201610096527.8A CN201610096527A CN105796286A CN 105796286 A CN105796286 A CN 105796286A CN 201610096527 A CN201610096527 A CN 201610096527A CN 105796286 A CN105796286 A CN 105796286A
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
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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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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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
- A61H2201/5058—Sensors or detectors
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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
- A61H2201/5071—Pressure 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5079—Velocity 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration sensors
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- Physical Education & Sports Medicine (AREA)
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Abstract
The invention discloses a control method for a lower limb exoskeleton robot. According to the control method, the air bag pressure sensor is additionally installed on the basis that a traditional lower limb exoskeleton human body intention detection sensor is included, the acting force of a human body and the exoskeleton is reflected by measuring signals generated when the human body thighs press air bags to feed back human body motion intentions, and errors of an exoskeleton control algorithm are corrected accordingly; a flexible man-machine interface can be supplied to the human body while the air bag sensor is used to buffer the acting force of the human body and the exoskeleton robot; meanwhile, by collecting a motion curve of the human body wearing the exoskeleton and an air bag sensor force curve, the assistant effect of the lower limb exoskeleton robot can be well evaluated.
Description
Technical field
The present invention relates to wearable rehabilitation medical instrument and the technical field of assistance exoskeleton robot, realize the method to lower limb exoskeleton robot Shared control in particular to using air bag sensor.
Background technology
Lower limb exoskeleton robot can provide main motion-promotion force for disabled group.Exoskeleton robot actively can be used to strengthen the strength of the mankind, strengthens the motor capacity of disability crowd, can also play the effect of rehabilitation training simultaneously.Exoskeleton robot directly power-assisted can assist people to move in human body.Along with the increase at age, skeleton is degenerated gradually, and joint wear is serious, and joint motion is somewhat limited；Limb injury is very common in road traffic accident forensic clinic is identified；Modern sport games constantly develops to the direction of high level competitive sport, and athlete's joint injury probability in training and competition increases.From military developments angle, ectoskeleton power-assisting robot has great importance for the individual equipment improving soldier.Exoskeleton robot is utilized to assist human body complete rehabilitation training and provide power-assisted to become the hot topic of robot field already for human motion.
Recent years, the application of exoskeleton robot and feasibility study for power-assisted have had significant progress.The HAL of University of tsukuba of Japan have employed the sensor informations such as angular transducer, electromyographic signal sensor and earth surface force transducer and is dissolved in the middle of ectoskeletal control.HAL has hybrid control system, carries out the control of such as body posture including automatic controller, and feeds back the comfortable assist controller with predictive feed forward based on biology.HAL be also gait cycle is divided into biphase: support mutually and swing phase, in knee joint control, human body is reduced to the model of inverted pendulum, and respectively operator is obtained compensation torque with the modeling of lower limb assistance exoskeleton, in conjunction with the musculus flexor signal in EMG signal and extensor signal, it is estimated that the torque needed for knee joint, it is referred to as Virtual Torque.The identification of Model Parameter adopts recursive least square (RecursiveLeastSquare) method to obtain.Distinguished by plantar pressure signal when reality controls and support and swing phase, and different mutually on adopt different impedances to regulate method, compensate viscous friction and viscosity rigidity mutually particularly as follows: support, swing is compensation rotary inertia and viscous friction mutually.Ectoskeleton is successfully used for business by HAL, according to different users's biological information and purposes, formulates parameter and the ectoskeleton (full upper and lower extremities, full lower limb, single lower limb) of exclusive control.
Exoskeleton system provider of Israel ReWalkRobotics develops the wearable ectoskeleton power-equipment of ReWalk, helps below waist paralysis patient to recapture ability to act.Rewalk is by tilting sensing technology, and the slight change controlling position of centre of gravity controls motion, and the track of human body natural's gait is imitated in each joint simultaneously, provides the user the applicable speed of travel so that quadriplegic also is able to independent ambulation.Rewalk further provided with the crutch auxiliary operation person of carry sensors simultaneously and keeps balance in the middle of walking process and stable.The sensor signal of crutch is with for finely tuning ectoskeletal gait.Dress ReWalk, patient can easily stand, continuous walking and stopping walking.
The domestic research for exoskeleton robot is started late, and the achievement in research of making a breakthrough property is less.
At present, exoskeleton robot control field, detection and the Shared control of exoskeleton robot that human body is intended to are still Research Challenges.HAL adopts muscle electrical signal collection human motion to be intended to, but the electromyographic signal of the hemiplegic patient of nerve damage is likely to different or unavailable.Under vigorous exercise, the electrode of measurement electromyographic signal easily comes off, transposition, and after prolonged exercise, perspiring also can affect the measurement of sensor.Furthermore sensor to be attached to human body surface, uses inconvenience every time.Tradition exoskeleton robot is rigidly connected with human body, certainly will reduce comfort when human body is dressed, bring very strong restraint feeling, involves sense.
The control method of current exoskeleton robot still suffers from limitation, thus being difficult to meet the core demand of assisted walk.
Summary of the invention
In order to solve prior art Problems existing, the present invention is on the basis of existing lower limb exoskeleton robot control method, in conjunction with air bag sensor, it is proposed to a kind of lower limb exoskeleton robot Shared control method.
The invention discloses a kind of lower limb exoskeleton robot control method using air bag sensor, described lower limb exoskeleton includes: be separately positioned on the incremental encoder of ectoskeleton knee joint and ankle, is used for gathering calculating articulation angle and angular acceleration；It is positioned at the diaphragm pressure bed sensor at the bottom of dermoskeleton volume robot foot, is used for gathering people vola and earth surface power；It is distributed in the gasbag pressure sensor before and after human body thigh and calf muscle, is used for the contact forces measuring people with exoskeleton robot；It is connected to the attitude transducer on human arm, is used for measuring human arm pendulum angle and angular velocity；
Described control method comprises the steps:
Step one: initialize system, needs execution pattern by the clearly current ectoskeleton of input equipment, and action pattern includes standing, continuous walking or stopping；
Step 2: when current kinetic pattern is for standing and stopping, microcontroller rejects attitude transducer, force transducer for sole of foot signal, extract the joint ideal trajectory when healthy human body prestored in memorizer stands or stops, by gathering current joint angleonly tracking ideal trajectory；When current kinetic pattern is continuous walking, microcontroller gathers vola force information, by vola sole and heel and earth surface power numerical values recited, judges foot state, foot state includes landing, full foot supports, liftoff or unsettled, thus lower extremity movement being divided into swing mutually and support phase；The fuzzy controller based on muscular force, fuzzy control rule based on joint power model fuzzy control is reset mutually by supporting mutually or swinging；
Step 3: being inputted by the active force between human body and the ectoskeleton of the gasbag pressure sensor acquisition before and after thigh to fuzzy controller, assessment human body is intended to and meets, by calculating based on muscular force model, the moment Tp that human body is intended to；The joint angles collected by incremental encoder and angular acceleration are by calculating moment Tm needed for current motion state joint based on the fuzzy controller of joint power model；The upper limb attitude information that attitude transducer is gathered, by the human body upper and lower extremities kinestate transition matrix using healthy sample to demarcate in advance, calculate current human's lower limb ideal movements state, and the deviation of current lower extremity movement state is by the further factored moment Ts of PID controller；Calculated decelerator moment by joint motions velocity attitude to compensate；
Step 4: pass through computing formula: calculating moment T required for final joint, output, to motor driver, completes Power assisted control.
Further, described air bag sensor Real-time Collection man-machine interaction power, and by contrasting with joint motions condition curve, it is achieved the evaluation to power-assisted effect；Joint motions state includes the direction of acceleration and speed.
Further, the fixed form between described air bag sensor and human thigh is lax binding, can cushion the active force between exoskeleton robot and human body by air bag sensor, is simultaneously used for the contact forces measuring people with exoskeleton robot.
Further, the moment T signal calculated in step 4 exports motor driver by PWM waveform.
Further, the frequency in the whole control cycle of described control method is more than 50Hz.
Beneficial effect:
Compared with existing lower limb exoskeleton control method, the method have the advantages that
(1) moment needed for use fuzzy control calculating joint motions, compensate for simple dependence articular kinesiology model, the control error that the inaccuracy of model own is brought；In combination with the man-machine interaction force data that air bag sensor gathers, assisting to control ectoskeleton motor control, that brings when greatly reducing the unexpected speed change of human body and the change of joint motions direction involves sense.
(2) use air bag sensing acquisition data simultaneously as the compressibility of air bag itself, cushioned the active force between ectoskeleton and human body, decreased the pain sensation of human body when joint carries out orbit tracking movement.
(3) break away from measurement electrode when muscle electrical signal detection human body is intended to and need to depend on the drawback (inconvenient, easy to fall off) of human skin, the air bag of the present invention can be fixed on ectoskeleton, along with when dressing exoskeleton robot, by lax the tying up of bandage, can secure the air-bag to outside human thigh's medicated clothing, convenient, difficult drop-off.
(4) evaluating power-assisted effect by electromyographic signal and need to process the complexity of electromyographic signal, various process function and the standard that these functional based method neither ones are unified, the result of evaluation lacks persuasion.Dress ectoskeleton motion trace data, acquisition human motion direction directly perceived and ectoskeleton power-assisted direction and size in conjunction with air bag sensor data and human body, such that it is able to easily ectoskeleton power-assisted effect is evaluated, and Power assisted control algorithm is carried out debugging improvement.
Accompanying drawing explanation
Fig. 1 is the control block diagram of the present invention.
Fig. 2 is the Pendulum Model at human hip place；
Fig. 3 is the method that air bag sensor of the present invention is worn.
In figure, 1 is thigh, and 2 is femur, and 3 is air bag, and 4 is gasbag pressure sensor, and 5 is muscle.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is described in detail.
Fig. 1 is the control block diagram of the present invention.Control method for full lower limb exoskeleton robot of the present invention, the sensor comprised has: be distributed in the incremental encoder of ectoskeleton knee joint, ankle；It is positioned at the diaphragm pressure bed sensor at the bottom of dermoskeleton volume robot foot；It is distributed in the gasbag pressure sensor before and after human body thigh and calf muscle；It is connected to the attitude transducer on human arm.Articulation angle, angular velocity is calculated by incremental rotary encoder collection；People and earth surface power is gathered by force transducer for sole of foot；The contact forces of people and exoskeleton robot is measured by air bag sensor；Human arm pendulum angle, angular velocity is measured by attitude transducer.
During control method of the present invention work, microcontroller performs following steps:
(1) initialize system, need execution pattern (stand, continuous walking, stopping) by the clearly current ectoskeleton of input equipment.
(2) when current kinetic pattern is for standing and stopping, microcontroller rejects attitude transducer, force transducer for sole of foot signal, extract the joint ideal trajectory when healthy human body prestored in memorizer stands or stops, by gathering current joint angleonly tracking ideal trajectory；Air bag sensor module used herein is worn by method shown in Fig. 3, gasbag pressure sensor 4 is arranged on before and after human body thigh and calf muscle 5, air bag sensor gathers man-machine interaction power, suitably regulates movement locus, makes that wearer is more comfortable in motor process, safety.
(3) when current kinetic pattern is continuous walking, microcontroller gathers vola force information, by vola sole and heel and earth surface power numerical values recited (more than certain threshold value), judge foot state (land, full foot supports, liftoff, unsettled), thus lower extremity movement being divided into swing mutually and support phase；The fuzzy controller based on muscular force, fuzzy control rule based on joint power model fuzzy control is reset by out of phase (support phase, swing phase).
Needed for joint, moment values calculates joint angles, angular acceleration by gathering, and then passes through such as Fig. 2 and calculates for the joint power model of hip joint.As it can be seen, set up coordinate system at hip joint place, ectoskeleton femur rod member length is L, and quality is m (including leg support), and its material is homogeneous, and barycenter is at 0.5L place.The moment of motor output is To, and ectoskeletal counteracting force is F by wearer, and femur plate rotary inertia is J, and now Hip Angle, angular velocity are wh, angular acceleration is α h, it is possible to obtain equation:
Wherein calculate (angle, angular acceleration) under the current motion state of joint, joint output torque To required time simultaneously for human body offer FL moment, wherein do not comprise the decelerator moment of resistanceFor reaching to control preferably effect, the difference of simultaneous adaptation difference gait phase joint moment, calculate this moment by fuzzy controller, the rule of fuzzy controller changes with gait change.By recalculating moment Tm needed for current motion state joint based on the fuzzy controller of joint power model.
Calculated decelerator moment by joint motions velocity attitude to compensate
Air bag sensor gathers man-machine interaction power, while buffering people with ectoskeleton active force, by the fuzzy controller factored moment Tp based on muscular force model.
Utilize the cooperative effect that the motion of human body upper and lower extremities exists, gather upper limb attitude information, by the human body upper and lower extremities kinestate transition matrix using healthy sample to demarcate in advance, calculate current human's lower limb ideal movements state, and the deviation of current lower extremity movement state is by the further factored moment Ts of PID controller.
Obtain motor output torque and:Motor driver is exported by PWM waveform.Driver responds moment by PID controller and exports ectoskeleton joint.The frequency in whole control cycle is more than 50Hz.
Claims (5)
1. the lower limb exoskeleton robot control method using air bag sensor, it is characterised in that
Described lower limb exoskeleton includes: be separately positioned on the incremental encoder of ectoskeleton knee joint and ankle, is used for gathering calculating articulation angle and angular acceleration；It is positioned at the diaphragm pressure bed sensor at the bottom of dermoskeleton volume robot foot, is used for gathering people vola and earth surface power；It is distributed in the gasbag pressure sensor before and after human body thigh and calf muscle, is used for the contact forces measuring people with exoskeleton robot；It is connected to the attitude transducer on human arm, is used for measuring human arm pendulum angle and angular velocity；
Described control method comprises the steps:
Step one: initialize system, needs execution pattern by the clearly current ectoskeleton of input equipment, and action pattern includes standing, continuous walking or stopping；
Step 2: when current kinetic pattern is for standing and stopping, microcontroller rejects attitude transducer, force transducer for sole of foot signal, extract the joint ideal trajectory when healthy human body prestored in memorizer stands or stops, by gathering current joint angleonly tracking ideal trajectory；When current kinetic pattern is continuous walking, microcontroller gathers vola force information, by vola sole and heel and earth surface power numerical values recited, judges foot state, foot state includes landing, full foot supports, liftoff or unsettled, thus lower extremity movement being divided into swing mutually and support phase；The fuzzy controller based on muscular force, fuzzy control rule based on joint power model fuzzy control is reset mutually by supporting mutually or swinging；
Step 3: being inputted by the active force between human body and the ectoskeleton of the gasbag pressure sensor acquisition before and after thigh to fuzzy controller, assessment human body is intended to and meets, by calculating based on muscular force model, the moment Tp that human body is intended to；The joint angles collected by incremental encoder and angular acceleration are by calculating moment Tm needed for current motion state joint based on the fuzzy controller of joint power model；The upper limb attitude information that attitude transducer is gathered, by the human body upper and lower extremities kinestate transition matrix using healthy sample to demarcate in advance, calculate current human's lower limb ideal movements state, and the deviation of current lower extremity movement state is by the further factored moment Ts of PID controller；Calculated decelerator moment by joint motions velocity attitude and compensate Tf*sgn (θ)；
Moment T required for the final joint of step 4: pass through computing formula: T=Tp+Tm+Tf*sgn (θ)+Ts calculating, output, to motor driver, completes Power assisted control.
2. a kind of lower limb exoskeleton robot control method using air bag sensor according to right 1, it is characterised in that described air bag sensor Real-time Collection man-machine interaction power, and by contrasting with joint motions condition curve, it is achieved the evaluation to power-assisted effect；Joint motions state includes the direction of acceleration and speed.
3. a kind of lower limb exoskeleton robot control method using air bag sensor according to right 1, it is characterized in that, fixed form between described air bag sensor and human thigh is lax binding, the active force between exoskeleton robot and human body can be cushioned by air bag sensor, be simultaneously used for the contact forces measuring people with exoskeleton robot.
4. a kind of lower limb exoskeleton robot control method using air bag sensor according to right 1-3, it is characterised in that the moment T signal calculated in step 4 exports motor driver by PWM waveform.
5. a kind of lower limb exoskeleton robot control method using air bag sensor according to right 1-4, it is characterised in that the frequency in the whole control cycle of described control method is more than 50Hz.
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Cited By (18)
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| CN107648012A (en) * | 2017-11-03 | 2018-02-02 | 中国科学院合肥物质科学研究院 | A kind of wearable exoskeleton robot flexible joint |
| CN107825430A (en) * | 2017-09-27 | 2018-03-23 | 深圳市行者机器人技术有限公司 | A kind of robot foot section structure and pressure detection method based on air pressure detection |
| CN108014001A (en) * | 2018-01-02 | 2018-05-11 | 北京理工大学 | A kind of flexibility walk-aiding exoskeleton |
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
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| CN110801226A (en) * | 2019-11-01 | 2020-02-18 | 西安交通大学 | Human knee joint moment testing system method based on surface electromyographic signals and application |
| CN111067763A (en) * | 2018-10-18 | 2020-04-28 | 北京大艾机器人科技有限公司 | Pressure detection device for exoskeleton robot |
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| CN111714324A (en) * | 2020-05-07 | 2020-09-29 | 广西科技大学 | Man-machine interaction force acquisition system |
| CN112296983A (en) * | 2019-08-02 | 2021-02-02 | 深圳市肯綮科技有限公司 | Exoskeleton equipment and control method and control device thereof |
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| CN113143298A (en) * | 2020-03-31 | 2021-07-23 | 重庆牛迪普力科技合伙企业(有限合伙) | Limb skeletal muscle force-exerting state detection device and method and force-exerting state identification equipment |
| CN113317960A (en) * | 2021-05-28 | 2021-08-31 | 复旦大学 | Analysis method for measuring and researching interaction force of wearing exoskeleton |
| CN113608451A (en) * | 2021-07-14 | 2021-11-05 | 迈宝智能科技(苏州)有限公司 | Simulation control platform based on ROS and exoskeleton robot simulation control system |
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Cited By (25)
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| CN109091818A (en) * | 2017-09-15 | 2018-12-28 | 中山大学 | The training method and system of rope-traction upper limb rehabilitation robot based on admittance control |
| CN107825430A (en) * | 2017-09-27 | 2018-03-23 | 深圳市行者机器人技术有限公司 | A kind of robot foot section structure and pressure detection method based on air pressure detection |
| CN107648012B (en) * | 2017-11-03 | 2023-12-01 | 中国科学院合肥物质科学研究院 | Flexible joint of wearable exoskeleton robot |
| CN107648012A (en) * | 2017-11-03 | 2018-02-02 | 中国科学院合肥物质科学研究院 | A kind of wearable exoskeleton robot flexible joint |
| CN108014001B (en) * | 2018-01-02 | 2020-03-17 | 北京理工大学 | Flexible walking aid exoskeleton |
| CN108014001A (en) * | 2018-01-02 | 2018-05-11 | 北京理工大学 | A kind of flexibility walk-aiding exoskeleton |
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN108127647B (en) * | 2018-02-13 | 2024-06-07 | 中山市沃倍特智能医疗器械股份有限公司 | Long-endurance and light-weight intelligent exoskeleton robot |
| CN108942945A (en) * | 2018-08-22 | 2018-12-07 | 深圳市启玄科技有限公司 | A kind of Tactile control method and Tactile control component based on robot |
| CN108942945B (en) * | 2018-08-22 | 2024-05-17 | 深圳市启玄科技有限公司 | Robot-based touch control method and touch control assembly |
| CN111067763A (en) * | 2018-10-18 | 2020-04-28 | 北京大艾机器人科技有限公司 | Pressure detection device for exoskeleton robot |
| CN112296983A (en) * | 2019-08-02 | 2021-02-02 | 深圳市肯綮科技有限公司 | Exoskeleton equipment and control method and control device thereof |
| CN112296983B (en) * | 2019-08-02 | 2022-02-15 | 深圳市肯綮科技有限公司 | Exoskeleton equipment and control method and control device thereof |
| CN110721055A (en) * | 2019-10-17 | 2020-01-24 | 深圳市迈步机器人科技有限公司 | Control method of lower limb walking aid exoskeleton robot and exoskeleton robot |
| CN110703604A (en) * | 2019-10-29 | 2020-01-17 | 电子科技大学 | Exoskeleton dynamic model parameter identification method and exoskeleton device |
| CN110801226A (en) * | 2019-11-01 | 2020-02-18 | 西安交通大学 | Human knee joint moment testing system method based on surface electromyographic signals and application |
| CN113143298A (en) * | 2020-03-31 | 2021-07-23 | 重庆牛迪普力科技合伙企业(有限合伙) | Limb skeletal muscle force-exerting state detection device and method and force-exerting state identification equipment |
| CN111714325A (en) * | 2020-05-07 | 2020-09-29 | 广西科技大学 | Lower limb movement information acquisition system based on lower limb exoskeleton |
| CN111714324A (en) * | 2020-05-07 | 2020-09-29 | 广西科技大学 | Man-machine interaction force acquisition system |
| CN111611887B (en) * | 2020-05-08 | 2023-04-11 | 武汉工程大学 | User intention estimation method and system for man-machine hybrid coordinated movement |
| CN111611887A (en) * | 2020-05-08 | 2020-09-01 | 武汉工程大学 | User intention estimation method and system for man-machine hybrid coordinated movement |
| CN112631277A (en) * | 2020-12-08 | 2021-04-09 | 中山大学 | Balance control method and system for four-legged robot standing posture conversion |
| CN113317960A (en) * | 2021-05-28 | 2021-08-31 | 复旦大学 | Analysis method for measuring and researching interaction force of wearing exoskeleton |
| CN113317960B (en) * | 2021-05-28 | 2022-06-14 | 复旦大学 | Analysis method for measuring and researching interaction force of wearing exoskeleton |
| CN113608451A (en) * | 2021-07-14 | 2021-11-05 | 迈宝智能科技(苏州)有限公司 | Simulation control platform based on ROS and exoskeleton robot simulation control system |
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