CN108175413A - A kind of body gait sensory perceptual system of exoskeleton robot - Google Patents
A kind of body gait sensory perceptual system of exoskeleton robot Download PDFInfo
- Publication number
- CN108175413A CN108175413A CN201611124113.8A CN201611124113A CN108175413A CN 108175413 A CN108175413 A CN 108175413A CN 201611124113 A CN201611124113 A CN 201611124113A CN 108175413 A CN108175413 A CN 108175413A
- Authority
- CN
- China
- Prior art keywords
- based system
- leg sensor
- sensor
- exoskeleton robot
- attitude transducer
- 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.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6828—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6829—Foot or ankle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Physics & Mathematics (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Physiology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Psychiatry (AREA)
- Signal Processing (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of body gait sensory perceptual system of exoskeleton robot, including left leg sensor-based system and right leg sensor-based system；The left leg sensor-based system and the data processing mainboard of right leg sensor-based system communication connection；The data processing mainboard is communicatively connected to ectoskeleton controller and host computer；The left leg sensor-based system and right leg sensor-based system include thigh attitude transducer, shank attitude transducer and sole attitude transducer.The body gait sensory perceptual system of the exoskeleton robot of the present invention acquires the attitude data of human body lower limbs by attitude transducer;Using micro controller as computing unit, the gait data of acquisition is resolved, predicted and transmitted;With the rotary motion of Nonlinear Time Series Analysis Takens algorithms prediction human body lower limbs key position；The system function is stablized, can be accurately to the gait data acquisition of human body lower limbs and prediction, and prediction result is reliable and stable, and reliable reference information is provided for ectoskeleton controller.
Description
Technical field
The present invention relates to a kind of exoskeleton robot components, and in particular to a kind of body gait of exoskeleton robot perceives
System belongs to exoskeleton robot technical field.
Background technology
Lower limb assistance exoskeleton robot is that one kind is connected in parallel on outside human body lower limbs, and the machine of walking power-assisted is carried out to wearer
Device people, with the aggravation of aging, lower limb assistance exoskeleton robot is the hot spot of Recent study；At present, outside lower limb power-assisted
Bone robot is mostly using the rigid frame train of mechanism of rigid link composition, by the bondage device at thigh, shank with wearing
Wearer's lower limb are coupled；When wearer carries out walking movement, rigid rod is connected in parallel on human body lower limbs external movement, increases
The movement resistance of human body lower limbs changes the movement natural frequency of wearer, causes motion artifacts；In addition, each joint of human body
Movement is the spatial three-dimensional movement by being formed under musculoskeletal system collective effect along complicated joint bone curved surface, and rigid lower limb
Each articulating shaft of ectoskeleton is difficult to match with the kinematic axis of wearer, leads to ectoskeleton pedipulator and people in walking movement
There are very big alignment errors in leg, this error affects the wearing comfort of wearer, wearer can be also caused when serious
Lower limb pain and injury gained in sports；Although optimizing the light-weight design that lower limb exoskeleton mechanism can be achieved by configuration, outside lower limb
The rigid link mechanism of bone cannot still ignore the motion artifacts of wearer's nature walking step state；In order to realize outside lower limb power-assisted
Bone in walking movement can to wearer effective power-assisted, and on wearer's proper motion influence it is smaller, need lower limb power-assisted
Exoskeleton system has the characteristics that light-weight, man-machine stickiness is good, while the driving mechanism of lower limb assistance exoskeleton should be as human body
Muscle equally has the characteristics that relatively low mechanical output impedance and adapts to larger control bandwidth；The prior art does not solve these also
Problem；Chinese Patent Application No.：201510850693.8 a kind of flexible exoskeleton robot is disclosed, including：It is worn on human body
Lower limb flexibility bondage device on lower limb, the bionic-driving device of driving lower limb flexibility bondage device movement, is connected to driving dress
The transmission device between lower limb flexibility bondage device is put, uses light-duty, easy donning the lower limb that flexible material is made flexible
Bondage device uses bionical type of drive driving lower limb flexibility bondage device auxiliary human body walking；And loading by lower limbs ectoskeleton work
Make mechanism and capture human locomotion state in real time for sensory perceptual system, controller generates control signal driving tool bone and human body is followed to transport
It is dynamic；It is outer to output control signal and driving mechanism (being usually motor or hydraulic pressure) driving that body gait is captured from sensory perceptual system
Skeletal joint reaches target trajectory and is required to the regular hour, and this process human body has moved to another state, the prior art
In, mechanical exoskeleton gait lags behind wearer's gait, so as to interfere the walking behavior of wearer.
Invention content
To solve the above problems, the present invention proposes a kind of body gait sensory perceptual system of exoskeleton robot, pass through appearance
State sensor acquires the attitude data of human body lower limbs；Using micro controller as computing unit, the gait data of acquisition is resolved, prediction
And transmission；With the rotary motion of Nonlinear Time Series Analysis Takens algorithms prediction human body lower limbs key position；The system work(
It can stablize, can be accurately to the gait data acquisition of human body lower limbs and prediction, prediction result is reliable and stable, is carried for ectoskeleton controller
For reliable reference information.
The body gait sensory perceptual system of the exoskeleton robot of the present invention, including left leg sensor-based system and right leg sensing system
System；The left leg sensor-based system and the data processing mainboard of right leg sensor-based system communication connection；The data processing mainboard communication
It is connected to ectoskeleton controller and host computer；The left leg sensor-based system and right leg sensor-based system include thigh posture and sense
Device, shank attitude transducer and sole attitude transducer.
As preferred embodiment, the thigh attitude transducer, shank attitude transducer and sole attitude transducer
It is respectively arranged on exoskeleton robot its thigh, shank and sole.
As preferred embodiment, the left leg sensor-based system and right leg sensor-based system are connected by RS-232 match circuits
It is connected to data processing mainboard.
As preferred embodiment, the data processing mainboard includes leading to left leg sensor-based system and right leg sensor-based system
The level switch module of letter and the micro controller to communicate with level switch module and the wireless module to communicate with micro controller.
Compared with prior art, the body gait sensory perceptual system of exoskeleton robot of the invention passes through appearance to the present invention
State sensor acquires the attitude data of human body lower limbs；Using micro controller as computing unit, the gait data of acquisition is resolved, prediction
And transmission；With the rotary motion of Nonlinear Time Series Analysis Takens algorithms prediction human body lower limbs key position；The system work(
It can stablize, can be accurately to the gait data acquisition of human body lower limbs and prediction, prediction result is reliable and stable, is carried for ectoskeleton controller
For reliable reference information.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Specific embodiment
As shown in Figure 1, the body gait sensory perceptual system of the exoskeleton robot of the present invention, including left leg sensor-based system and the right side
Leg sensor-based system；The left leg sensor-based system and the data processing mainboard of right leg sensor-based system communication connection；The data processing
Mainboard is communicatively connected to ectoskeleton controller and host computer；The left leg sensor-based system and right leg sensor-based system include thigh appearance
State sensor, shank attitude transducer and sole attitude transducer.
As preferred embodiment, the thigh attitude transducer, shank attitude transducer and sole attitude transducer
It is respectively arranged on exoskeleton robot its thigh, shank and sole.
As preferred embodiment, the left leg sensor-based system and right leg sensor-based system are connected by RS-232 match circuits
It is connected to data processing mainboard.
As preferred embodiment, the data processing mainboard includes leading to left leg sensor-based system and right leg sensor-based system
The level switch module of letter and the micro controller to communicate with level switch module and the wireless module to communicate with micro controller.
Compared with prior art, the body gait sensory perceptual system of exoskeleton robot of the invention passes through appearance to the present invention
State sensor acquires the attitude data of human body lower limbs；Using micro controller as computing unit, the gait data of acquisition is resolved, prediction
And transmission；With the rotary motion of Nonlinear Time Series Analysis Takens algorithms prediction human body lower limbs key position；The system work(
It can stablize, can be accurately to the gait data acquisition of human body lower limbs and prediction, prediction result is reliable and stable, is carried for ectoskeleton controller
For reliable reference information.
Using above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the content on specification, it is necessary to determine its technical scope according to right.
Claims (4)
1. a kind of body gait sensory perceptual system of exoskeleton robot, it is characterised in that：It is passed including left leg sensor-based system and right leg
Sensing system；The left leg sensor-based system and the data processing mainboard of right leg sensor-based system communication connection；The data processing mainboard
It is communicatively connected to ectoskeleton controller and host computer；The left leg sensor-based system and right leg sensor-based system include thigh posture and pass
Sensor, shank attitude transducer and sole attitude transducer.
2. the body gait sensory perceptual system of exoskeleton robot according to claim 1, it is characterised in that：The thigh appearance
State sensor, shank attitude transducer and sole attitude transducer are respectively arranged in exoskeleton robot its thigh, shank and foot
Palm.
3. the body gait sensory perceptual system of exoskeleton robot according to claim 1, it is characterised in that：The left leg passes
Sensing system and right leg sensor-based system are connected to data processing mainboard by RS-232 match circuits.
4. the body gait sensory perceptual system of exoskeleton robot according to claim 1, it is characterised in that：At the data
Reason mainboard includes the level switch module to communicate with left leg sensor-based system and right leg sensor-based system and communicates with level switch module
Micro controller and the wireless module that communicates with micro controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611124113.8A CN108175413A (en) | 2016-12-08 | 2016-12-08 | A kind of body gait sensory perceptual system of exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611124113.8A CN108175413A (en) | 2016-12-08 | 2016-12-08 | A kind of body gait sensory perceptual system of exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108175413A true CN108175413A (en) | 2018-06-19 |
Family
ID=62544949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611124113.8A Pending CN108175413A (en) | 2016-12-08 | 2016-12-08 | A kind of body gait sensory perceptual system of exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108175413A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108992071A (en) * | 2018-08-06 | 2018-12-14 | 上海博灵机器人科技有限责任公司 | A kind of lower limb exoskeleton formula gait analysis system |
| CN110842893A (en) * | 2019-11-10 | 2020-02-28 | 北京机械设备研究所 | Exoskeleton carrying gait judging method, device and system |
| 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 |
-
2016
- 2016-12-08 CN CN201611124113.8A patent/CN108175413A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108992071A (en) * | 2018-08-06 | 2018-12-14 | 上海博灵机器人科技有限责任公司 | A kind of lower limb exoskeleton formula gait analysis system |
| CN110842893A (en) * | 2019-11-10 | 2020-02-28 | 北京机械设备研究所 | Exoskeleton carrying gait judging method, device and system |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201510472U (en) | Wearable lower limb exoskeleton device | |
| CN101589983B (en) | Wearable lower limb exoskeleton device | |
| CN104434470B (en) | A kind of for assisting the lower limb exoskeleton robot of walking | |
| CN109195565B (en) | Walking movement assisting device | |
| EP3256045B1 (en) | System and method for assistive gait intervention and fall prevention | |
| CN105105973B (en) | Wearable power-assisted exoskeleton lower limb mechanism | |
| GB2567999A (en) | Robotic upper limb rehabilitation device | |
| CN106074073B (en) | A kind of control system and rehabilitation training strategy of lower limb rehabilitation robot | |
| CN108433946B (en) | Exercise assisting apparatus and control method thereof | |
| US20100130893A1 (en) | Rehabilitation supporting device | |
| KR102193771B1 (en) | Wearable robot and method for controlling the same | |
| CN106618958A (en) | Somatic sensory controlled upper limb exoskeleton mirrored rehabilitation robot | |
| CN108175413A (en) | A kind of body gait sensory perceptual system of exoskeleton robot | |
| CN108338896A (en) | A kind of wearable ankle rehabilitation running gear of five degree of freedom and its application method | |
| WO2015017435A2 (en) | Gait training system and methods | |
| CN111805511B (en) | Lower limb exoskeleton system with actively adjustable leg rod length and control method thereof | |
| CN107127736B (en) | Exoskeleton device with human hip assistance function | |
| CN110179622B (en) | Multifunctional lower limb rehabilitation integrated system based on virtual reality | |
| CN110507322A (en) | One kind quantifying status assessing system and method based on virtual induction myoelectricity | |
| CN111759672A (en) | Lower limb rehabilitation mirror image training method based on lower limb rehabilitation robot | |
| Yan et al. | A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis | |
| CN108175642A (en) | One kind is used for lower limb exoskeleton man-machine system closed-loop control sensor-based system | |
| CN108236559A (en) | Exercise aid device | |
| CN110478195A (en) | A kind of sensor device and integral type finger joint recovery gloves | |
| De Rossi et al. | Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180619 |
|
| WD01 | Invention patent application deemed withdrawn after publication |