CN108247605A - A kind of urgent attitude control method and system - Google Patents
A kind of urgent attitude control method and system Download PDFInfo
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- CN108247605A CN108247605A CN201711317621.2A CN201711317621A CN108247605A CN 108247605 A CN108247605 A CN 108247605A CN 201711317621 A CN201711317621 A CN 201711317621A CN 108247605 A CN108247605 A CN 108247605A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of urgent attitude control methods and system, this method to include：Lower extremity movement parameter is obtained, including knee joint angle parameter, knee joint angle running parameter, ankle-joint pressure parameter and ankle-joint pressure change parameter；According to the period of motion that lower limb auxiliary device described in the lower extremity movement parameter tags is in, the period of motion includes walking support phase and walking shaking peroid；Corresponding control instruction is exported based on the period of motion, the knee joint angle running parameter and/or the ankle-joint pressure change parameter to control the hydraulic power unit.The system is used to perform method.The present invention is loaded into corresponding movement configuration file according to lower limb posture, can targetedly handle the variation of corresponding knee joint angle and/or ankle-joint pressure, exports corresponding suitable instruction to control the walking of hydraulic power unit auxiliary people.
Description
Technical field
The present invention relates to exercise aid device field more particularly to a kind of urgent attitude control method and systems.
Background technology
Caused by due to the aged and disease it is handicapped can strong influence people normal life, be accordingly used in auxiliary
The instrument of movement of helping others also is widely used in actual life, and now, these instruments can be fine in the case of normal work
Auxiliary people walking, but then people cannot be assisted to walk well encountering the emergency such as slipping, stumble.
Invention content
In order to solve the problems, such as auxiliary people walking in emergency circumstances, the present invention is by providing a kind of urgent gesture stability side
Method and system.
On the one hand the technical solution adopted by the present invention is a kind of urgent attitude control method, suitable for being filled using hydraulic power
The lower limb auxiliary device put, including step：Lower extremity movement parameter is obtained, is changed including knee joint angle parameter, knee joint angle
Parameter, ankle-joint pressure parameter and ankle-joint pressure change parameter；It is assisted according to lower limb described in the lower extremity movement parameter tags
The period of motion that device is in, the period of motion include walking support phase and walking shaking peroid；Based on the period of motion, institute
It states knee joint angle running parameter and/or the ankle-joint pressure change parameter exports corresponding control instruction to control the liquid
Press power apparatus.
Preferably, it is the walking support phase when the period of motion, judges whether the ankle-joint pressure change parameter is more than pressure
Threshold value is to increase the damping of the hydraulic power unit；It it is walking shaking peroid when the period of motion, if the knee joint angle
Parameter remains unchanged in preset time then locks the hydraulic power unit.
Preferably, the step of period of motion that the lower limb auxiliary device according to the lower extremity movement parameter tags is in, wraps
It includes：When knee joint angle parameter is more than angle threshold and the knee joint angle running parameter is less than change threshold, institute is marked
State lower limb auxiliary device be in walking the support phase, it is on the contrary then for walk shaking peroid.
On the one hand the technical solution adopted by the present invention is a kind of urgent attitude control system, for performing the above method, packet
It includes：Acquisition module, for obtaining lower extremity movement parameter, including knee joint angle parameter, knee joint angle running parameter, ankle-joint
Pressure parameter and ankle-joint pressure change parameter；Processing module, it is auxiliary for the lower limb according to the lower extremity movement parameter tags
It helps the period of motion that device is in, the period of motion includes walking support phase and walking shaking peroid；Control module, for being based on
The period of motion, the knee joint angle running parameter and/or the ankle-joint pressure change parameter export corresponding control
It instructs to control the hydraulic power unit.
Preferably, it is the walking support phase when the period of motion, judges whether the ankle-joint pressure change parameter is more than pressure
Threshold value is to increase the damping of the hydraulic power unit；It it is walking shaking peroid when the period of motion, if the knee joint angle
Parameter remains unchanged in preset time then locks the hydraulic power unit.
Preferably, the step of period of motion that the lower limb auxiliary device according to the lower extremity movement parameter tags is in, wraps
It includes：When knee joint angle parameter is more than angle threshold and the knee joint angle running parameter is less than change threshold, institute is marked
State lower limb auxiliary device be in walking the support phase, it is on the contrary then for walk shaking peroid.
Beneficial effects of the present invention are the period of motion being according to lower extremity movement parameter tags lower limb auxiliary device, according to
The different periods of motion and lower extremity movement parameter export corresponding control instruction to control the hydraulic power unit.
Description of the drawings
Fig. 1 show a kind of schematic diagram of urgent attitude control method based on the embodiment of the present invention；
Fig. 2 show the schematic diagram of the state signal collecting process of stumbling based on the embodiment of the present invention；
Fig. 3 show the schematic diagram that the foot based on the embodiment of the present invention slides state signal collecting process；
Fig. 4 show the flow chart that the system based on the embodiment of the present invention enters anti-protected mode of stumbling；
Fig. 5 show the system based on the embodiment of the present invention and slips the flow chart of protected mode into anti-foot.
Specific embodiment
The present invention will be described with reference to embodiments.
Embodiment based on invention, a kind of urgent attitude control method as shown in Figure 1, suitable for being filled using hydraulic power
The lower limb auxiliary device put, including step：Lower extremity movement parameter is obtained, is changed including knee joint angle parameter, knee joint angle
Parameter, ankle-joint pressure parameter and ankle-joint pressure change parameter；It is assisted according to lower limb described in the lower extremity movement parameter tags
The period of motion that device is in, the period of motion include walking support phase and walking shaking peroid；Based on the period of motion, institute
It states knee joint angle running parameter and/or the ankle-joint pressure change parameter exports corresponding control instruction to control the liquid
Press power apparatus.
It is the walking support phase when the period of motion, judges whether the ankle-joint pressure change parameter is more than pressure threshold, is
Then increase the damping of the hydraulic power unit；It it is walking shaking peroid when the period of motion, if the knee joint angle parameter exists
It is remained unchanged in preset time and then locks the hydraulic power unit.
Included according to the step of period of motion that lower limb auxiliary device described in the lower extremity movement parameter tags is in：Work as knee
When joint angles parameter is more than angle threshold and the knee joint angle running parameter and is less than change threshold, mark the lower limb auxiliary
Help device be in walking the support phase, it is on the contrary then for walk shaking peroid.
Embodiment based on invention, a kind of urgent attitude control system, for performing the above method, including：Acquisition module,
For obtaining lower extremity movement parameter, including knee joint angle parameter, knee joint angle running parameter, ankle-joint pressure parameter and ankle
Joint pressure running parameter；Processing module is in for the lower limb auxiliary device according to the lower extremity movement parameter tags
The period of motion, the period of motion include walking support phase and walking shaking peroid；Control module, for being based on the movement week
Phase, the knee joint angle running parameter and/or the ankle-joint pressure change parameter export corresponding control instruction to control
The hydraulic power unit.
It is the walking support phase when the period of motion, judges whether the ankle-joint pressure change parameter is more than pressure threshold, is
Then increase the damping of the hydraulic power unit；It it is walking shaking peroid when the period of motion, if the knee joint angle parameter exists
It is remained unchanged in preset time and then locks the hydraulic power unit.
Included according to the step of period of motion that lower limb auxiliary device described in the lower extremity movement parameter tags is in：Work as knee
When joint angles parameter is more than angle threshold and the knee joint angle running parameter and is less than change threshold, mark the lower limb auxiliary
Help device be in walking the support phase, it is on the contrary then for walk shaking peroid.
For people when action, based on body mechanics' principle, being roughly divided into walking driving phase, (plantar contact is on the spot
To leaving on the spot, i.e., the aftermentioned support phase) and walking recovery phase (sole leaves on the spot extremely contact on the spot, i.e., aftermentioned shaking peroid),
It, substantially will not there is a situation where stumble since walking driving phase actually leg seldom moves forward；Otherwise row
Recovery phase is walked then since foot has lifted sky, and the thing of foot cunning will not occur substantially.
As lower limb posture (motion feature) numeralization handle, mainly by the pressure of ankle-joint and knee joint angle come
Embody above-mentioned walking support phase and walking shaking peroid.
Device of the lower limb auxiliary device as circuit drives mechanical structure needs setting one for control device movement
Control program or configuration file；Simultaneously for lower limb auxiliary device, it is sliding and stumble that both are moved in body mechanics that foot occurs
Feature distinguishes larger situation, is specifically analyzed in light of the circumstances and exports corresponding instruction.
Knee angle can be measured by equipment such as various pressure sensors, such as angle measurement equipment, acceleration transducers
Degree and angle change parameter, ankle-joint pressure and pressure change parameter；According to body mechanics' principle, several movements actually carried out
It tests to record in human body motion process (in this example, the movement is predominantly walked), the change of corresponding lower extremity movement parameter
Change situation, according to these situations of change, (such as pressure is in any section, pressure change parameter is in what section, knee joint
Angle is in any section, and knee joint angle running parameter is in what section, such as people in the support phase, and knee joint is always to stretch
Exhibition, angle is more than certain value, and angle number, the change rate of angle change all will not be big, conversely, in shaking peroid, knee joint
Change greatly) to read corresponding control instruction the hydraulic power unit is controlled to control.
It stumbles emergency situation：When stumble in shaking peroid situation when, exist and hinder situation to kneed, at this time
Existing situation is exactly that calf is obstructed, and happening for quick buckling occurs for knee joint.Generation for case above, pole
It easily leads to and kneels down on one's both knees, it is more serious forward lean to be caused to fall down to the ground.The safeguard measure taken at this time is exactly：Prevent stumbling when entering
It is exactly the damping for increasing hydraulic power unit first during protected mode, slows down centre of body weight pace of change, when discovery body loses
When going balance, hydraulic power unit damping valve is locked immediately so that knee joint keeps flexion angle α at this time, keeps body
Equilibrium state.
Foot slides emergency situation：When foot occurring in the phase of support sliding situation, there are leg the phase of support at the time of forward or to
Afterwards slip condition occur, at this time existing situation be exactly support phase body center of gravity unstability, body forward lie prone or body after
It faces upward.Generation for case above is lain prone before easily causing, more serious to cause to lean back to fall down to the ground.The protection taken at this time
Measure is exactly：When entering foot cunning protected mode, knee joint was in the phase of support, and under normal circumstances, knee joint is in lock
Death situation state；When foot cunning emergency occurs, it is exactly the damping for increasing hydraulic power unit first, makes centre of body weight pace of change
Slow down.It either before lies prone or swings back, knee joint can there are a flexion angles to maintain the balance of body, when knee joint is kept
The time T ＞ threshold values T0 of flexion angle β damps valve in locking state, body is made to be in the equilibrium state of the state at this time.
State signal collecting process of stumbling as shown in Figure 2：
Ankle-joint pressure sensor is mainly the variation for detecting the ankle stress as caused by the variation of centre of body weight,
During shaking peroid, shank is in hanging swing state, and the stress of ankle is constant from theory analysis.It is tight when stumbling
During anxious dangerous situation, due to the blocking of foot obstruction object, instantaneous rotation can occur for ankle, cause ankle by
Power changes.Simultaneously as the blocking of foot obstruction object, knee joint angle occurs constant.Ankle-joint pressure sensor acquires
Angle not varying signal is collected to instantaneous deformation signal and knee joint angle sensor, by signal processing circuit, by pressure
Signal and knee joint angle signal are changed into electric signal.
Foot as shown in Figure 3 slides state signal collecting process：
Gatherer process：Ankle-joint pressure sensor mainly detects the ankle stress as caused by the variation of centre of body weight
Variation, in the phase of support, shank is in the state on ground of being supported in, and the stress of ankle is continuously to become from theory analysis
The process of change.When sliding emergency risks there is a situation where foot, since unstability seriously occurs for centre of body weight, after either leaning forward still
It faces upward, all there are ankle-joint pressure to occur temporary impact drastic change.Ankle joint angle sensor collects instantaneous sharp change signal, by letter
Number processing circuit, is changed into electric signal by pressure signal.
System as shown in Figure 4 enters the flow chart of anti-protected mode of stumbling：
System initialization, knee joint angle sensor need whether the angle detected residing for knee joint has been enter into walking swing
Phase, when ankle joint angle sensor detects that equal (i.e. foot connects gravity center of human body's stress with the walking support phase stress that artificially sets
Touch on the spot), detecting system (i.e. preprocessing module) can enter the judgement to shaking peroid.When the knee joint rotation direction that detects with
When the shaking peroid knee joint rotation direction artificially set is inconsistent, knee joint angle sensor will continue to the change to knee joint angle
Change angle detecting.
Whether detecting system enters to shaking peroid, and there are two Rule of judgment：1st, whether the stress F of ankle has reached
To the stress of artificial settings, i.e. force signal F=K1 (meets body mechanics' principle, K1 preset values)；2nd, whether knee joint
By buckling with whether stretching (i.e. according to angle change parameter), mainly judged at this time using kneed rotation direction, knee
Residing direction is positive flag==1 when joint is stretched, and when buckling, residing direction was negative flag==0.Two above condition
Under the premise of meeting simultaneously, system formally enters anti-protected mode of stumbling.
Wherein, K1 is support phase and shaking peroid support force critical value, this value is setting value；Rotating flag bit distinguishes buckling
(flag==0) and (flag==1) is stretched.
System as shown in Figure 5 enters anti-foot and slips the flow chart of protected mode：
System initialization, knee joint angle sensor need whether the angle detected residing for knee joint has been enter into walking support
Phase, when knee joint angle sensor detect knee joint angle α with it is preset walking the support phase angle K2 it is consistent, detecting system
The judgement to supporting the phase can be entered；When the knee joint angle detected is not waited with the angle of walking support phase artificially set,
Knee joint angle sensor will continue to the detection to knee joint angle.
Whether detecting system enters to supporting the phase, and there are two Rule of judgment：1st, knee joint whether by buckling with whether stretching
Directly, mainly judged at this time using kneed rotation direction, for just, when buckling is residing in residing direction when knee joint stretches
Direction be negative (meeting body mechanics' principle)；2nd, the invariance (KT==0) of delay judgement knee joint angle and denaturation (KT=
=1), judge knee joint angle with the presence or absence of variation by the method for delay detection.The premise that two above condition meets simultaneously
Under, system formally slips protected mode into anti-foot.
Wherein, K2 is in the angle value residing for support phase knee joint, this value is setting value.
The above, only presently preferred embodiments of the present invention, the invention is not limited in the above embodiment, as long as
It reaches the technique effect of the present invention with identical means, should all belong to the scope of protection of the present invention.In the protection model of the present invention
Its technical solution and/or embodiment can have a variety of different modifications and variations in enclosing.
Claims (6)
- A kind of 1. urgent attitude control method, suitable for the lower limb auxiliary device using hydraulic power unit, which is characterized in that packet Include step：Lower extremity movement parameter is obtained, including knee joint angle parameter, knee joint angle running parameter, ankle-joint pressure parameter and ankle Joint pressure running parameter；According to the period of motion that lower limb auxiliary device described in the lower extremity movement parameter tags is in, the period of motion includes row Walk support phase and walking shaking peroid；Based on the output pair of the period of motion, the knee joint angle running parameter and/or the ankle-joint pressure change parameter The control instruction answered is to control the hydraulic power unit.
- 2. urgent attitude control method according to claim 1, which is characterized in that when the period of motion for walking the support phase, Judge whether the ankle-joint pressure change parameter is more than pressure threshold, is the damping for increasing the hydraulic power unit；It is walking shaking peroid when the period of motion, institute is locked if the knee joint angle parameter remains unchanged in preset time State hydraulic power unit.
- 3. urgent attitude control method according to claim 1, which is characterized in that according to the lower extremity movement parameter tags The step of period of motion that the lower limb auxiliary device is in, includes：When knee joint angle parameter is more than angle threshold and the knee joint angle running parameter is less than change threshold, institute is marked State lower limb auxiliary device be in walking the support phase, it is on the contrary then for walk shaking peroid.
- 4. a kind of urgent attitude control system requires 1 the method for perform claim, which is characterized in that including：Acquisition module for obtaining lower extremity movement parameter, is closed including knee joint angle parameter, knee joint angle running parameter, ankle Save pressure parameter and ankle-joint pressure change parameter；Processing module, it is described for the period of motion that the lower limb auxiliary device according to the lower extremity movement parameter tags is in The period of motion includes walking support phase and walking shaking peroid；Control module becomes for being based on the period of motion, the knee joint angle running parameter and/or the ankle-joint pressure Change parameter and export corresponding control instruction to control the hydraulic power unit.
- 5. a kind of urgent attitude control system according to claim 4, which is characterized in that supported when the period of motion for walking Phase judges whether the ankle-joint pressure change parameter is more than pressure threshold, is the damping for increasing the hydraulic power unit；It is walking shaking peroid when the period of motion, institute is locked if the knee joint angle parameter remains unchanged in preset time State hydraulic power unit.
- 6. a kind of urgent attitude control system according to claim 4, which is characterized in that according to the lower extremity movement parameter The step of period of motion that the lower limb auxiliary device is marked to be in, includes：When knee joint angle parameter is more than angle threshold and the knee joint angle running parameter is less than change threshold, institute is marked State lower limb auxiliary device be in walking the support phase, it is on the contrary then for walk shaking peroid.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711317621.2A CN108247605B (en) | 2017-12-12 | 2017-12-12 | Emergency attitude control method and system |
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|---|---|---|---|
| CN201711317621.2A CN108247605B (en) | 2017-12-12 | 2017-12-12 | Emergency attitude control method and system |
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| CN108247605A true CN108247605A (en) | 2018-07-06 |
| CN108247605B CN108247605B (en) | 2020-03-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111358667A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Method for controlling man-machine interactive motion of lower limb exoskeleton based on joint stress |
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| CN106625604A (en) * | 2016-12-30 | 2017-05-10 | 深圳先进技术研究院 | Motion state discriminating method and system based on aiding exoskeleton robot |
| JP2017196681A (en) * | 2016-04-26 | 2017-11-02 | 川崎重工業株式会社 | Industrial robot |
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| CN103042526A (en) * | 2013-01-22 | 2013-04-17 | 北京理工大学 | Method and device for controlling to support foot of humanoid robot in single leg supporting period |
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| CN111358667A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Method for controlling man-machine interactive motion of lower limb exoskeleton based on joint stress |
| CN111358667B (en) * | 2018-12-26 | 2022-02-11 | 沈阳新松机器人自动化股份有限公司 | Method for controlling man-machine interactive motion of lower limb exoskeleton based on joint stress |
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