CN112549001A - Exoskeleton joint force position composite compliance control method and system based on elastic element - Google Patents
Exoskeleton joint force position composite compliance control method and system based on elastic element Download PDFInfo
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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Abstract
The invention provides an exoskeleton joint force position composite compliance control method and system based on elastic elements, which comprises the following steps: step S1: collecting motor information, and obtaining motor data collection result information; acquiring motor information, limb posture information and human-computer interaction force information, and acquiring motor acquisition result information, limb posture acquisition result information and human-computer interaction force acquisition result information; step S2: acquiring limb posture information, and acquiring limb posture acquisition result information; step S3: acquiring human-computer interaction force information and acquiring human-computer interaction force acquisition result information; step S4: acquiring active compliance control information of the exoskeleton joint assistance with force position compounding; the invention adopts the elastic element and the actuating mechanism which are connected in parallel, continuously keeps the load from sudden change, restrains the transmission jitter phenomenon and realizes the passive compliance of the control.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an exoskeleton joint force position composite compliance control method and system based on elastic elements.
Background
The current exoskeleton robot can realize the auxiliary action on people to a certain extent, helps people to complete certain action, is still insufficient in synchronism or coordination with human motion, and follows the size of the human body power assistance and the motion position to be incapable of coordination matching. The technical defects are not only limited by the production technical level, but also relate to the sensing and control technology, and are bottleneck problems restricting the development of the exoskeleton technology.
On the production technical level, the method is mainly embodied in that the motion flexibility of a transmission mechanism (comprising a motor gear and the like) is poor due to insufficient production precision or transmission clearance generated by incompact matching size, and the phenomena of non-compliance such as power-assisted shaking of an external skeleton and the like are embodied; in the aspect of sensing and control technology, the defects of sensor types, position arrangement and the like are mainly reflected in that the motion state of a human body cannot be sensed comprehensively and truly, so that the control algorithm cannot control the exoskeleton robot to move flexibly along with the human body, and the control effect is poor.
Patent document CN210998703U discloses a flexible clutchable exoskeleton joint actuator, installed between the thigh and the shank of an exoskeleton of an orthosis in parallel with the lower limbs of a human body, for providing passive compliance and a single-sided wire-out configuration in a joint-disabled state, comprising: internally mounted has motor stator's motor base, sets up in motor stator's inside electric motor rotor, the output portion and the reduction gear that connect gradually and run through motor stator, reduction gear and the rotating part of output portion, and wherein, the output portion includes: output dish, outer lane corner feedback board, first magnetic ring, a plurality of magnetic encoding linear sensing, shank locking connection dish, dish spring and the absolute corner feedback rod of joint, the reduction gear includes: shank connection pad, reduction gear rigid wheel, reduction gear flexbile gear and reduction gear wave generator, the rotating part includes: rotor connecting piece, bearing group, hollow centering axle and joint absolute movement feedback axle. The patent still leaves room for improvement in the process step configuration and technical effect.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an exoskeleton joint force position composite compliance control method and system based on an elastic element.
The invention provides an exoskeleton joint force position composite compliance control method based on an elastic element, which comprises the following steps:
step S1: collecting motor information according to motor data collection control information to obtain motor data collection result information; step S2: acquiring control information according to the body posture, acquiring body posture information and acquiring body posture acquisition result information; step S3: acquiring control information according to the human-computer interaction force, acquiring human-computer interaction force information, and acquiring human-computer interaction force acquisition result information; step S4: acquiring active compliance control information of the exoskeleton joint assistance with force position compounding according to motor data acquisition result information, limb posture acquisition result information and human-computer interaction force acquisition result information; the active compliance control information of the exoskeleton joint assistance with force position compounding can form active compliance control of the exoskeleton joint assistance with force position compounding.
Preferably, the step S4 includes:
step S4.1: according to the active compliance control information of the exoskeleton joint assistance with force position compounding, a continuous load moment is generated on the joint assistance structure in a mode that an elastic element is connected with an execution mechanism in parallel.
The problem that the assistance shakes due to sudden load change caused by the transmission mechanism clearance (including motor gear clearance, actuating mechanism clearance and the like) or the flexibility of the binding structure is solved, and the passive compliance control of joint assistance is realized.
Preferably, the step S1 includes: step S1.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: output force information of the motor and motor position information; the motor data acquisition result information comprises: output force information of the motor, and motor position information.
Preferably, the step S2 includes: step S2.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: and acquiring result information of the limb posture.
Preferably, the step S3 includes: step S3.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: acquiring result information by human-computer interaction force; the output quantity of the model is the motor control quantity, and the control algorithm model reaches the standard after being trained on gait data of an exoskeleton suitable object before being used.
Preferably, the step S4 includes:
step S4.2: a sensor for outputting force and position of the motor is arranged on the joint motor, and real-time feedback of sensing data is realized; the MENS posture sensor is arranged on a limb characteristic part capable of reflecting limb movement, the movement data (including angle, angular velocity and acceleration) of the limb is fed back, and the force sensor is arranged on a key part of human-computer combination to feed back human-computer interaction force.
The effective movement direction of the actuating mechanism can be determined according to the actual power-assisted direction and the structural design requirement; the effective movement direction and mode of the elastic element are not fixed and are consistent with the assistance direction of the actuating mechanism, such as rotating the effective elastic element and the like.
According to the invention, the exoskeleton joint force position composite compliance control system based on the elastic element comprises:
module M1: collecting motor information according to motor data collection control information to obtain motor data collection result information; module M2: acquiring control information according to the body posture, acquiring body posture information and acquiring body posture acquisition result information; module M3: acquiring control information according to the human-computer interaction force, acquiring human-computer interaction force information, and acquiring human-computer interaction force acquisition result information; module M4: acquiring active compliance control information of the exoskeleton joint assistance with force position compounding according to motor data acquisition result information, limb posture acquisition result information and human-computer interaction force acquisition result information; the active compliance control information of the exoskeleton joint assistance with force position compounding can form active compliance control of the exoskeleton joint assistance with force position compounding.
Preferably, said module M4 comprises:
module M4.1: according to the active compliance control information of the exoskeleton joint assistance with force position compounding, a continuous load moment is generated on the joint assistance structure in a mode that an elastic element is connected with an execution mechanism in parallel.
The problem that the assistance shakes due to sudden load change caused by the transmission mechanism clearance (including motor gear clearance, actuating mechanism clearance and the like) or the flexibility of the binding structure is solved, and the passive compliance control of joint assistance is realized.
Preferably, said module M1 comprises: module M1.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: output force information of the motor and motor position information; the motor data acquisition result information comprises: output force information of the motor, and motor position information.
Preferably, said module M2 comprises: module M2.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: and acquiring result information of the limb posture.
Preferably, said module M3 comprises: module M3.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: acquiring result information by human-computer interaction force; the output quantity of the model is the motor control quantity, and the control algorithm model reaches the standard after being trained on gait data of an exoskeleton suitable object before being used.
Preferably, said module M4 comprises:
module M4.2: a sensor for outputting force and position of the motor is arranged on the joint motor, and real-time feedback of sensing data is realized; the MENS posture sensor is arranged on a limb characteristic part capable of reflecting limb movement, the movement data (including angle, angular velocity and acceleration) of the limb is fed back, and the force sensor is arranged on a key part of human-computer combination to feed back human-computer interaction force.
The effective movement direction of the actuating mechanism can be determined according to the actual power-assisted direction and the structural design requirement; the effective movement direction and mode of the elastic element are not fixed and are consistent with the assistance direction of the actuating mechanism, such as rotating the effective elastic element and the like.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts the elastic element and the actuating mechanism which are connected in parallel, continuously keeps the load from sudden change, restrains the transmission jitter phenomenon and realizes the passive compliance of the control;
2. the invention is based on the passive control design of the elastic element, and reduces the requirements on the matching precision of the gear, the matching precision of the transmission mechanism and the flexible binding of limbs;
3. the invention adopts an intelligent control algorithm based on a high-integration sensing system to realize the force and position compound control of the joint motor and the active flexible control of the exoskeleton joint.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of the control principle of the present invention;
FIG. 2 is a schematic diagram of an intelligent control algorithm model in an embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Aiming at the bottleneck problem of the existing exoskeleton robot, the invention provides an exoskeleton joint force position composite compliance control method based on an elastic element. The elastic element is used as a passive compliance control part, and an intelligent control algorithm based on a force position composite control strategy is used as an active compliance control part, so that the defect that the exoskeleton helps a human body to assist is overcome, and the compliance of exoskeleton control is improved.
As shown in fig. 1 and 2, an exoskeleton joint force position composite compliance control method based on elastic elements is based on an exoskeleton robot intelligent control algorithm, and integrates sensor feedback data of motor output force and position, limb posture and human-computer interaction force to form force position composite exoskeleton joint assisted active compliance control.
The mode that the elastic element is connected with the executing mechanism in parallel is adopted to generate continuous load moment on the joint power assisting structure, the non-compliant phenomenon of power assisting shaking caused by sudden change of load due to transmission mechanism gaps (including motor gear gaps, executing mechanism gaps and the like) or the flexibility of a binding structure is overcome, and the passive compliant control of joint power assisting is realized.
The intelligent control algorithm of the exoskeleton joint assisted robot has the capabilities of intelligent gait recognition and human motion intention judgment, the input quantity of the algorithm comprises sensor data of the output force and position of a motor, the limb posture and human-computer interaction force, the output quantity is the motor control quantity, and the model schematic diagram of the intelligent control algorithm is shown in FIG. 2; before the control algorithm model is used, gait data of an exoskeleton suitable object is required to be adopted for carrying out massive training, and the trained algorithm model is subjected to performance evaluation to meet the use requirement and be usable. And the active compliance control of the exoskeleton joint assistance is realized by adopting an intelligent control algorithm.
The exoskeleton is provided with a joint motor, a sensor for mounting the output force and the output position of the motor and realizes the real-time feedback of sensing data; the MENS posture sensor which can reflect the limb movement and is arranged on the characteristic part of the limb is arranged to feed back the movement data (including angle, angular velocity and acceleration) of the limb; and a force sensor which can feed back human-computer interaction force and is arranged at a key part for human-computer combination is arranged.
The effective movement direction of the actuating mechanism of the exoskeleton can be determined according to the assistance direction and the structural design requirement required by the actual joint, and the effective movement direction and the mode of the elastic element are not fixed and are consistent with the assistance direction of the actuating mechanism, such as rotating the effective elastic element.
The motor control of the exoskeleton joint power-assisted robot adopts a force and position compound control mode, and power assistance can be realized in the whole process of joint flexion and extension. When the spring is stretched, the output force of the motor overcomes the pulling force of the spring and assists the leg to assist; when the spring contracts, the output force of the motor cooperates with the pulling force of the spring to assist the leg to move. The energy output by the torque motor against the spring extension is stored in the spring without loss.
Specifically, in one embodiment, a method for exoskeleton joint force position composite compliance control based on elastic elements. The mode that the elastic element is connected with the actuating mechanism in parallel is adopted to generate continuous load moment on the joint power-assisted structure, and the non-compliant phenomenon of power-assisted shaking caused by sudden change of load due to the gap of a transmission mechanism or the flexibility of a binding structure is overcome; a joint motor is adopted to output bidirectional torque, so that bidirectional assistance of the exoskeleton on flexion and extension of joints of a human body is realized; the real-time sensing feedback signals of the power and position of the joint motor, the real-time sensing feedback signals of the limb posture and the man-machine interaction force are used, the processing operation is carried out by an exoskeleton control algorithm, and the output control quantity acts on the joint motor, so that the force and position compound control of the joint motor is realized; the elastic element is used as a passive joint compliance control part, the joint motor control is used as an active joint compliance control part, and the control compliance of the joint assistance is integrally improved; by combining an exoskeleton intelligent control algorithm, the accuracy of human motion posture recognition and prejudgment and the precision of active motor control are improved.
According to the control principle schematic diagram, the exoskeleton robot control method is summarized as follows:
1. acquiring signals of the limb posture and the human-computer interaction force sensor;
2. collecting the output force and position sensing signals of the motor;
3. inputting the attitude sensing signal, the human-computer interaction force sensing signal, the motor output force and the position sensing signal into an exoskeleton robot intelligent control algorithm model;
4. the intelligent control algorithm model completes operation according to the input signal and outputs a control signal of the joint motor;
5. the joint motor drives the actuating mechanism and the elastic element according to the control signal;
6. the limbs are flexibly bound and the joint movement is assisted;
7. and returning to the step 1.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. An exoskeleton joint force position composite compliance control method based on elastic elements is characterized by comprising the following steps:
step S1: collecting motor information according to motor data collection control information to obtain motor data collection result information;
collecting motor information, limb posture information and human-computer interaction force information, and obtaining motor collection result information, limb posture collection result information and human-computer interaction force collection result information
Step S2: acquiring control information according to the body posture, acquiring body posture information and acquiring body posture acquisition result information;
step S3: acquiring control information according to the human-computer interaction force, acquiring human-computer interaction force information, and acquiring human-computer interaction force acquisition result information;
step S4: acquiring active compliance control information of the exoskeleton joint assistance with force position compounding according to motor data acquisition result information, limb posture acquisition result information and human-computer interaction force acquisition result information;
the active compliance control information of the exoskeleton joint assistance with force position compounding can form active compliance control of the exoskeleton joint assistance with force position compounding.
2. The elastic element based exoskeleton joint force position composite compliance control method of claim 1, wherein said step S4 comprises:
step S4.1: according to the active compliance control information of the exoskeleton joint assistance with force position compounding, a continuous load moment is generated on the joint assistance structure in a mode that an elastic element is connected with an execution mechanism in parallel.
3. The elastic element based exoskeleton joint force position composite compliance control method of claim 1, wherein said step S1 comprises:
step S1.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: output force information of the motor and motor position information;
the motor data acquisition result information comprises: output force information of the motor, and motor position information.
4. The elastic element based exoskeleton joint force position composite compliance control method of claim 1, wherein said step S2 comprises:
step S2.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: acquiring result information of the limb posture;
step S3.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: and acquiring result information by the human-computer interaction force.
5. The elastic element based exoskeleton joint force position composite compliance control method of claim 1, wherein said step S4 comprises:
step S4.2: and a sensor for outputting force and position of the motor is arranged on the joint motor, and real-time feedback of sensing data is realized.
6. An exoskeleton joint force position composite compliance control system based on elastic elements, comprising:
module M1: collecting motor information according to motor data collection control information to obtain motor data collection result information;
collecting motor information, limb posture information and human-computer interaction force information, and obtaining motor collection result information, limb posture collection result information and human-computer interaction force collection result information
Module M2: acquiring control information according to the body posture, acquiring body posture information and acquiring body posture acquisition result information;
module M3: acquiring control information according to the human-computer interaction force, acquiring human-computer interaction force information, and acquiring human-computer interaction force acquisition result information;
module M4: acquiring active compliance control information of the exoskeleton joint assistance with force position compounding according to motor data acquisition result information, limb posture acquisition result information and human-computer interaction force acquisition result information;
the active compliance control information of the exoskeleton joint assistance with force position compounding can form active compliance control of the exoskeleton joint assistance with force position compounding.
7. The elastic element based exoskeleton joint force position compound compliance control system of claim 6 wherein said module M4 comprises:
module M4.1: according to the active compliance control information of the exoskeleton joint assistance with force position compounding, a continuous load moment is generated on the joint assistance structure in a mode that an elastic element is connected with an execution mechanism in parallel.
8. The elastic element based exoskeleton joint force position compound compliance control system of claim 1 wherein said module M1 comprises:
module M1.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: output force information of the motor and motor position information;
the motor data acquisition result information comprises: output force information of the motor, and motor position information.
9. The elastic element based exoskeleton joint force position compound compliance control system of claim 1 wherein said module M2 comprises:
module M2.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: acquiring result information of the limb posture;
the module M3 includes:
module M3.1: the intelligent control algorithm model with intelligent gait recognition and human motion intention discrimination capability is adopted, and the input quantity of the intelligent control algorithm model comprises the following steps: and acquiring result information by the human-computer interaction force.
10. The elastic element based exoskeleton joint force position compound compliance control system of claim 1 wherein said module M4 comprises:
module M4.2: and a sensor for outputting force and position of the motor is arranged on the joint motor, and real-time feedback of sensing data is realized.
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| CN114789432A (en) * | 2022-03-31 | 2022-07-26 | 西安交通大学 | Force and position hybrid control method of double-arm robot for building board installation |
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