CN118161383A - Lower limb exoskeleton control system and method based on wireless communication - Google Patents
Lower limb exoskeleton control system and method based on wireless communication Download PDFInfo
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- CN118161383A CN118161383A CN202410400548.9A CN202410400548A CN118161383A CN 118161383 A CN118161383 A CN 118161383A CN 202410400548 A CN202410400548 A CN 202410400548A CN 118161383 A CN118161383 A CN 118161383A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 33
- 238000004891 communication Methods 0.000 title claims abstract description 31
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- 238000012549 training Methods 0.000 claims description 14
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- 238000004590 computer program Methods 0.000 claims description 2
- 230000036544 posture Effects 0.000 description 4
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- 210000003414 extremity Anatomy 0.000 description 2
- 210000004197 pelvis Anatomy 0.000 description 2
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Abstract
The invention relates to a lower limb exoskeleton control system based on wireless communication, which comprises: the system comprises an exoskeleton sensing module, a server, a wireless repeater and an exoskeleton controller, wherein the exoskeleton sensing module is connected with the server through the wireless repeater, the server is connected with the exoskeleton controller through the wireless repeater, the exoskeleton sensing module is used for sending acquired human motion data to the server through the wireless repeater, the server is used for deploying a human gait recognition algorithm, receiving the data transmitted from the exoskeleton sensing module as the input of the algorithm, outputting the recognition result of the exoskeleton sensing module in real time, converting the result into an exoskeleton control signal, and outputting the exoskeleton control signal to the exoskeleton controller through the wireless repeater. Compared with a small-volume algorithm deployment module suitable for the exoskeleton, the performance of the server deployed at the far end has higher computational power, and the result can be obtained faster when the algorithms with the same complexity are deployed, so that the robustness of the exoskeleton control system is improved.
Description
Technical Field
The invention relates to the technical field of lower limb exoskeleton sensing and control, in particular to a lower limb exoskeleton control system based on wireless communication, and further relates to a lower limb exoskeleton control method based on wireless communication.
Background
With the advent of social aging, people are pressing to need intelligent wearable devices that can be used to assist the elderly in walking. Therefore, the lower limb exoskeleton robot is a power assisting device for enhancing the movement capacity of the lower limb, and controls the body of the robot to achieve the expected joint angle/angular speed and the interaction force/moment of the end execution device through the movement behavior/movement consciousness of the human body, so as to realize the power assisting effect of coordinated movement with the human body.
The existing lower limb exoskeleton sensing and control modules realize the deployment of sensing and control algorithms through sensors integrated with the body, a main controller capable of supporting machine learning and a driving controller. According to the scheme, the weight of the exoskeleton body is greatly increased, meanwhile, the calculation force of the exoskeleton main controller has a certain limitation, so that a gait recognition algorithm with a high calculation force requirement cannot be moved to the exoskeleton body, and the assistance planning and control instantaneity are limited. Meanwhile, an inertial sensor capable of measuring the human body posture commonly uses wired or wireless Bluetooth communication, the wired communication has the problems of time and labor waste in wiring, and the cable is easy to damage due to the human body movement; the existing lower limb exoskeleton adopting a wireless communication scheme has the problems of poor sensing stability, easy disconnection, low transmission speed and the like, and cannot meet the technical requirements of the exoskeleton on gait recognition algorithms.
Disclosure of Invention
According to the problems of the existing exoskeleton sensing and controlling technology, the invention provides a lower limb exoskeleton control system and method based on wireless communication, which can solve the problem of exoskeleton sensing cable constraint, reduce the integration complexity of the exoskeleton and lighten the weight of the exoskeleton body; the wireless data transmission from the inertial sensor to the server and from the server to the exoskeleton is realized through the local area network, and the wireless gait sensing and power-assisted control of the exoskeleton can be realized.
In order to achieve the above purpose, the present invention provides the following technical solutions:
A lower extremity exoskeleton control system based on wireless communication, the control system comprising: comprises an exoskeleton sensing module, a server, a wireless repeater and an exoskeleton controller, wherein the exoskeleton sensing module is connected with the server through the wireless repeater, the server is connected with the exoskeleton controller through the wireless repeater,
The exoskeleton sensing module is used for transmitting the acquired human motion data to a server through a wireless repeater,
The server is used for deploying a human gait recognition algorithm, receiving data transmitted from the exoskeleton sensing module as an input of the algorithm, outputting a recognition result of the exoskeleton sensing module in real time, converting the result into an exoskeleton control signal, and outputting the exoskeleton control signal to the exoskeleton controller through the wireless repeater.
Further, the exoskeleton sensing module is composed of a plurality of wearable wireless inertial sensing nodes and a plurality of plantar pressure nodes.
Further, the wireless inertial sensor node is composed of a wireless inertial sensor and an embedded first microcontroller, the wireless inertial sensor is connected with the embedded first microcontroller in series through a serial port, and the wireless inertial sensor is used for measuring three-axis acceleration, three-axis angular velocity and three-axis magnetometer of object movement.
Further, the plantar pressure node is composed of a plantar pressure sensor and an embedded second microcontroller, the plantar pressure sensor is connected with the embedded second microcontroller in series through a serial port, and the plantar pressure sensor is used for measuring plantar pressure.
Furthermore, the wireless repeater is used for building a local area network and is used for connection and data transmission among the wireless inertial sensing node, the plantar pressure node, the server and the exoskeleton controller.
Further, the exoskeleton controller receives an exoskeleton control signal sent by the server, and controls the motor driver to drive the exoskeleton motor to operate through the exoskeleton control signal planning assistance curve.
A lower limb exoskeleton control method based on wireless communication, comprising the following steps: s1: powering up and starting the wireless relay, the server and the exoskeleton controller, setting wireless parameters, finishing initialization setting, starting the wireless function of the wireless relay, and constructing a wireless local area network;
S2: configuring an embedded microcontroller for each wireless inertial sensing node and each plantar pressure node through a compiling program, starting an embedded first microcontroller and an embedded second microcontroller corresponding to the wireless inertial sensing node and the plantar pressure node, connecting a wireless repeater, building a TCP server, and sending data acquired from the inertial sensor and the plantar pressure sensor;
S3: starting the server upper-level recording program, and waiting for the connection of the wireless inertial sensing node and the plantar pressure node with the exoskeleton controller;
S4: and a motor control program is written in the exoskeleton controller, the motor control degree controls the movement of the exoskeleton motor through receiving an assistance curve planned by exoskeleton control signals sent by the server, the assistance curve depends on gesture information output by an algorithm, and different ankle gestures correspond to different exoskeleton control signals.
Further, the functions of the upper computer program include initialization setting of a TCP/IP client, connection with a server device, receiving and inputting data of the wireless inertial sensing node and the plantar pressure node into an algorithm deployed by a server, and sending exoskeleton control signals.
Furthermore, the assistance curve is based on ankle joint posture according to a real-time algorithm of a server, motion information is extracted, the ankle joint plantar/dorsiflexion angle is calculated, the real-time ankle joint plantar/dorsiflexion angle is compared with a target training angle, the proportion coefficient of the assistance curve is adjusted according to a comparison result, and the assistance curve is output, so that the aim of controlling an exoskeleton motor is achieved.
Further, the output power assisting curve includes: and if the power-assisted curve with the target training angle planning proportionality coefficient being larger than one is not reached, the power-assisted curve with the target training angle planning proportionality coefficient being equal to one is reached, and the power-assisted curve with the target training angle planning proportionality coefficient being larger than one is exceeded.
Compared with the prior art, the invention has the beneficial effects that:
1. The method is realized by a lower limb exoskeleton control system based on wireless communication, the acquired original data are transmitted to a server through a wireless repeater by acquiring the movement data of the wearer through a wireless inertial sensing node and a plantar pressure node, the server inputs the transmitted data into a gait recognition algorithm deployed on the server in real time, a corresponding exoskeleton control signal is given out through the result recognized by the gait recognition algorithm, the server transmits the exoskeleton control signal to an exoskeleton controller, and the exoskeleton controller plans to control the movement of an exoskeleton motor;
2. The invention can effectively reduce the complexity of the hardware system of the exoskeleton robot, is convenient for the structural design of the robot, reduces the weight of the exoskeleton robot, and further reduces the wearing burden of a wearer; the reliable high-speed transmission of data can be effectively realized in a wireless transmission mode, and the control difficulty of the exoskeleton robot is reduced; compared with a small-volume algorithm deployment module suitable for the exoskeleton, the performance of the server deployed at the far end has higher computational power, and the result can be obtained faster when the algorithms with the same complexity are deployed, so that the robustness of the exoskeleton control system is improved.
Drawings
FIG. 1 is a diagram of a lower extremity exoskeleton control system based on wireless communication in accordance with the present invention;
FIG. 2 is a flow chart of a lower limb exoskeleton control based on wireless communication according to the present invention;
Fig. 3 is a flow chart of a lower limb exoskeleton assistance curve planning based on wireless communication.
In the figure: 1. an exoskeleton perception module; 2. a server; 3. a wireless repeater; 4. an exoskeleton controller; 11. a wireless inertial sensor; 12. an embedded first microcontroller; 13. a plantar pressure sensor; 14. an embedded second microcontroller.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, the present invention provides a technical solution: a lower extremity exoskeleton control system based on wireless communication, the control system comprising: comprises an exoskeleton sensing module 1, a server 2, a wireless repeater 3 and an exoskeleton controller 4, wherein the exoskeleton sensing module 1 is connected with the server 2 through the wireless repeater 3, the server 2 is connected with the exoskeleton controller 4 through the wireless repeater 3,
The exoskeleton sensing module 1 is used for transmitting the acquired human motion data to the server 2 through the wireless repeater 3, the human motion data is acquired through the exoskeleton sensing module 1,
The server 2 is used for deploying a human gait recognition algorithm, receiving data transmitted from the exoskeleton sensing module 1 as an input of the algorithm, outputting a recognition result of the exoskeleton sensing module 1 in real time, converting the result into an exoskeleton control signal, and outputting the exoskeleton control signal to the exoskeleton controller 4 through the wireless repeater 3.
The exoskeleton sensing module 1 is composed of a plurality of wearable wireless inertial sensing nodes and a plurality of plantar pressure nodes.
The wireless inertial sensor node consists of a wireless inertial sensor 11 and an embedded first microcontroller 12, wherein the wireless inertial sensor 11 is connected with the embedded first microcontroller 12 in series through a serial port, and the wireless inertial sensor 11 is used for measuring the triaxial acceleration, the triaxial angular velocity and the triaxial magnetometer of the object movement;
the plantar pressure node consists of a plantar pressure sensor 13 and an embedded second microcontroller 14, wherein the plantar pressure sensor 13 is connected with the embedded second microcontroller 14 in series through a serial port, and the plantar pressure sensor 13 is used for measuring plantar pressure;
The three-axis acceleration, the three-axis angular velocity, the three-axis magnetometer and the object plantar pressure measured by the wireless inductive sensing node and the plantar pressure node are respectively connected in series with the embedded first microcontroller 12 and the embedded second microcontroller 14 through serial ports, and measured data are sent to the server 2, wherein the embedded first microcontroller 12 and the embedded second microcontroller 14 are composed of a microprocessor, serial communication and a power management circuit.
The recognition algorithm takes the pelvis of the human body as a central root node, constructs a human body lower limb skeleton point stick motion model from the pelvis to the feet by means of a reverse dynamics theory according to the biomechanics structure of the human body lower limb, calculates the spatial postures of all limbs in the walking process of the human body through data fusion of accelerometers, gyroscopes and magnetometers transmitted by all nodes received by the server 2, and realizes real-time reconstruction of the postures of the human body lower limb;
the algorithm utilizes the acceleration, angular velocity and geomagnetic information of the wireless inertial sensor 11 to perform gesture calculation, can further acquire the kinematic characteristics of joint angle, limb gesture vector, plantar/dorsiflexion, pace and clearance, performs gait phase division according to the plantar/dorsiflexion angle, and determines the power assisting moment.
The wireless repeater 3 is used for building a local area network for connection and data transmission among the wireless inertial sensing node, the plantar pressure node, the server 2 and the exoskeleton controller 4.
The exoskeleton controller 4 receives the exoskeleton control signals sent by the server 2, and controls the motor driver to drive the exoskeleton motor to operate through the power-assisted curve planning of the exoskeleton control signals.
A lower limb exoskeleton control method based on wireless communication, comprising the following steps: s1: powering up and starting the wireless repeater 3, the server 2 and the exoskeleton controller 4, setting wireless parameters, finishing initialization setting, starting the wireless function of the wireless repeater 3, and constructing a wireless local area network;
s2: configuring an embedded microcontroller for each wireless inertial sensing node and each plantar pressure node through a compiling program, starting the embedded first microcontroller 12 and the embedded second microcontroller 14 corresponding to the wireless inertial sensing node and the plantar pressure node, connecting the wireless relay 3, building a TCP server, and transmitting data acquired from the inertial sensor and the plantar pressure sensor;
S3: starting an upper-level recording program of the server 2, waiting for the connection of the wireless inertial sensing node and the plantar pressure node with the exoskeleton controller 4, wherein the functions of the upper-level recording program comprise the initialization setting of a TCP/IP client, the connection with a server device, the receiving of the data of the wireless inertial sensing node and the plantar pressure node, the input of the data of the wireless inertial sensing node and the plantar pressure node into an algorithm deployed by the server, and the sending of exoskeleton control signals;
S4: and a motor control program is written in the exoskeleton controller, the motor control degree controls the movement of the exoskeleton motor through receiving an assistance curve planned by exoskeleton control signals sent by the server, the assistance curve depends on gesture information output by an algorithm, and different ankle gestures correspond to different exoskeleton control signals.
The method is independent of the application of a typical ankle moment mode, can automatically adapt to biomechanics of each user, the real-time self-adaptive design also eliminates the time delay problem of dynamic state error classification and conversion, so that a power assisting curve proportional to the ankle biological moment is provided, the power assisting curve takes ankle gesture according to a server real-time algorithm, motion information is extracted, the ankle plantar/dorsiflexion angle is calculated as a basis, the real-time plantar/dorsiflexion angle of the ankle is compared with a target training angle, the power assisting curve proportionality coefficient is adjusted according to a comparison result, and the power assisting curve is output, so that the aim of controlling an exoskeleton motor is fulfilled.
The output boost curve includes: and if the power-assisted curve with the target training angle planning proportionality coefficient being larger than one is not reached, the power-assisted curve with the target training angle planning proportionality coefficient being equal to one is reached, and the power-assisted curve with the target training angle planning proportionality coefficient being larger than one is exceeded.
In the method, a wireless repeater 3 is opened, a specific wireless name and a specific password are set for interconnection of the rest of the system, a server 2 is opened as a client of TCP/IP wireless communication, the client is connected to the wireless repeater 3, and an exoskeleton perception module 1 and an exoskeleton controller 4 are opened to connect the wireless repeater as a TCP/IP wireless communication server;
different IP addresses and port numbers are set for the wireless inertial sensing node, the plantar pressure node, the exoskeleton controller 4 and the server 2, so that each wireless inertial sensing node, the plantar pressure node, the exoskeleton control box and the server are connected with the wireless repeater 3 by the set IP addresses and port numbers;
When the wireless inertial sensing node and the plantar pressure node are started, the connection indicator lamp on the circuit board starts to flash, and when the wireless repeater is successfully connected, the indicator lamp stops flashing;
The wireless inertial sensing node after successful connection is provided with a wireless inertial sensor 11 and a plantar pressure node and also provided with a plantar pressure sensor 13, raw data measured in real time are sent to the server 2 through the wireless relay 3, the server compiles an upper-level recording program and is used for receiving the raw data of the wireless inertial sensing node and the wireless plantar node, real-time settlement is carried out on triaxial acceleration, triaxial angular velocity, triaxial magnetometer and plantar pressure in the raw data, data of different nodes are obtained and then are input into a gait recognition algorithm deployed by the server 2, gait phase and gesture information of a wearer of the current exoskeleton robot are recognized, corresponding exoskeleton control signals are given after the gesture information is obtained, the signals are sent to the exoskeleton controller 4 in real time, and the exoskeleton controller 4 receives control commands from the server and then controls the exoskeleton motor to operate.
Therefore, the gait training is carried out on a training place in the coverage area of a local area network built by the wireless repeater 3 by a lower limb exoskeleton control system based on wireless communication, the acquired original data are transmitted to the server 2 through the wireless repeater 3 by acquiring the movement data of the wearer through the wireless inertial sensing node and the plantar pressure node, the server 2 inputs the transmitted data into a gait recognition algorithm deployed on the server 2 in real time, a corresponding exoskeleton control signal is given out through the result recognized by the gait recognition algorithm, the server 2 transmits the exoskeleton control signal to the exoskeleton controller 4, and the exoskeleton controller 4 plans to control the exoskeleton motor to move;
The invention can effectively reduce the complexity of the hardware system of the exoskeleton robot, is convenient for the structural design of the robot, reduces the weight of the exoskeleton robot, and further reduces the wearing burden of a wearer; the reliable high-speed transmission of data can be effectively realized in a wireless transmission mode, and the control difficulty of the exoskeleton robot is reduced; compared with a small-volume algorithm deployment module suitable for the exoskeleton, the performance of the server deployed at the far end has higher computational power, and the result can be obtained faster when the algorithms with the same complexity are deployed, so that the robustness of the exoskeleton control system is improved.
Finally, it should be noted that the above description is only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and that the simple modification and equivalent substitution of the technical solution of the present invention can be made by those skilled in the art without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. Lower limb exoskeleton control system based on wireless communication, characterized in that: the control system comprises: comprises an exoskeleton sensing module, a server, a wireless repeater and an exoskeleton controller, wherein the exoskeleton sensing module is connected with the server through the wireless repeater, the server is connected with the exoskeleton controller through the wireless repeater,
The exoskeleton sensing module is used for transmitting the acquired human motion data to a server through a wireless repeater,
The server is used for deploying a human gait recognition algorithm, receiving data transmitted from the exoskeleton sensing module as an input of the algorithm, outputting a recognition result of the exoskeleton sensing module in real time, converting the result into an exoskeleton control signal, and outputting the exoskeleton control signal to the exoskeleton controller through the wireless repeater.
2. A lower extremity exoskeleton control system based on wireless communication as set forth in claim 1, wherein: the exoskeleton sensing module is composed of a plurality of wearable wireless inertial sensing nodes and a plurality of plantar pressure nodes.
3. A lower extremity exoskeleton control system based on wireless communication as set forth in claim 2, wherein: the wireless inertial sensor node consists of a wireless inertial sensor and an embedded first microcontroller, wherein the wireless inertial sensor is connected with the embedded first microcontroller in series through a serial port, and the wireless inertial sensor is used for measuring the triaxial acceleration, the triaxial angular velocity and the triaxial magnetometer of the object motion.
4. A lower extremity exoskeleton control system based on wireless communication as set forth in claim 2, wherein: the plantar pressure node consists of a plantar pressure sensor and an embedded second microcontroller, wherein the plantar pressure sensor is connected with the embedded second microcontroller in series through a serial port, and the plantar pressure sensor is used for measuring plantar pressure.
5. A lower extremity exoskeleton control system based on wireless communication as set forth in claim 1, wherein: the wireless repeater is used for building a local area network and is used for connection and data transmission among the wireless inertial sensing node, the plantar pressure node, the server and the exoskeleton controller.
6. A lower extremity exoskeleton control system based on wireless communication as set forth in claim 1, wherein: and the exoskeleton controller receives the exoskeleton control signal sent by the server, and controls the motor driver to drive the exoskeleton motor to operate by planning a power-assisted curve through the exoskeleton control signal.
7. A lower limb exoskeleton control method based on wireless communication is characterized in that: the method comprises the following steps: s1: powering up and starting the wireless relay, the server and the exoskeleton controller, setting wireless parameters, finishing initialization setting, starting the wireless function of the wireless relay, and constructing a wireless local area network;
S2: configuring an embedded microcontroller for each wireless inertial sensing node and each plantar pressure node through a compiling program, starting an embedded first microcontroller and an embedded second microcontroller corresponding to the wireless inertial sensing node and the plantar pressure node, connecting a wireless repeater, building a TCP server, and sending data acquired from the inertial sensor and the plantar pressure sensor;
S3: starting the server upper-level recording program, and waiting for the connection of the wireless inertial sensing node and the plantar pressure node with the exoskeleton controller;
S3: and a motor control program is written in the exoskeleton controller, the motor control degree controls the movement of the exoskeleton motor through receiving an assistance curve planned by exoskeleton control signals sent by the server, the assistance curve depends on gesture information output by an algorithm, and different ankle gestures correspond to different exoskeleton control signals.
8. The wireless communication-based lower extremity exoskeleton control method of claim 7, wherein: the functions of the upper computer program comprise initialization setting of a TCP/IP client, connection with a server device, receiving and inputting of data of the wireless inertial sensing node and the plantar pressure node into an algorithm deployed by a server, and sending of exoskeleton control signals.
9. The wireless communication-based lower extremity exoskeleton control method of claim 7, wherein: the power-assisted curve is based on ankle joint posture according to a real-time algorithm of a server, motion information is extracted, the ankle joint plantar/dorsiflexion angle is calculated, the real-time ankle joint plantar/dorsiflexion angle is compared with a target training angle, the power-assisted curve proportionality coefficient is adjusted according to a comparison result, and then the power-assisted curve is output, so that the aim of controlling an exoskeleton motor is achieved.
10. The wireless communication-based lower extremity exoskeleton control method of claim 9, wherein: the output power-assisted curve comprises: and if the power-assisted curve with the target training angle planning proportionality coefficient being larger than one is not reached, the power-assisted curve with the target training angle planning proportionality coefficient being equal to one is reached, and the power-assisted curve with the target training angle planning proportionality coefficient being larger than one is exceeded.
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