CN101786478B - Fictitious force-controlled lower limb exoskeleton robot with counter torque structure - Google Patents
Fictitious force-controlled lower limb exoskeleton robot with counter torque structure Download PDFInfo
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- CN101786478B CN101786478B CN2010101120407A CN201010112040A CN101786478B CN 101786478 B CN101786478 B CN 101786478B CN 2010101120407 A CN2010101120407 A CN 2010101120407A CN 201010112040 A CN201010112040 A CN 201010112040A CN 101786478 B CN101786478 B CN 101786478B
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Abstract
The invention relates to a fictitious force-controlled lower limb exoskeleton robot with a counter torque structure. The robot comprises sensing boots, ankle joints, shanks, knee joints, a hydraulic actuator, thighs, the counter torque structure, a waistband, hip joints, a damping spring, batteries, a carrying rack, a back frame, a controller and a hydraulic system, wherein the sensing boots are connected with the shanks through the ankle joints; the shanks are connected with the thighs through the knee joints; the thighs are connected with the waistband through the hip joints; the carrying rack is stably hung on the back frame through a mechanical structure; the batteries are fixed on the two sides of the carrying rack through bandages; the controller is fixed on a position between the carrying rack and the batteries; and the hydraulic system is arranged on a position below the battery and is flexibly connected with the hydraulic actuator. The robot has the advantages of reducing loading effect felt by a human body, reducing human body energy consumption and fatigue feeling and realizing long-distance and long-time load walking.
Description
[technical field]
The present invention relates to the exoskeleton robot technical field, specifically, is a kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure.
[background technology]
Lower limb exoskeleton robot is generally used at a distance (normally outdoor) carrying heavy goods, and its road of walking is that other wheeled vehicles are intransitable.The wheeled vehicles of comparing has many potential advantages based on ectoskeletal power assisting device, if can adapt to complicated rugged topography.The people is in amusement, work or when military operation, can bear a heavy burden with lower limb exoskeleton robot: the hiker carries assistant product with lower limb exoskeleton robot, fire fighter or first aid team member carry oxygen tank and other plant equipment with lower limb exoskeleton robot, the soldier carries weight with lower limb exoskeleton robot, passes through various complex-terrains and long distance walking.
[summary of the invention]
The objective of the invention is to overcome the deficiencies in the prior art, a kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure is provided.
The objective of the invention is to be achieved through the following technical solutions:
A kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure comprises the sensing boots, ankle joint, shank, knee joint, hydraulic actuator, thigh, counter torque structure, belt, hip joint, damping spring, battery, luggage carrier, back of the body frame, controller and hydraulic system; The sensing boots are connected by ankle joint with shank, and shank is connected by knee joint with thigh, and thigh is connected by hip joint with belt; Luggage carrier firmly is affiliated on back of the body frame by frame for movement, and battery is fixed on the luggage carrier both sides by bandage, and controller is fixed on the centre position of luggage carrier and battery, and hydraulic system is arranged on the battery lower position, is connected with hydraulic actuator is submissive;
Respectively be provided with the link of hydraulic actuator on described thigh and the shank,, realize kneed rotatablely moving by stretching of hydraulic actuator;
Described sensing boots mainly comprise load are sent to the heel on ground and are the toe head of the comfortable bending that designs, and are used to measure the plantar pressure of human body plantar pressure and ectoskeleton end; By being embedded into the forward foot in a step pressure transducer in the sole, the variation that rear foot pressure transducer is measured foot force, be used for virtually being controlled by power; See also Fig. 4, the sensing boots contain the forward foot in a step pressure transducer that is placed in sensing boots tiptoe place, the rear foot pressure transducer at sensing boots heel place and the foot side pressure sensor at sensing boots foot side place, are respectively applied for measurement human body tiptoe, human body heel and ectoskeleton and act on ground pressure;
The foot side pressure sensor of sensing boots connects firmly by ankle joint and shank end, the setting of this pick off is in order to carry out the test of lower limb exoskeleton load capacity, under the ideal control condition, all heavy burdens all will act on the lower limb exoskeleton, therefore the pressure of lower limb exoskeleton end should be the summation of sole mass and heavy burden, value by measuring the foot side pressure sensor can evaluation system load-bearing capacity, this method is more convenient than other method, succinctly;
Described ankle joint adopts sphere higher pair connected mode, realizes that three of joint rotatablely move, and mainly is made up of ball-type dwang, ball-type turning set, and is connected with foot side senser connecting rod by connector, finishes being connected of shank and sensing boots; With reference to Fig. 3, the energy-stored spring upper end of ankle joint connects firmly on the shank expansion link, the lower end connects firmly on foot side senser connecting rod, be used for storing the part muscular energy that the walking human body is consumed, and discharge this part energy automatically in suitable gait phase and be used for auxiliary human body walking, to save energy;
Described thigh adopts the arc design, has guaranteed that hip joint crosses along slipping over to kneed geometric position, and hydraulic actuator is thoroughly withdrawn when shank is crooked; Hip joint adopts sphere higher pair connected mode, realizes that two of joint rotatablely move, and the assurance ectoskeleton can be realized keeping straight on and turning with human body; With reference to Fig. 2, near the counter torque structure the hip joint comprises the countertorque spring, buffer spring, sliding sleeve, slide bar etc., the assist function of realization hip joint; Countertorque spring one end is connected by sphere higher pair and belt are terminal, and an end and sliding sleeve are connected; The moment loading of countertorque spring has been resisted the turning torque of bearing a heavy burden and causing, makes ectoskeleton keep anterior-posterior balance, and this method for designing need not control, has passive dynamic (dynamical) characteristic, has reduced system energy consumption.
Compared with prior art, good effect of the present invention is:
Principle of the present invention is the flexible member of the counter torque structure by hip joint, kneed hydraulic unit driver and ankle joint, to be made it by power-control method be a telescopic crutch in the equivalence of single lower limb driving phase by virtual, directly give ground with the heavy burden force transmission, thereby reduce the load effect that the human feeling arrives, reduce energy consumption of human body and feeling of fatigue, realize long distance time heavy burden walking.
It is big that the virtual characteristics of being controlled by power of the present invention are that this control algolithm has remedied the departure that adopts constant-rate spring open loop control to be caused in the passive dynamic Control, the suitability is single, defective such as can't regulate in real time, it does not need accurate kinetic model to carry out the calculating of real-time moment of torsion simultaneously, improved the reliability of computational speed and system, owing to made full use of the dynamics of human body, will help to reduce the consumption of energy in addition.
[description of drawings]
Fig. 1 is a lower limb exoskeleton robot population structure sketch map;
Fig. 2 is a lower limb exoskeleton robot counter torque structure sketch map;
Fig. 3 is a lower limb exoskeleton robot ankle joint structural representation;
Fig. 4 is that lower limb exoskeleton robot sensing boots pressure transducer is arranged sketch map;
Fig. 5 is virtual by power controller chassis figure for the lower limb exoskeleton robot use;
Label in the accompanying drawing is respectively: 1, the sensing boots, 2, ankle joint, 3, shank, 4, knee joint, 5, hydraulic actuator, 6, thigh, 7, counter torque structure, 8, belt, 9, hip joint, 10, damping spring, 11, hydraulic system, 12, battery, 13, controller, 14, luggage carrier, 15, back of the body frame, 16, retracting cylinder, 17, buffer spring, 18, sliding sleeve, 19, the countertorque spring, 20, slide bar, 21, the shank expansion link, 22, energy-stored spring, 23, the ball-type dwang, 24, the ball-type turning set, 25, connector, 26, foot side senser connecting rod, 27, sole, 28, forward foot in a step pressure transducer, 29, the foot side pressure sensor, 30, rear foot pressure transducer.
[specific embodiment]
The present invention below is provided a kind of specific embodiment with Fictitious force-controlled lower limb exoskeleton robot of counter torque structure.
See also accompanying drawing 1, a kind of Fictitious force-controlled lower limb exoskeleton robot with counter torque structure comprises sensing boots 1, ankle joint 2, shank 3, knee joint 4, hydraulic actuator 5, thigh 6, counter torque structure 7, belt 8, hip joint 9, damping spring 10, hydraulic system 11, battery 12, controller 13, luggage carrier 14 and back of the body frame 15; Sensing boots 1 are connected by ankle joint 2 with shank 3, and shank 3 is connected by knee joint 4 with thigh 6, and thigh 6 is connected by hip joint 9 with belt 8; Luggage carrier 14 firmly is affiliated on back of the body frame 15 by frame for movement, battery 12 is fixed on luggage carrier 14 both sides by bandage, controller 13 is fixed on the centre position of luggage carrier 14 and battery 12, and hydraulic system 11 is arranged on battery 12 lower positions, with 5 submissive connections of hydraulic actuator;
Shank 3 is connected by ankle joint 2 with sensing boots 1, ankle joint 2 uses sphere higher pair connected mode, three that realize the joint rotatablely move, mainly form by ball-type dwang 23, ball-type turning set 24, and be connected with foot side senser connecting rod 26 by connector 25, finish being connected of shank 3 and sensing boots 1.See also accompanying drawing 3, energy-stored spring 22 upper ends of ankle joint 2 connect firmly on shank expansion link 21, the lower end connects firmly on foot side senser connecting rod 26, be used for storing the part muscular energy that the walking human body is consumed, and discharge this part energy automatically in suitable gait phase and be used for auxiliary human body walking, to save energy.
The foot side pressure sensor 29 of sensing boots 1 connects firmly by ankle joint 2 and shank 3 ends.The demarcation of this pick off can be undertaken by the test of lower limb exoskeleton load capacity.Value by measuring foot side pressure sensor 29 can also evaluation system load-bearing capacity.This method is more more convenient than other method, and is succinct.
Sensing boots 1 mainly comprise load are sent to the heel on ground and are the toe head of the comfortable bending that designs, and are used to measure the plantar pressure of human body plantar pressure and ectoskeleton end.By being embedded into the forward foot in a step pressure transducer 28 in the sole 27, the variation that rear foot pressure transducer 30 is measured foot force, be used for virtually being controlled by power.See also accompanying drawing 4, sensing boots 1 contain the forward foot in a step pressure transducer 28 that is placed in sensing boots 1 tiptoe place, the rear foot pressure transducer 30 at sensing boots 1 heel place and the foot side pressure sensor 29 at sensing boots 1 foot side place, are respectively applied for measurement human body tiptoe, human body heel and ectoskeleton and act on ground pressure.
The length that the slide bar 20 of exoskeleton robot thigh 6 ends and the shank expansion link 21 of shank 3 ends can be regulated thigh 6 and shank 3 respectively to enlarge the adaptability scope of lower limb exoskeleton robot, adapts to different wearers and dresses.
When human body is being born weight when walking, the gait of human body mainly be divided into support and swing mutually, the lower limb exoskeleton control section that the present invention relates to mainly acts on the support phase stage.
See also accompanying drawing 2, when the people is supporting phase time, sliding sleeve 18 in the counter torque structure 7 will move downward along slide bar 20, extruding buffer spring 17, along with the trunk of human body and the angle of thigh become big, it is big that the active force of buffer spring 17 becomes, be converted to the reaction torque of hip joint 9, compress fully up to buffer spring 17, make hip joint 9 motion locked, bear a heavy burden then by counter torque structure 7 the load force transmission to knee joint 4.
See also accompanying drawing 1, when the people is supporting phase time, knee joint 4 adopts the hydraulic-driven technology, and by power-control method, when being implemented in knee joint 4 and stretching, hydraulic actuator 5 is makeup energy effectively, the jacking weight by virtual; When knee joint 4 bendings, hydraulic actuator 5 is as the antivibrator consumed energy.
See also accompanying drawing 3, when the people is supporting phase time, the energy-stored spring 22 of ankle joint 2 is subjected to the pressure of load and shrinks, thereby the part elastic energy is stored.When the people in the time will lifting foot, energy-stored spring discharges this part elastic energy that stores, and helps people and exoskeleton robot to lift foot, thus the consumption of bioenergy when saving people's walking reduces human-body fatigue.
See also accompanying drawing 1, when the people the swing phase time, hip joint 9, ankle joint 2, counter torque structure 7 grades all need not control, follow the human body passive exercise with ectoskeleton.
See also accompanying drawing 5, the virtual main thought of being controlled by power is summarized as follows, (1) from the angle of body gait biomechanics, make full use of the peculiar spring performance of human muscle, on the ectoskeleton joint, add equivalence by dynamic elements, as spring, antivibrator, mass, latch etc., make its all kinds of power that produce the simulate muscular action effect and the linearity and the non-linear relation of position, make up feedforward controller with this at body gait.(2) utilization active force control mode is by virtual these passive devices of mechanical hydraulic unit, the joint can be produced meet the various impedance operators of body gait mechanical property, really participated in ectoskeletal action as these virtual components, keep the passive characteristic of ectoskeleton self simultaneously, make system stability.(3) dress skeleton when walking clothes as the people, actuator will fictionalize as the similar mechanical organ by dynamics, make ectoskeleton can follow the human synovial motion and produce suitable moment of torsion, thereby reduce the energy expenditure of human body.This control method is by active force feedback control moment of torsion, rather than control joint angle position, thereby has fully simulated the natural characteristic of human walking.
The principle of feedforward controller is that the passive characteristic of utilization mechanical organ is simulated human body muscular movement mechanical property, parameter presets is carried out in control, can standard turn to a kind of state machine system in form, when running into the working condition change, need change the combination of mechanical organ again and reset original state, help improving response time and reduce energy consumption.By the body gait experiment, gather the motion-promotion force mathematic(al) parameter in human body each joint under gait different phase and different loads state earlier; Be optimized for data by data processing algorithm again, to obtain suitable parameters and to regulate rule; Need model at last, can set up required passive device model and parameter setting thereof in conjunction with the human muscle.
Feedback controller is followed the tracks of human body motion track by controlling the between humans and machines active force in real time, and correction power control parameter improves system stability, helps helping wearer to finish more motor function.Adopt the active force feedback control algorithm, realize the compliance control in joint, simultaneously can't shock resistance in order to overcome that ACTIVE CONTROL is existing, problems such as high energy consumption by adding flexible damping element, are improved systematic function.
See also accompanying drawing 5, the Gait Recognition device in the control system can be judged the residing gait state of human body according to the measured value of forward foot in a step pressure transducer 28, rear foot pressure transducer 30.
It is big that the virtual characteristics of being controlled by power are that this control algolithm has remedied the departure that adopts constant-rate spring open loop control to be caused in the passive dynamic Control, the suitability is single, defective such as can't regulate in real time, it does not need accurate kinetic model to carry out the calculating of real-time moment of torsion simultaneously, improved the reliability of computational speed and system, owing to made full use of the dynamics of human body, will help to reduce the consumption of energy in addition.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, without departing from the inventive concept of the premise; can also make some improvements and modifications, these improvements and modifications also should be considered within the scope of protection of the present invention.
Claims (5)
1. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure comprises the sensing boots, ankle joint, shank, knee joint, hydraulic actuator, thigh, counter torque structure, belt, hip joint, damping spring, battery, luggage carrier, back of the body frame, controller and hydraulic system; It is characterized in that the sensing boots are connected by ankle joint with shank, shank is connected by knee joint with thigh, and thigh is connected by hip joint with belt; Luggage carrier firmly is affiliated on back of the body frame by frame for movement, and battery is fixed on the luggage carrier both sides by bandage, and controller is fixed on the centre position of luggage carrier and battery, and hydraulic system is arranged on the battery lower position, is connected with hydraulic actuator is submissive; Belt links to each other with rotary motion pair symmetrically with luggage carrier; Between belt and luggage carrier, add damping spring;
Near the described hip joint counter torque structure comprises the countertorque spring, buffer spring, sliding sleeve, slide bar, the assist function of realization hip joint; Countertorque spring one end is connected by sphere higher pair and belt are terminal, and an end and sliding sleeve are connected.
2. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1 is characterized in that, respectively is provided with the link of hydraulic actuator on described thigh and the shank.
3. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that described sensing boots contain the forward foot in a step pressure transducer that is placed in sensing boots tiptoe place, the rear foot pressure transducer at sensing boots heel place and the foot side pressure sensor at sensing boots foot side place.
4. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that, described ankle joint adopts sphere higher pair connected mode, form by ball-type dwang, ball-type turning set, and be connected with foot side senser connecting rod by connector, finish being connected of shank and sensing boots; The energy-stored spring upper end of ankle joint connects firmly on the shank expansion link, and the lower end connects firmly on foot side senser connecting rod.
5. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that, described thigh adopts the arc design, hip joint adopts sphere higher pair connected mode, two that realize the joint rotatablely move, and guarantee that ectoskeleton can be with human body realization craspedodrome and turning.
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| CN2010101120407A CN101786478B (en) | 2010-02-23 | 2010-02-23 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
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| CN2010101120407A CN101786478B (en) | 2010-02-23 | 2010-02-23 | Fictitious force-controlled lower limb exoskeleton robot with counter torque structure |
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| CN101786478B true CN101786478B (en) | 2011-09-07 |
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| US5476441A (en) * | 1993-09-30 | 1995-12-19 | Massachusetts Institute Of Technology | Controlled-brake orthosis |
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| US7628766B1 (en) * | 2003-10-29 | 2009-12-08 | The Regents Of The University Of California | Lower extremity enhancer |
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| WO1992016177A1 (en) * | 1991-03-13 | 1992-10-01 | Polycane Australia Pty. Ltd. | Walking aid |
| US5476441A (en) * | 1993-09-30 | 1995-12-19 | Massachusetts Institute Of Technology | Controlled-brake orthosis |
| GB2400686A (en) * | 2003-04-04 | 2004-10-20 | Christopher Charles Box | Motion logging and robotic control and display system |
| US7628766B1 (en) * | 2003-10-29 | 2009-12-08 | The Regents Of The University Of California | Lower extremity enhancer |
| WO2008094191A2 (en) * | 2006-07-17 | 2008-08-07 | Raytheon Sarcos, Llc | Contact displacement actuator system |
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| 李向军.外骨骼助力机器人研究现状及应用领域展望.《中小企业管理与科技(下旬刊)》.2009,(第05期), * |
| 蔡兆云等.外骨骼机器人技术研究综述.《国防科技》.2007,(第12期), * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104546384A (en) * | 2015-01-16 | 2015-04-29 | 江苏理工学院 | Pneumatic and particle damping based walking-aiding protection device for old people |
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| Publication number | Publication date |
|---|---|
| CN101786478A (en) | 2010-07-28 |
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