Posture measuring system for external-skeleton follow-up control and use method thereof

Abstract

The invention discloses a posture measuring system for external-skeleton follow-up control and a use method thereof. The system comprises a right crus posture instrument, a right thigh posture instrument, a left crus posture instrument, a left thigh posture instrument, an upper-body posture instrument, a left hip encoder, a right hip encoder, a left knee encoder, a right knee encoder, a left hip joint plate, a right hip joint plate, a left knee joint plate, a right knee joint plate, a data receiving device, a data processing device and a power subsystem. The data processing device judges whether data fed back by the encoders are consistent with data which are given out by a control order and control external-skeleton walking or not, and if not, subsequent feedback control is conducted. By means of the posture measuring system, external-skeleton posture control is conducted, after the external-skeleton posture is measured and fed back, whether movement of the external-skeleton is consistent with movement of a human body or not is judged, subsequent compensation is conducted, and follow-up movement of the external-skeleton along with people is better achieved.

Description

technical field [0001] The invention relates to an attitude measurement system for the follow-up control of an exoskeleton and an application method thereof. Background technique [0002] The exoskeleton robot is a robot designed with bionic human skeleton to help the wounded with lower limb disabilities to stand up and walk like a normal person. Normal people wearing exoskeleton robots can double the weight-bearing capacity of the human body. The combination of exoskeleton robots and humans is the expansion of human capabilities. When wearing an exoskeleton while walking, it is necessary to recognize the walking posture of the exoskeleton in real time, judge its own position, and choose different gaits according to different scenarios. There are visual recognition methods for gesture recognition, but the amount of calculation for visual recognition gestures is very large, and the requirements for the system are high. The present invention aims at identifying the pose of a...

AI Technical Summary

Problems solved by technology

[0004] This patent improves the algorithm equivalent to its existing technology and improves the speed, but there are still some shortcomings: (1) the target database of the scene is required, a huge database needs to be established, and a lot of work needs to be done; (2) the camera needs to be For calibration, the pose can only be determined by comparing the captured scene with the scene in the database, which requires a lot of calculation

Images