Method and device for solving problem of singularity posture of exoskeleton robot shoulder joint

Abstract

The invention provides a method for solving the problem of the singularity posture of an exoskeleton robot shoulder joint. The method includes the steps that firstly, the motion intention of limbs is detected in a manner of additionally arranging an elbow sleeve and pressure sensors; an exoskeleton humerus rear section component is composed of a rid piece and an annular bearing inner ring; the elbow sleeve concentric with the bearing inner ring is additionally arranged on the inner wall of the bearing inner ring; the four pressure sensors are installed between an annular bearing and the elbow sleeve at equal intervals and used for detecting positive pressure from any direction; the sensors are used for measuring two sets of orthogonal component force values so as to solve the intensity and the direction of a resultant force vector; a drive motor A controls an exoskeleton shoulder joint L-shaped rocker arm to drive an exoskeleton humerus front section to rotate to the position perpendicular to the direction of force f, and meanwhile a motor C and the motor A rotate synchronously in opposite directions so that the posture of an exoskeleton humerus rear section can be kept unchanged; and along with the situation that a motor B drives the exoskeleton humerus front section to rotate, the axis of the motor C does not coincide with the axis of the motor A any more, and the shoulder joint is not in the singularity posture any more.

Description

technical field [0001] The invention relates to the technical field of exoskeleton robots, in particular to a method and a device for solving the problem of singular configuration of shoulder joints of exoskeleton robots. Background technique [0002] Exoskeleton robot is a special kind of robot. The operation of its mechanical structure follows the basic principles of the robot, and its movement trajectory needs to cooperate with the wearer's physical activities. Therefore, for an exoskeleton robot with a large range of motion, its joint kinematic chain is usually isomorphic to that of the wearer. In order to achieve synchronous movement with the wearer's limbs, the joint rotation axis of the exoskeleton robot must coincide with the wearer. [0003] However, since the human shoulder joint already occupies the space of the ball center of the joint socket, and the power system of the robot is too different from the parallel linear motion pair of the human muscle, the shoulde...

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Problems solved by technology

[0008] The purpose of the invention is to propose a solution to the problem of this singular configuration

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