Exoskeleton robot gait control method based on pressure sensors

An exoskeleton robot and pressure sensor technology, which is applied in the external field, can solve the problems of waste of physical strength and unnatural movement of the wearer, and achieve the effect of humanized control

Inactive Publication Date: 2016-12-14
牛仁智能科技(杭州)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that the wearer's upper limbs can only be used to issue commands, but not other activities, and the operator must issue commands continuously, which not only wastes physical strength, but also makes the wearer's movement very difficult. unnatural

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0021] Install multi-dimensional pressure sensors on the legs of the exoskeleton robot. Multidimensional pressure sensors can detect the direction and magnitude of force. When a person's leg is lifted or lowered, it will generate a force in a certain range. The multi-dimensional pressure sensor detects the direction and magnitude of the force used by the upper and lower legs when the human leg is lifted or lowered. The data output by the multi-dimensional pressure sensor needs to be amplified, and then the amplified data is collected. The main control circuit analyzes and judges the collected data, and controls the exoskeleton robot limb drive device to work according to the judgment result, so as to achieve the effect of controlling the gait. The installation position of the multi-dimensional pressure sensors on the legs can be adjusted according to the structure of the actual exoskeleton, and the number of installations can be changed as needed, but it must be ensured that ...

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PUM

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Abstract

The invention discloses an exoskeleton robot gait control method based on pressure sensors. An exoskeleton robot is jointly controlled by data of the leg pressure sensors and data of the foot sole pressure sensors, the data of the leg pressure sensors realize the main control effect, and the data of the foot sole pressure sensors realize the auxiliary detection effect. The gait control method is simple and reliable, avoids misjudgment and prevents tumbling, the robot can follow wearers to execute different gaits and can adapt to various terrains, and control is more humanized.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, and in particular relates to a method for controlling the gait of an exoskeleton robot based on a pressure sensor. The movement intention of the wearer is judged by the multi-axis pressure sensor data of the legs and the micro-load pressure sensor data of the soles of the feet, and the exoskeleton is controlled. The gait of the robot avoids misjudgment and prevents falls, and at the same time follows the wearer with different gaits, adapting to various terrains, and the control is more humanized. Background technique [0002] The exoskeleton robot is a wearable power-assisted robot. The main structure is humanoid limbs for load-bearing. Through its special structure, the user who wears it can complete some tasks that cannot be completed by the human body alone. Disaster relief, soldiers marching with heavy loads, medical treatment and other fields all have broad application prospects. ...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/18B25J13/08
CPCB25J9/0006B25J9/1633B25J13/085
Inventor 李牧然
Owner 牛仁智能科技(杭州)有限公司
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