Method for estimating posture of robotic walking aid

Abstract

A method for estimating posture of robotic walking aid(1) includes: providing a motor controller(50), a motor encoder(71) and a motor(70) on right and left hip joints, and right and left knee joints of the robotic walking aid(1), providing an inertial sensor(60) on upper body(40) of the robotic walking aid(1), wherein the motor controller(50), the motor encoder(71), the motor(70) and the inertial sensor(60) are coupled to a control unit(80); installing the robotic walking aid(1) on a user; inputting the lengths of the upper body(40), two thighs, two shanks, two feet of the robotic walking aid(1) to the control unit(80), wherein the upper body(40), two thighs, two shanks, two feet form a plurality of points; obtaining an angle of the upper body(40) corresponding to a reference frame with the inertial sensor(60); obtaining angles of those joints with those motor encoders(71); and calculating 3 dimensional coordinates of each point with a motion model.

Description

technical field [0001] The invention relates to an attitude estimation method of an action-assisting robot, in particular to an attitude estimation method of an action-assisting robot using attitude estimation for remote service. Background technique [0002] Under the trend of global population aging and childbirth reduction, many countries have extended the working age due to labor shortages. Advanced countries in Europe, America and Japan have invested in the integration of robot technology and information and communication technology, and developed industrial robots related to automation applications to solve the problem of labor shortage. Provide power-assisted mobility assistance robots (among which exoskeleton robots are the most common) to reduce labor burden and provide better quality of care and mobility assistance for the elderly population. By sensing the user's body movements or intentions, the mobility-assist robot drives its power system to provide power assis...

AI Technical Summary

Problems solved by technology

[0004] Moreover, in the existing patent claims or public documents, there is no information provided by the detected information, including terrain control feedback, danger reminder, fall alarm / help, exercise record, walking distance estimation, behavior monitoring, life The application and service of remote services such as circle habit record and rehabilitation strategy feedback

[0005] Accordingly, it can be seen that there are still many deficiencies to be improved in the existing action-assisted robots.

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