Heterogeneous wearable load assisting device and control method thereof

Abstract

The invention discloses a heterogeneous wearable load assisting device and a control method thereof. The heterogeneous wearable load assisting device comprises a back frame and two groups of leg mechanisms, wherein the two groups of leg mechanisms are symmetrically connected with the back frame; each leg mechanism comprises a thigh, a shank, a foot, an actuator, an encoder and a positioning sensor and has six freedom degrees which are two hip joint flexion / extension freedom degrees, two knee joint flexion / extension freedom degrees and two ankle joint flexion / extension freedom degrees. After being arranged on the back of a wearer, the device can transmit load acting force to the ground well. According to the control method, the motion position and angle information of the feet of a human body is acquired through the positioning sensors, the motion control of the device is carried out according to the information, and encoder information is used as feedback to realize the motion matching of the device and the wearer. The heterogeneous wearable load assisting device has the advantages of being simple in structure, good in power assisting effect, simple in control thinking, and capable of being used for enhancing the walking load capacity of the wearer and reducing the fatigue of the human body.

Description

technical field [0001] The invention belongs to bionic technology, and in particular relates to a heterogeneous wearable load booster device and a control method thereof. Background technique [0002] At present, the wearable booster device is an exoskeleton-style accompanying intelligent equipment that can be worn on the human body. By synchronously "following" the human body's movement, it assists or replaces the body's load-bearing and maneuvering, breaks through the limit of the human body's physical fitness, and greatly increases the body's load-bearing capacity. Mobility / Persistent Combat Capability. At present, it is mainly used in the rehabilitation training of human lower limbs and assisting the human body in load assisting. It can be widely used and promoted in many fields such as anti-terrorism and stability maintenance, emergency rescue and disaster relief, and medical treatment. So far, although some progress has been made in the research on similar wearable po...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a heterogeneous wearable load boosting device and its control method. On the one hand, it solves the problem of poor boosting effect of the anthropomorphic wearable power boosting device, and adopts a heterogeneous mechanical form to reduce the load carried by the wearer. Gravity is transmitted to the ground through the heterogeneous wearable load assist device to reduce human fatigue; at the same time, combining the advantages of the heterogeneous structure, it is only necessary to match the wearer's foot with the foot movement of the heterogeneous wearable load assist device, reducing The structural design of the device is difficult. In addition, the present invention can also realize the wearing of wearers of different heights by adjusting the output of the actuator; Controlling it for motion matching between the wearer and heterogeneous wearable load-assist devices

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