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Real-time judgment and recognition device for lower limb exoskeleton two-foot supporting areas

A technology of supporting area and discriminating device, which is applied in the field of robotics and can solve problems such as high real-time requirements and large amount of calculation.

Pending Publication Date: 2017-12-29
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE +1
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Problems solved by technology

However, this method involves the precise measurement of the motion angles of multiple joints, which requires the installation of multiple rotation angle sensors. It is technically difficult to measure the angles of joints with multiple rotational degrees of freedom like the hip joint, and the calculation involved in the whole process is relatively large. , high real-time requirements

Method used

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  • Real-time judgment and recognition device for lower limb exoskeleton two-foot supporting areas
  • Real-time judgment and recognition device for lower limb exoskeleton two-foot supporting areas
  • Real-time judgment and recognition device for lower limb exoskeleton two-foot supporting areas

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Embodiment Construction

[0020] Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is for the purpose of illustration only, and in no way limits the invention and its application or usage.

[0021] According to the illustrated embodiment of the invention, with reference to Figure 1 to Figure 3 As shown, a lower limb exoskeleton double foot support area real-time discrimination device includes a host computer and a lower limb exoskeleton gait collector. The lower limb exoskeleton gait collector includes a left foot gait information collection shoe and a right foot gait information collection shoe. The left foot gait information collection shoe and the right foot gait information collection shoe both include a shoe body and a signal acquisition unit and an information processing unit 9 installed in the shoe body. The communication connection is used to send the data collected by the ...

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Abstract

The invention belongs to the technical field of robots and particularly relates to a real-time judgment and recognition device for lower limb exoskeleton two-foot supporting areas. The real-time judgment and recognition device particularly comprises a lower limb exoskeleton left foot gait information collection shoe and a lower limb exoskeleton right foot gait information collection shoe. Each gait information collection shoe is composed of multiple parts, and a custom-made shoe pad is the core component of each gait information collection shoe. Each custom-made shoe pad is provided with a pressure measuring unit and an inertia measuring unit, and related sensors are connected to information processing units through flexible wires; the information processing units process and calculate gait information collected by the pressure sensors and the inertia measuring units and then transmit the gait information to a lower limb exoskeleton control host; the host judges and recognizes the two-foot supporting areas accurately in real time by synthesizing the effective information of the left and right foot devices; and thus, a detecting measure is provided for control over the walking stability of a lower limb exoskeleton robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a device for real-time identification of biped support areas that can be used for stable walking of lower extremity exoskeletons. Background technique [0002] The technical background related to the present invention will be described below, but these descriptions do not necessarily constitute the prior art of the present invention. [0003] With the continuous development of wearable belt device technology and robot sensor technology, the comprehensive application of ergonomics and robotics has become a research hotspot at home and abroad. Among them, projects such as lower extremity exoskeleton robots and biped robots are the application of human gait walking in the field of robotics. In order to realize the stability of human-like walking, it is necessary to study a set of special anti-fall mechanism, that is, to monitor the positional relationship between ZMP...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16B25J19/02G01C21/16
CPCG01C21/16B25J9/0006B25J9/16B25J19/02
Inventor 许德章高莉俊汪步云
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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