Portable dynamic joint device, lower limb assist exoskeleton equipment and control method thereof

Abstract

The invention discloses a portable dynamic joint device, lower limb power-assisted exoskeleton equipment and a control method thereof. A portable dynamic joint device, comprising a joint main body, and a power device arranged outside the joint main body, the joint main body includes an upper arm, and a lower arm rotatably coupled with the upper arm; the upper arm or the lower arm is provided with a mounting cavity; the The power device is provided with a transmission mechanism and is arranged inside the installation cavity; the power device is fixed on the lower arm or the upper arm, and drives the upper arm or the lower arm to rotate through the transmission mechanism. The invention has the advantages of small volume, simple structure, low production cost, high reliability, high integration degree and precise control.

Description

technical field [0001] The present invention relates to the technical field of wearable devices, and more specifically refers to a portable dynamic joint device, a lower limb assist exoskeleton device and a control method thereof. Background technique [0002] The field of robotics requires the application of dynamic joints widely. The exoskeleton robots used for human wearables generally have multiple dynamic joints. It is also necessary to integrate force sensors, angle sensors, and motor rotary encoders; at the same time, it is also necessary for the dynamic joint to be small in size, light in weight, and low in cost. [0003] In the prior art, a flat disc motor is generally used for the motor, and a harmonic reducer is used for the reducer, so that the axial size of the power joint can be made smaller. In terms of the connection structure of the upper arm and the lower arm, in order to simplify the design, some schemes fix the upper arm and the lower arm with the flexib...

AI Technical Summary

Problems solved by technology

In terms of the connection structure of the upper arm and the lower arm, in order to simplify the design, some schemes fix the upper arm and the lower arm with the flexible wheel and the steel wheel of the harmonic reducer respectively, such as the 2011 master thesis of Harbin Institute of Technology "Exoskeleton lower limb power-assisted robot This method is disclosed in "Technical Research", which will cause the upper and lower arms to not be on the same plane, and a large lateral torque will be generated when the joint bears force, which is easy to damage the joint; the paper "Mechanical Design of the Hanyang Exoskeleton Assistive Robot (HEXAR)" ICCAS2014 A similar scheme is also disclosed in the above scheme; in order to reduce the influence of the lateral torque in the above scheme, crossed roller bearings can be used, but the cost is relatively high, and the problem cannot be fundamentally solved

[0004] In the prior art, a rotary encoder is required to control the motor, and the existing solutions all use photoelectric rotary encoders, which are large in size and high in cost, resulting in complicated design of dynamic joints; the paper "Mechanical Design of the Hanyang Exoskeleton Assistive Robot (HEXAR)" ICCAS2014, The same scheme is disclosed in the paper "Design of an electrically actuated lower extremity exoskeleton" (Advanced Robotics, Vol.20, No.9, pp.967–988 (2006)) and Chinese patent 201620267410.7

[0005] In the prior art, some torque sensors are used to measure the output torque of the motor, such as the paper "Mechanical Design of the Hanyang Exoskeleton Assistive Robot (HEXAR)" ICCAS2014 discloses such a scheme, which is costly, bulky and heavy; some use pressure Sensors are used to measure the output torque of the motor. This type of scheme is disclosed in the paper "Design of an electrically actuated lower extremity exoskeleton" (Advanced Robotics, Vol.20, No.9, pp.967–988 (2006)), and the structure of this scheme is relatively complicated , The requirements for installation accuracy are very strict, and the cost is relatively high

[0006] In the prior art, the dynamic joint does not include a solution for measuring the relative angle of the upper arm and the lower arm. Generally, the motor encoder is used to estimate the relative angle of the upper and lower arms. The problem with this solution is that calibration is required every time the power is turned on, and the accuracy is difficult to guarantee; The paper "Mechanical Design of the Hanyang Exoskeleton Assistive Robot (HEXAR)" ICCAS2014 and the paper "Design of an electrically actuated lower extremity exoskeleton" (Advanced Robotics, Vol.20, No.9, pp.967–988 (2006)) did not disclose specific Solution for Measuring the Relative Angle of the Upper and Lower Arms

[0007] In the prior art, patent 201611189733.X mentions a power joint device for exoskeleton, which is equipped with torque sensor, motor encoder and angle sensor, but it uses harmonic reducer to achieve deceleration, which is costly , and the structure of the torque sensor is relatively large and unsightly

Images