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Walking aid device and control method thereof

A technology of walking assistance and equipment, which is applied in the direction of program-controlled manipulators, manufacturing tools, and manipulators. It can solve problems such as difficulty in capturing human body intentions, expensive sensors, and human motion after exoskeleton movement is delayed, so as to improve accuracy and efficiency. Effect

Active Publication Date: 2020-05-08
深圳市极拓医疗科技有限公司
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AI Technical Summary

Problems solved by technology

However, the traditional follow-up control method has problems such as expensive sensors, difficulty in capturing human body intentions, and exoskeleton movement lagging behind human movement.

Method used

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  • Walking aid device and control method thereof
  • Walking aid device and control method thereof
  • Walking aid device and control method thereof

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Embodiment Construction

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0017] see figure 1 , is a schematic diagram of functional modules of the walking assistance device 100 in an embodiment of the present invention. The walking assistance device 100 is used to assist a user in walking. like figure 1 As shown, the walking assistance device 100 includes a sensing unit 10 , a main processing unit 20 , an execution unit 30 and a machine lower limb 40 . The sensing unit 10 includes at least a first sensing unit 11 and a second sensing...

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Abstract

The invention provides a control method for a walking aid device. The control method comprises the following steps that the motion of a target joint is sensed through a first sensing unit, and motionvector data of the target joint are generated; the motion of a dual joint is sensed through a second sensing unit, and motion vector data of the dual joint is generated; the motion vector data of thetarget joint generated by the first sensing unit and the motion vector data of the dual joint generated by the second sensing unit are obtained; according to the motion vector data of the target jointand the motion vector data of the dual joint, the motion angle of the target joint at the moment after the preset time is predicted; an execution unit is controlled to drive machine lower limbs, so that the joint parts of the lower limbs of a machine corresponding to the target joint is at a corresponding motion angle at the moment after the preset time. The invention further provides a walking aid device. According to the control method for a walking aid device, the intrinsic correlation of the movement of the left limb and the right limb is comprehensively considered, so that the accuracy and the efficiency of prediction are improved.

Description

technical field [0001] The invention relates to the field of intelligent assistance, in particular to an intelligent walking assistance device and a control method thereof. Background technique [0002] At present, the lower extremity exoskeleton robot is a wearable robot, which is used as a walking replacement / assistant device, which can provide external force support for the human body, achieve the purpose of reducing the conformation of the human body and improving the human body's enduring movement ability. It has broad application prospects in special maintenance operations and medical assistance to the disabled. The current gait starting modes of lower extremity exoskeleton robots mainly include fixed gait and follow-up control. The fixed gait mode is to collect human clinical gait data and send it to the lower extremity exoskeleton robot to achieve exoskeleton robot-assisted walking. For the purpose, the control is relatively simple, but the sports mode is single and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/1694
Inventor 李石磊张征亚段璞梁哲东人
Owner 深圳市极拓医疗科技有限公司
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