Walk assisting exoskeleton robot system with self-balance

Abstract

The invention discloses a walk assisting exoskeleton robot system with self-balance. The system adopts a multi-sensor fusion technology, a foot bottom pressure detecting module sends a detected pressure value to a waist single chip microcomputer through a wireless communication module, and the waist single chip microcomputer reads values of five posture detecting sensors on the left and right thighs and shanks and the waist in real time; the foot bottom pressure value is combined to judge the walking state of a human body so as to cooperatively control a motor arranged on the back and used forcontrolling the exoskeleton robot system to move up and down and make the gravity center changes conform to the stable walking state in the walking process of the human body. When the human body walks, and the included angles of the left and right sides in the coronal plane and the vertical direction exceed a threshold value, the waist single chip microcomputer can drive and control the motor, rotating in the coronal plane, of the exoskeleton robot system to make the human body stably walk in the coronal plane, the safety of a user is ensured to a certain extent, and the comfort is improved.

Description

technical field [0001] The invention relates to the fields of sensor detection, intelligent control, and exoskeleton robots, and in particular to a self-balancing power-assisted walking exoskeleton robot system. Background technique [0002] The assist walking exoskeleton robots currently on the market cannot achieve stable and balanced walking, which is dangerous, and cannot effectively correct the wrong walking posture of the human body. Multi-sensing information fusion technology can improve the reliability of the entire system, enhance the credibility of data, and improve accuracy. It is precisely the advantages of multi-sensor fusion technology that can solve problems such as detection. Applying it to the design of the assisting walking exoskeleton robot system can more accurately detect the state of the human body for prediction, thereby achieving more accurate, safer and more Comfortable assisted walking. The current assisted walking system methods generally include...

AI Technical Summary

Problems solved by technology

Using these methods to detect falls has the following problems: 1) the robot controlled by the automatic controller has potential safety hazards, cannot detect the unbalanced state in time, and the general operation is complicated, and the promotion is poor; 2) the image recognition through the camera There are many interference factors in the solution. When the surrounding environment is too complicated, it will lead to wrong judgment and may cause harm to the human body; 3) The user feels monotonous and tasteless when walking, and the user experience is poor

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