Wearable flexible walking assistance robot control system and method

Abstract

The invention discloses a wearable flexible walking assistance robot control system and method. The system comprises a power source, a motor driver, a traction belt, a force sensor, a mesh belt, gyroscopes, driving devices, a force sensor amplifier and a controller; the controller and the motor driver are placed at the waist position of a user; the two gyroscopes are arranged at the middles of therear portions of left and right thighs of the user through the mesh belt respectively, and when the user stands, the gyroscopes are perpendicular to the ground; the two driving devices are bilaterally symmetrically installed on an adjustable belt at the waist of the user, each driving device is connected with one end of one traction belt, and the other end of the traction belt is placed on the knee joints of the user; each traction belt is broken and connected through the force sensor at the breakage; the controller is connected with the motor driver, the gyroscopes and the force sensor amplifier respectively; the motor driver is connected with the driving device; the force sensor is connected with the force sensor amplifier. The method assistance stage is located at a swing phase, and energy sources are saved.

Description

technical field [0001] The invention relates to robot control technology, in particular to a control system and control method for a wearable flexible walking assist robot. Background technique [0002] As the age increases, the physical strength of the elderly declines, and the decline in muscle strength leads to motor dysfunction, and the elderly become less and less fond of outdoor activities. With the reduction of outdoor activities, the motor function of the lower limbs will decline accordingly, and this cycle repeats itself in a vicious circle, resulting in many physical problems. Now that people have higher and higher requirements for the quality of life, the elderly should improve their walking ability and increase walking, which not only exercises the body, but also increases social activities. The rapid development of lower limb assisted exoskeleton technology can improve the lower limb function of the elderly, enhance their walking ability, and improve the rehabi...

AI Technical Summary

Problems solved by technology

The current rigid walking aids have the disadvantages of rigid structure, bulkiness, poor coordination with people, and may easily cause fall hazards due to external interference

At the same time, the flexible walking assistance lacks a corresponding optimized control system to adjust for different users and situations

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