Direct force detecting device, control system and direct force control exoskeleton robot

Abstract

The invention discloses a direct force detection device. The device comprises a contact force sensor (90), a leg baffle (110), a binding device (120) and an exoskeleton leg connecting rod (140). A direct force control system comprises a force sensor, a controller, and an executor; a direct force control exoskeleton robot comprises a hydraulic system, a control system, a mechanical structure systemand a sensor system; the hydraulic system comprises a hydraulic station and an executor, and the mechanical structure system comprises an exoskeleton structure and a bearing device (10). Through measuring the magnitude of contact action force applied by an operator, information of the force is used for generating a control signal of an exoskeleton joint torque to control an assistance exoskeletonto move along with the human body, minimization of the contact action force between a machine and a man can be achieved, the assistance effect is achieved, and joint assistance is provided for a normal person finally; when a heavy object is borne, the burdening is greatly reduced, work efficiency is improved, and the actions of free walking on the complex terrain can be achieved.

Description

technical field [0001] The invention relates to the field of human dynamics, in particular to a direct force detection device, a control system and an exoskeleton robot controlled by direct force. Background technique [0002] The power-assisted exoskeleton robot is a wearable robot and a mechanical structure device, which is worn on the outside of the operator's body and provides the operator with functions such as carrying heavy objects and body support, while integrating sensing and control The important technologies of robots, such as driving and driving, enable the exoskeleton to complete certain tasks under the control of the operator, such as improving the efficiency of individual combat in the military, and greatly increasing the ability of people to engage in heavy physical labor in complex terrain in civilian use. [0003] Most of the existing exoskeleton control strategy designs are complex, such as the master-slave control adopted by Hardiman. The internal exoske...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing exoskeleton control strategy designs are complex, such as the master-slave control adopted by Hardiman. The internal exoskeleton is the "master" and is controlled by the operator to provide commands for the external "slave" exoskeleton. Therefore, it is required to design the slave exoskeleton The activity space reserved inside the human body and the main exoskeleton makes the system quite complex, and some exoskeleton control strategies require accurate dynamic models of the human body and the exoskeleton, such as generalized ground reaction force (GRF), exoskeleton All the motion characteristics of the system need to be measured, and it is extremely difficult to accurately know the dynamic model parameters of the exoskeleton

At the same time, the existing exoskeleton has the following shortcomings: the degree of freedom does not match the existing lower limbs of the human body, and it is impossible to complete the power-assisted action; the power-assisted control method adopted requires the design of a complex and huge exoskeleton system, which requires the accuracy and manufacturing process of each rotating joint. Higher

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