Multi-joint combined control system and method for exoskeleton robot

Abstract

The invention provides a multi-joint combined control system and method for an exoskeleton robot. The control system inputs the real-time feedback signals of a whole-sole pressure sensing system and alimb gesture sensing system into a "multi-signal fusion and decoupling model", the model finishes the fusion and the decoupling of various signals, and outputs various categories of joint motor control quantities to control a motor to operate; a neural network is used for building the "multi-signal fusion and decoupling model", and through a quantity of training, a mature application model with multi-signal fusion and decoupling is generated; according to a human-computer interaction sensing system in a control system, various categories of joint motor control quantities output by the model are corrected in time to perform an optimization assistance function so as to achieve an optimal wearing effect of the exoskeleton robot; and on an aspect of joint motor control, the real-time currentclosed loop control and position (joint angle) closed loop control of the motor are used for realizing the quick and accurate control of the motor.

Description

technical field [0001] The present invention relates to the technical field of robot control, in particular to an exoskeleton robot multi-joint joint control system and method, and in particular to the control of an exoskeleton robot system based on multi-signal fusion, decoupling, and feedback multi-joint joint control method. Background technique [0002] Exoskeleton robots are designed to imitate the bone structure and movement characteristics of the human body, and are attached to the human body to help liberate certain aspects of the human body's functions or enhance certain aspects of the human body's performance. The comfort of exoskeleton robots worn on the human body, especially the coordination of exoskeleton robots following human body movements, is the key technology of exoskeleton robot research. [0003] Refer to the patent document CN110584954A for a flexible continuum-driven exoskeleton robot. In the prior art, in the layout of the sensing system, the sensin...

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Problems solved by technology

[0003] Refer to the patent document CN110584954A for a flexible continuum-driven exoskeleton robot. In the prior art, in the layout of the sensing system, the sensing system construction method of combining the attitude sensor and the sole pressure sensor is usually used. However, the commonly used sole pressure sensors are many It is a single-point or two-point arrangement, and it is impossible to perceive the complete change process of the plantar pressure in the support phase of the gait; while the feedback signal of the attitude sensor is a signal in the spatial dimension, and the signal is due to the non-rigidity of the exoskeleton bound on the human body. The uncertainty of the actual direction of limb movement is usually ignored by most, or it is cumbersome to obtain the control components of the motor control dimension by decoupling in mathematical space calculations

In addition, in the conventional exoskeleton robot control, the human-computer interaction force of the whole system has not been able to achieve comprehensive attention, which hinders the further improvement of compliant control.

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