Exoskeleton control method, device and system for powered lower limbs

An exoskeleton and lower limb technology, applied in the field of dynamic lower limb exoskeleton control, can solve the problems of increasing the volume and processing complexity of the exoskeleton, and increasing the cost of the exoskeleton, so as to reduce the complexity, improve the stability, and reduce the cost.

Active Publication Date: 2020-10-02
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

These sensors not only increase the cost of the exoskeleton, but also increase the size and processing complexity of the exoskeleton

Method used

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  • Exoskeleton control method, device and system for powered lower limbs
  • Exoskeleton control method, device and system for powered lower limbs
  • Exoskeleton control method, device and system for powered lower limbs

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Embodiment Construction

[0022] Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

[0023] The method, device and system for controlling a powered lower extremity exoskeleton according to the embodiments of the present application will be described below with reference to the accompanying drawings.

[0024] The powered lower extremity exoskeleton control system of the embodiment of the present application can make full use of the currently existing data information to calculate other unknown data information, and increase the perception ability of the controller without adding sensors, thereby making the con...

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Abstract

The application provides an exoskeleton control method, device and system for powered lower limbs. The system comprises a first motor controller, a second motor controller, a third motor controller, afourth motor controller and a master control unit, wherein the first motor controller and the second motor controller separately acquire left and right knee joint angles and left and right knee jointcurrent signals sent from left and right knee joint motors and send the left and right knee joint angles and the left and right knee joint current signals to the master control unit; the third motorcontroller and the fourth motor controller separately acquire left and right hip joint angles and left and right hip joint current signals sent from left and right hip joint motors and send the left and right hip joint angles and the left and right hip joint current signals to the master control unit; and the master control unit calculates distances from feet of exoskeletons to the ground and a ground acting force according to the left and right knee joint angles, the left and right knee joint current signals, the left and right hip joint angles and the left and right hip joint current signalsand controls the exoskeletons to execute corresponding movement actions according to the distances from the feet of the exoskeletons to the ground and the ground acting force. Thus, the cost of the exoskeletons of the lower limbs in the aspect of data acquisition can be reduced, the complexity of a control system is lowered, and the stability of movement of the exoskeletons is improved.

Description

technical field [0001] The present application relates to the technical field of exoskeleton robots, in particular to a method, device and system for controlling a powered lower limb exoskeleton. Background technique [0002] Powered lower extremity exoskeletons originated in the military field and were used to enhance soldiers' walking and weight-bearing capabilities. Later, they were gradually converted to civilian use. The purpose is to assist paraplegic patients to rebuild walking function and provide walking assistance for elderly people with weakened lower limb motor function. [0003] The exoskeleton exploration phase began in the 1960s, when Vukobratovic of the Mihailo Pupin Institute in Yugoslavia proposed the theory of the lower limb motor system and designed a powered humanoid exoskeleton, which was used for paraplegic patients for the first time. In the 1980s, powered exoskeletons entered the accumulation stage. Zhang Jichuan and others from Tsinghua University d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2003/007A61H2201/1207A61H2201/5007A61H2205/10
Inventor 关鑫宇李银波韩新宇刘伟峰时展鹏季林红杨沂霖任峻立
Owner TSINGHUA UNIV
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