Wearable walking assisting robot and hybrid assisting control method thereof

Abstract

The invention relates to a wearable walking assisting robot and a hybrid assisting control method thereof, and belongs to the technical field of wearable robots. The wearable walking assisting robot comprises a waist wearing unit, a thigh binding unit and a hip joint buckling / stretching driving unit; the thigh binding unit comprises thigh rods; the waist wearing unit comprises a back support of aplate-type structure; L-shaped connecting arms are hinged to two side ends of the back support through hip joint adduction / abduction joint mechanisms respectively; and the thigh rods are fixed to theouter ends of the L-shaped connecting arms through the hip joint buckling / stretching driving unit, and the joint axis of the hip joint buckling / stretching driving unit and the joint axis of the hip joint adduction / abduction joint mechanism intersect at the center of the hip joint of a human body. The improvement of the structure can ensure that the human body coincides with the corresponding jointmovement rotating shaft of the walking assisting robot to eliminate man-machine interference force and improve wearing comfort, and can be widely applied to walking assistance of the old and other people with weak lower limbs.

Description

technical field [0001] The present invention relates to the technical field of wearable robots and control methods thereof, in particular to a wearable walking assist robot and a hybrid assist control method thereof. Background technique [0002] As of the end of 2018, my country's elderly population aged 60 and over was about 249 million, accounting for 17.9% of the total population; the population over 65 was about 167 million, accounting for 11.9% of the total population. The increasingly serious problem of population aging has brought many impacts to the society. The decline of the physiological functions of the elderly leads to the gradual weakening of the ability to take care of themselves, which brings living burdens to the family. Among them, the decreased walking ability of the elderly caused by muscle weakness is one of the important reasons. The decreased walking ability leads to a decrease in daily going out activities, and long-term sitting or bed rest accelerat...

AI Technical Summary

Problems solved by technology

Although the control method is simple, it is easy to misjudgment due to the influence of sensor signal noise during use, resulting in uncoordinated movement between the walker and the human body; at the same time, its power-assisted control needs to be sent after the current attitude data is processed. In the next step, the power assist control command, the delay caused by the sensor data acquisition and processing and then sending to the motor controller to execute the command will cause the power assist lag in the actual walker application process

[0005] For the above-mentioned problems of the control method, the current solution is to collect the human muscle electrical signal and combine the adaptive oscillator algorithm to predict the quasi-periodic gait trajectory, so as to realize the precise assistance of the robot to the human hip joint; although this method can predict Eliminate the power-assist delay, but there are certain requirements for the periodicity of walking. When the wearer frequently changes the walking rhythm, the timing of the power-assist is disordered and affects coordination due to the inability to accurately predict it.

Or the phase angle oscillator can be used to accurately identify the corresponding gait phase of the human body in each walking cycle, so as to achieve accurate power-assisted control of the corresponding gait phase, but it can only be calculated in the current state after the joint angle is detected by the attitude sensor. The power assist value does not have a predictive function, and the power assist is still affected by the delay and there is a sense of lag

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