Upper limb exoskeleton control method and device based on voice input

Abstract

The invention provides an upper limb exoskeleton control method and device based on voice input. The method and device are used for controlling an upper limb exoskeleton by obtaining interaction signals generated by portions, except for an upper limb, of a wearer. The method comprises the steps: obtaining a first interaction signal, and determining a first working mode of the upper limb exoskeleton according to the first interaction signal; obtaining the current position of an arm with the upper limb exoskeleton and dynamic parameters used for performing gravity compensation on the upper limb exoskeleton, and determining a first expected moment track according to the first working mode, the current position, the dynamic parameters and static parameters used for performing gravity compensation on the upper limb exoskeleton; and controlling the upper limb exoskeleton to execute an action corresponding to the first working mode according to the first expected moment track. The upper limb exoskeleton is controlled by adopting the portions except for the upper limb, work depending on the upper limb cannot be affected, meanwhile, the control complexity degree is simplified, and the wearer can conveniently and rapidly use the upper limb exoskeleton.

Description

technical field [0001] The present application relates to the field of industrial upper extremity assisting exoskeleton, in particular to a control method and control device for an upper extremity exoskeleton based on voice input. Background technique [0002] In industrial scenarios, for workers who need to raise their hands for a long time (such as construction workers, takeaway delivery personnel, express sorting personnel, assembly personnel of automobiles, airplanes, ships, etc.) and other people who need to raise their hands (such as Arm movement rehabilitation patients, etc.), major research institutions and companies have designed various related exoskeleton equipment, which can provide an auxiliary force for the upper limbs of the human body by wearing the exoskeleton equipment. [0003] In the current research, most of the exoskeleton control methods are to control the start, pause, and switching of various working modes and parameters of the exoskeleton through th...

AI Technical Summary

Problems solved by technology

[0004] In the actual use scenario, since the upper limbs on both sides of the user are in working condition, there is no time to operate the external equipment, which makes the control of the exoskeleton very difficult; moreover, the way of controlling through the operation of the upper limbs is relatively complicated, which is not conducive to the quick use of newcomers.

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