CN103622792A - Information collecting and controlling system of external skeleton assist robot - Google Patents
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Abstract
本发明公开了一种外骨骼机器人信息采集与控制系统的设计，涉及机器人领域，着重解决多传感器信息采集问题。系统在机器人关节处分别安装电机驱动控制的电机。系统上共安装四类传感器，包括加速度、压力传感器、旋转编码器和陀螺仪，将压力传感器安装在脚掌主要受力点，将加速度传感器安装在大小腿中间、髋关节进行加速度测量。将陀螺仪安装在腰后中间测量重心，另外采集旋转编码器数据进行校准。根据传感器分布用独立单片机进行数据采集，并采用zigbee无线数据传输，将数据传输至上位机处理，使用VC++软件对数据实时显示，通过CAN总线实现电机的控制。实验证明，本发明能实时采集有效信息并控制，对外骨骼后续研究有重要的参考价值。
The invention discloses the design of an exoskeleton robot information collection and control system, relates to the field of robots, and focuses on solving the problem of multi-sensor information collection. The system installs motors driven and controlled by motors at the joints of the robot. A total of four types of sensors are installed on the system, including acceleration, pressure sensors, rotary encoders and gyroscopes. The pressure sensors are installed on the main stress points of the soles of the feet, and the acceleration sensors are installed in the middle of the thighs and hip joints for acceleration measurement. Install the gyroscope in the middle of the back of the waist to measure the center of gravity, and collect the data of the rotary encoder for calibration. According to the sensor distribution, an independent single-chip microcomputer is used for data acquisition, and zigbee wireless data transmission is used to transmit the data to the host computer for processing, and VC++ software is used to display the data in real time, and the motor is controlled through the CAN bus. Experiments prove that the present invention can collect and control effective information in real time, and has important reference value for follow-up research on the exoskeleton.
Description
Technical field
The present invention relates to medical rehabilitation field, particularly relate to a kind of device that strengthens human locomotion ability.
Background technology
Along with the raising of scientific progress and living standards of the people, automobile popularity rate greatly increases, and people's rhythm of life is accelerated day by day, and the disability rate that traffic accident causes also increases year by year.Due to the reduction of birth rate, China is stepping into aging society, also increases to a certain extent the ratio of China disabled population simultaneously.Therefore highly significant, it is for improving the power assisting device of human body limb movement function in the research of ectoskeleton power-assisting robot, helps people with disability to carry out lower extremity movement training, thereby progressively recovers walking ability and strengthen health body constitution.
Exoskeleton robot is a kind of machinery that can allow the man-machine integration that people dresses, it combines " muscle power " of the mankind's intelligence and robot, by people's intelligence, carry out control, by robot complete only depend on people self cannot unaided task.Wherein information acquisition system and the control system key component of exoskeleton robot power-assisted especially, plays decisive influence to power-assisted effect.
But ectoskeleton of today still exists a lot of problems, comprise and the coordinate operation problem of human body, the information gathering of multisensor and fusion problem etc.Ectoskeleton still in the starting stage, need to drop into a large amount of experiments and research in the development of China.The present invention utilizes the multisensor information of carrying out effectively gather and merge, and machinery is controlled, and to ectoskeleton, development has important reference value.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of information gathering of ectoskeleton power-assisting robot and the method for designing of control system, to realize running state monitoring and the power-assisted to human body of exoskeleton robot, solve the existing sensor information acquisition problems of existing exoskeleton robot, energy Real-time Collection effective information, thus robot is precisely controlled.
The present invention is achieved through the following technical solutions:
The exoskeleton robot frame for movement that improves human locomotion ability is to take the symmetrical structure that waist center is axle, it comprises the servo-actuated waist support with 4 degree of freedom, waist support is connected with hip joint driving device by support, Thigh bone connecting rod is connected knee joint driving device with elevating mechanism with hip joint driving device, elevating mechanism can extend and shorten for the height differences of different human body; Ankle arthrosis top is connected with focile connecting rod, in side, is connected with vola pedal, can realize pedal and take rotating freely that ankle arthrosis center is axle.In the junction of pedal middle, vola, be leaf spring, the bending of forefoot when adaptation people foot is walked.When people steps on this pedal, normally walk, the ground of feeling to coexist is walked the same.
The information acquisition system of ectoskeleton power-assisting robot is independent of outside frame for movement, comprise the gyroscope that is positioned at waist support middle part, the rotary encoder of hip joint drive motors, Thigh bone connecting rod middle part acceleration transducer, the rotary encoder of knee joint drive motors, focile connecting rod middle part acceleration transducer and be installed on the pressure transducer on the pedal of vola.According to the function of the frame for movement of ectoskeleton power-assisting robot and sensor, pressure transducer is installed to the sole place of left and right bipod, and in conjunction with human biology and kinematics analysis, they are arranged on to each main stress point, finally, by calculating average force, judge on this basis human motion intention and walking posture.4 acceleration transducers, are used for detecting acceleration and the rotational angle of robot leg exercise, for judging people's walking posture and later stage prediction walking intention, make it more effective to the power-assisted of human body.Gyroscope in the middle of after waist can carry out the measurement of center of gravity, prevents the injury that robot falls and causes.In addition, the rotary encoder data that also need to gather drive motors are for judging that whether the operation conditions of motor meets control requirement, conveniently accurately controls.According to the distributing position of sensor and dense degree, system is carried out data acquisition and preliminary treatment with single-chip microcomputer independently respectively, and adopts zigbee wireless communication mode to carry out transfer of data, sends data to host computer and processes.The upper computer software of being write by VC++ can show the state that human body is started to walk, walked, stops, and carries out real-time update, and upper function is carried out control strategy adjustment according to user training progress simultaneously.
The control system of ectoskeleton power-assisting robot comprises servomotor and the motor driver that install respectively at hip joint, knee joint place, and motor is controlled by motor driver, can accurately control its position and speed, and can measure and feed back.According to data that information acquisition system obtains and analysis result, the CAN bus in this servo-control system in microcontroller is sent instruction to motor driver, and corresponding motor is controlled, and reaches the effect of assisted walk.
The invention has the beneficial effects as follows: this robot can collect the effective information of various sensors in the mode of wireless transmission, greatly facilitate the action of human body and the Real-time Collection of information.According to the information collecting, can analyze human body moving situation and judgement human motion intention, by control system, the frame for movement of exoskeleton robot is controlled, and carry out the adjustment of speed and position according to the degree of human body recovery training, make patient can adapt to gradually each section of rehabilitation training.Thereby be familiar with the gait of walking, improve human locomotion ability and Health restoration.
Accompanying drawing explanation
Fig. 1 is the integral mechanical structure schematic diagram in the embodiment of the present invention;
Fig. 2 is data acquisition and controlling system schematic in the embodiment of the present invention;
Fig. 3 is the installation site schematic diagram of the plantar pressure sensor in the embodiment of the present invention;
Fig. 4 is the upper computer software surface chart in the embodiment of the present invention;
The specific embodiment
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the drawings and specific embodiments, describe the present invention.
The specific implementation of ectoskeleton power-assisting robot is provided in the embodiment of the present invention, it is to take the symmetrical structure that waist center is axle, Fig. 1 is the integral mechanical structure schematic diagram in the embodiment of the present invention, it comprises the servo-actuated waist support 1 with 4 degree of freedom, by bandage, waist support 1 and human body waist are linked together, can realize servo-actuated with human body waist movement.Waist support is connected with hip joint driving device 3 by support, Thigh bone connecting rod 4 is connected knee joint driving device 6 with elevating mechanism 5 with hip joint driving device 3, by being arranged on the adjusting elevating mechanism 5 on Thigh bone connecting rod 4, the people that can adapt to different heights is wearing this lower limb exoskeleton power-assisting robot.Articulated driving equipment the 3, the 6th, motor is connected with whole joint by motor shaft, controls the rotation in joint, for motion provides power.The stay bolt simultaneously installing additional by locating hole outside is realized spacing between two support movements, meets human body lower limbs physiological movement feature, for lower extremity movement provides limit protection.Ankle arthrosis 8 tops are connected with focile connecting rod 7, in side, are connected with vola pedal 9, can realize pedal 9 and take rotating freely that ankle arthrosis 8 centers are axle.In the junction of vola pedal 9 middles, be leaf spring, the bending of forefoot when adaptation people foot is walked.When people dresses this exoskeleton robot by bandage, people's lower limb are exactly an integral body with it.Bi-pedal is normally walked on this pedal, and the ground of feeling to coexist is walked the same.
Be arranged on the accurate perception human body motion track of sensor meeting in this robot simultaneously, thereby control, be arranged on hip joint and kneed motor, drive the motion of lower limb to realize power-assisted.
Fig. 2 is the data acquisition and controlling system schematic in the embodiment of the present invention, as shown in Figure 2, comprises the following aspects:
1, the various kinds of sensors of collection ectoskeleton power-assisting robot information
Degree of will speed up installation of sensors is in the thigh and calf centre position 10,12 of left and right lower limb, and the relevant position of symmetrical leg, carries out the measurement of acceleration of motion.Adopting sensor is herein ADXL345, this sensor is by the acceleration of 3 directions of 3 axle sensing unit inductions, then by electronic induction device, the amount of acceleration sensing is changed into analog quantity, analog quantity is converted to the laggard row digital filtering of digital quantity and is stored in FIFO through ADC, and wait main equipment is read the value of acceleration by control and interrupt logic from serial i/O mouth.The injury of falling and causing when preventing that people from walking, is arranged on centre position after waist by gyroscope 2, carries out the measurement of center of gravity.The rotary encoder OMORONE6B2-CWZ6C that is arranged on respective drive motor place can gather the information such as the speed of service of motor and position, after information gathering is entered to controller, just can judge whether the operation conditions of motor meets control requirement.
By pressure transducer be arranged on as shown in Figure 3 14,15,16,17, via kinesiology and biological comprehensive analysis, these 4 the main stress points of sole while moving for people, therefore at this setting pressure sensor FSR402 everywhere, for measuring plantar pressure changing value.The pressure bearing when pressure transducer is larger, and resistance value is less, is changed to magnitude of voltage through change-over circuit, then by after signal conditioning circuit by signals collecting in controller, carry out calculation of pressure, finally can obtain average force by appropriate algorithm.
2. part of data acquisition
According to the distributing position of sensor and collection demand, by 5 single chip computer AT mega128, sensor is carried out to data acquisition.By after various kinds of sensors and single-chip microcomputer exact connect ion, write correct program and can collect corresponding data, because so the difference signal type of sensor is different, be divided into two kinds of digital quantity and analog quantitys, analogue signal becomes after digital quantity by the AD translation interface on single-chip microcomputer, and data preliminary treatment and transmission are carried out in single-chip microcomputer unification.
3. tcp data segment
Single-chip microcomputer is after collecting sensing data, by with zigbee wireless transport module from the correct line of node, can by the sensor digital data transmission previously having collected to zigbee module from node, and then transfer on zigbee host node by the mode of wireless transmission.In view of the control node of exoskeleton robot is more single, and all nodal informations are all aggregated into the host node on PC, so adopt Star Network transmission.Host node is connected by serial ports with PC, receive after information host node can be accurately the information transmission to host computer.
4. data analysis and demonstration
The data of the zigbee host node transmission receiving by serial ports, can obtain each sensor values, are representing state and the machine operation situation of partes corporis humani position.After the suitable date processing of host computer, utilize VC++ software development environment to write function code and graphic user interface to host computer, can be by the data analysis human body collecting current walking state and rehabilitation training situation, to the control of later stage exoskeleton robot, play a part very important.The interface of upper computer software as shown in Figure 4.
5. the control of pair frame for movement
The control system of ectoskeleton power-assisting robot adopts AT90CAN128 controller with CAN mouth as core, by the total line traffic control of CAN, be arranged on the motor driver above frame for movement, and then by the running of driver control motor, realize the power-assisted of exoskeleton robot.And can carry out the adjustment of control strategy according to the training condition of different human body and rehabilitation progress.
This exoskeleton robot work process is as follows; First by rehabilitation therapist Jiang Ci robot, by bandage type structure, be worn on a patients body, according to different rehabilitation trainings, carry out the change of control program.The training program at rehabilitation initial stage is generally the fixedly gait of program setting, and human body basic is servo-actuated action.After adaptive training after a while, human body can carry out self-service action, and then the artificial follower of this machine after the data acquisition and analysis by information acquisition system, is formulated control program human body is carried out to power-assisted.Through this repetition training, help patient to strengthen walking ability, reach rehabilitation efficacy.
Therefore, a kind of ectoskeleton power-assisting robot information gathering in the present invention and control system can be utilized the information such as the moving situation, self-position of this power-assisting robot of multiple sensors Real-time Collection, by mechanical mechanism being driven by servomotor after data analysis, thereby realize the Based Intelligent Control to exoskeleton robot, to ectoskeleton, follow-up study has important reference value.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of making, be equal to replacement, improvement etc., within all should being included in the scope of protection of the invention.
Claims (8)
1. an ectoskeleton power-assisting robot comprises waist support 1, hip joint driving device 3, Thigh bone connecting rod 4, elevating mechanism 5, knee joint driving device 6, focile connecting rod 7, ankle arthrosis 8, vola pedal 9, information gathering and control system; Its information gathering and control system system comprise: the gyroscope 2 that is positioned at waist support middle part, hip joint drive motors and motor encoder 13, Thigh bone connecting rod middle part acceleration transducer 12, knee joint drive motors and motor encoder 11, focile connecting rod middle part acceleration transducer 10, is installed on the pressure transducer at vola pedal 9 places.It is characterized in that, by being arranged on various kinds of sensors on robot mechanism, gather kinestate information, through single-chip microcomputer, by information gathering and preliminary treatment, then carry out wireless data transmission by zigbee module, finally by host computer, carry out reception & disposal and show; Meanwhile, control system is sent instruction according to the sensing data receiving to servomotor 11,13, and motor action reaches power-assisted effect.
2. in system according to claim 1, servo-control system mainly adopts servomotor to carry out power-assisted, servomotor is controlled by motor driver, the rotary encoder being connected with machine shaft can be measured angle and the speed of electric machine rotation in real time, information is fed back to control system and make it to control more accurately effectively.
3. according to claim 1 and require the servo-control system in system described in 2, by the microcontroller with CAN, issued instructions in CAN bus, corresponding motor is controlled.
4. system according to claim 1, is the injury that prevents that robot from surprisingly falling and causing, at exoskeleton robot waist support middle part, gyroscope 2 is installed and is carried out center of gravity measurement.
5. system according to claim 1, Thigh bone connecting rod middle part acceleration transducer 12 and focile connecting rod middle part acceleration transducer 10, and the relevant position of symmetrical leg totally 4 acceleration transducers, be used for detecting acceleration and the rotational angle of robot leg exercise, for judging people's walking posture and later stage prediction walking intention, make it more effective to the power-assisted of human body.
6. system according to claim 1, in conjunction with human biology and kinematics analysis, at vola pedal, 4 pressure transducers are installed at 9 places, sensor location is 4 main stress points under foot, the pressure of foot during for detection of human body walking, judges human motion intention and walking posture on this basis.
7. system according to claim 1, then sensor information transfers to host computer through single-chip microcomputer collection, the upper computer software of being write by VC++ can show the state that human body is started to walk, walked, stops, and carry out real-time update, upper function is carried out control strategy adjustment according to user training progress simultaneously, greatly user-friendly.
8. according to the system described in claim 1 and 7, it is characterized in that, described data transfer mode is zigbee wireless transmission, in Star Network mode, information is aggregated into the host node on host computer, the advantage of this transmission means is not hinder user to walk completely, and efficiency of transmission is higher.
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