CN116265200B - A control method for automatic gait adjustment in the event of a stumbling exoskeleton - Google Patents

A control method for automatic gait adjustment in the event of a stumbling exoskeleton

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Publication number
CN116265200B
CN116265200B CN202111549698.9A CN202111549698A CN116265200B CN 116265200 B CN116265200 B CN 116265200B CN 202111549698 A CN202111549698 A CN 202111549698A CN 116265200 B CN116265200 B CN 116265200B
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China
Prior art keywords
exoskeleton
joint
wearer
exoskeleton robot
human
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CN116265200A (en
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孙仲良
李刚
贾凯
唐忠华
杜振军
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Shenyang Siasun Robot and Automation Co Ltd
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Shenyang Siasun Robot and Automation Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

本发明属于机器人控制领域，具体说是一种用于外骨骼的绊倒情况步态自动调整的控制方法。包括以下步骤：获取编码器和压力传感器采集的穿戴者数据；根据穿戴者数据判断穿戴者的运动状态；根据穿戴者的运动状态选择控制模式；根据不同的控制模式计算得到不同的驱动器控制量，控制驱动电机对外骨骼机器人进行控制。本发明采用关节编码器、足底压力传感器和足尖压力传感器采集运动信息，设计的控制器能够在穿戴者被障碍物绊到时，驱动外骨骼抬脚越过障碍，实现绊倒情况下的自平衡功能。

This invention belongs to the field of robotic control, specifically a control method for automatically adjusting the gait of an exoskeleton in the event of a stumble. The method comprises the following steps: acquiring wearer data collected by encoders and pressure sensors; determining the wearer's motion state based on the wearer's data; selecting a control mode based on the wearer's motion state; and calculating different driver control quantities based on different control modes to control the drive motor to control the exoskeleton robot. The present invention utilizes joint encoders, plantar pressure sensors, and toe pressure sensors to collect motion information. The designed controller is capable of driving the exoskeleton to lift its foot over an obstacle if the wearer stumbles, achieving self-balancing in the event of a stumble.

Description

Control method for automatically adjusting gait of tripping condition of exoskeleton
Technical Field
The invention belongs to the field of robot control, and particularly relates to a control method for automatically adjusting the tripping condition gait of an exoskeleton.
Background
The exoskeleton is wearable equipment, can assist human body movement, improves the movement capacity of a wearer, and currently, various exoskeleton control methods exist for driving the exoskeleton to achieve the function of assisting the wearer. However, most of the conventional control methods are only suitable for use in unobstructed terrains, and when the control method is stumbled, the control method cannot autonomously restore the balance and fall down. For example, an exoskeleton control method described in patent application CN201910981434.7 cannot solve the problem that a wearer gets caught on an obstacle, and patent application CN202011497152.9 collects information through an infrared device, a photoelectric sensor and an IMU, and assists the wearer in movement, but does not describe a control method when the wearer gets caught.
Disclosure of Invention
The invention aims to provide an exoskeleton control method, wherein a person wears an exoskeleton to move, and when the person is stumbled by an obstacle, the exoskeleton robot can automatically restore balance, so that the whole man-machine is prevented from falling down.
The technical scheme adopted by the invention for achieving the purpose is as follows:
the utility model provides a control device for tripping condition gait automatic adjustment of ectoskeleton, installs the encoder in the left and right both sides hip joint of ectoskeleton robot and left and right both sides knee joint department respectively for gather the left and right both sides hip joint angle value and the angular velocity value and the left and right both sides knee joint angle value and the angular velocity value of ectoskeleton robot wearer, install pressure sensor at the plantar and the toe of ectoskeleton robot respectively, be used for gathering the plantar pressure value and the toe pressure value of ectoskeleton robot, encoder and pressure sensor all link to each other with the controller.
A control method for automatic adjustment of a tripping condition gait of an exoskeleton, comprising the steps of:
acquiring the data of the wearers collected by the encoder and the pressure sensor;
judging the movement state of the wearer according to the wearer data;
selecting a control mode according to the movement state of the wearer;
And calculating different control amounts of the driver according to different control modes, and controlling the driving motor to control the exoskeleton robot.
The wearer data comprises left and right hip joint angle values and angular velocity values of an exoskeleton robot wearer acquired by the encoder, left and right knee joint angle values and angular velocity values of the exoskeleton robot wearer, and plantar pressure values and toe pressure values of the exoskeleton robot acquired by the pressure sensor.
The movement states of the wearer include a standing still state, a walking state, and a trip-back state.
The method for judging the motion state of the wearer according to the wearer data comprises the following steps:
setting the initial state of the exoskeleton robot to be a static standing state;
When the angular velocity value of any one joint is greater than or equal to a first threshold value, switching the exoskeleton robot to a walking state;
When the exoskeleton robot is in a walking state, and when the angular velocity value of any one joint is greater than or equal to a first threshold value and the toe pressure value is smaller than a second threshold value, the exoskeleton robot keeps in the walking state; when the angular velocity value of any one joint is greater than or equal to the first threshold value and the toe pressure value is greater than or equal to the second threshold value, the exoskeleton robot is switched to be in a tripping return state;
When the foot sole pressure value is greater than or equal to the third threshold value, the exoskeleton robot is switched to a static standing state.
The control modes comprise a follow-up mode and a power-assisted mode, wherein the follow-up mode is selected when the motion state of a wearer is a static standing state, and the power-assisted mode is selected when the motion state of the wearer is a walking state and a tripping return state.
In the power assisting mode, the wearer and the exoskeleton robot jointly drive, the wearer and the exoskeleton robot form a human-computer whole, and when the driving angle of the human-computer whole joint is inconsistent with the expected angle of the human-computer whole joint, the joint motor of the exoskeleton robot provides the required moment.
The follow-up mode adopts a torque PID control method, and specifically comprises the following steps:
Carrying out dynamic calculation on the joint angle value and the angular velocity value acquired by the encoder to obtain the actual moment of the joint of the exoskeleton robot, and obtaining the driving moment of the joint of the exoskeleton robot by the controller;
The control quantity of the driver is obtained through calculation of joint moment difference between the actual moment of the joint of the exoskeleton robot and the driving moment of the joint of the exoskeleton robot and the PID control coefficient, and then the driving motor is controlled to control the exoskeleton robot.
The power assisting mode adopts an impedance PID control method, and specifically comprises the following steps:
obtaining a man-machine integral joint driving angle according to the encoder;
Obtaining a man-machine integral joint angle difference according to the man-machine integral joint driving angle and the set man-machine integral joint expected angle;
impedance control is carried out on the angle difference of the human-machine integral joint, so that the expected moment of the human-machine integral joint is obtained;
carrying out dynamic calculation on the joint angle value and the angular velocity value acquired by the encoder to obtain a human-machine integral joint driving moment, and calculating to obtain a human-machine integral joint moment difference according to the human-machine integral joint expected moment and the human-machine integral joint driving moment;
And calculating to obtain a driver control quantity according to the man-machine integral joint moment difference and the PID control coefficient, and further controlling the driving motor to control the exoskeleton robot.
When the exoskeleton robot is in a walking state, when the toe collides with an obstacle, the controller detects that the exoskeleton is stumbled by the obstacle when the value of the toe pressure sensor is larger than or equal to a second threshold value, the controller switches the exoskeleton robot to a stumbled return state, the exoskeleton robot starts to lift feet and restore balance, namely, in a set time, the swing side hip joint continues to perform buckling motion, the swing side knee joint continues to perform buckling motion, so that the height of the feet is lifted to be higher than the obstacle, and meanwhile, the angles of the support side hip joint and the knee joint are unchanged;
When the foot is lifted to be higher than the height of the obstacle, the controller controls the foot to move forwards and gradually fall, after the foot on the swinging side is contacted with the ground, the plantar pressure value is gradually increased, when the plantar pressure value is greater than or equal to a third threshold value, the exoskeleton robot is switched to a static standing state, a follow-up control mode is adopted, at the moment, the wearer stops moving, the exoskeleton robot keeps in the static standing state, or the wearer continues to move forwards, and the exoskeleton robot is switched to a walking state.
The invention has the following beneficial effects and advantages:
1. according to the invention, the motion data of a wearer is obtained through the encoder, the plantar pressure sensor and the toe pressure sensor, the wearer is judged to be in a static standing, walking or tripping recovery state according to the motion data of the wearer, and then the corresponding control modes are selected according to the motion state, wherein the control modes comprise a follow-up mode and a power-assisted mode.
2. The invention can detect that the exoskeleton is stumbled by the obstacle through the toe pressure sensor, thereby increasing the movement obstacle detection function.
3. The invention provides a control method, which enables an exoskeleton to start to lift feet and cross an obstacle when the exoskeleton is stumbled by the obstacle, and finally achieves a self-balancing function under the stumbled condition.
Drawings
FIG. 1 is a schematic diagram of an exoskeleton robot used in the present invention;
FIG. 2 is a flow chart of an implementation of the exoskeleton control method of the present invention;
FIG. 3 is a schematic diagram of a wearer's movement state switch for the exoskeleton control method of the present invention;
FIG. 4 is a schematic representation of a tripping return state human-machine gesture of the exoskeleton control method of the present invention;
FIG. 5 is a schematic diagram of a system architecture of an exoskeleton control method;
fig. 6 is a control flow diagram of the exoskeleton control method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention provides an exoskeleton control method, as shown in fig. 2, comprising the following steps:
The method comprises the steps of acquiring wearer data acquired by an encoder, a plantar pressure sensor and a toe pressure sensor, wherein the wearer data comprises left hip joint angle values and angular velocity values acquired by the encoder, left knee joint angle values and angular velocity values acquired by the encoder, right hip joint angle values and angular velocity values acquired by the encoder, right knee joint angle values and angular velocity values acquired by the encoder, plantar pressure values acquired by the plantar pressure sensor and pressure values of collision positions of exoskeleton toes and obstacles acquired by the toe pressure sensor;
Judging the movement state of the wearer according to the data of the wearer, wherein the movement state of the wearer comprises a static standing state, a walking state and a tripping return state;
selecting corresponding control modes according to different motion states, wherein the control modes comprise a follow-up mode and a power-assisted mode, specifically, the follow-up mode is adopted when the vehicle is in a static standing state, and the power-assisted mode is adopted when the vehicle is in a walking state and a tripping return state;
transmitting control signals to the driver driving motor according to different control modes to control the exoskeleton;
further, the motion state of the wearer is determined, as shown in fig. 3, specifically:
Setting an initial state as a static standing state;
When the left hip joint angular velocity value is greater than or equal to a first threshold value, or the left knee joint angular velocity is greater than or equal to a first threshold value, or the right hip joint angular velocity is greater than or equal to a first threshold value, or the right knee joint angular velocity is greater than or equal to a first threshold value, switching the exoskeleton to a walking state;
When the exoskeleton is in a walking state, the exoskeleton keeps in the walking state when the left hip joint angular velocity value is greater than or equal to a first threshold value, or the left knee joint angular velocity is greater than or equal to the first threshold value, or the right hip joint angular velocity is greater than or equal to the first threshold value, or the right knee joint angular velocity is greater than or equal to the first threshold value, otherwise, the exoskeleton is switched to a static standing state;
When the exoskeleton is in a walking state, the exoskeleton keeps the walking state when the toe pressure value is smaller than a second threshold value, and when the toe pressure value is larger than or equal to the second threshold value, the exoskeleton is switched to a tripping return state,
When the exoskeleton is in a tripping return state, the tripping return state is maintained when the plantar pressure is smaller than a third threshold value, and when the plantar pressure value is larger than or equal to the third threshold value, the exoskeleton is switched to a static standing state.
1) Follow-up mode
In the follow-up mode, the human body actively moves and drives the exoskeleton to synchronously move together, and the motor of the exoskeleton joint outputs the moment required by the movement of the exoskeleton itself.
Further, when the human body drives the exoskeleton to move, the actual moment of the exoskeleton joint is calculated by dynamics. The controller controls the driving moment of the exoskeleton joint to enable the driving moment of the exoskeleton joint to be close to the actual moment of the exoskeleton joint.
Specifically, the follow-up mode adopts a torque PID control method:
and calculating the moment difference of the exoskeleton joints according to the actual moment of the exoskeleton joints and the driving moment of the exoskeleton joints, wherein the actual moment of the exoskeleton joints is obtained by dynamic calculation after data are measured by an encoder.
And calculating to obtain the control quantity of the driver according to the exoskeleton joint moment difference and the PID control coefficient. The PID control coefficient is given by human beings, and the driver control quantity is the driving moment increment of the exoskeleton joint.
And driving the motor to control the exoskeleton according to the driver control quantity.
2) Assistance mode
In the power-assisted mode, the human body and the exoskeleton are driven together, and the human body and the exoskeleton form a human-computer whole. When the driving angle of the human-machine integral joint is inconsistent with the expected angle of the human-machine integral joint, the exoskeleton joint motor provides the required moment.
Further, the expected angle of the human-machine integral joint is given by human and stored in the controller. When the human-machine integral motion is performed, the controller calls the expected angle of the human-machine integral joint, the expected angle is compared with the driving angle of the human-machine integral joint, the angle difference of the human-machine integral joint is obtained, the driving moment increment of the human-machine integral joint is calculated and obtained through an impedance PID control method, and the driving motor is driven to perform motion.
Specifically, the power assisting mode adopts an impedance PID control method:
And calculating the man-machine integral joint angle difference according to the man-machine integral joint expected angle and the man-machine integral joint driving angle, wherein the man-machine integral joint driving angle is measured by an encoder.
And carrying out impedance control according to the angle difference of the human-machine integral joint, and calculating to obtain the expected moment of the human-machine integral joint, wherein the impedance control rigidity coefficient and the impedance control damping coefficient are given by people.
And calculating the moment difference of the human-machine integral joint according to the expected moment of the human-machine integral joint and the driving moment of the human-machine integral joint. The man-machine integral joint driving moment is obtained by dynamic calculation after data are measured by an encoder.
And calculating to obtain the control quantity of the driver according to the moment difference of the human-machine integral joint and the PID control coefficient, wherein the PID control coefficient is given by human. The driver control quantity is the increment of the driving moment of the human-machine integral joint.
And driving the motor to control the exoskeleton by using the control amount of the driver.
Further, the static standing state, the exoskeleton is in a follow-up mode.
Further, in the walking state of the land, the exoskeleton is in a power-assisted mode, the expected angle of the exoskeleton is given by human beings and is stored in the controller, and the exoskeleton is called by the controller when in movement.
Further, in the tripping return state, the exoskeleton is in a power-assisted mode, the expected angle of the exoskeleton is given by human beings and is stored in the controller, the exoskeleton is called by the controller when in motion, and the operation posture is shown in fig. 4. When the exoskeleton is in a walking state, when the toe collides with an obstacle, and the value of the toe pressure sensor is larger than or equal to a second threshold value, the controller detects that the exoskeleton is stumbled by the obstacle, the controller switches the exoskeleton to a stumbling recovery state, the exoskeleton starts to lift feet, and balance is recovered, namely, in the time of t 1 seconds, the swing side hip joint continues to perform buckling motion, the swing side knee joint continues to perform buckling motion, so that the height of the foot is lifted to be higher than the obstacle, and meanwhile, the angles of the support side hip joint and the knee joint are unchanged.
Specifically, the time t 1 seconds of the continuous buckling movement of the swing-side hip joint and the knee joint is given by human beings, the angle of the continuous buckling movement of the swing-side hip joint and the angle of the continuous buckling movement of the swing-side knee joint are given by human beings, the angles are stored in the controller, and the controller calls the angles during the movement.
Further, when the foot is lifted to a sufficient height, the controller invokes gait planning manually specified to control the foot to move forward and gradually drop, after the foot on the swing side is contacted with the ground, the plantar pressure value gradually increases, when the plantar pressure value is greater than or equal to a third threshold value, the exoskeleton is switched to a static standing state, a follow-up control mode is adopted, at the moment, the wearer can stop moving, the exoskeleton is kept in the static standing state, the wearer can continue to move forward, and the exoskeleton is switched to a walking state.
Embodiment one:
an embodiment of the invention provides an exoskeleton control method.
Fig. 1 shows an exoskeleton robot used in the present invention, which is designed with straps at the thigh and the shank, and can fix the lower limbs of the human body to the legs of the exoskeleton robot. The two sides of the exoskeleton robot are provided with the hip joints and the knee joints which are provided with the direct current motors, and the motors are provided with the encoders which are used for detecting the motion state. The robot toe is provided with a pressure sensor for detecting collision between the toe and an obstacle and triggering a tripping return state. The sole is provided with a pressure sensor for detecting contact between the swing side and the ground in the tripping return state and triggering termination of the tripping return state. The motor can be driven by the control method provided by the invention, and when a wearer is tripped, the self-balancing function in the tripping condition is provided. An exoskeleton, which can be controlled by the exoskeleton control method according to any one of the embodiments, falls within the scope of the present embodiment.
Fig. 2 is a flowchart of an implementation of an exoskeleton control method, the flowchart including the following steps:
s1, acquiring the data of a wearer acquired by an encoder, a plantar pressure sensor and a toe pressure sensor,
In the embodiment, the wearer data comprises left hip joint angle value and angular velocity value collected by an encoder, left knee joint angle value and angular velocity value collected by an encoder, right hip joint angle value and angular velocity value collected by an encoder, right knee joint angle value and angular velocity value collected by an encoder, plantar pressure value collected by a plantar pressure sensor, and pressure value of collision part of exoskeleton toe and obstacle collected by a toe pressure sensor;
s2, judging the movement state of the wearer according to the data of the wearer, wherein the movement state of the wearer comprises a static standing state, a walking state and a tripping return state;
s3, selecting corresponding control modes according to different motion states, wherein the control modes comprise a follow-up mode and a power-assisted mode, specifically, the follow-up mode is adopted when the vehicle is in a static standing state, and the power-assisted mode is adopted when the vehicle is in a walking state and a tripping return state;
s4, sending control signals to a driver driving motor to control the exoskeleton according to different control modes;
fig. 3 is a schematic diagram of switching the movement state of the wearer in the present embodiment, that is, the movement state of the wearer is obtained according to the movement data of the wearer, and as can be seen from the figure, the initial state is set to be a standing state;
When the left hip joint angular velocity value is greater than or equal to a first threshold f 1, or the left knee joint angular velocity is greater than or equal to a first threshold f 1, or the right hip joint angular velocity is greater than or equal to a first threshold f 1, or the right knee joint angular velocity is greater than or equal to a first threshold f 1, the exoskeleton is switched to a walking state, when the exoskeleton is in the walking state, the left hip joint angular velocity value is greater than or equal to a first threshold f 1, or the left knee joint angular velocity is greater than or equal to a first threshold f 1, or the right hip joint angular velocity is greater than or equal to a first threshold f 1, or the right knee joint angular velocity is greater than or equal to a first threshold f 1, the exoskeleton remains in the walking state, otherwise the exoskeleton remains in the resting state, when the exoskeleton is in the walking state, when the toe pressure value is less than a second threshold f 2, the exoskeleton remains in the walking state, when the toe pressure value is greater than or equal to a second threshold f 2, the exoskeleton remains in the tripping state, when the toe pressure value is greater than or equal to a third threshold f is greater than or equal to a third threshold, the foot pressure value remains in the standing state, when the foot pressure value is greater than or equal to a third threshold f is greater than or equal to a threshold f 28.
In this embodiment, the first threshold f 1 to the third threshold f 3 are all values acquired according to actual actions, and can reflect that when the wearer is in different motion states, the encoder, the toe pressure sensor and the plantar pressure sensor acquire different values, and the motion state of the wearer is judged according to the acquired values, for example, the first threshold f 1 is optionally a value between 1 °/s and 5 °/s, that is, when the acquired hip joint or knee joint of the wearer is greater than or equal to the first threshold f 1, the state of the wearer is switched to be the walking state. The second threshold f 2 is optionally a value between 1n and 10n, that is, when the collected toe pressure of the wearer is greater than or equal to the second threshold f 2, the current movement state of the wearer is switched to a tripping return state. The third threshold f 3 is optionally 1% -30% of the total weight of the man-machine, that is, when the collected pressure of the sole of the swing side of the wearer is greater than or equal to the third threshold f 3 in the tripping return state, the current movement state of the wearer is switched to a static standing state, and the following control mode is entered. The above values are only illustrative, but not limiting, and any judgment value that can judge the movement state of the wearer through the above judgment process can be used as the threshold value in this embodiment.
In step S3, the control modes include a follow-up mode and a power-assisted mode, and the two control modes are specifically described below.
1) Follow-up mode
In the follow-up mode, the human body actively moves and drives the exoskeleton to synchronously move together, and the motor of the exoskeleton joint outputs the moment required by the movement of the exoskeleton itself.
Further, when the human body drives the exoskeleton to move, the actual moment of the exoskeleton joint is calculated by dynamics, and the driving moment of the exoskeleton joint is controlled, so that the driving moment of the exoskeleton joint is close to the actual moment of the exoskeleton joint.
Specifically, the follow-up mode adopts a torque PID control method:
calculating an exoskeleton joint moment difference according to the actual moment of the exoskeleton joint and the driving moment of the exoskeleton joint, wherein the exoskeleton joint moment difference is expressed as:
eET＝TEa-TEd(1)
Wherein e ET represents the moment difference of the exoskeleton joint, T Ea represents the actual moment of the exoskeleton joint, the dynamic calculation is performed after the data are measured by an encoder, and T Ed represents the driving moment of the exoskeleton joint.
The control quantity of the driver is calculated by combining the exoskeleton joint moment difference e ET and the PID control coefficient, and is expressed as:
Wherein, e ET.dt represents the integral of the exoskeleton joint moment difference, The differential of the moment difference of the exoskeleton joint is represented by k p、ki、kd, the PID control coefficients are respectively the proportional, integral and differential coefficients of PID control, the proportional, integral and differential coefficients can be obtained through fitting experimental data, and u represents the control quantity of a driver, and here, the increment delta T Ed of the driving moment of the exoskeleton joint is represented by u.
And driving the motor to control the exoskeleton by using the control quantity of the driver.
2) Assistance mode
In the power-assisted mode, the human body and the exoskeleton are driven together, and the human body and the exoskeleton form a human-computer whole. When the driving angle of the human-machine integral joint is inconsistent with the expected angle of the human-machine integral joint, the exoskeleton joint motor provides the required moment.
Further, the expected angle of the human-machine integral joint is given by human and stored in the controller. When the human-machine integral motion is performed, the controller calls the expected angle of the human-machine integral joint, the expected angle is compared with the driving angle of the human-machine integral joint, the angle difference of the human-machine integral joint is obtained, the driving moment increment of the human-machine integral joint is calculated and obtained through an impedance PID control method, and the driving motor is driven to perform motion.
Specifically, the power assisting mode adopts an impedance PID control method:
calculating a man-machine overall joint angle difference according to the man-machine overall joint expected angle and the man-machine overall joint driving angle, wherein the man-machine overall joint angle difference is expressed as:
eMq＝qMs-qMd(3)
Wherein e Mq represents the man-machine overall joint angle difference, q Ms represents the man-machine overall joint desired angle, which is manually specified and stored in the controller, and q Md represents the man-machine overall joint driving angle, which is measured by the encoder.
Impedance control is performed according to the angle difference e Mq of the human-machine integral joint, and the expected moment of the human-machine integral joint is calculated and expressed as:
wherein T Ms represents the expected moment of the human-machine integral joint, The differential of the angle difference of the human-machine integral joint is represented, a i represents the impedance control stiffness coefficient, b i represents the impedance control damping coefficient, and the impedance control stiffness coefficient and the impedance control damping coefficient can be obtained through fitting experimental data.
According to the man-machine integral joint expected moment T Ms and the man-machine integral joint driving moment, calculating a man-machine integral joint moment difference, which is expressed as:
eMT＝TMs-TMd (5)
wherein e MT represents the moment difference of the human-machine integral joint, T Md represents the driving moment of the human-machine integral joint, and the kinetic calculation is performed after the data is measured by an encoder.
According to the man-machine integral joint moment difference e MT and the PID control coefficient, calculating a driver control quantity expressed as:
Wherein, the ≡e MT.dt represents the integral of the moment difference of the whole joint of the human machine, The differential of the moment difference of the human-machine integral joint is represented, k p、ki、kd represents PID control coefficients, namely proportional, integral and differential coefficients of PID control respectively, can be obtained through fitting experimental data, and u represents the control quantity of a driver, namely the increment delta T Md of the moment of the human-machine integral joint.
And driving the motor to control the exoskeleton by using the control quantity of the driver.
FIG. 4 is a schematic representation of a tripping return state human-machine gesture of an exoskeleton control method.
When the exoskeleton is in a walking state, the exoskeleton is in a power-assisted mode, the expected angle of the human-machine integral joint is given by human, the human-machine integral joint is stored in the controller, and the human-machine integral joint is called by the controller during movement. When the toe collides with the obstacle, the value of the toe pressure sensor is larger than or equal to a second threshold f 2, the controller detects that the exoskeleton is stumbled by the obstacle, and switches the exoskeleton to a stumbled return state, and the exoskeleton starts to lift feet to restore balance:
Setting a moment when the tripping return state starts as t 0, wherein the bending angle of the swing side hip joint is theta h0, the bending angle of the swing side knee joint is theta k0, the swing side hip joint continues to perform bending motion within t 1 seconds, the motion angle is theta h1, the swing side knee joint continues to perform bending motion, the motion angle is theta k1, the foot is lifted to be higher than an obstacle, meanwhile, the angles of the support side hip joint and the knee joint are unchanged, and the moment is set as t 2:
t2＝t0+t1
at time t 2, the swing-side hip joint flexion angle is θ h2:
θh2＝θh0+θh1
At time t 2, the swing-side knee joint flexion angle is θ k2:
θk2＝θk0+θk1
The starting time t 0 of the tripping return state is calibrated by a controller and can be set to be 0s, the bending angle theta h0 of the hip joint at the swinging side and the bending angle theta k0 of the knee joint at the swinging side are acquired by an encoder, the continuous bending movement time t 1 seconds of the hip joint at the swinging side and the knee joint at the swinging side is given by human beings, and the continuous bending movement angle theta h1 of the hip joint at the swinging side and the continuous bending movement angle theta k1 of the knee joint at the swinging side are given by human beings.
After the swing-side hip joint and knee joint flexion movement is finished, the time reaches the time t 2, the foot is lifted to a sufficient height, and the controller calls a gait plan regulated by human, so that the foot moves forwards and gradually falls.
At time t 3, the swing leg passes over the obstacle.
When the foot on the swing side is contacted with the ground, the plantar pressure value is gradually increased, when the plantar pressure value is larger than or equal to a third threshold f 3, the moment is set to be t 4, the exoskeleton is switched to be in a static standing state, and a follow-up control mode is adopted. At this time, the wearer stops moving and the exoskeleton remains in a stationary standing state, or the wearer continues to move forward and the exoskeleton switches to a walking state.
Fig. 5 is a schematic diagram of a system structure of the present embodiment, which includes an encoder 01, a toe pressure sensor 02, a sole pressure sensor 03, a controller 04, a driver 05 and a motor 06, where the encoder 01, the toe pressure sensor 02 and the sole pressure sensor 03 collect data of a wearer in real time, the controller 04 acquires the collected data and determines a movement state of the wearer, switches the movement state of the wearer, and correspondingly matches different control modes at the same time, when the wearer is in a standing still state, the exoskeleton control selects a follow-up mode, when the wearer is in a walking or tripping return state, the power-assisted mode is selected, and the driver control amount in the different control modes is sent to the driver 05 to drive the motor 06 to move so as to realize closed-loop control of the exoskeleton.
As shown in fig. 6, a control flow chart of the present embodiment is shown, firstly, data of the wearer is collected, and the movement state of the wearer is determined.
If the robot is in a static standing state currently, follow-up control is performed, namely exoskeleton joint moment difference e ET is calculated according to exoskeleton joint actual moment T Ea and exoskeleton joint driving moment T Ed, PID control is performed according to exoskeleton joint moment difference e ET and PID control coefficients, driver control quantity u is calculated, a motor is driven according to the driver control quantity u, and control of the exoskeleton is achieved.
If the robot is in a walking or tripping return state currently, a power assisting mode is entered, namely, a rotation angle error e Mq of the human-machine integral joint is calculated according to an expected angle q Ms of the human-machine integral joint and a driving angle q Md of the human-machine integral joint, then impedance control is carried out, namely, a human-machine integral joint expected moment T Ms is calculated, a human-machine integral joint moment difference e MT is calculated according to the human-machine integral joint expected moment T Ms and a human-machine integral joint driving moment T Md, PID control is carried out according to the human-machine integral joint moment difference e MT and a PID control coefficient, a driver control quantity u is calculated, a motor is driven according to the driver control quantity u, and control of an exoskeleton is realized.
The invention adopts the joint encoder, the plantar pressure sensor and the toe pressure sensor to collect motion information, and the designed controller can drive the exoskeleton to lift feet and surmount obstacles when a wearer gets over by the obstacles, so as to realize the self-balancing function under the condition of tripping.

Claims (8)

1.一种用于外骨骼的绊倒情况步态自动调整的控制方法，所述方法基于一种用于外骨骼的绊倒情况步态自动调整的控制装置实现，所述装置具体为：分别在外骨骼机器人的左、右两侧髋关节和左、右两侧膝关节处安装编码器，用于采集外骨骼机器人穿戴者的左、右两侧髋关节角度值和角速度值以及左、右两侧膝关节角度值和角速度值，分别在外骨骼机器人的足底和足尖安装压力传感器，用于采集外骨骼机器人的足底压力值和足尖压力值，所述编码器和压力传感器均与控制器相连，其特征在于，包括以下步骤：1. A control method for automatically adjusting the gait of an exoskeleton in the event of a stumble, the method being implemented based on a control device for automatically adjusting the gait of an exoskeleton in the event of a stumble. The device specifically comprises: encoders installed at the left and right hip joints and left and right knee joints of the exoskeleton robot, respectively, for collecting the angle values and angular velocity values of the left and right hip joints and the angle values and angular velocity values of the left and right knee joints of the wearer of the exoskeleton robot; pressure sensors installed at the soles and toes of the exoskeleton robot, respectively, for collecting the sole pressure values and toes pressure values of the exoskeleton robot; the encoders and pressure sensors are both connected to a controller, and the method is characterized in that the method comprises the following steps: 获取编码器和压力传感器采集的穿戴者数据；Obtain wearer data collected by encoders and pressure sensors; 根据穿戴者数据判断穿戴者的运动状态；Determine the wearer's motion status based on the wearer's data; 根据穿戴者的运动状态选择控制模式；Select the control mode according to the wearer's motion state; 根据不同的控制模式计算得到不同的驱动器控制量，控制驱动电机对外骨骼机器人进行控制；Different driver control quantities are calculated according to different control modes, and the drive motor is controlled to control the exoskeleton robot; 所述根据穿戴者数据判断穿戴者的运动状态，具体为：The determination of the wearer's motion state based on the wearer data is specifically as follows: 设定外骨骼机器人起始状态为静止站立状态；Set the exoskeleton robot to a stationary standing state at the start; 当任意一个关节的角速度值大于或等于第一阈值时，切换外骨骼机器人为行走状态；When the angular velocity value of any joint is greater than or equal to a first threshold, the exoskeleton robot is switched to a walking state; 外骨骼机器人处于行走状态时，当任意一个关节的角速度值大于或等于第一阈值且足尖压力值小于第二阈值时，外骨骼机器人保持行走状态；当四个关节的角速度值都小于第一阈值时，切换外骨骼机器人为静止站立状态；当任意一个关节的角速度值大于或等于第一阈值且足尖压力值大于或等于第二阈值时，切换外骨骼机器人为绊倒回复状态；When the exoskeleton robot is in a walking state, if the angular velocity value of any joint is greater than or equal to a first threshold value and the toe pressure value is less than a second threshold value, the exoskeleton robot maintains the walking state; if the angular velocity values of all four joints are less than the first threshold value, the exoskeleton robot switches to a stationary standing state; if the angular velocity value of any joint is greater than or equal to the first threshold value and the toe pressure value is greater than or equal to the second threshold value, the exoskeleton robot switches to a stumble recovery state; 外骨骼机器人处于绊倒回复状态时，当足底压力值小于第三阈值时，外骨骼机器人保持绊倒回复状态；当足底压力值大于或等于第三阈值时，切换外骨骼机器人为静止站立状态。When the exoskeleton robot is in the stumble recovery state, when the plantar pressure value is less than a third threshold, the exoskeleton robot remains in the stumble recovery state; when the plantar pressure value is greater than or equal to the third threshold, the exoskeleton robot is switched to the stationary standing state. 2.根据权利要求1所述的一种用于外骨骼的绊倒情况步态自动调整的控制方法，其特征在于，所述穿戴者数据包括：编码器采集的外骨骼机器人穿戴者的左、右两侧髋关节角度值和角速度值，左、右两侧膝关节角度值和角速度值以及压力传感器采集的外骨骼机器人的足底压力值和足尖压力值。2. A control method for automatic gait adjustment in the event of a stumble in an exoskeleton according to claim 1, characterized in that the wearer data includes: left and right hip joint angle values and angular velocity values, left and right knee joint angle values and angular velocity values of the wearer of the exoskeleton robot collected by encoders, and plantar pressure values and toe pressure values of the exoskeleton robot collected by pressure sensors. 3.根据权利要求1所述的一种用于外骨骼的绊倒情况步态自动调整的控制方法，其特征在于，所述穿戴者的运动状态包括：静止站立状态、行走状态和绊倒回复状态。3. A control method for automatic gait adjustment of an exoskeleton in the event of a stumble according to claim 1, characterized in that the wearer's motion states include: a stationary standing state, a walking state, and a stumble recovery state. 4.根据权利要求1或3所述的一种用于外骨骼的绊倒情况步态自动调整的控制方法，其特征在于，所述控制模式包括：随动模式和助力模式，当穿戴者的运动状态为静止站立状态时，选择随动模式，当穿戴者的运动状态为行走状态和绊倒回复状态时，选择助力模式。4. A control method for automatic gait adjustment of an exoskeleton in the event of a stumble according to claim 1 or 3, characterized in that the control modes include: a follow-up mode and a power-assistance mode, wherein the follow-up mode is selected when the wearer's motion state is a stationary standing state, and the power-assistance mode is selected when the wearer's motion state is a walking state or a stumble recovery state. 5.根据权利要求4所述的一种用于外骨骼的绊倒情况步态自动调整的控制方法，其特征在于，所述随动模式中，穿戴者主动运动，并且带动外骨骼机器人一起同步运动，外骨骼机器人的关节电机输出供外骨骼机器人自身运动所需的力矩；所述助力模式中，穿戴者和外骨骼机器人共同驱动，穿戴者和外骨骼机器人构成一个人机整体，人机整体关节驱动角度与人机整体关节期望角度不一致时，由外骨骼机器人的关节电机提供所需要的力矩。5. A control method for automatic gait adjustment of an exoskeleton in the event of a stumble according to claim 4, characterized in that in the following mode, the wearer actively moves and drives the exoskeleton robot to move synchronously, and the joint motors of the exoskeleton robot output the torque required for the exoskeleton robot's own movement; in the power-assist mode, the wearer and the exoskeleton robot are driven together, and the wearer and the exoskeleton robot form a human-machine whole. When the driving angle of the human-machine whole joint is inconsistent with the expected angle of the human-machine whole joint, the required torque is provided by the joint motors of the exoskeleton robot. 6.根据权利要求5所述的一种用于外骨骼的绊倒情况步态自动调整的控制方法，其特征在于，所述随动模式采用力矩PID控制方法，具体为：6. The control method for automatic gait adjustment of an exoskeleton in the event of a stumble according to claim 5, wherein the following mode adopts a torque PID control method, specifically: 对编码器采集到的关节角度值和角速度值进行动力学计算，得到外骨骼机器人关节实际力矩，由控制器得到外骨骼机器人关节驱动力矩；Perform dynamic calculations on the joint angles and angular velocities collected by the encoder to obtain the actual torques of the exoskeleton robot joints, and the controller then obtains the driving torques of the exoskeleton robot joints. 通过对外骨骼机器人关节实际力矩与外骨骼机器人关节驱动力矩的关节力矩差以及PID控制系数计算得到驱动器控制量，进而控制驱动电机对外骨骼机器人进行控制。The driver control quantity is obtained by calculating the joint torque difference between the actual torque of the exoskeleton robot joint and the driving torque of the exoskeleton robot joint as well as the PID control coefficient, and then the drive motor is controlled to control the exoskeleton robot. 7.根据权利要求5所述的一种用于外骨骼的绊倒情况步态自动调整的控制方法，其特征在于，所述助力模式采用阻抗PID控制方法，具体为：7. The control method for automatic gait adjustment of an exoskeleton in the event of a stumble according to claim 5, wherein the power assist mode adopts an impedance PID control method, specifically: 根据编码器得到人机整体关节驱动角度；Obtain the overall joint drive angle of the human-machine interface according to the encoder; 根据人机整体关节驱动角度以及设定的人机整体关节期望角度，得到人机整体关节角度差；According to the driving angle of the human-machine overall joint and the set expected angle of the human-machine overall joint, the human-machine overall joint angle difference is obtained; 对人机整体关节角度差进行阻抗控制，得到人机整体关节期望力矩；Impedance control is performed on the angle difference of the human-machine joint to obtain the desired torque of the human-machine joint; 对编码器采集到的关节角度值和角速度值进行动力学计算，得到人机整体关节驱动力矩，根据人机整体关节期望力矩和人机整体关节驱动力矩计算得到人机整体关节力矩差；Perform dynamic calculations on the joint angle and angular velocity values collected by the encoder to obtain the driving torque of the human-machine overall joint. Calculate the human-machine overall joint torque difference based on the expected torque of the human-machine overall joint and the driving torque of the human-machine overall joint. 根据人机整体关节力矩差和PID控制系数计算得到驱动器控制量，进而控制驱动电机对外骨骼机器人进行控制。The driver control quantity is calculated based on the overall joint torque difference between the human and the machine and the PID control coefficient, and then the drive motor is controlled to control the exoskeleton robot. 8.根据权利要求1所述的一种用于外骨骼的绊倒情况步态自动调整的控制方法，其特征在于，外骨骼机器人处于行走状态时，当足尖与障碍物发生碰撞，足尖压力传感器数值大于或等于第二阈值时，控制器检测出外骨骼被障碍物绊到，控制器将外骨骼机器人切换至绊倒回复状态，外骨骼机器人开始抬脚，恢复平衡，即在设定时间内，摆动侧髋关节继续进行屈曲运动，摆动侧膝关节继续进行屈曲运动，使足部高度提升至高于障碍物，同时支撑侧髋关节和膝关节角度不变；8. A control method for automatic gait adjustment in the event of a stumble in an exoskeleton according to claim 1, characterized in that when the exoskeleton robot is in a walking state, when the toe collides with an obstacle and the value of the toe pressure sensor is greater than or equal to a second threshold, the controller detects that the exoskeleton has been tripped by the obstacle, and the controller switches the exoskeleton robot to a stumble recovery state, whereupon the exoskeleton robot begins to lift its foot and restore balance, i.e., within a set time, the swing-side hip joint continues to flex and the swing-side knee joint continues to flex, raising the foot to a height above the obstacle while maintaining the angles of the supporting-side hip and knee joints. 当足部提升到高于障碍物高度时，由控制器控制足部向前运动，并逐渐落下，当摆动侧足部与地面接触后，足底压力数值逐渐增大，当足底压力数值大于或等于第三阈值时，切换外骨骼机器人为静止站立状态，采用随动控制模式，此时穿戴者停止运动，外骨骼机器人保持静止站立状态，或者穿戴者继续向前运动，外骨骼机器人切换至行走状态。When the foot is lifted to a height higher than the obstacle, the controller controls the foot to move forward and gradually fall down. When the swinging side foot contacts the ground, the plantar pressure value gradually increases. When the plantar pressure value is greater than or equal to the third threshold, the exoskeleton robot is switched to a stationary standing state and adopts a follow-up control mode. At this time, the wearer stops moving and the exoskeleton robot remains in a stationary standing state, or the wearer continues to move forward and the exoskeleton robot switches to a walking state.
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