CN109223453A - A kind of assistance exoskeleton device based on the study of regular walking step state - Google Patents
A kind of assistance exoskeleton device based on the study of regular walking step state Download PDFInfo
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Abstract
A kind of assistance exoskeleton device based on the study of regular walking step state, when the device does not learn human body rule movement gait or human body is in irregular motion state, which carries out passive power-assisted；After the device has learnt human body rule movement gait, relative movement information between the rule motion information and people and assistance exoskeleton device is merged, show that hybrid motion instructs, drives human body lower limbs movement, active power-assisted is realized, so that human body can sufficiently reduce the power output of sports lower limb.When people's not active movement, which remains to drive human motion completely according to the rule movement learnt before, reaches more efficient power-assisted effect.Apparatus of the present invention can carry out active power-assisted for human body rule movement (such as walking at the uniform velocity, run, stair activity and climb and fall movement etc.), born when being applicable to long weight walking crowd or it is long when the easily tired weakling of walking apply.
Description
Technical field
The present invention relates to it is a kind of based on regular walking step state study assistance exoskeleton device, for abled person, make its
The burden for mitigating its user when walking, bearing weight belongs to human body auxiliary device field.
Background technique
Ectoskeleton is broadly divided into two classes both at home and abroad at present, help the disabled ectoskeleton and assistance exoskeleton.Ectoskeleton of helping the disabled mainly is answered
For the handicapped disabled person of lower limb, make to regain normal walking ability.Assistance exoskeleton mainly for abled person, make its
Mitigate the burden of its user when walking, bearing weight.
The assistance exoskeleton that can be retrieved at present, such as the BLEEX assistance exoskeleton of California, USA university, Lockheed
The HULC assistance exoskeleton of Martin Corporation, using the execution on the methods of sensitivity amplification control, impedance control control ectoskeleton
Device follows human motion and power-assisted；The HAL assistance exoskeleton of Japan, by acquiring the biological electromyography signal of human body on ectoskeleton
Actuator controlled, to reach the effect to human motion power-assisted.Above method is to be sensed according to power, myoelectricity etc.
The live signal of device acquisition is analyzed, and is exported control instruction in real time and is controlled the actuator on ectoskeleton.The above dermoskeleton
Bone cannot predict human motion, ectoskeleton can only be kept passive and what is lagged follows human body limb using the current kinetic of human body as _target
Body movement, the power-assisted provided are passive power-assisted.When human body not active movement, ectoskeleton cannot also be moved, and cannot achieve actively
Power-assisted.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of based on regular walking step state
The assistance exoskeleton device of habit, can predict human motion, provide active power-assisted for human motion, power-assisted effect is more efficient.
The technical solution of the invention is as follows: a kind of assistance exoskeleton device based on the study of regular walking step state, including
Ectoskeleton joint structure, binding strip, detection device, controller and driving device；The ectoskeleton joint structure waits helping with human body
The matching of power movable joint, and together with by binding strip with human body waiting for the bondage of assist exercise joint, in binding strip and ectoskeleton pass
The connected place of section structure is equipped with detection device, and driving device is mounted on ectoskeleton joint structure；
Detection device: waiting for relative movement information between assist exercise joint and ectoskeleton joint structure for detecting human body,
It exports to controller；
Controller: the ectoskeleton joint structure of the relative movement information and driving device output of receiving detection device output
Movement angle obtains passive movement instruction output to driving device, while obtaining body gait when human body rule moves beginning
The characteristics of motion show that active movement instructs in conjunction with relative movement information, and passive movement instruction and active movement instruction are melted
Hybrid motion instruction is obtained after conjunction, is exported to driving device；
Driving device: the movement angle of acquisition ectoskeleton joint structure is exported to controller；It is instructed and is driven according to passive movement
Dynamic ectoskeleton joint structure follows human body to wait for assist exercise joint motions, realizes passive power-assisted；According to hybrid motion order-driven
Ectoskeleton joint structure drives human body to wait for assist exercise joint motions, realizes active power-assisted.
During active power-assisted, if detection device detects that human body waits for that assist exercise joint and ectoskeleton joint are tied
Relative motion deviation is greater than preset threshold value between structure, then human motion rule changes, at this point, passive into next round
Power-assisted arrives the process of active power-assisted again.
The controller includes that joint follows motion control unit, regular motor behavior unit and instruction comprehensive single
Member；
Joint follows motion control unit: the relative movement information and driving device of receiving detection device output export outer
The movement angle of skeletal joint structure show that passive movement instructs using impedance control algorithm when human body rule moves beginning,
It exports to driving device；
Regular motor behavior unit: the relative movement information and driving device of receiving detection device output export outer
Skeletal joint structure motion angle, carries out the study of human body rule movement gait, and then obtains the body gait characteristics of motion, exports
Give instruction comprehensive unit；
Instruction comprehensive unit: in conjunction with the body gait characteristics of motion and the relative movement information, show that active movement refers to
It enables；Assessment ectoskeleton joint structure waits for human body the tracking error in assist exercise joint, to passive movement instruction and active movement
Instruction is merged, and is obtained hybrid motion instruction, is exported to driving device.
Regular motor behavior unit is realized by following algorithm:
(4.1) by the phase of adaptive frequency oscillator group observation t moment ectoskeleton joint structure movement angle and again
Existing coefficient d 2；
(4.2) phase and reproduction coefficient d 2 of the frequency oscillator according to t moment ectoskeleton joint structure movement angle, reproduction
The phase information at t+1 moment out, the input as t+1 moment polynomial function；
(4.3) angle is moved using the phase of t moment ectoskeleton joint structure movement angle and t moment ectoskeleton joint structure
Degree, by least square method of recursion, is fitted the joint position curve movement of one gait of t moment human body, obtains multinomial
Formula function power term coefficient d1；
(4.4) polynomial function obtains t+1 moment ectoskeleton joint according to the input at power term coefficient d1 and t+1 moment
Structure motion angle.
The implementation method of the step (4.1) is as follows:
(5.1) adaptive frequency oscillator group includes the different adaptive frequency oscillator of N number of original frequency, each adaptive
The periodic signal component for answering frequency oscillator observation t moment ectoskeleton joint structure movement angle, vibrates from N number of adaptive frequency
The parameter of adaptive frequency oscillator where selecting the periodic signal component x and x of amplitude maximum in device, the parameter is as x's
Reappear coefficient d 2；N is the natural number greater than 1；
(5.2) the frequency e for setting x, judges whether the frequency e of the x signal interior for the previous period of t restrains, if convergence, recognizes
The phase of ectoskeleton joint structure movement angle has been observed for adaptive frequency oscillator group；If do not restrained, then it is assumed that people
Body is in non-regular motion state, and d1 and d2 keep t-1 moment state；
(5.3) using the phase of x as the phase of t moment ectoskeleton joint structure movement angle.
The hybrid motion at comprehensive unit t+1 moment is instructed to instruct i=k1 × a+k2 × b, wherein a is passive movement instruction, b
For active movement instruction, k1, k2 are weight coefficient.
The weight coefficient k1, k2 meet: k1+k2=1.
The determination method of k1, k2 are as follows:
Instruction comprehensive unit assessment ectoskeleton joint structure waits for human body the tracking error in assist exercise joint, misses when following
When difference is greater than the upper threshold of setting, k1 > k2；When tracking error is less than the bottom threshold of setting, k2 > k1；Work as tracking error
When between the upper threshold and lower limit of setting, k1, k2 are identical as the t-1 moment.
Joint follows motion control unit to show that passive movement instructs using impedance control algorithm, wherein the quilt at t+1 moment
Dynamic movement instruction a=α+k β, α are the ectoskeleton joint structure movement angle of t moment, and β is the relative movement information of t moment, and k is
Proportionality coefficient.
K is inversely proportional at a distance from ectoskeleton joint structure central point to detection device central point, with synchronous control accuracy at
Direct ratio.
Compared with prior art, the invention has the following beneficial effects:
(1) the regular motor behavior unit in controller of the present invention utilizes human body rule motor behavior learning algorithm,
Human motion prediction is realized, so that assistance exoskeleton device of the present invention be made to have passive power-assisted and active assist function, power-assisted effect
Fruit is more efficient.
(2) it during active power-assisted, using follow-up motion recruitment evaluation, realizes dynamic adjustment passive movement and actively transports
Dynamic weight coefficient k1 and k2, to reach the dynamic adjustment of the active power-assisted and passive power-assisted that are directed to human body different motion state,
So that ectoskeleton power-assisted effect is optimal.
(3) regular motor behavior unit can learn the signal of any period, after input signal disappearance, Neng Goufu
The now signal；Learning algorithm and signal reproduction algorithm are separated, study is can be realized simultaneously and signal reappears.Centre passes through oscillation
Device and least square method of recursion coefficient store and more newly arrive the retentivity and update coefficient of realizing that signal learning and signal reappear
Synchronism guarantees real-time of the invention and the synchronism with human motion.
Detailed description of the invention
Fig. 1 is the composition block diagram of assistance exoskeleton device of the present invention；
Fig. 2 is detection device composition block diagram；
Fig. 3 is driving device composition block diagram；
Fig. 4 is composition block diagram inside servo-driver；
Fig. 5 is that controller algorithm realizes schematic diagram.
Specific embodiment
A kind of assistance exoskeleton device based on the study of regular walking step state, including ectoskeleton joint structure, binding strip, inspection
Survey device, controller and driving device.Ectoskeleton joint structure waits for that assist exercise joint matches with human body, and by binding strip with
Human body waits for the bondage of assist exercise joint together, is equipped with detection device in binding strip and the connected place of ectoskeleton joint structure, drives
Dynamic device is mounted on ectoskeleton joint structure.The composition block diagram of assistance exoskeleton device is as shown in Figure 1.
Detection device: waiting for relative movement information between assist exercise joint and ectoskeleton joint structure for detecting human body,
Including the information such as relative displacement and power, export to controller.Detection device is as shown in Fig. 2, include sensor, signal condition electricity
Road, signal acquisition circuit control chip, communicating circuit.
Controller: the ectoskeleton joint structure of the relative movement information and driving device output of receiving detection device output
Movement angle show that passive movement instructs using impedance control algorithm, output is filled to driving when human body rule moves beginning
It sets, while being directed to the movement angle of relative movement information and ectoskeleton joint structure, carry out the study of human body rule movement gait,
The body gait characteristics of motion is obtained, in conjunction with the body gait characteristics of motion and the relative movement information, show that active movement refers to
It enables, passive movement instruction and active movement instruction is merged, obtain hybrid motion instruction, export to driving device.
Driving device: the movement angle of acquisition ectoskeleton joint structure is exported to controller；It is instructed and is driven according to passive movement
Dynamic ectoskeleton joint structure follows human body to wait for assist exercise joint motions, realizes passive power-assisted；According to hybrid motion order-driven
Ectoskeleton joint structure drives human body to wait for assist exercise joint motions, realizes active power-assisted.Driving device composition block diagram such as Fig. 3 institute
Show, including joint speed reducer, servo motor and servo-driver.Servo-driver internal circuit block diagram is as shown in figure 4, include supplying
Circuit, sensor circuit, processor circuit, highway bridge circuit and communicating circuit.
The function of controller is as described below.
(1) in the irregular movement of human body (situations such as such as single-hop, rugged road are walked, and speed change is walked, starting and emergency stop),
Realize that ectoskeleton joint structure follows human body to wait for assist exercise joint motions, i.e. realization ectoskeleton joint follows human body to wait for that power-assisted is transported
Movable joint movement, realizes the passive power-assisted of human motion；
(2) it (such as walking at the uniform velocity, runs, stair activity and climb and fall movement) when human body rule moves, learns human body
To assist exercise joint rule motor behavior, i.e. oint motion trajectory；
(3) it when human body rule moves, after learning the body gait characteristics of motion, according to current motion state, realizes appropriate
The human motion active power-assisted of degree.
In order to realize the above functions, controller includes that joint follows motion control unit, regular motor behavior unit
With instruction comprehensive unit.Joint follows motion control unit to realize above-mentioned function (1), on regular motor behavior unit is realized
It states function (2), instruction fusion unit realizes above-mentioned algorithm (3).
Specifically, joint follows motion control unit: the relative movement information and driving device of receiving detection device output
The movement angle of the ectoskeleton joint structure of output is obtained passively when human body rule moves beginning using impedance control algorithm
Movement instruction is exported to driving device.
Joint follows motion control unit to show that passive movement instructs using impedance control algorithm, wherein the quilt at t+1 moment
Dynamic movement instruction a=α+k β, wherein α is the ectoskeleton joint structure movement angle of t moment, and β is that the relative motion of t moment is believed
Breath, k is proportionality coefficient.K is inversely proportional at a distance from ectoskeleton joint structure central point to detection device central point, with synchronously control
Precision is directly proportional.Because being negative-feedback, therefore the coefficient is negative.In addition, joint follows motion control unit that can also apply other
Control method, such as PID, fuzzy control etc..
Regular motor behavior unit: the relative movement information and driving device of receiving detection device output export outer
Skeletal joint structure motion angle carries out human body rule for the movement angle of relative movement information and ectoskeleton joint structure
The study of gait is moved, and then obtains the body gait characteristics of motion, instruction comprehensive unit is given in output.
As shown in figure 5, regular motor behavior unit is realized by following algorithm:
(4.1) by the phase of adaptive frequency oscillator group observation t moment ectoskeleton joint structure movement angle and again
Existing coefficient d 2；
(4.2) angle is moved using the phase of t moment ectoskeleton joint structure movement angle and t moment ectoskeleton joint structure
Degree, by least square method of recursion, is fitted the joint position curve movement of one gait of t moment human body, obtains multinomial
Formula function power term coefficient d1；
1) adaptive frequency oscillator group includes the different adaptive frequency oscillator of N number of (such as 5) original frequency, each
Adaptive frequency oscillator observes the periodic signal component of t moment ectoskeleton joint structure movement angle, from N number of adaptive frequency
The parameter of adaptive frequency oscillator, the parameter conduct where selecting the periodic signal component x and x of amplitude maximum in oscillator
The reproduction coefficient d 2 of x；
2) the frequency e for setting x judges whether the frequency e of the x signal interior for the previous period of t restrains and (tends to and a fixation
Value), if convergence, then it is assumed that adaptive frequency oscillator group has observed the phase of ectoskeleton joint structure movement angle, more
New d1 and d2, i.e. t moment frequency oscillator reappear coefficient d 2 '=d2, polynomial function power term coefficient d1 '=d1；If no
Convergence, then it is assumed that human body is in non-regular motion state, and d1 ' and d2 ' keep t-1 moment state；
3) using the phase of x as the phase of t moment ectoskeleton joint structure movement angle.
(4.3) phase and reproduction coefficient d 2 of the frequency oscillator according to t moment ectoskeleton joint structure movement angle, reproduction
The phase information c ' at t+1 moment out, the input as polynomial function；
(4.4) polynomial function obtains the ectoskeleton joint structure movement angle at t+1 moment.
Instruction comprehensive unit: in conjunction with the body gait characteristics of motion and the relative movement information, show that active movement refers to
It enables；Assessment ectoskeleton joint structure waits for human body the tracking error in assist exercise joint, to passive movement instruction and active movement
Instruction is merged, and is obtained hybrid motion instruction, is exported to driving device.
The hybrid motion at comprehensive unit t+1 moment is instructed to instruct i=k1 × a+k2 × b, wherein a is passive movement instruction, b
For active movement instruction, k1, k2 are weight coefficient, k1+k2=1.
The determination method of k1, k2 are as follows:
Instruction comprehensive unit assessment ectoskeleton joint structure waits for human body the tracking error in assist exercise joint, misses when following
When difference is greater than the upper threshold of setting, k1 > k2；When tracking error is less than the bottom threshold of setting, k2 > k1；Work as tracking error
When between the upper threshold and lower limit of setting, k1, k2 are identical as last moment.
The sum of weight coefficient k1 and k2 remain 1.The size of two weight coefficients determines exoskeleton device actively
The degree of power-assisted.When it is 0 that k1, which is 1, k2, then exoskeleton device does not have an active power-assisted to human motion, only passive power-assisted, but
Joint follows effect good, and exoskeleton device can be very good study human body rule movement.When it is 1 that k1, which is 0, k2, then ectoskeleton
Device is complete active Power assisted control.
When exoskeleton device and people follow effect good, illustrate that exoskeleton device has learnt the rule movement of human body, it can be with
Simulation human body joint motion well reduces k1 coefficient immediately, promotes k2 coefficient, enhances active power-assisted.When exoskeleton device with
When people follows effect difference, illustrating that the movement of people changes past gait rule or the movement of people is not regular movement, then
K1 coefficient is promoted, k2 coefficient is reduced, exoskeleton device is made preferably to follow the irregular movement of human body.
If detection device detects that human body waits for that relative motion deviation is big between assist exercise joint and ectoskeleton joint structure
In preset threshold value, then human motion rule changes, at this point, arriving active power-assisted again into the passive power-assisted of next round
Process.
Assistance exoskeleton device of the invention is capable of the human motion gait of learning law, by the rule motion information and
Relative movement information between people and assistance exoskeleton device merges, and show that hybrid motion instructs.Apparatus of the present invention can
Active power-assisted is carried out for human body rule movement (such as walking at the uniform velocity, running, stair activity and climb and fall movement etc.), is applicable to
Born when long weight walking crowd or it is long when the easily tired weakling of walking apply.
The advantages of apparatus of the present invention are as follows: do not learn human body rule movement gait in the device or human body is in irregular movement
When state, which carries out passive power-assisted；When the device learnt human body rule movement gait after, can active movement, drive
Human body lower limbs movement, realizes active power-assisted, so that human body can sufficiently reduce the power output of sports lower limb.When people's not active movement,
The device remains to drive human motion completely according to the rule movement learnt before, reaches more efficient power-assisted effect.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (10)
1. it is a kind of based on regular walking step state study assistance exoskeleton device, it is characterised in that: including ectoskeleton joint structure,
Binding strip, detection device, controller and driving device；The ectoskeleton joint structure waits for that assist exercise joint matches with human body,
And together with by binding strip with human body waiting for the bondage of assist exercise joint, it is connected place's installation in binding strip and ectoskeleton joint structure
There is detection device, driving device is mounted on ectoskeleton joint structure；
Detection device: relative movement information between assist exercise joint and ectoskeleton joint structure is waited for for detecting human body, output
To controller；
Controller: the movement of the ectoskeleton joint structure of the relative movement information and driving device output of receiving detection device output
Angle obtains passive movement instruction output to driving device, while obtaining body gait movement when human body rule moves beginning
Rule show that active movement instructs in conjunction with relative movement information, after passive movement instruction and active movement instruction are merged
Hybrid motion instruction is obtained, is exported to driving device；
Driving device: the movement angle of acquisition ectoskeleton joint structure is exported to controller；According to outside passive movement order-driven
Skeletal joint structure follows human body to wait for assist exercise joint motions, realizes passive power-assisted；According to hybrid motion order-driven dermoskeleton
Bone joint structure drives human body to wait for assist exercise joint motions, realizes active power-assisted.
2. a kind of assistance exoskeleton device based on the study of regular walking step state according to claim 1, it is characterised in that:
During active power-assisted, if detection device detects that human body waits between assist exercise joint and ectoskeleton joint structure relatively
Movement warp is greater than preset threshold value, then human motion rule changes, at this point, arriving again into the passive power-assisted of next round
The process of active power-assisted.
3. a kind of assistance exoskeleton device based on the study of regular walking step state according to claim 1, it is characterised in that:
The controller includes that joint follows motion control unit, regular motor behavior unit and instruction comprehensive unit；
Joint follows motion control unit: the relative movement information of receiving detection device output and the ectoskeleton of driving device output
The movement angle of joint structure show that passive movement instructs using impedance control algorithm, output when human body rule moves beginning
To driving device；
Regular motor behavior unit: the relative movement information of receiving detection device output and the ectoskeleton of driving device output
Joint structure movement angle, carries out the study of human body rule movement gait, and then obtains the body gait characteristics of motion, and output is to finger
Enable comprehensive unit；
It instructs comprehensive unit: in conjunction with the body gait characteristics of motion and the relative movement information, showing that active movement instructs；It comments
Estimate the tracking error that ectoskeleton joint structure waits for human body assist exercise joint, to passive movement instruction and active movement instruct into
Row fusion obtains hybrid motion instruction, exports to driving device.
4. a kind of assistance exoskeleton device based on the study of regular walking step state according to claim 1, it is characterised in that:
Regular motor behavior unit is realized by following algorithm:
(4.1) phase and the reproduction system of t moment ectoskeleton joint structure movement angle are observed by adaptive frequency oscillator group
Number d2；
(4.2) frequency oscillator reappears t+ out according to the phase and reproduction coefficient d 2 of t moment ectoskeleton joint structure movement angle
The phase information at 1 moment, the input as t+1 moment polynomial function；
(4.3) phase and t moment ectoskeleton joint structure movement angle of t moment ectoskeleton joint structure movement angle are utilized,
By least square method of recursion, the joint position curve movement of one gait of t moment human body is fitted, multinomial letter is obtained
Number power term coefficient d1；
(4.4) polynomial function obtains t+1 moment ectoskeleton joint structure according to the input at power term coefficient d1 and t+1 moment
Movement angle.
5. a kind of assistance exoskeleton device based on the study of regular walking step state according to claim 4, it is characterised in that:
The implementation method of the step (4.1) is as follows:
(5.1) adaptive frequency oscillator group includes the different adaptive frequency oscillator of N number of original frequency, each adaptive frequency
Rate oscillator observes the periodic signal component of t moment ectoskeleton joint structure movement angle, from N number of adaptive frequency oscillator
The parameter of adaptive frequency oscillator, reproduction of the parameter as x where selecting the periodic signal component x and x of amplitude maximum
Coefficient d 2；N is the natural number greater than 1；
(5.2) the frequency e for setting x, judges whether the frequency e of the x signal interior for the previous period of t restrains, if convergence, then it is assumed that from
Adapt to the phase that frequency oscillator group has observed ectoskeleton joint structure movement angle；If do not restrained, then it is assumed that at human body
In non-regular motion state, d1 and d2 keep t-1 moment state；
(5.3) using the phase of x as the phase of t moment ectoskeleton joint structure movement angle.
6. a kind of assistance exoskeleton device based on the study of regular walking step state according to claim 3, it is characterised in that:
The hybrid motion at comprehensive unit t+1 moment is instructed to instruct i=k1 × a+k2 × b, wherein a is passive movement instruction, and b is actively to transport
Dynamic instruction, k1, k2 are weight coefficient.
7. a kind of assistance exoskeleton device based on the study of regular walking step state according to claim 6, it is characterised in that:
The weight coefficient k1, k2 meet: k1+k2=1.
8. a kind of assistance exoskeleton device based on the study of regular walking step state according to claim 7, it is characterised in that:
The determination method of k1, k2 are as follows:
Instruction comprehensive unit assessment ectoskeleton joint structure waits for human body the tracking error in assist exercise joint, when tracking error is big
When the upper threshold of setting, k1 > k2；When tracking error is less than the bottom threshold of setting, k2 > k1；When tracking error is located at
When between the upper threshold and lower limit of setting, k1, k2 are identical as the t-1 moment.
9. a kind of assistance exoskeleton device based on the study of regular walking step state according to claim 3, it is characterised in that:
Joint follows motion control unit to show that passive movement instructs using impedance control algorithm, and wherein the passive movement at t+1 moment refers to
Enabling a=α+k β, α is the ectoskeleton joint structure movement angle of t moment, and β is the relative movement information of t moment, and k is ratio system
Number.
10. a kind of assistance exoskeleton device based on the study of regular walking step state according to claim 8, feature exist
In: k is inversely proportional at a distance from ectoskeleton joint structure central point to detection device central point, directly proportional to synchronous control accuracy.
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