CN108283564A - A kind of intelligent ankle-joint exoskeleton system of light-type rope driving - Google Patents

Abstract

The invention discloses a kind of light-type ropes to drive intelligent ankle-joint exoskeleton system, including smart mobile phone, ectoskeleton body part and control box part；Smart mobile phone is communicated by wireless signal with control box part, obtains human body movement data, and be monitored to human motion, to control box fractional transmission command signal, ectoskeleton body part is made to generate corresponding motor pattern or action；A kind of light-type rope of the present invention drives intelligent knee joint ectoskeleton, shank ectoskeleton and foot ectoskeleton to be process by 3D printing, selects the materials such as nylon, resin, has the advantages that light-weight, inertia is small compared with the ectoskeleton of conventional metals skeleton；A kind of light-type rope of the present invention drives intelligent knee joint ectoskeleton, selects Bowden cable driving, motor, retarder etc. can be placed in control box, and bondage further mitigates the weight of leg ectoskeleton in loins.

Description

A lightweight rope-driven intelligent ankle exoskeleton system

technical field

The invention belongs to the technical field of robots, and in particular relates to a lightweight rope-driven intelligent ankle joint exoskeleton system, which can be applied to lower limb rehabilitation training and lower limb assisted walking.

Background technique

Stroke is a worldwide disease with high morbidity, and its existence has seriously affected human life and health. According to statistics, there are more than 7 million stroke patients in my country, and the number continues to grow at a rate of 2 million per year. Stroke has a serious impact on walking function. According to analysis, nearly 2/3 of stroke survivors will lose their walking ability. Among them, the main manifestations of the patient's ankle joint are paralysis and weakness of the tibialis anterior muscle and lateral muscle group of the calf, and muscle spasms in the rear side, which will lead to unstable gait, reduced pace, and even cause the patient to fall during walking. This seriously affects the normal walking and safety of the patient. Therefore, it is of great significance to carry out research on ankle joint rehabilitation training and assisting devices.

Exoskeleton equipment is a wearable device, which is mainly used for rehabilitation training of paralyzed patients and assisting walking of normal people. At present, researchers at home and abroad are mainly focusing on the rigid exoskeleton with metal skeleton, and mainly consider the drive of the hip joint and knee joint, ignoring the important role of the ankle joint. In addition, since the mechanical body is mainly composed of metal components, most of these exoskeletons are heavy and consume a lot of energy, which seriously affects their use effect.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art and provide a lightweight rope-driven intelligent ankle exoskeleton system that integrates smart phone technology and gait recognition technology.

A lightweight rope-driven intelligent ankle-joint exoskeleton system of the present invention includes a smart phone, an exoskeleton body part and a control box part, and the three are coordinated and unified to form the intelligent ankle-joint exoskeleton system. Wherein, the smart phone transmits command signals to the exoskeleton body through wireless signals, and then generates corresponding motion patterns or actions. The exoskeleton body includes sensing devices such as pressure sensors installed on the soles of the human body and inertial measurement units installed on the lower legs for measuring kinematic and dynamic signals of people during walking. Before using the intelligent ankle joint exoskeleton system for rehabilitation training or assisted walking, the human body motion data is first measured through the pressure sensor and the inertial measurement unit, and the BP neural network is used for training and learning, and the motion data to the joint drive are obtained. Mapping model between angles. The body part of the exoskeleton includes a calf exoskeleton bound to the calf by straps, a foot exoskeleton bound to the foot by straps, and a device mounted on the calf exoskeleton to drive the movement of the foot exoskeleton. Bowden wires, the calf exoskeleton and the foot exoskeleton form an elastic hinge through rivets and torsion springs. There are calf strap installation holes and torsion spring fixing holes on the calf exoskeleton, and foot strap installation holes and torsion spring fixing holes are processed on the foot exoskeleton. The control box part includes a control box body, a control box cover installed on it through a control box cover mounting hole on the control box body, a wireless signal module installed and fixed inside the control box body, a single-chip microcomputer module, a lithium battery, A motor driver module, an upper motor fixing part and a lower motor fixing part, and a motor clamped between the upper motor fixing part and the lower motor fixing part, an encoder installed at one end of the motor and used to measure the position and speed of the motor , and the winding wheel installed on the output shaft of the motor. The motor contains a reducer, and the steel wire of the Bowden cable is wound and fixed on the reel. The calf exoskeleton and the foot exoskeleton are processed by 3D printing.

The working process of the rope-driven intelligent ankle exoskeleton system is:

Before using the intelligent ankle joint exoskeleton system for rehabilitation training or assisted walking, first measure the human body motion data through the pressure sensor and the inertial measurement unit, and use the BP neural network for training and learning to obtain the motion data to the joint drive angle between the mapping models, and input the mapping model parameters into the single-chip microcomputer module. In the process of rehabilitation training or assisted walking, the single-chip microcomputer module collects the motion data measured by the pressure sensor and the inertial measurement unit, and obtains the joint drive signal through the mapping model established above, and then drives the motor, which in turn drives The winding wheel, the Bowden wire and the exoskeleton of the foot make the exoskeleton of the foot rotate around the hinge point, and finally drive the flexion of the foot. The torsion spring plays the role of resetting and maintaining the posture of the foot during the working process. On the one hand, the smart phone acquires human body movement data through the wireless signal module, and monitors the human body movement; on the other hand, it can send a movement mode selection signal, such as slow mode, fast mode, etc.

The advantages of the present invention are:

(1) A light-weight rope-driven intelligent knee exoskeleton of the present invention, its calf exoskeleton and foot exoskeleton are processed by 3D printing, and materials such as nylon and resin are selected, which are heavier than traditional metal skeleton exoskeletons The advantages of lightness and small inertia;

(2) A light-weight rope-driven intelligent knee exoskeleton of the present invention is driven by a Bowden wire, and the motor, reducer, etc. can be placed in the control box and tied around the waist, further reducing the leg exoskeleton. the weight of the bones;

(3) A lightweight rope-driven intelligent knee exoskeleton of the present invention integrates technologies such as smart phones, sensors, exoskeletons and machine learning to form an intelligent robot system with feedback and learning functions;

(4) A lightweight rope-driven intelligent knee joint exoskeleton of the present invention, the joint is reset and maintained by a torsion spring, and at the same time has a certain degree of flexibility, and has the functions of buffering and ensuring safety.

Description of drawings

Fig. 1 is a schematic diagram of a system frame structure of a lightweight rope-driven smart ankle exoskeleton according to the present invention.

Fig. 2 is a schematic diagram of the wearing structure of a lightweight rope-driven smart ankle exoskeleton according to the present invention.

Fig. 3 is an exploded view of the exoskeleton body structure of a lightweight rope-driven smart ankle exoskeleton according to the present invention.

Fig. 4 is a schematic diagram of the composition and structure of a control box of a lightweight rope-driven smart ankle exoskeleton according to the present invention.

Fig. 5 is a signal transmission route diagram of a lightweight rope-driven smart ankle exoskeleton according to the present invention.

In the picture:

1-1. Control box body 1-2. Wireless signal module 1-3. Single-chip microcomputer module 1-4. Lithium battery

1-5. Motor Driver Module 1-6. Winding Wheel 1-7. Motor 1-8. Encoder

1-9-1. Motor upper fixing part 1-9-2. Motor lower fixing part C. Control box cover mounting hole 2-1. Calf exoskeleton

2-2. Foot Exoskeleton 2-3. Pressure Sensor 2-4. Inertial Measurement Unit 2-5. Rivets

2-6. Torsion spring 2-7. Bowden wire B1. Calf strap mounting hole B2. Foot strap mounting hole

H1, H2. Torsion spring fixing hole

Detailed ways

The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

As shown in Figure 1, it is a schematic structural diagram of a system frame structure of a lightweight rope-driven intelligent ankle exoskeleton of the present invention. The intelligent ankle exoskeleton system includes a smart phone, an exoskeleton system hardware, and a sensor part for signal detection . The smartphone can perform operations such as mode selection of the exoskeleton system, and store and analyze the collected signals. The exoskeleton receives and processes the signals of the smartphone and sensors to assist the movement of the human ankle joint, thereby forming a closed-loop system.

As shown in Figures 2 and 3, a schematic diagram of the wearable structure of a lightweight rope-driven smart ankle exoskeleton according to the present invention and an exploded view of the exoskeleton body structure, the exoskeleton body includes a pressure sensor 2 installed on the sole of the human body -3 and inertial measurement unit 2-4 sensing devices installed on the calf (plantar pressure sensor is used to measure the plantar pressure, and the inertial measurement unit is used to measure the posture of the calf), used to measure the kinematics and dynamics of people during walking Signal. Before using the intelligent ankle joint exoskeleton system for rehabilitation training or assisted walking, first measure the human body motion data through the pressure sensor 2-3 and the inertial measurement unit 2-4, and use the BP neural network for training and learning to obtain Mapping model from motion data to joint actuation angles. The exoskeleton body part also includes a calf exoskeleton 2-1 bound to the calf by straps, a foot exoskeleton 2-2 bound to the foot by straps, and installed on the calf exoskeleton 2-1, And affect the Bowden line 2-7 of the movement of the foot exoskeleton 2-2, the calf exoskeleton 2-2 and the foot exoskeleton 2-1 form elastic hinges through rivets 2-5 and torsion springs 2-6 . The leg exoskeleton 2-2 has calf strap installation holes B1 and torsion spring fixing holes H1, and the foot exoskeleton has foot strap installation holes B2 and torsion spring fixing holes H2. The calf exoskeleton 2-1 and the foot exoskeleton 2-2 are processed by 3D printing.

FIG. 4 is a schematic diagram showing the composition and structure of a control box of a lightweight rope-driven smart ankle exoskeleton according to the present invention. The control box part includes a control box body 1-1, a control box cover installed on it through the control box cover installation hole C on the control box body 1-1, and a wireless signal module 1- 2. Single-chip microcomputer module 1-3, lithium battery 1-4, motor driver module 1-5, motor upper fixing part 1-9-1 and motor lower fixing part 1-9-2, and clamping and fixing on the motor The motor 1-7 between the part 1-9-1 and the lower fixing part 1-9-2 of the motor, the encoder 1-8 installed at one end of the motor 1-7 and used to measure the position and speed of the motor, and the encoder 1-8 installed on the Winding wheel 1-6 on the motor 1-7 output shaft. The motor 1-7 contains a reducer, and the steel wire of the Bowden cable 2-7 is wound and fixed on the reel 1-6.

It can be seen from the signal transmission route diagram of a lightweight rope-driven intelligent ankle exoskeleton of the present invention as shown in Figure 5, the working process of the rope-driven intelligent ankle exoskeleton system is:

Before using the intelligent ankle joint exoskeleton system for rehabilitation training or power-assisted walking, the human body motion data is first measured by the pressure sensor 2-3 and the inertial measurement unit 2-4, and the BP neural network is used for training and learning, and obtained from A mapping model between motion data and joint drive angle, and input the mapping model parameters into the single-chip microcomputer module 1-3. During rehabilitation training or assisted walking, the single-chip microcomputer module 1-3 collects the motion data measured by the pressure sensor 2-3 and the inertial measurement unit 2-4, and obtains joint drive signals through the mapping model established above , and then drive the motor 1-7, sequentially drive the winding wheel 1-6, the Bowden wire 2-7 and the foot exoskeleton 2-2, so that the foot exoskeleton 2- 2 produces a rotational movement about the hinge point, which ultimately drives the foot into flexion. The torsion spring 2-6 plays the role of resetting and maintaining the posture of the foot during the working process. On the one hand, the smart phone acquires human body motion data through the wireless signal module 1-2, and monitors the human body motion; on the other hand, it can send a motion mode selection signal, such as slow mode, fast mode, etc.

Claims (6)

1. A lightweight rope-driven intelligent ankle exoskeleton system, characterized in that it includes a smart phone, an exoskeleton body part and a control box part; The smart phone communicates with the control box part through wireless signals, obtains human body movement data, monitors human body movement, and transmits command signals to the control box part to make the exoskeleton body part generate corresponding motion patterns or actions; Before using the intelligent ankle exoskeleton system for rehabilitation training or assisted walking, the human body motion data is measured through the pressure sensor and inertial measurement unit of the exoskeleton body, and the BP neural network is used for training and learning to obtain the motion data to the joint drive. For the mapping model between angles, input the mapping model parameters into the single-chip microcomputer module of the control box; In the process of rehabilitation training or assisted walking, the single-chip microcomputer module of the control box collects the motion data measured by the pressure sensor and the inertial measurement unit of the exoskeleton body, and obtains the joint drive signal through the established mapping model, and then drives the exoskeleton body Movement, assisting human ankle joint movement. 2. A light-weight rope-driven intelligent ankle exoskeleton system according to claim 1, wherein the exoskeleton body part includes a pressure sensor installed on the sole of the human body and a pressure sensor installed on the calf. The inertial measurement unit, the pressure sensor on the sole of the foot is used to measure the pressure on the sole of the foot, the inertial measurement unit measures the posture of the calf, and the body part of the exoskeleton also includes the calf exoskeleton bound to the calf by straps, and the leg exoskeleton bound to the foot by straps The foot exoskeleton is installed on the calf exoskeleton and the Bowden wire that drives the movement of the foot exoskeleton. The calf exoskeleton and foot exoskeleton form an elastic hinge through rivets and torsion springs. 3. A light-weight rope-driven intelligent ankle exoskeleton system according to claim 2, characterized in that, the calf exoskeleton is provided with a calf strap mounting hole and a torsion spring fixing hole, and the foot outer There are foot strap mounting holes and torsion spring fixing holes on the skeleton. 4. A lightweight rope-driven intelligent ankle exoskeleton system according to claim 2, characterized in that the calf exoskeleton and foot exoskeleton are processed by 3D printing. 5. A light-weight rope-driven intelligent ankle exoskeleton system according to claim 1, wherein the control box part includes a control box body, which is installed through a control box cover mounting hole on the control box body The control box cover on it, the wireless signal module installed and fixed inside the control box body, the single-chip microcomputer module, the lithium battery, the motor driver module, the upper fixing part of the motor and the lower fixing part of the motor, and the fixing part clamped on the motor and the motor The motor between the lower fixing parts, the encoder installed at one end of the motor and used to measure the position and speed of the motor, and the winding wheel installed on the output shaft of the motor, the motor contains a reducer, and the steel wire of the Bowden line is wound And be fixed on the described reel. 6. A light-weight rope-driven intelligent ankle exoskeleton system according to claim 1, characterized in that, during the rehabilitation training or assist walking process, the single-chip microcomputer module collects the pressure sensor and the inertia The motion data measured by the measurement unit, and the joint drive signal is obtained through the established mapping model, and then the motor is driven, and the winding wheel, the Bowden wire and the foot exoskeleton are sequentially driven, so that the foot exoskeleton generates winding The rotational movement of the hinge point eventually drives the foot to flex, assisting the movement of the human ankle joint.