CN119022766B

CN119022766B - Terminal position estimation device, terminal position estimation method and exoskeleton binding equipment

Info

Publication number: CN119022766B
Application number: CN202411471806.9A
Authority: CN
Inventors: 朱培逸; 徐阳; 颜健; 刘成成; 沈钲敖; 温嘉懿; 阮昕月; 刘柱; 吕岗
Original assignee: Changshu Institute of Technology
Current assignee: Changshu Institute of Technology
Priority date: 2024-10-22
Filing date: 2024-10-22
Publication date: 2025-03-07
Anticipated expiration: 2044-10-22
Also published as: CN119022766A

Abstract

The embodiment of the disclosure provides a terminal position estimation device, a terminal position estimation method and exoskeleton binding equipment, wherein the terminal position estimation device comprises a bowden wire, a plurality of optical waveguide sensors which are uniformly arranged at intervals along the circumferential direction of the bowden wire, and a processing unit which is electrically connected with the plurality of optical waveguide sensors, wherein each optical waveguide sensor is respectively used for acquiring an actual voltage signal corresponding to the bowden wire when the bowden wire is bent, and the processing unit is respectively used for calculating an actual bending angle based on each actual voltage signal and a preset voltage-bending angle relation model so as to determine the terminal position of the bowden wire according to the actual bending angle. In the method, the device for estimating the tail end position adopts the technology of integrating a plurality of optical waveguide sensors, so that the actual bending angle of the bowden cable in the space can be detected, and the tail end position of the bowden cable in the space can be accurately estimated based on the obtained actual bending angle.

Description

Terminal position estimation device, terminal position estimation method and exoskeleton binding equipment

Technical Field

The embodiment of the disclosure belongs to the technical field of exercise assisting equipment, and particularly relates to a terminal position estimation device and method and exoskeleton binding equipment.

Background

Exoskeleton devices have been widely used in the fields of rehabilitation medicine and auxiliary equipment, which help patients to restore exercise functions or enhance work ability of the human body by assisting exercise of the human body. However, most of the existing flexible exoskeleton devices use bowden wires and wire ropes for transmission, and when the exoskeleton is operated and the user or the posture is changed or external force is disturbed, the joint position is deviated, so that the exoskeleton cannot accurately reach an ideal position, and the exoskeleton cannot achieve the expected target and function in the movement process.

Traditional terminal position often detects the estimation through ultrasonic wave, laser radar or gyroscope, but they often cost extremely high, receive external interference, and above detection device occupies the volume greatly, does not possess portability, and the processing mode is loaded down with trivial details, has improved the degree of difficulty of later maintenance greatly, and hardly is applied to on the wearable ectoskeleton of constituteing by a plurality of joints.

Therefore, how to solve the above-mentioned problems is a technical problem to be solved by those skilled in the art.

Disclosure of Invention

Embodiments of the present disclosure aim to solve at least one of the technical problems existing in the prior art, and provide an end position estimation device, an end position estimation method, and an exoskeleton binding device.

In a first aspect of embodiments of the present disclosure, there is provided an end position estimation device including a bowden cable, a plurality of optical waveguide sensors disposed at uniform intervals along a circumferential direction of the bowden cable, and a processing unit electrically connected to the plurality of optical waveguide sensors;

each optical waveguide sensor is used for acquiring an actual voltage signal corresponding to the bowden cable when the bowden cable is bent;

The processing unit is used for calculating an actual bending angle based on each actual voltage signal and a preset voltage-bending angle relation model respectively so as to determine the end position of the Bowden wire according to the actual bending angle.

Optionally, the plurality of optical waveguide sensors includes a first optical waveguide sensor, a second optical waveguide sensor, and a third optical waveguide sensor;

the relation between the actual voltage signals and the bending angles corresponding to the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor respectively meets the following conditions:

,

Wherein θ ̇ is an actual bending angle of the center of the bowden cable, θ ̈ is an actual bending angle of the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor when the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor synchronously bend along with the bowden cable, Y _L1 is a voltage signal of the first optical waveguide sensor, Y _L2 is a voltage signal of the second optical waveguide sensor, and Y _L3 is a voltage signal of the third optical waveguide sensor, where it can be understood that the above conditional expressions are all normalized conditional expressions to convert different scales on both sides of a conditional expression into data of the same magnitude.

Optionally, along the axial direction of the bowden cable, the plurality of optical waveguide sensors are laminated around the periphery of the bowden cable through EVA resin.

Optionally, the tail end position estimation device further comprises a light source assembly and a light intensity receiving device, wherein the first end of the Bowden wire is connected with the light source assembly, and the second end of the Bowden wire is connected with the light intensity receiving device;

The first ends corresponding to the optical waveguide sensors are respectively connected with the light source assembly, the second ends corresponding to the optical waveguide sensors are respectively connected with the light intensity receiving device, and the light intensity receiving device is electrically connected with the processing unit.

Optionally, the bowden cable and the plurality of optical waveguides are respectively and fixedly connected with the light source assembly and the light intensity receiving device through UV glue.

Optionally, the light source assembly includes a light source fixing device and a red LED light source with a 15-degree lens disposed in the light source fixing device, wherein the material of the light source fixing device includes ABS mixed glass fiber.

In a second aspect of the embodiments of the present disclosure, there is provided an end position estimation method, which is implemented according to the end position estimation device described above, including:

Acquiring actual voltage signals corresponding to the bowden cable of a plurality of optical waveguide sensors uniformly arranged at intervals in the circumferential direction of the bowden cable;

Calculating an actual bending angle based on each actual voltage signal and a preset voltage-bending angle relation model;

And determining the end position of the Bowden wire according to the actual bending angle.

The relation between the actual voltage signals and the bending angles corresponding to the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor respectively meet the following conditional expression:

,

Wherein θ ̇ is the center bending angle of the bowden cable, θ ̈ is the bending angle of the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor when the bowden cable is synchronously bent, Y _L1 is the voltage signal of the first optical waveguide sensor, Y _L2 is the voltage signal of the second optical waveguide sensor, and Y _L3 is the voltage signal of the third optical waveguide sensor, where it can be understood that the above conditional expressions are all normalized conditional expressions to convert the different scales on both sides of the conditional equal sign into the data of the same magnitude.

In a third aspect of embodiments of the present disclosure, an exoskeleton binding device is provided, which includes the tip position estimation apparatus described above.

The beneficial effects of the embodiments of the present disclosure include:

In the method, the end position estimation device adopts the technology of integrating a plurality of optical waveguide sensors, so that the bending angle of the bowden cable in space can be detected, and the end position of the bowden cable in space can be accurately estimated based on the obtained actual bending angle.

Drawings

FIG. 1 is a schematic diagram of an end position estimation device according to an embodiment of the disclosure;

FIG. 2 is a graph of the relationship between bending angle and voltage values measured by a single optical waveguide sensor concentric with a Bowden wire and error bars and corresponding fitted curves in a standard Cartesian position system of the present disclosure in the xy and yz planes;

FIG. 3 is a graph of the relationship between bending angle and voltage values and error bars measured by three optical waveguide sensors attached to a Bowden wire in a circumferential array on the xz plane in a standard Cartesian coordinate system;

FIG. 4 is a fitted graph of the voltage value changes corresponding to each of the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor in FIG. 3;

FIG. 5 is a graph showing the difference between the voltage values of the first, second and third optical waveguide sensors of FIG. 4;

Fig. 6 is a flowchart of an end position estimation method according to an embodiment of the disclosure.

Detailed Description

In order that those skilled in the art will better understand the technical solutions of the present disclosure, the present disclosure will be described in further detail with reference to the accompanying drawings and detailed description.

Embodiments of the present application are described in further detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the application and are not intended to limit the scope of the application, i.e., the application is not limited to the embodiments described. In the description of the present application, it should be noted that, unless otherwise indicated, the meaning of "plurality" is two or more, and the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate orientations or positional relationships merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The "vertical" is not strictly vertical but is within the allowable error range. "parallel" is not strictly parallel but is within the tolerance of the error.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, or may be directly connected or indirectly connected via an intermediate medium, for example. The specific meaning of the above terms in the present application can be understood as appropriate by those of ordinary skill in the art.

As shown in fig. 1, an end position estimating device includes a bowden cable, a plurality of optical waveguide sensors disposed at uniform intervals along a circumferential direction of the bowden cable, and a processing unit electrically connected to the plurality of optical waveguide sensors.

Each optical waveguide sensor is used for acquiring an actual voltage signal corresponding to the bowden cable when the bowden cable is bent. The processing unit is used for calculating an actual bending angle based on each actual voltage signal and a preset voltage-bending angle relation model respectively so as to determine the end position of the Bowden wire according to the actual bending angle.

In the method, the device for estimating the tail end position adopts the technology of integrating a plurality of optical waveguide sensors, so that the actual bending angle of the bowden cable in the space can be detected, and the tail end position of the bowden cable in the space can be accurately estimated based on the obtained actual bending angle.

In some embodiments, the plurality of optical waveguide sensors includes a first optical waveguide sensor, a second optical waveguide sensor, and a third optical waveguide sensor.

,

Wherein θ ̇ is an actual bending angle of a center of the bowden cable, θ ̈ is an actual bending angle of the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor when the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor synchronously bend along with the bowden cable, Y _L1 is a voltage signal of the first optical waveguide sensor, Y _L2 is a voltage signal of the second optical waveguide sensor and Y _L3 is a voltage signal of the third optical waveguide sensor, wherein it can be understood that the above conditional expressions are all normalized conditional expressions so as to convert different scales on both sides of the conditional expressions into data of the same magnitude.

In some embodiments, along the axial direction of the bowden cable, the plurality of optical waveguide sensors are bonded and arranged around the periphery of the bowden cable through EVA resin, where it can be understood that the above conditional expressions are all normalized conditional expressions, so as to convert the different scales on both sides of the conditional expressions into data of the same magnitude.

In some embodiments, the end position estimating device further comprises a light source assembly and a light intensity receiving device, wherein the first end of the bowden cable is connected with the light source assembly, and the second end of the bowden cable is connected with the light intensity receiving device. The first ends corresponding to the optical waveguide sensors are respectively connected with the light source assembly, the second ends corresponding to the optical waveguide sensors are respectively connected with the light intensity receiving device, and the light intensity receiving device is electrically connected with the processing unit.

In some embodiments, the bowden cable and the plurality of optical waveguides are fixedly connected to the light source assembly and the light intensity receiving device, respectively, by UV glue.

In some embodiments, the light source assembly comprises a light source fixture and a red LED light source with a 15 degree lens disposed within the light source fixture, wherein the material of the light source fixture comprises ABS blend glass fiber.

1-5, Three optical waveguide sensors (a first optical waveguide sensor 2, a second optical waveguide sensor 3 and a third optical waveguide sensor 4) are distributed on the outer peripheral surface of a Bowden wire 1 in a circumferential array mode and are arranged in a fitting mode, so that the optical waveguide sensors can synchronously bend along with the bending change of the Bowden wire.

The bowden cable has the advantages of being easy to maintain, low in cost and small in occupied space, has excellent flexibility, can adapt to complex layout and motion trails, and is strong in durability and easy to install and replace. In the present disclosure, bowden cables are mainly used to limit the stretching of the optical waveguide sensor material, to concentrate the optical waveguide sensor material on measuring bending, and to function as a protection cable.

The three optical waveguide sensors are distributed and attached to the surface of the Bowden wire in a circumferential array mode, and the distance between the adjacent optical waveguide sensors is 120 degrees, so that the optical waveguide sensors can bend synchronously along with the bending change of the Bowden wire. In the disclosure, the optical waveguide sensor has the characteristics of simple structure, low material price, outstanding electromagnetic and sweat humidity interference resistance, accurate measurement value, small and light volume, small occupied space and more close to the practical application environment in the bending process.

The light source adopts a red led light source with a 15-degree lens, and the wavelength of the light is 620-625nm, and the red light is selected because the red light is more vulnerable than white light in a polyester material, but the red light cannot be lost too much, so that the light intensity is suddenly reduced during bending. The light intensity receiving device is provided with a photosensitive sensor, wherein the photosensitive sensor adopts a photosensitive diode light detector, the photosensitive diode can filter infrared light and prevent interference of invisible light, and the photosensitive diode of the model PD550A5F can be selected and has the characteristic of high sensitivity.

The optical waveguide sensor consists of a high refractive index polyurethane elastomer core (core layer TPV) and a heat shrink (cladding PET). The measuring principle of the optical waveguide sensor bending sensor is that the optical waveguide sensor material can cause light intensity loss after bending, the light-sensitive diode measures the light intensity change of the tail end of the material, and the required data are obtained according to the light intensity change. Compared with the traditional strain gauge bending sensor, the optical waveguide sensor has the advantages that the cost is only 1/10 of that of the strain gauge bending sensor under the same length, and the manufacturing cost is greatly reduced.

The optical waveguide sensor has two parts, including a core layer TPV (refractive index n 1) and a cladding layer PET (refractive index n 2) (refractive index n1> n 2). Due to their different refractive indices, light may propagate within the fiber core by reflection from the cladding. The optical waveguide sensor has the basic principle that when light rays are transmitted into a medium with a lower refractive index, a total reflection phenomenon can occur, and the light rays cannot escape in the transmission of the optical waveguide sensor, so that the single flexible optical waveguide sensor is utilized to detect bending deformation and stretching deformation simultaneously.

When light enters the (n 2) medium with lower refractive index from the (n 1) medium with higher refractive index, if the incident angle is larger than a certain critical angle, the refracted light will disappear, and all incident light is reflected without entering the medium with higher refractive index.

The Bowden wire has high toughness and elasticity, and protects the optical waveguide sensor from being influenced by extrusion and stretching, so that only the influence of bending on the signals of the optical waveguide sensor is considered, and the performance of the optical waveguide sensor in different bending states can be tested. In order to make the comparison of the optical waveguide sensor in two forms more visual, the voltage of the signal modulation circuit is defined as the voltage of the optical waveguide sensor without deformationThe voltage of the signal modulation circuit is U when the optical waveguide sensor is deformed, so that the signal loss ratio is definedAnd the light intensity attenuation value DB is shown in expression (1):

,

the voltage of the signal modulation circuit increases with the decrease of the light intensity, and the signal loss ratio can be obtained And the relation between the light intensity attenuation value DB and the deformation is that the greater the curvature of the optical waveguide sensor,The larger the curvature of the optical waveguide sensor, the larger the light intensity attenuation value DB.

The end position estimation device disclosed by the invention can be applied to exoskeleton binding equipment, and aims to improve accuracy and control efficiency of a kinematic model and a dynamic model of the exoskeleton equipment and enable the exoskeleton equipment to run to a target position more accurately. The optical waveguide sensor on the end position estimation device of the disclosed design captures real-time curvature data (actual bending angle) along with the bending of the Bowden wire, and the spatial curvature information (actual bending angle) is obtained through the calculation of the processing unit and then is transmitted to the control module of the used exoskeleton binding equipment. Further, the tip position estimation device provides real-time joint position information data for the exoskeleton device, enhances the accuracy and control efficiency of the kinematic and dynamic models of the exoskeleton device, and enables the exoskeleton device to be operated to the target position more accurately. The technology is expected to bring positive application prospect in the fields of rehabilitation medicine and auxiliary equipment.

Specifically, as shown in fig. 1, the end position estimating device based on the optical waveguide sensors includes a first optical waveguide sensor 2, a second optical waveguide sensor 3 and a third optical waveguide sensor 4, where the three optical waveguide sensors are parallel to the bowden wire 1 and fixed on the bowden wire 1 in a circumferential array by EVA natural resin bonding, with the bowden wire 1 as a center.

The three optical waveguide sensors and the Bowden wire have the same length, the first optical waveguide sensor 2, the second optical waveguide sensor 3 and the third optical waveguide sensor 4 are respectively connected with the port of the processing unit through four wires, and the connector is an XH 2.54P terminal.

The EVA natural resin was extruded at 105℃and was allowed to wait for 15 seconds for adhesion. The device is connected in an EVA natural resin mode, so that the structural stability between the optical waveguide sensor and the Bowden wire is ensured.

Further, the light source fixing device 5 and the light intensity receiving device 6 are both provided with holes, each hole comprises a central hole and three edge holes which are arranged in a circumferential array around the central hole, the bowden cable is arranged in the central hole, and the optical waveguide sensor is arranged in the edge holes.

Further, the bowden cable 1 and the optical waveguide sensor 2, the optical waveguide sensor 3 and the optical waveguide sensor 4 are fixedly connected with the light source fixing device 5 and the light intensity receiving device 6 through UV glue, two ends of the bowden cable 1 are respectively fixed in central holes of the light source fixing device 5 and the light intensity receiving device 6, and two ends of the optical waveguide sensor 2, the optical waveguide sensor 3 and the optical waveguide sensor 4 are respectively fixed in three edge holes of the light source fixing device 5 and the light intensity receiving device 6.

The light source fixing device 5 is made of ABS mixed glass fiber materials printed by a fused deposition modeling technology, three red LED light sources of 15-degree lenses are arranged in the light source fixing device, and the three red LED light sources are correspondingly bonded with the optical waveguide sensor through UV glue.

The light intensity receiving device 6 is made of ABS mixed glass fiber materials printed by a 3D printing technology, and is made of three photo-diode photo-detectors through UV glue connection combination, and the three photo-diode photo-detectors and the optical waveguide sensor are in one-to-one correspondence and are in the same straight line. In the present disclosure, the adoption of the UV glue connection can ensure complete light transmission between the high refractive index polyurethane elastomer core inside the optical waveguide sensor and the connection between the light source and the photodiode, and can allow light to be transmitted inside the optical waveguide sensor.

2-4, Determining the end position of a bowden cable in space, comprising:

As shown in fig. 2, in the standard cartesian coordinate system, on the xy plane and the yz plane, in the case where the angle of the optical waveguide sensor disposed concentrically with the bowden line is constant on the xz plane (the x, z values are constant in the cartesian space), the output voltage y1 corresponding to the bending angle θ ̇ thereof is measured, and a fitting curve is fitted according to the bending angle θ ̇ and the output voltage y 1.

And obtaining a corresponding fitting curve through the relation fitting of the output voltage y1 and the bending angles theta ̇ on the xy and yz planes, and determining the bending angles of the Bowden line on the xy plane and the yz plane by using the fitting curve so as to deduce the preliminary tail end position of the plane.

Further, as shown in fig. 3-4, in the standard cartesian position system, on the xz plane (the x, z values are changed, and the y values are unchanged), the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor are attached to the periphery of the bowden line in a circumferential array, the corresponding output voltages y _L1、y_L2 and y _L3 of the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor under different bending angles θ ̈ are respectively measured, and corresponding fitting curves L1, L2 and L3 are obtained by fitting according to the relation between the bending angles θ ̈ and the output voltages y _L1、y_L2 and y _L3.

Further, as shown in fig. 5, the output voltage differences K ₁ and K ₂ between adjacent fitted curves are calculated according to the fitted curves L1, L2, L3, where K ₁=y_L1−y_L2 and K ₂=y_L2−y_L3.

And establishing a curvature model on an xz plane through the mapping relation between the values of K ₁ and K ₂ and the bending angle theta ̈, and determining the tail end position of the Bowden line in the xz plane according to the bending angles determined on the xy plane and the yz plane and the curvature model established on the xz plane.

Specifically, as shown in fig. 2, the correspondence between the output electrical signal y1 and the bending angle θ ̇ satisfies a fitting conditional expression:

(2),

It can be understood that the above conditional expressions are normalized conditional expressions, so as to convert different scales on both sides of the conditional expression into data of the same magnitude.

As shown in fig. 3 (when the y value is 240 °) and fig. 4 (when the y value is any, the change in L1, L2, L3), the correspondence between the output electrical signals y _L1、y_L2 and y _L3 and the bending angle θ ̈ satisfies the following conditional expressions:

(3),

(4),

(5) It can be understood that the above conditional expressions are normalized conditional expressions, so as to convert different scales on both sides of the conditional expression into data of the same magnitude.

As shown in fig. 5, the output voltage differences K1 and K2 between adjacent fitted curves satisfy the conditional expression:

(6),

(7),

Wherein, it can be understood that the above conditional expressions are normalized conditional expressions, so as to convert different scales on both sides of the conditional expression into data of the same magnitude. In the formula (2), θ ̇ is a bending angle of the optical waveguide sensor concentrically arranged with the bowden cable when the value of the y axis is changed, and θ ̈ is a bending angle of the first optical waveguide sensor, the second optical waveguide sensor, and the third optical waveguide sensor when the value of the x and z axes is changed. By obtaining the relationship between the voltage value y1 and the bending θ ̇, the voltage value and the bending angle mapping relationship of the optical waveguide sensor end position only when the y value is changed are deduced. By setting the bending angle of the y-axis to 240 °, only the x-axis and z-axis values were changed, resulting in the contents shown in fig. 3. As is clear from the equation (2), when θ ̇ is 240 °, the voltage value is 2.87, and the fitting curve shown in fig. 4 is obtained by subtracting 2.87 from the three fitting curves shown in fig. 3, and when the fixed curvature on the y-axis is arbitrary in fig. 4, the relationship between the voltage values y _L1、y_L2 and y _L3 and the bending angle θ ̈ is calculated, and the voltage value and the bending angle map when the values of the x-axis and the z-axis are changed at the end position is calculated.

Further, by comparing the relation between y _L1、y_L2 and y _L3 and analyzing the voltage value changes of each optical waveguide sensor when the end of the bowden wire has different curvatures in the xz plane, it can be found that under the condition of different curvatures, the corresponding values of y _L1、y_L2 and y _L3 are different, and according to the difference value between the fitting curves of y _L1、y_L2 and y _L3, the corresponding bending angles of the end position of the bowden wire on the xz plane, namely K ₁=y_L1−y_L2 and K ₂=y_L2−y_L3, can be obtained.

Further, since the three optical waveguide sensors (the first optical waveguide sensor, the second optical waveguide sensor, and the third optical waveguide sensor) are located at different positions of the bowden cable, when the bowden cable is bent, the bending angles of the three optical waveguide sensors attached to the sides of the bowden cable may be different, and according to this characteristic, the bending angles of the three optical waveguide sensors are intuitively presented as voltage values, so that the bending angles of the bowden cable in space and the end positions thereof can be analyzed.

Specifically, the formulas (8), (9) and (10) are calculated based on the formulas (2) and (3), (4) and (5), and the formula 2 is a relationship between the bowden cable's own bending angle and the voltage. Equations 3,4,5 are the bending angle and voltage relationship of three optical waveguides attached to the bowden cable when bending with the bowden cable. And (3) coupling and adding the formula 2 with the formulas 3,4 and 5 respectively to obtain formulas 8,9 and 10, namely Y _L1、Y_L2 and Y _L3, wherein when each optical waveguide is bent, Y _L1 is the actual voltage of the first optical waveguide sensor, Y _L2 is the actual voltage of the second optical waveguide sensor, Y _L3 is the actual voltage of the third optical waveguide sensor, and the voltage values Y _L1、Y_L2 and Y _L3 can be obtained through direct measurement.

(8),

(9),

(10),

Wherein, it can be understood that the above conditional expressions are normalized conditional expressions, so as to convert different scales on both sides of the conditional expression into data of the same magnitude. After solving for the values of θ ̇ and θ ̈ using equations (8), (9) and (10), respectively, we can determine the bowden cable bending angle in space, and thus the end position of the bowden cable.

Compared with the traditional tail end position estimation device, the optimized tail end position estimation device integrates a plurality of optical waveguide sensors with good anti-interference capability, can measure the change of the bowden cable bending angle and the voltage value with high precision, and has a rapid customization and shaping function. The data acquisition mode enables the exoskeleton device to obtain the position information estimated by the tail end position estimation device in real time, so that accuracy and control efficiency of a kinematic model and a dynamic model of the exoskeleton device are improved, the exoskeleton can correct deviation in real time, and the exoskeleton device can always operate to an ideal target position. Furthermore, the friction between the inner wall of the bowden cable and the steel wire rope in the bowden cable transmission device in three-dimensional space can be compensated.

First, the terminal position detection device disclosed by the invention has high accuracy and real-time performance. Second, the end position estimation device of the present disclosure is fabricated based on an optical waveguide sensor, and has extremely excellent anti-interference capability. Thirdly, the terminal position estimation device disclosed by the invention has the advantages of small occupied volume, light weight and high portability. Fourth, the cost of the end position estimation device of the present disclosure is substantially reduced compared to the cost of the end position detection device on the market.

The end position estimation device integrates a plurality of optical waveguide sensors, can detect the accumulated bending angle of the Bowden wire in space, provides real-time joint position information data for the exoskeleton device, enhances the accuracy and control efficiency of the kinematic and dynamic model of the exoskeleton device, and enables the exoskeleton device to run to the target position more accurately. The technology is expected to bring positive application prospect in the fields of rehabilitation medicine and auxiliary equipment.

Referring to fig. 6, in a second aspect of the embodiments of the present disclosure, there is provided an end position estimation method, which is implemented according to the end position estimation apparatus of any one of the above, including:

S101, acquiring a plurality of optical waveguide sensors which are uniformly arranged at intervals in the circumferential direction of the Bowden wire, and corresponding actual voltage signals when the Bowden wire is bent.

S102, calculating an actual bending angle based on each actual voltage signal and a preset voltage-bending angle relation model.

S103, determining the end position of the Bowden wire according to the actual bending angle.

,

In the formula, it can be understood that the above conditional expressions are normalized conditional expressions, so as to convert different scales on both sides of the conditional expression into data of the same magnitude. θ ̇ is the actual bending angle of the center of the bowden cable, θ ̈ is the actual bending angle of the first optical waveguide sensor, the second optical waveguide sensor and the third optical waveguide sensor when synchronously bending along with the bowden cable, Y _L1 is the voltage signal of the first optical waveguide sensor, Y _L2 is the voltage signal of the second optical waveguide sensor, and Y _L3 is the voltage signal of the third optical waveguide sensor.

In a third aspect of embodiments of the present disclosure, there is provided an exoskeleton binding device comprising an end position estimation apparatus of any one of the above.

In a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having a computer program stored thereon, characterized in that,

The computer program is capable of implementing the end position estimation method according to the above when executed by a processor.

Wherein the computer readable medium may be embodied in the apparatus, device, system of the present disclosure or may exist alone.

The computer readable storage medium may be any tangible medium that can contain, or store a program, and that can be an electronic, magnetic, optical, electromagnetic, infrared, semiconductor system, apparatus, device, more particular examples include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, an optical fiber, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

The computer-readable storage medium may also include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein, specific examples of which include, but are not limited to, electromagnetic signals, optical signals, or any suitable combination thereof.

It is to be understood that the above embodiments are merely exemplary embodiments employed to illustrate the principles of the present disclosure, however, the present disclosure is not limited thereto. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the disclosure, and are also considered to be within the scope of the disclosure.

Claims

1. An end position estimation device, characterized in that the end position estimation device comprises a bowden cable, a plurality of optical waveguide sensors arranged at uniform intervals along the circumferential direction of the bowden cable, and a processing unit electrically connected with the plurality of optical waveguide sensors;

The processing unit is used for calculating an actual bending angle based on each actual voltage signal and a preset voltage-bending angle relation model respectively so as to determine the end position of the Bowden wire according to the actual bending angle;

The plurality of optical waveguide sensors includes a first optical waveguide sensor, a second optical waveguide sensor, and a third optical waveguide sensor;

,

2. The tip position estimation device according to claim 1, wherein the plurality of optical waveguide sensors are provided around the circumference of the bowden cable by EVA resin bonding in the axial direction of the bowden cable.

3. The end position estimation device according to claim 1, further comprising a light source assembly and a light intensity receiving device, wherein the first end of the bowden cable is connected to the light source assembly and the second end is connected to the light intensity receiving device;

4. A tip position estimation device according to claim 3, wherein said bowden cable and said plurality of optical waveguides are fixedly connected to said light source assembly and said light intensity receiving means, respectively, by UV glue.

5. A tip position estimation apparatus according to claim 3, wherein said light source assembly comprises a light source fixture and a red LED light source having a 15 degree lens disposed within said light source fixture, wherein the material of said light source fixture comprises ABS blend glass fiber.

6. An end position estimation method, characterized in that the estimation method is implemented according to an end position estimation device according to any of claims 1-5, comprising:

Determining the end position of the Bowden wire according to the actual bending angle;

,

7. An exoskeleton binding device comprising the tip position estimation apparatus of any one of claims 1 to 5.