CN101786478B - Fictitious force-controlled lower limb exoskeleton robot with counter torque structure - Google Patents

Abstract

Translated fromChinese

本发明涉及一种具有反力矩结构的虚拟力控制下肢外骨骼机器人，包含传感靴，踝关节，小腿，膝关节，液压执行器，大腿，反力矩结构，腰带，髋关节，减震弹簧，电池，载物架，背架，控制器和液压系统；传感靴与小腿通过踝关节连接，小腿与大腿通过膝关节连接，大腿与腰带通过髋关节连接；载物架通过机械结构稳固地挂靠在背架上，电池通过绑带固定在载物架两侧，控制器固定在载物架与电池的中间位置，液压系统设置在电池下方位置，与液压执行器柔顺连接。本发明的优点：降低人体感受到的负载作用，减少人体能量消耗和疲劳感，实现长距离长时间负重行走。

The invention relates to a virtual force controlled lower extremity exoskeleton robot with an anti-moment structure, including sensing boots, ankle joints, calves, knee joints, hydraulic actuators, thighs, anti-moment structures, belts, hip joints, shock-absorbing springs, Battery, carrier, back frame, controller and hydraulic system; the sensor boots are connected to the lower leg through the ankle joint, the lower leg and the thigh are connected through the knee joint, and the thigh and the belt are connected through the hip joint; the carrier is firmly anchored by the mechanical structure On the back frame, the battery is fixed on both sides of the carrier through straps, the controller is fixed in the middle of the carrier and the battery, and the hydraulic system is set below the battery to connect with the hydraulic actuator in a smooth manner. The invention has the advantages of reducing the load effect felt by the human body, reducing energy consumption and fatigue of the human body, and realizing long-distance and long-time weight-bearing walking.

Description

Translated fromChinese

具有反力矩结构的虚拟力控制下肢外骨骼机器人Virtual force controlled lower limb exoskeleton robot with anti-moment structure

【技术领域】【Technical field】

本发明涉及外骨骼机器人技术领域，具体地说，是一种具有反力矩结构的虚拟力控制下肢外骨骼机器人。The invention relates to the technical field of exoskeleton robots, in particular to a virtual force controlled lower limb exoskeleton robot with an anti-moment structure.

【背景技术】【Background technique】

下肢外骨骼机器人通常用于远距离(通常是户外)搬运重物，而且其所走的路是其他轮式交通工具不能通过的。相比较轮式交通工具，基于外骨骼的助力装置具有许多潜在的的优势，如能适应复杂的崎岖地形。人在娱乐，工作或者在军事行动时可以用下肢外骨骼机器人来负重：徒步旅行者用下肢外骨骼机器人携带辅助用品，消防队员或急救队员用下肢外骨骼机器人来携带氧气罐和其它机械设备，士兵用下肢外骨骼机器人携带重物，穿越各种复杂地形和长距离行走。Lower extremity exoskeleton robots are often used to carry heavy objects over long distances (often outdoors) and on paths that other wheeled vehicles cannot pass. Compared with wheeled vehicles, exoskeleton-based power assist devices have many potential advantages, such as being able to adapt to complex and rough terrain. People can use lower-limb exoskeleton robots to carry weight during entertainment, work or military operations: hikers use lower-limb exoskeleton robots to carry auxiliary supplies, firefighters or first responders use lower-limb exoskeleton robots to carry oxygen tanks and other mechanical equipment, Soldiers use lower extremity exoskeleton robots to carry heavy objects, traverse various complex terrains and walk long distances.

【发明内容】【Content of invention】

本发明的目的在于克服现有技术的不足，提供一种具有反力矩结构的虚拟力控制下肢外骨骼机器人。The object of the present invention is to overcome the deficiencies of the prior art, and provide a virtual force-controlled lower limb exoskeleton robot with an anti-moment structure.

本发明的目的是通过以下技术方案来实现的：The purpose of the present invention is achieved through the following technical solutions:

一种具有反力矩结构的虚拟力控制下肢外骨骼机器人，包含传感靴，踝关节，小腿，膝关节，液压执行器，大腿，反力矩结构，腰带，髋关节，减震弹簧，电池，载物架，背架，控制器和液压系统；传感靴与小腿通过踝关节连接，小腿与大腿通过膝关节连接，大腿与腰带通过髋关节连接；载物架通过机械结构稳固地挂靠在背架上，电池通过绑带固定在载物架两侧，控制器固定在载物架与电池的中间位置，液压系统设置在电池下方位置，与液压执行器柔顺连接；A virtual force controlled lower extremity exoskeleton robot with anti-torque structure, including sensor boots, ankle joints, calves, knee joints, hydraulic actuators, thighs, anti-torque structures, belts, hip joints, shock-absorbing springs, batteries, load cells Object frame, back frame, controller and hydraulic system; the sensor boots are connected to the lower leg through the ankle joint, the lower leg is connected to the thigh through the knee joint, and the thigh and the belt are connected through the hip joint; the carrier is firmly attached to the back frame through a mechanical structure On the top, the battery is fixed on both sides of the carrier through straps, the controller is fixed in the middle of the carrier and the battery, and the hydraulic system is set under the battery to connect with the hydraulic actuator in a smooth manner;

所述的大腿与小腿上各设置了液压执行器的连接端，通过液压执行器的伸缩，实现膝关节的旋转运动；The connecting ends of the hydraulic actuators are respectively arranged on the thigh and the lower leg, and the rotary motion of the knee joint is realized through the expansion and contraction of the hydraulic actuators;

所述的传感靴主要包括把载荷传送到地面的脚后跟和为舒适而设计的弯曲的趾头，用于测量人体足底压力与外骨骼末端的足底压力；通过嵌入到脚底板中的前脚压力传感器、后脚压力传感器来测量脚底压力的变化，用于虚拟被动力控制；请参见图4，传感靴内含有安置在传感靴脚尖处的前脚压力传感器、传感靴脚跟处的后脚压力传感器与传感靴脚侧处的脚侧压力传感器，分别用于测量人体脚尖、人体脚跟与外骨骼作用在地面上的压力；The sensing boot mainly includes a heel that transmits the load to the ground and a curved toe designed for comfort, which is used to measure the plantar pressure of the human body and the plantar pressure at the end of the exoskeleton; through the forefoot embedded in the sole plate The pressure sensor and the rear foot pressure sensor are used to measure the change of the plantar pressure, which is used for virtual passive force control; see Figure 4, the sensor boot contains the forefoot pressure sensor placed at the toe of the sensor boot, and the rear foot pressure at the heel of the sensor boot The sensor and the pressure sensor on the side of the foot of the sensor boot are used to measure the pressure on the ground of the human body's toe, human heel and exoskeleton respectively;

传感靴的脚侧压力传感器通过踝关节与小腿末端固联，该传感器的设置用以进行下肢外骨骼负载能力的测试，理想的控制条件下，所有负重都将作用于下肢外骨骼上，因此下肢外骨骼末端的压力应为自身质量与负重的总和，通过测量脚侧压力传感器的值可以评价系统的负重性能，该方法比其它方法更方便，简洁；The pressure sensor on the foot side of the sensing boot is fixedly connected to the end of the calf through the ankle joint. The sensor is set to test the load capacity of the lower extremity exoskeleton. Under ideal control conditions, all the load will act on the lower extremity exoskeleton, so The pressure at the end of the lower extremity exoskeleton should be the sum of its own mass and load. The load-bearing performance of the system can be evaluated by measuring the value of the pressure sensor on the side of the foot. This method is more convenient and concise than other methods;

所述的踝关节采用球面高副连接方式，实现关节的三个旋转运动，主要由球型转动杆、球型转动套组成，并通过连接件与脚侧传感器连接杆连接，完成小腿与传感靴的连接；参照图3，踝关节的储能弹簧上端固联在小腿伸缩杆上，下端固联在脚侧传感器连接杆上，用于储存步行中人体所消耗的部分肌肉能量，并在适当的步态阶段自动释放这部分能量用于辅助人体行走，以节省能量；The ankle joint adopts a spherical high pair connection method to realize three rotational movements of the joint, and is mainly composed of a spherical rotating rod and a spherical rotating sleeve, and is connected with the connecting rod of the foot side sensor through a connecting piece to complete the connection between the calf and the sensor. The connection of the boots; referring to Figure 3, the upper end of the energy storage spring of the ankle joint is fixedly connected to the calf telescopic rod, and the lower end is fixedly connected to the connecting rod of the foot side sensor, which is used to store part of the muscle energy consumed by the human body during walking, and when appropriate The gait stage automatically releases this part of energy to assist the human body to walk, so as to save energy;

所述的大腿采用弧形设计，保证了髋关节到膝关节的几何位置顺滑过渡，同时使液压执行器在小腿弯曲时彻底缩回；髋关节采用球面高副连接方式，实现关节的两个旋转运动，保证外骨骼能够随人体实现直行和转弯；参照图2，髋关节附近的反力矩结构包括反力矩弹簧，缓冲弹簧，滑套、滑杆等，实现髋关节的助力功能；反力矩弹簧一端通过球面高副与腰带末端连接，一端与滑套固连；反力矩弹簧的力矩作用抵抗住了负重引起的翻转力矩，使外骨骼保持前后平衡，该设计方法无需控制，具有被动动力学的特性，减少了系统能耗。The thigh is designed in a curved shape, which ensures a smooth transition from the hip joint to the knee joint, and at the same time allows the hydraulic actuator to be completely retracted when the calf is bent; the hip joint adopts a spherical high-pair connection to realize two Rotational movement ensures that the exoskeleton can go straight and turn with the human body; refer to Figure 2, the anti-torque structure near the hip joint includes anti-torque springs, buffer springs, sliding sleeves, sliders, etc., to realize the assist function of the hip joint; anti-torque springs One end is connected to the end of the belt through a spherical high pair, and the other end is fixedly connected to the sliding sleeve; the torque action of the anti-torque spring resists the turning moment caused by the load, so that the exoskeleton maintains a front-to-back balance. This design method does not need to be controlled, and has passive dynamics features, reducing system energy consumption.

与现有技术相比，本发明的积极效果是：Compared with prior art, positive effect of the present invention is:

本发明的原理是通过髋关节的反力矩结构、膝关节的液压驱动器与踝关节的弹性元件，通过虚拟被动力控制方法使其在单腿支撑阶段等效为一根可伸缩的拐杖，直接将负重作用力传递给地面，从而降低人体感受到的负载作用，减少人体能量消耗和疲劳感，实现长距离长时间负重行走。The principle of the present invention is to use the anti-moment structure of the hip joint, the hydraulic driver of the knee joint and the elastic element of the ankle joint to make it equivalent to a stretchable crutch in the single-leg support stage through the virtual passive force control method, and directly The weight-bearing force is transmitted to the ground, thereby reducing the load effect felt by the human body, reducing energy consumption and fatigue of the human body, and realizing long-distance and long-term weight-bearing walking.

本发明的虚拟被动力控制的特点在于该控制算法弥补了被动动力控制中采用等刚度弹簧开环控制所造成的控制误差大，适用性单一，无法实时调节等缺陷，同时其不需要精确的动力学模型进行实时扭矩的计算，提高了计算速度与系统的可靠性，此外由于充分利用了人体的动力学特性，将有助于减少能量的消耗。The feature of the virtual passive force control of the present invention is that the control algorithm makes up for the shortcomings of large control errors, single applicability, and inability to adjust in real time caused by the use of equal stiffness spring open-loop control in passive power control. At the same time, it does not require accurate power The calculation of real-time torque is carried out by using the scientific model, which improves the calculation speed and the reliability of the system. In addition, because the dynamic characteristics of the human body are fully utilized, it will help reduce energy consumption.

【附图说明】【Description of drawings】

图1为下肢外骨骼机器人总体结构示意图；Figure 1 is a schematic diagram of the overall structure of the lower extremity exoskeleton robot;

图2为下肢外骨骼机器人反力矩结构示意图；Fig. 2 is a schematic diagram of the anti-moment structure of the lower extremity exoskeleton robot;

图3为下肢外骨骼机器人踝关节结构示意图；3 is a schematic diagram of the ankle joint structure of the lower extremity exoskeleton robot;

图4为下肢外骨骼机器人传感靴压力传感器布置示意图；Fig. 4 is a schematic diagram of the layout of the pressure sensor of the sensor shoe of the lower extremity exoskeleton robot;

图5为下肢外骨骼机器人使用的虚拟被动力控制框图；Fig. 5 is a virtual passive force control block diagram used by the lower extremity exoskeleton robot;

附图中的标号分别为：1、传感靴，2、踝关节，3、小腿，4、膝关节，5、液压执行器，6、大腿，7、反力矩结构，8、腰带，9、髋关节，10、减震弹簧，11、液压系统，12、电池，13、控制器，14、载物架，15、背架，16、伸缩筒，17、缓冲弹簧，18、滑套，19、反力矩弹簧，20、滑杆，21、小腿伸缩杆，22、储能弹簧，23、球型转动杆，24、球型转动套，25、连接件，26、脚侧传感器连接杆，27、脚底板，28、前脚压力传感器，29、脚侧压力传感器，30、后脚压力传感器。The labels in the accompanying drawings are: 1. Sensing boots, 2. Ankle joint, 3. Calf, 4. Knee joint, 5. Hydraulic actuator, 6. Thigh, 7. Anti-moment structure, 8. Belt, 9. Hip joint, 10, shock absorbing spring, 11, hydraulic system, 12, battery, 13, controller, 14, loading frame, 15, back frame, 16, telescopic tube, 17, cushioning spring, 18, sliding sleeve, 19 , anti-torque spring, 20, sliding rod, 21, calf telescopic rod, 22, energy storage spring, 23, spherical rotating rod, 24, spherical rotating sleeve, 25, connector, 26, foot side sensor connecting rod, 27 , sole plate, 28, front foot pressure sensor, 29, foot side pressure sensor, 30, rear foot pressure sensor.

【具体实施方式】【Detailed ways】

以下提供本发明一种具有反力矩结构的虚拟力控制下肢外骨骼机器人的具体实施方式。The following provides a specific implementation of a virtual force controlled lower limb exoskeleton robot with an anti-moment structure of the present invention.

请参见附图1，一种具有反力矩结构的虚拟力控制下肢外骨骼机器人，包含传感靴1，踝关节2，小腿3，膝关节4，液压执行器5，大腿6，反力矩结构7，腰带8，髋关节9，减震弹簧10，液压系统11，电池12，控制器13，载物架14和背架15；传感靴1与小腿3通过踝关节2连接，小腿3与大腿6通过膝关节4连接，大腿6与腰带8通过髋关节9连接；载物架14通过机械结构稳固地挂靠在背架15上，电池12通过绑带固定在载物架14两侧，控制器13固定在载物架14与电池12的中间位置，液压系统11设置在电池12下方位置，与液压执行器5柔顺连接；Please refer to Figure 1, a virtual force controlled lower extremity exoskeleton robot with an anti-torque structure, includingsensor boots 1,ankle joints 2,lower legs 3,knee joints 4,hydraulic actuators 5,thighs 6, andanti-moment structures 7 ,belt 8,hip joint 9,shock absorbing spring 10,hydraulic system 11,battery 12,controller 13, load frame 14 andback frame 15;sensor boot 1 is connected withcalf 3 throughankle joint 2,calf 3 is connected withthigh 6 is connected through theknee joint 4, thethigh 6 and thebelt 8 are connected through thehip joint 9; the carrier 14 is firmly attached to theback frame 15 through a mechanical structure, thebattery 12 is fixed on both sides of the carrier 14 through straps, and thecontroller 13 is fixed at the middle position between the carrier 14 and thebattery 12, and thehydraulic system 11 is set at the position below thebattery 12, and is flexibly connected with thehydraulic actuator 5;

腰带8与载物架14对称地以旋转运动副相连。在腰带8与载物架14之间添加减震弹簧10，以限制腰带8的运动范围，并产生一个缓冲作用力来隔离腿部的冲击对于载物架14上所携带的电池12、控制器13和负载的破坏，提供较稳定的载物平台。Thewaist belt 8 is symmetrically connected with the carrier 14 with a rotary kinematic pair. Add shock-absorbingspring 10 betweenwaist belt 8 and object carrier 14, to limit the range of motion ofwaist belt 8, and produce a cushioning force to isolate the impact of leg for carryingbattery 12, controller on object carrier 14 13 and the destruction of the load, providing a more stable loading platform.

大腿6与腰带8通过髋关节9连接，并用反力矩结构7使负载力顺利传递到大腿6上。大腿6采用弧形设计，保证了髋关节9到膝关节4的几何位置顺滑过渡，同时使液压执行器5在小腿3弯曲时彻底缩回。髋关节9采用球面高副连接方式，实现关节的两个旋转运动，保证外骨骼能够随人体实现直行和转弯。请参见附图2，髋关节9附近的反力矩结构7包括反力矩弹簧19，缓冲弹簧17，滑套18、滑杆20等，实现髋关节9的助力功能。反力矩弹簧19一端通过球面高副与腰带8末端连接，一端与滑套18固连。反力矩弹簧19的力矩作用抵抗住了负重引起的翻转力矩，使外骨骼保持前后平衡。该设计方法无需控制，具有被动动力学的特性，减少了系统能耗。Thethigh 6 is connected with thewaist belt 8 through thehip joint 9, and the load force is smoothly transmitted to thethigh 6 by theanti-moment structure 7. Thethigh 6 adopts an arc design, which ensures a smooth transition from thehip joint 9 to theknee joint 4, and at the same time makes thehydraulic actuator 5 retract completely when thecalf 3 is bent. Thehip joint 9 adopts a spherical high-pair connection method to realize two rotational movements of the joint, so as to ensure that the exoskeleton can go straight and turn along with the human body. Please refer to FIG. 2 , theanti-torque structure 7 near thehip joint 9 includes ananti-torque spring 19 , a buffer spring 17 , asliding sleeve 18 , asliding rod 20 , etc., to realize the assisting function of thehip joint 9 . One end of theanti-torque spring 19 is connected with thewaist belt 8 ends by a spherical high pair, and one end is fixedly connected with thesliding sleeve 18. The torque effect of theanti-torque spring 19 has resisted the overturning moment caused by the load, so that the exoskeleton keeps the front and rear balance. The design method does not require control, has the characteristics of passive dynamics, and reduces system energy consumption.

大腿6与小腿3通过膝关节4连接。膝关节4采用单自由度的纯旋转运动，简化了人体大腿骨和胫骨之间转动和滑动的组合运动，通过添加轴承来减小摩擦力。在大腿6与小腿3上各设置了液压执行器5的连接端，通过液压执行器5的伸缩，实现膝关节的旋转运动。Thethigh 6 is connected with thelower leg 3 through theknee joint 4 . Theknee joint 4 adopts a single-degree-of-freedom pure rotation motion, which simplifies the combined motion of rotation and sliding between the human femur and tibia, and reduces friction by adding bearings. The connecting ends of thehydraulic actuators 5 are respectively arranged on thethigh 6 and thelower leg 3 , and the rotary motion of the knee joint is realized through the expansion and contraction of thehydraulic actuators 5 .

小腿3与传感靴1通过踝关节2连接，踝关节2使用球面高副连接方式，实现关节的三个旋转运动，主要由球型转动杆23、球型转动套24组成，并通过连接件25与脚侧传感器连接杆26连接，完成小腿3与传感靴1的连接。请参见附图3，踝关节2的储能弹簧22上端固联在小腿伸缩杆21上，下端固联在脚侧传感器连接杆26上，用于储存步行中人体所消耗的部分肌肉能量，并在适当的步态阶段自动释放这部分能量用于辅助人体行走，以节省能量。Thecalf 3 is connected to thesensor boot 1 through theankle joint 2, and theankle joint 2 uses a spherical high pair connection to realize three rotational movements of the joint, mainly composed of a spherical rotatingrod 23 and a sphericalrotating sleeve 24, and through the connectingpiece 25 is connected with foot sidesensor connecting rod 26, completes the connection ofshank 3 andsensing boots 1. Please refer to accompanyingdrawing 3, the upper end of theenergy storage spring 22 of theankle joint 2 is fixedly connected on the calftelescopic rod 21, and the lower end is fixedly connected on the foot sidesensor connecting rod 26, which is used to store part of the muscle energy consumed by the human body during walking, and This part of energy is automatically released in the appropriate gait phase to assist the human body to walk, so as to save energy.

传感靴1的脚侧压力传感器29通过踝关节2与小腿3末端固联。该传感器的标定可以通过下肢外骨骼负载能力的测试来进行。通过测量脚侧压力传感器29的值还可以评价系统的负重性能。该方法比其它方法更方便，简洁。The foot side pressure sensor 29 of thesensing boot 1 is fixedly connected with the end of thecalf 3 through theankle joint 2 . The calibration of the sensor can be carried out by testing the load capacity of the lower extremity exoskeleton. The load-bearing performance of the system can also be evaluated by measuring the value of the foot side pressure sensor 29. This method is more convenient and concise than other methods.

传感靴1主要包括把载荷传送到地面的脚后跟和为舒适而设计的弯曲的趾头，用于测量人体足底压力与外骨骼末端的足底压力。通过嵌入到脚底板27中的前脚压力传感器28、后脚压力传感器30来测量脚底压力的变化，用于虚拟被动力控制。请参见附图4，传感靴1内含有安置在传感靴1脚尖处的前脚压力传感器28、传感靴1脚跟处的后脚压力传感器30与传感靴1脚侧处的脚侧压力传感器29，分别用于测量人体脚尖、人体脚跟与外骨骼作用在地面上的压力。Thesensing boot 1 mainly includes the heel to transmit the load to the ground and the curved toe designed for comfort, and is used to measure the plantar pressure of the human body and the plantar pressure at the end of the exoskeleton. The change of the plantar pressure is measured by the front foot pressure sensor 28 and the rear foot pressure sensor 30 embedded in the sole plate 27 for virtual passive force control. Please refer to accompanying drawing 4, the forefoot pressure sensor 28 that is placed in the toe place ofsensing boots 1, the rear foot pressure sensor 30 at the heel ofsensing boots 1 and the foot side pressure sensor at the side ofsensing boots 1 are contained in thesensing boots 1 29, which are respectively used to measure the pressure on the ground of the human body's toe, human body's heel and exoskeleton.

外骨骼机器人大腿6末端的滑杆20与小腿3末端的小腿伸缩杆21可分别调节大腿6和小腿3的长度，以扩大下肢外骨骼机器人的适应性范围，适应不同的穿戴者穿戴。The slidingrod 20 at the end of thethigh 6 of the exoskeleton robot and thetelescopic rod 21 at the end of thelower leg 3 can adjust the lengths of thethigh 6 and thelower leg 3 respectively, so as to expand the adaptability range of the lower extremity exoskeleton robot and adapt to different wearers.

当人体在背负重物行走时，人体的步态主要分为支撑相与摆动相，本发明涉及的下肢外骨骼控制部分主要作用在支撑相阶段。When the human body is walking with a heavy load on its back, the gait of the human body is mainly divided into a support phase and a swing phase, and the lower limb exoskeleton control part of the present invention mainly acts on the support phase.

请参见附图2，当人在支撑相时，反力矩结构7中的滑套18将沿滑杆20向下运动，挤压缓冲弹簧17，随着人体的躯干与大腿的夹角变大，缓冲弹簧17的作用力变大，转换为髋关节9的反作用扭矩，直到缓冲弹簧17完全压缩，使髋关节9运动锁死，负重则通过反力矩结构7将负载作用力传递到膝关节4。Please refer to accompanying drawing 2, when the person is in the support phase, the slidingsleeve 18 in thecounter moment structure 7 will move down along theslide bar 20, squeeze the buffer spring 17, as the angle between the trunk and the thigh of the human body becomes larger, The active force of the buffer spring 17 becomes larger, which is converted into the reaction torque of thehip joint 9 until the buffer spring 17 is completely compressed, so that the movement of thehip joint 9 is locked, and the load is transmitted to the knee joint 4 through thereaction torque structure 7 .

请参见附图1，当人在支撑相时，膝关节4采用液压驱动技术，通过虚拟被动力控制方法，实现在膝关节4伸展时，液压执行器5能有效地补充能量，顶升重物；在膝关节4弯曲时，液压执行器5作为阻尼器消耗能量。Please refer to Figure 1, when the person is in the support phase, theknee joint 4 adopts hydraulic drive technology, and through the virtual passive force control method, when theknee joint 4 is extended, thehydraulic actuator 5 can effectively replenish energy and lift heavy objects ; When theknee joint 4 is bent, thehydraulic actuator 5 consumes energy as a damper.

请参见附图3，当人在支撑相时，踝关节2的储能弹簧22受到载荷的压力而收缩，从而将部分弹性能量储存起来。当人在将要抬起脚时，储能弹簧释放这部分储存起来的弹性能量，帮助人和外骨骼机器人抬起脚，从而节省人步行时生物能的消耗，减少人体疲劳。Please refer to FIG. 3 , when the person is in the stance phase, theenergy storage spring 22 of the ankle joint 2 contracts under the pressure of the load, thereby storing part of the elastic energy. When the person is about to lift the foot, the energy storage spring releases this part of the stored elastic energy to help the person and the exoskeleton robot lift the foot, thereby saving the consumption of biological energy when walking and reducing human fatigue.

请参见附图1，当人在摆动相时，髋关节9，踝关节2，反力矩结构7等均无需控制，与外骨骼一起跟随人体被动运动。Please refer to accompanying drawing 1, when the person is in the swing phase, thehip joint 9, theankle joint 2, theanti-moment structure 7, etc. do not need to be controlled, and they follow the passive movement of the human body together with the exoskeleton.

请参见附图5，虚拟被动力控制的主要思想概述如下，(1)从人体步态生物力学的角度出发，充分利用人体肌肉所特有的弹簧特性，在外骨骼关节上添加等效的被动力学元件，如弹簧、阻尼器、质量块、插销等，使其产生模拟肌肉作用效果的各类力与位置的线性与非线性关系，以此来构建针对人体步态的前馈控制器。(2)运用主动力控制方式通过机械液压装置虚拟这些被动元件，使关节能够产生符合人体步态力学性能的各种阻抗特性，如同这些虚拟元件真的参与了外骨骼的动作，同时保持外骨骼自身的被动特性，使系统稳定。(3)当人穿戴骨骼服行走时，执行机构将虚拟出类似机械元件般的被动力学特性，使外骨骼能够跟随人体关节运动产生适当的扭矩，从而减少人体的能量消耗。该控制方法通过主动力反馈控制扭矩，而不是控制关节角位置，从而充分模拟了人类步行的自然特点。Please refer to Figure 5, the main idea of virtual passive force control is summarized as follows, (1) From the perspective of human gait biomechanics, make full use of the unique spring characteristics of human muscles, and add equivalent passive dynamic components to the exoskeleton joints , such as springs, dampers, mass blocks, pins, etc., to generate linear and nonlinear relationships between various forces and positions that simulate muscle effects, so as to construct a feedforward controller for human gait. (2) Use the active force control method to virtualize these passive components through the mechanical hydraulic device, so that the joints can produce various impedance characteristics in line with the mechanical properties of the human gait, as if these virtual components really participate in the action of the exoskeleton, while maintaining the exoskeleton Its own passive characteristics make the system stable. (3) When a person wears a skeleton suit and walks, the actuator will virtualize passive dynamic characteristics similar to mechanical components, so that the exoskeleton can follow the movement of the human joints to generate appropriate torque, thereby reducing the energy consumption of the human body. The control method controls the torque through active force feedback instead of controlling the joint angular position, thus fully simulating the natural characteristics of human walking.

前馈控制器的原理是运用机械元件的被动特性来模拟人体肌肉运动力学性能，对控制进行参数预设置，形式上可以规范化为一种状态机系统，当遇到工作条件改变时，需要重新改变机械元件的组合与重新设置初始状态，有利于提高响应时间与减少能耗。通过人体步态实验，先采集人体在步态不同阶段及不同负载状态下各关节的运动动力学参数；再通过数据处理算法对于数据进行优化，以获得合适的参数及其调节规律；最后需要结合人体肌肉模型，才能够建立所需的被动元件模型及其参数设置。The principle of the feed-forward controller is to use the passive characteristics of mechanical components to simulate the mechanical performance of human muscle movement, and to pre-set the parameters of the control. Formally, it can be standardized as a state machine system. When the working conditions change, it needs to be changed again. Combination of mechanical elements and resetting of initial state is beneficial to improve response time and reduce energy consumption. Through the human gait experiment, first collect the motion dynamic parameters of the joints of the human body in different stages of gait and under different load states; then optimize the data through data processing algorithms to obtain appropriate parameters and their adjustment rules; finally, it is necessary to combine The human muscle model can establish the required passive element model and its parameter settings.

反馈控制器通过实时控制人机间作用力，跟踪人体运动轨迹，修正力控制参量，提高系统稳定性，有利于帮助穿戴者完成更多的运动功能。采用主动力反馈控制算法，实现关节的柔顺性控制，同时为了克服主动控制所存在的无法抗冲击，高能耗等问题，通过添加柔性阻尼元件，改善系统性能。The feedback controller controls the human-machine interaction force in real time, tracks the human body movement trajectory, corrects the force control parameters, improves the system stability, and helps the wearer to complete more sports functions. The active force feedback control algorithm is used to realize the compliance control of the joints. At the same time, in order to overcome the problems of the active control such as inability to resist impact and high energy consumption, the system performance is improved by adding flexible damping elements.

请参见附图5，控制系统中的步态识别器根据前脚压力传感器28、后脚压力传感器30的测量值，可以判断人体所处的步态状态。Please refer to accompanying drawing 5, the gait recognizer in the control system can judge the gait state that the human body is in according to the measurement value of front foot pressure sensor 28, rear foot pressure sensor 30.

虚拟被动力控制的特点在于该控制算法弥补了被动动力控制中采用等刚度弹簧开环控制所造成的控制误差大，适用性单一，无法实时调节等缺陷，同时其不需要精确的动力学模型进行实时扭矩的计算，提高了计算速度与系统的可靠性，此外由于充分利用了人体的动力学特性，将有助于减少能量的消耗。The characteristic of virtual passive force control is that the control algorithm makes up for the shortcomings of large control error, single applicability, and inability to adjust in real time caused by the use of constant stiffness spring open-loop control in passive power control. The calculation of real-time torque improves the calculation speed and the reliability of the system. In addition, because the dynamic characteristics of the human body are fully utilized, it will help reduce energy consumption.

以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员，在不脱离本发明构思的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围内。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, some improvements and modifications can also be made, and these improvements and modifications should also be considered Within the protection scope of the present invention.

Claims (5)

1. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure comprises the sensing boots, ankle joint, shank, knee joint, hydraulic actuator, thigh, counter torque structure, belt, hip joint, damping spring, battery, luggage carrier, back of the body frame, controller and hydraulic system; It is characterized in that the sensing boots are connected by ankle joint with shank, shank is connected by knee joint with thigh, and thigh is connected by hip joint with belt; Luggage carrier firmly is affiliated on back of the body frame by frame for movement, and battery is fixed on the luggage carrier both sides by bandage, and controller is fixed on the centre position of luggage carrier and battery, and hydraulic system is arranged on the battery lower position, is connected with hydraulic actuator is submissive; Belt links to each other with rotary motion pair symmetrically with luggage carrier; Between belt and luggage carrier, add damping spring;

Near the described hip joint counter torque structure comprises the countertorque spring, buffer spring, sliding sleeve, slide bar, the assist function of realization hip joint; Countertorque spring one end is connected by sphere higher pair and belt are terminal, and an end and sliding sleeve are connected.

2. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1 is characterized in that, respectively is provided with the link of hydraulic actuator on described thigh and the shank.

3. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that described sensing boots contain the forward foot in a step pressure transducer that is placed in sensing boots tiptoe place, the rear foot pressure transducer at sensing boots heel place and the foot side pressure sensor at sensing boots foot side place.

4. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that, described ankle joint adopts sphere higher pair connected mode, form by ball-type dwang, ball-type turning set, and be connected with foot side senser connecting rod by connector, finish being connected of shank and sensing boots; The energy-stored spring upper end of ankle joint connects firmly on the shank expansion link, and the lower end connects firmly on foot side senser connecting rod.

5. the Fictitious force-controlled lower limb exoskeleton robot with counter torque structure as claimed in claim 1, it is characterized in that, described thigh adopts the arc design, hip joint adopts sphere higher pair connected mode, two that realize the joint rotatablely move, and guarantee that ectoskeleton can be with human body realization craspedodrome and turning.

Images