技术领域technical field
本发明涉及可穿戴康复医疗器械和助力外骨骼机器人的技术领域，具体而言涉及使用气囊传感器实现对下肢外骨骼机器人柔顺控制的方法。The present invention relates to the technical field of wearable rehabilitation medical equipment and power-assisted exoskeleton robots, and in particular to a method for using airbag sensors to achieve compliant control of lower limb exoskeleton robots.
背景技术Background technique
下肢外骨骼机器人可以为残障人群提供主要的运动动力。主动的外骨骼机器人可以用来增强人类的力量，增强残障人群的运动能力，同时也可以起到康复训练的作用。外骨骼机器人能直接助力于人体来辅助人运动。随着年龄的增大，人体骨骼逐渐退化，关节磨损严重，关节活动受到一定程度的限制；肢体损伤在道路交通事故法医临床鉴定中非常多见；现代体育运动不断向高水平竞技运动的方向发展，运动员在训练和比赛中关节损伤几率增加。从军事发展角度来看，外骨骼助力机器人对于提高士兵的单兵装备具有重要的意义。利用外骨骼机器人协助人体完成康复训练和为人体运动提供助力已然成为机器人领域的热门。The lower extremity exoskeleton robot can provide the main movement power for the disabled. Active exoskeleton robots can be used to enhance human strength, enhance the mobility of disabled people, and also play a role in rehabilitation training. Exoskeleton robots can directly assist the human body to assist human movement. With the increase of age, human bones gradually degenerate, joints wear seriously, and joint activities are restricted to a certain extent; limb injuries are very common in forensic clinical identification of road traffic accidents; modern sports continue to develop towards high-level competitive sports , athletes have an increased chance of joint injury during training and competition. From the perspective of military development, exoskeleton-assisted robots are of great significance for improving soldiers' individual equipment. The use of exoskeleton robots to assist the human body in rehabilitation training and to provide assistance for human movement has become a hot topic in the field of robotics.
近来年，用于助力的外骨骼机器人的应用和可行性研究有了显著的进展。日本筑波大学的HAL采用了角度传感器、肌电信号传感器和地面接触力传感器等传感器信息融入到外骨骼的控制当中。HAL拥有混合控制系统，包括自动控制器进行诸如身体姿态的控制，以及基于生物学反馈和预测前馈的舒适助力控制器。HAL也是将步态周期分为两相：支撑相和摆动相，在膝关节控制方面，把人体简化为倒立摆的模型，并分别对操作者与下肢助力外骨骼建模求出补偿转矩，结合EMG信号中的屈肌信号和伸肌信号，可以估算出膝关节所需的转矩，称之为虚拟转矩。模型中参数的辨识采用递归最小二乘方(RecursiveLeastSquare)方法求出。在实际控制时通过足底压力信号区分支撑相与摆动相，并在不同的相上采用不同的阻抗调节的方法，具体为：支撑相补偿粘性摩擦与粘性刚度，摆动相补偿转动惯量与粘性摩擦。HAL已经成功将外骨骼用于商业，根据不同使用者身体信息和用途，制定专属的控制的参数和外骨骼(全上下肢、全下肢、单侧下肢)。In recent years, significant progress has been made in the application and feasibility studies of exoskeleton robots for power assistance. The HAL of the University of Tsukuba in Japan uses sensor information such as angle sensors, myoelectric signal sensors, and ground contact force sensors to integrate into the control of the exoskeleton. HAL has a hybrid control system that includes an automatic controller for controls such as body posture, and a comfort assist controller based on biological feedback and predictive feedforward. HAL also divides the gait cycle into two phases: the support phase and the swing phase. In terms of knee joint control, the human body is simplified into an inverted pendulum model, and the compensation torque is calculated by modeling the operator and the lower limb power-assisted exoskeleton respectively. Combining the flexor and extensor signals in the EMG signal, the torque required by the knee joint can be estimated, which is called virtual torque. The identification of parameters in the model is obtained by the method of recursive least squares (RecursiveLeastSquare). In the actual control, the support phase and the swing phase are distinguished by the plantar pressure signal, and different impedance adjustment methods are adopted on different phases, specifically: the support phase compensates for viscous friction and viscous stiffness, and the swing phase compensates for moment of inertia and viscous friction . HAL has successfully used exoskeletons for commercial use, and developed exclusive control parameters and exoskeletons (full upper and lower extremities, full lower extremities, unilateral lower extremities) according to different users' body information and purposes.
以色列外骨骼系统提供商ReWalkRobotics研制ReWalk可穿戴外骨骼动力设备，帮助腰部以下瘫患者重获行动能力。Rewalk通过倾斜传感技术，控制重心位置的细微变化控制运动，同时各关节模仿人体自然步态的轨迹，为用户提供适合的行走速度，使得四肢瘫痪者也能够独立行走。Rewalk同时还配备了携带传感器的拐杖辅助操作者在行走过程当中保持平衡和稳定。拐杖的传感器信号用用来微调外骨骼的步态。穿戴ReWalk，患者可以轻松站立、连续行走和停止行走。ReWalk Robotics, an Israeli exoskeleton system provider, has developed the ReWalk wearable exoskeleton power device to help patients with paralysis below the waist regain mobility. Rewalk uses tilt sensing technology to control the subtle changes in the position of the center of gravity to control the movement. At the same time, each joint imitates the trajectory of the natural gait of the human body to provide users with a suitable walking speed, enabling quadriplegic people to walk independently. Rewalk is also equipped with crutches carrying sensors to assist the operator in maintaining balance and stability during walking. The sensor signals from the crutches are used to fine-tune the gait of the exoskeleton. Wearing ReWalk, patients can easily stand, walk continuously and stop walking.
国内对于外骨骼机器人的研究起步较晚，取得突破性的研究成果较少。Domestic research on exoskeleton robots started late, and few breakthrough research results have been achieved.
目前，外骨骼机器人控制领域，人体意图的检测和外骨骼机器人的柔顺控制仍是研究难点。HAL采用肌肉电信号采集人体运动意图，然而神经受损的偏瘫患者的肌电信号可能不同或者不可用。在激烈运动下，测量肌电信号的电极容易脱落、易位，长时间运动后，人体出汗也会影响传感器的测量。再者传感器每次都要贴到人体表面，使用不便。传统外骨骼机器人同人体刚性连接，势必降低人体穿戴时的舒适感，带来很强的约束感、牵扯感。At present, in the field of exoskeleton robot control, the detection of human intentions and the compliant control of exoskeleton robots are still research difficulties. HAL uses muscle electrical signals to capture human motion intentions, but nerve-damaged hemiplegic patients may have different or unavailable muscle electrical signals. Under intense exercise, the electrodes for measuring EMG signals are easy to fall off and translocate. After a long period of exercise, sweating of the human body will also affect the measurement of the sensor. Furthermore, the sensor must be attached to the surface of the human body every time, which is inconvenient to use. Traditional exoskeleton robots are rigidly connected to the human body, which will inevitably reduce the comfort of the human body when worn, and bring a strong sense of restraint and involvement.
当前外骨骼机器人的控制方法仍存在局限性，从而难以满足助力行走的核心需求。The current control methods of exoskeleton robots still have limitations, making it difficult to meet the core needs of assisting walking.
发明内容Contents of the invention
为了解决现有技术存在的问题，本发明在现有下肢外骨骼机器人控制方法的基础上，结合气囊传感器，提出一种下肢外骨骼机器人柔顺控制方法。In order to solve the problems existing in the prior art, the present invention proposes a compliant control method for a lower limb exoskeleton robot based on the existing lower limb exoskeleton robot control method and combined with an airbag sensor.
本发明公开了一种使用气囊传感器的下肢外骨骼机器人控制方法，所述下肢外骨骼包括：分别设置在外骨骼膝关节和踝关节处的增量式编码器，用于采集计算关节运动角度和角加速度；位于外骨额机器人足底的薄膜压力床感器，用于采集人足底与地面接触力；分布于人体大小腿肌肉前后的气囊压力传感器，用于测量人与外骨骼机器人之间接触力；连接于人体手臂上的姿态传感器，用于测量人体手臂摆动角度和角速度；The invention discloses a method for controlling a lower extremity exoskeleton robot using an airbag sensor. The lower extremity exoskeleton includes: incremental encoders respectively arranged at the knee joint and ankle joint of the exoskeleton for collecting and calculating the joint movement angle and angle Acceleration; the film pressure bed sensor located on the sole of the exoskeleton robot is used to collect the contact force between the human foot and the ground; the airbag pressure sensor distributed in the front and back of the human leg muscles is used to measure the contact force between the human and the exoskeleton robot ;The posture sensor connected to the human arm is used to measure the swing angle and angular velocity of the human arm;
所述控制方法包括如下步骤：Described control method comprises the steps:
步骤一：初始化系统，通过输入设备明确当前外骨骼需要完成动作模式，动作模式包括站起、连续行走或停止；Step 1: Initialize the system, and use the input device to clarify that the current exoskeleton needs to complete the action mode. The action mode includes standing up, walking continuously or stopping;
步骤二：当前运动模式为站起和停止时，微控制器剔除姿态传感器、足底力传感器信号，提取存储器中预存的健康人体站起或停止时的关节理想轨迹，通过采集当前关节角度跟踪理想轨迹；当前运动模式为连续行走时，微控制器采集足底力信息，通过足底脚掌和脚跟与地面接触力数值大小，来判断足部状态，足部状态包括着地、全足支撑、离地或悬空，从而将下肢运动分成摆动相和支撑相；通过支撑相或摆动相重新设置基于肌肉力的模糊控制器、基于关节动力学模型模糊控制的模糊控制规则；Step 2: When the current motion mode is standing up and stopping, the microcontroller rejects the signals of the attitude sensor and plantar force sensor, extracts the ideal trajectory of the joints when the healthy human body stands or stops prestored in the memory, and tracks the ideal trajectory by collecting the current joint angle ;When the current exercise mode is continuous walking, the microcontroller collects plantar force information, and judges the state of the foot through the value of the contact force between the sole of the foot and the heel and the ground. The state of the foot includes landing, full-foot support, off-the-ground or suspension , so that the movement of the lower limbs is divided into swing phase and support phase; through the support phase or swing phase, the fuzzy controller based on muscle force and the fuzzy control rules based on joint dynamics model fuzzy control are reset;
步骤三：将大腿前后的气囊压力传感器采集的人体与外骨骼之间的作用力输入至模糊控制器，评估人体意图并通过基于肌肉力模型来计算出符合人体意图的力矩Tp；将增量式编码器采集到的关节角度和角加速度通过基于关节动力学模型的模糊控制器计算出当前运动状态关节所需力矩Tm；将姿态传感器采集的上肢姿态信息，通过预先使用健康样本标定的人体上下肢运动状态转换矩阵，计算当前人体下肢理想运动状态，和当前下肢运动状态的偏差通过PID控制器进一步计算力矩Ts；由关节运动速度方向计算减速器力矩补偿；Step 3: Input the force between the human body and the exoskeleton collected by the airbag pressure sensors on the front and rear of the thigh to the fuzzy controller, evaluate the human body intention and calculate the torque Tp that meets the human intention based on the muscle force model; the incremental The joint angles and angular accelerations collected by the encoder are used to calculate the torque Tm required by the joints in the current state of motion through the fuzzy controller based on the joint dynamics model; The motion state conversion matrix calculates the current ideal motion state of the lower limbs of the human body, and the deviation between the current lower limb motion state is further calculated through the PID controller to calculate the torque Ts; the torque compensation of the reducer is calculated from the joint motion speed direction;
步骤四：通过计算公式：计算最终关节所需要力矩T，输出到电机驱动器，完成助力控制。Step 4: Calculate the torque T required by the final joint through the calculation formula, and output it to the motor driver to complete the power assist control.
进一步地，所述气囊传感器实时采集人机交互力，并通过和关节运动状态曲线对比，实现对助力效果的评价；关节运动状态包括加速度和速度的方向。Further, the airbag sensor collects the human-computer interaction force in real time, and compares it with the joint motion state curve to realize the evaluation of the assisting effect; the joint motion state includes the direction of acceleration and speed.
进一步地，所述气囊传感器和人体大腿之间的固定方式为松弛的捆绑，通过气囊传感器可以缓冲外骨骼机器人和人体之间的作用力，同时用于测量人与外骨骼机器人之间接触力。Further, the fixing method between the airbag sensor and the thigh of the human body is loose binding, and the airbag sensor can buffer the force between the exoskeleton robot and the human body, and at the same time be used to measure the contact force between the human and the exoskeleton robot.
进一步地，步骤四中计算得出的力矩T信号通过PWM波形输出到电机驱动器。Further, the torque T signal calculated in step 4 is output to the motor driver through PWM waveform.
进一步地，所述控制方法的整个控制周期的频率大于50Hz。Further, the frequency of the entire control cycle of the control method is greater than 50 Hz.
有益效果：Beneficial effect:
与现有下肢外骨骼控制方法相比，本发明具有以下有益效果：Compared with the existing lower extremity exoskeleton control method, the present invention has the following beneficial effects:
(1)使用模糊控制计算关节运动所需力矩，弥补了单纯依赖关节运动学模型，模型本身不准确性带来的控制误差；同时结合了气囊传感器采集的人机交互力数据，协助控制外骨骼运动控制，大大减少了人体突然变速和关节运动方向改变时带来的牵扯感。(1) Use fuzzy control to calculate the torque required for joint motion, making up for the control error caused by relying solely on the joint kinematics model and the inaccuracy of the model itself; at the same time, combining the human-computer interaction force data collected by the airbag sensor to assist in controlling the exoskeleton Motion control greatly reduces the dragging feeling caused by the sudden shift of the human body and the change of the direction of joint movement.
(2)使用气囊传感采集数据的同时，由于气囊本身的可压缩性，缓冲了外骨骼和人体之间的作用力，在关节进行轨迹跟踪运动的时候减少了人体的痛苦感。(2) While using the airbag sensor to collect data, due to the compressibility of the airbag itself, the force between the exoskeleton and the human body is buffered, and the pain of the human body is reduced when the joints perform trajectory tracking movements.
(3)摆脱肌肉电信号检测人体意图时测量电极需要依附人体皮肤表面的弊端(不方便、易脱落)，本发明的气囊可以固定在外骨骼上，随着穿戴外骨骼机器人时，将绑带松弛的绑好，即可将气囊固定在人体大腿衣物外侧，方便、不易脱落。(3) Get rid of the drawbacks (inconvenient and easy to fall off) that the measuring electrodes need to be attached to the surface of the human skin when the muscle electrical signal detects the intention of the human body. The airbag of the present invention can be fixed on the exoskeleton, and when wearing the exoskeleton robot, the straps are loosened The airbag can be fixed on the outside of the human body's thigh clothing after being tied up, which is convenient and not easy to fall off.
(4)通过肌电信号评价助力效果需要处理肌电信号的复杂、繁多的处理函数，并且这些函数方法没有一个统一的标准，评价的结果缺乏说服力。结合气囊传感器数据和人体穿戴外骨骼运动轨迹数据，直观获取人体运动方向和外骨骼助力方向与大小，从而可以方便地对外骨骼助力效果进行评价，和对助力控制算法进行调试改进。(4) The evaluation of the assisting effect through the EMG signal requires complex and various processing functions to deal with the EMG signal, and there is no uniform standard for these function methods, and the evaluation results are not convincing. Combining the airbag sensor data and the motion trajectory data of the exoskeleton worn by the human body, the human body motion direction and the exoskeleton assisting direction and size can be intuitively obtained, so that the assisting effect of the exoskeleton can be easily evaluated, and the assisting control algorithm can be debugged and improved.
附图说明Description of drawings
图1为本发明的控制框图。Fig. 1 is a control block diagram of the present invention.
图2为人体髋关节处的单摆模型；Fig. 2 is the simple pendulum model at the human hip joint;
图3为本发明气囊传感器佩戴的方法。Fig. 3 is a method for wearing the airbag sensor of the present invention.
图中，1为大腿，2为股骨，3为气囊，4为气囊压力传感器，5为肌肉。In the figure, 1 is a thigh, 2 is a femur, 3 is an air bag, 4 is an air bag pressure sensor, and 5 is a muscle.
具体实施方式detailed description
下面结合附图，对本发明的技术方案进行详细的描述。The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.
图1为本发明的控制框图。本发明所述的用于全下肢外骨骼机器人的控制方法，包含的传感器有：分布于外骨骼膝关节、踝关节处的增量式编码器；位于外骨额机器人足底的薄膜压力床感器；分布于人体大小腿肌肉前后的气囊压力传感器；连接于人体手臂上的姿态传感器。通过增量式旋转编码器采集计算关节运动角度、角速度；通过足底力传感器采集人与地面接触力；通过气囊传感器测量人与外骨骼机器人之间接触力；通过姿态传感器测量人体手臂摆动角度、角速度。Fig. 1 is a control block diagram of the present invention. The control method for a full-lower extremity exoskeleton robot according to the present invention includes sensors: incremental encoders distributed at the knee joints and ankle joints of the exoskeleton; film pressure bed sensors located at the sole of the exoskeleton robot ; airbag pressure sensors distributed in the front and back of the calf muscles of the human body; attitude sensors connected to the human arm. Acquisition and calculation of joint motion angle and angular velocity by incremental rotary encoder; acquisition of human-ground contact force by plantar force sensor; measurement of contact force between human and exoskeleton robot by airbag sensor; measurement of human arm swing angle and angular velocity by attitude sensor .
本发明所述的控制方法工作时微控制器执行以下步骤：Micro-controller performs the following steps during control method work of the present invention:
(1)初始化系统，通过输入设备明确当前外骨骼需要完成动作模式(站起、连续行走、停止)。(1) Initialize the system, and use the input device to clarify that the current exoskeleton needs to complete the action mode (stand up, walk continuously, stop).
(2)当前运动模式为站起和停止时，微控制器剔除姿态传感器、足底力传感器信号，提取存储器中预存的健康人体站起或停止时的关节理想轨迹，通过采集当前关节角度跟踪理想轨迹；通过图3所示方法佩戴本文所使用的气囊传感器模块，气囊压力传感器4设置在人体大小腿肌肉5前后，气囊传感器采集人机交互力，适当调节运动轨迹，使穿戴者在运动过程中更加舒适、安全。(2) When the current motion mode is standing up and stopping, the microcontroller rejects the signals of the attitude sensor and plantar force sensor, extracts the ideal trajectory of the joints when the healthy human body stands or stops prestored in the memory, and tracks the ideal trajectory by collecting the current joint angle Wear the airbag sensor module used in this paper by the method shown in Figure 3, the airbag pressure sensor 4 is arranged in the front and rear of the calf muscles 5 of the human body, the airbag sensor collects the human-computer interaction force, and properly adjusts the motion trajectory, so that the wearer can be more comfortable during the exercise process. Comfortable and safe.
(3)当前运动模式为连续行走时，微控制器采集足底力信息，通过足底脚掌和脚跟与地面接触力数值大小(大于一定阈值)，来判断足部状态(着地、全足支撑、离地、悬空)，从而将下肢运动分成摆动相和支撑相；通过不同相位(支撑相、摆动相)重新设置基于肌肉力的模糊控制器、基于关节动力学模型模糊控制的模糊控制规则。(3) When the current motion mode is continuous walking, the micro-controller collects plantar force information, and judges the state of the foot (landing, full-foot support, off-grid) through the magnitude of the contact force between the sole of the foot and the heel and the ground (greater than a certain threshold). ground, suspended), so that the movement of lower limbs can be divided into swing phase and support phase; through different phases (support phase, swing phase), the fuzzy controller based on muscle force and the fuzzy control rules based on joint dynamics model fuzzy control can be reset.
关节所需力矩值通过采集计算关节角度、角加速度，然后通过如图2以髋关节为例的关节动力学模型计算。如图所示，在髋关节处建立坐标系，外骨骼股骨杆件长为L，质量为m(包括腿部支撑件)，其材料为匀质，质心在0.5L处。电机输出的力矩为To，穿戴者对外骨骼的反作用力为F，股骨板转动惯量为J，此时髋关节角度、角速度为wh、角加速度为αh，可以得到方程：The torque value required by the joint is calculated by collecting and calculating the joint angle and angular acceleration, and then calculated by the joint dynamics model as shown in Figure 2, taking the hip joint as an example. As shown in the figure, a coordinate system is established at the hip joint. The length of the exoskeleton femoral rod is L, the mass is m (including the leg support), its material is homogeneous, and its center of mass is at 0.5L. The torque output by the motor is To, the reaction force of the wearer's exoskeleton is F, and the moment of inertia of the femoral plate is J. At this time, the hip joint angle, angular velocity is wh, and angular acceleration is αh. The equation can be obtained:
其中计算出关节当前运动状态下(角度、角加速度)，同时为人体提供FL力矩时所需的关节输出力矩To，其中不包含减速器阻力矩为达到较好的控制效果，同时适应不同步态相位关节力矩的差异，通过模糊控制器计算该力矩，模糊控制器的规则随步态变化而变化。通过基于关节动力学模型的模糊控制器重新计算当前运动状态关节所需力矩Tm。It calculates the joint output torque To when the joint is currently in motion (angle, angular acceleration) and provides the FL torque for the human body, which does not include the reducer resistance torque In order to achieve a better control effect and adapt to the difference of joint torque in different gait phases, the torque is calculated by the fuzzy controller, and the rules of the fuzzy controller change with the change of gait. Recalculate the torque Tm required by the joints in the current state of motion through the fuzzy controller based on the joint dynamics model.
由关节运动速度方向计算减速器力矩补偿Calculation of reducer torque compensation by joint movement speed direction
气囊传感器采集人机交互力，在缓冲人与外骨骼作用力的同时，通过基于肌肉力模型的模糊控制器计算力矩Tp。The airbag sensor collects the human-computer interaction force, and calculates the moment Tp through the fuzzy controller based on the muscle force model while buffering the force between the human and the exoskeleton.
利用人体上下肢运动存在的协同效应，采集上肢姿态信息，通过预先使用健康样本标定的人体上下肢运动状态转换矩阵，计算当前人体下肢理想运动状态，和当前下肢运动状态的偏差通过PID控制器进一步计算力矩Ts。Utilizing the synergistic effect of the upper and lower limbs of the human body, the posture information of the upper limbs is collected, and the current ideal movement state of the lower limbs of the human body is calculated through the human upper and lower limbs movement state conversion matrix calibrated in advance using healthy samples, and the deviation from the current movement state of the lower limbs is further passed through the PID controller. Calculate the torque Ts.
求出电机输出力矩和：通过PWM波形输出到电机驱动器。驱动器通过PID控制器响应力矩输出到外骨骼关节。整个控制周期的频率大于50Hz。Find the motor output torque sum: Output to the motor driver through PWM waveform. The driver responds to the torque output to the exoskeleton joint through the PID controller. The frequency of the entire control cycle is greater than 50Hz.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610096527.8ACN105796286B (en) | 2016-02-23 | 2016-02-23 | Use the lower limb exoskeleton robot control method of air bag sensor |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610096527.8ACN105796286B (en) | 2016-02-23 | 2016-02-23 | Use the lower limb exoskeleton robot control method of air bag sensor |
| Publication Number | Publication Date |
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| CN105796286Atrue CN105796286A (en) | 2016-07-27 |
| CN105796286B CN105796286B (en) | 2018-04-06 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610096527.8AActiveCN105796286B (en) | 2016-02-23 | 2016-02-23 | Use the lower limb exoskeleton robot control method of air bag sensor |
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| CN (1) | CN105796286B (en) |
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