CN108247605B - Emergency attitude control method and system - Google Patents
Emergency attitude control method and system Download PDFInfo
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- CN108247605B CN108247605B CN201711317621.2A CN201711317621A CN108247605B CN 108247605 B CN108247605 B CN 108247605B CN 201711317621 A CN201711317621 A CN 201711317621A CN 108247605 B CN108247605 B CN 108247605B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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Abstract
The invention discloses an emergency attitude control method and system, wherein the method comprises the following steps: acquiring lower limb movement parameters including knee joint angle parameters, knee joint angle change parameters, ankle joint pressure parameters and ankle joint pressure change parameters; marking a movement cycle of the lower limb auxiliary device according to the lower limb movement parameters, wherein the movement cycle comprises a walking support period and a walking swing period; outputting corresponding control instructions to control the hydraulic power device based on the motion cycle, the knee joint angle variation parameter and/or the ankle joint pressure variation parameter. The system is for performing a method. According to the invention, the corresponding motion configuration file is loaded according to the posture of the lower limb, the corresponding change of the knee joint angle and/or the ankle joint pressure can be processed in a targeted manner, and a corresponding proper instruction is output to control the hydraulic power device to assist the walking of a person.
Description
Technical Field
The invention relates to the field of exercise assisting equipment, in particular to an emergency posture control method and system.
Background
Because the normal life of people can be greatly influenced by inconvenient actions caused by the old age and diseases, instruments for assisting the movement of people are widely applied to the real life, at present, the instruments can well assist people to walk under the normal working condition, but cannot well assist people to walk under the emergency conditions of slipping, stumbling and the like.
Disclosure of Invention
In order to solve the problem of assisting a person in walking in an emergency, the invention provides an emergency posture control method and an emergency posture control system.
The invention adopts the technical scheme that on one hand, the emergency posture control method is suitable for a lower limb auxiliary device adopting a hydraulic power device, and comprises the following steps: acquiring lower limb movement parameters including knee joint angle parameters, knee joint angle change parameters, ankle joint pressure parameters and ankle joint pressure change parameters; marking a movement cycle of the lower limb auxiliary device according to the lower limb movement parameters, wherein the movement cycle comprises a walking support period and a walking swing period; outputting corresponding control instructions to control the hydraulic power device based on the motion cycle, the knee joint angle variation parameter and/or the ankle joint pressure variation parameter.
Preferably, when the movement cycle is a walking support period, judging whether the ankle joint pressure change parameter exceeds a pressure threshold value, if so, increasing the damping of the hydraulic power device; and when the movement period is a walking swing period, if the angle parameter of the knee joint is kept unchanged in a preset time, locking the hydraulic power device.
Preferably, the step of marking the movement cycle in which the lower limb assisting device is positioned according to the lower limb movement parameter comprises the following steps: when the knee joint angle parameter is greater than the angle threshold value and the knee joint angle variation parameter is less than the variation threshold value, marking that the lower limb auxiliary device is in a walking support period, otherwise, marking that the lower limb auxiliary device is in a walking swing period.
In one aspect, the present invention provides an emergency attitude control system for performing the above method, including: the acquisition module is used for acquiring lower limb movement parameters including knee joint angle parameters, knee joint angle change parameters, ankle joint pressure parameters and ankle joint pressure change parameters; the processing module is used for marking a motion cycle of the lower limb auxiliary device according to the lower limb motion parameters, wherein the motion cycle comprises a walking support period and a walking swing period; and the control module is used for outputting a corresponding control instruction based on the motion cycle, the knee joint angle change parameter and/or the ankle joint pressure change parameter so as to control the hydraulic power device.
Preferably, when the movement cycle is a walking support period, judging whether the ankle joint pressure change parameter exceeds a pressure threshold value, if so, increasing the damping of the hydraulic power device; and when the movement period is a walking swing period, if the angle parameter of the knee joint is kept unchanged in a preset time, locking the hydraulic power device.
Preferably, the step of marking the movement cycle in which the lower limb assisting device is positioned according to the lower limb movement parameter comprises the following steps: when the knee joint angle parameter is greater than the angle threshold value and the knee joint angle variation parameter is less than the variation threshold value, marking that the lower limb auxiliary device is in a walking support period, otherwise, marking that the lower limb auxiliary device is in a walking swing period.
The invention has the advantages that the movement period of the lower limb auxiliary device is marked according to the movement parameters of the lower limbs, and the corresponding control instruction is output according to different movement periods and the movement parameters of the lower limbs so as to control the hydraulic power device.
Drawings
Fig. 1 is a schematic diagram illustrating an emergency attitude control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a stumbling status signal acquisition process according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a foot slide state signal acquisition process according to an embodiment of the invention;
FIG. 4 is a flow chart illustrating the system entering into an anti-stumbling protection mode according to an embodiment of the present invention;
fig. 5 is a flow chart illustrating the system entering the anti-foot-slip protection mode according to the embodiment of the invention.
Detailed Description
The present invention will be described with reference to examples.
According to an embodiment of the present invention, the emergency posture control method shown in fig. 1 is applicable to a lower limb assist device using a hydraulic power device, and includes the steps of: acquiring lower limb movement parameters including knee joint angle parameters, knee joint angle change parameters, ankle joint pressure parameters and ankle joint pressure change parameters; marking a movement cycle of the lower limb auxiliary device according to the lower limb movement parameters, wherein the movement cycle comprises a walking support period and a walking swing period; outputting corresponding control instructions to control the hydraulic power device based on the motion cycle, the knee joint angle variation parameter and/or the ankle joint pressure variation parameter.
When the movement period is a walking support period, judging whether the ankle joint pressure change parameter exceeds a pressure threshold value, if so, increasing the damping of the hydraulic power device; and when the movement period is a walking swing period, if the angle parameter of the knee joint is kept unchanged in a preset time, locking the hydraulic power device.
The step of marking the movement cycle of the lower limb auxiliary device according to the lower limb movement parameter comprises the following steps: when the knee joint angle parameter is greater than the angle threshold value and the knee joint angle variation parameter is less than the variation threshold value, marking that the lower limb auxiliary device is in a walking support period, otherwise, marking that the lower limb auxiliary device is in a walking swing period.
According to an embodiment of the invention, an emergency attitude control system is used for executing the method, and comprises the following steps: the acquisition module is used for acquiring lower limb movement parameters including knee joint angle parameters, knee joint angle change parameters, ankle joint pressure parameters and ankle joint pressure change parameters; the processing module is used for marking a motion cycle of the lower limb auxiliary device according to the lower limb motion parameters, wherein the motion cycle comprises a walking support period and a walking swing period; and the control module is used for outputting a corresponding control instruction based on the motion cycle, the knee joint angle change parameter and/or the ankle joint pressure change parameter so as to control the hydraulic power device.
When the movement period is a walking support period, judging whether the ankle joint pressure change parameter exceeds a pressure threshold value, if so, increasing the damping of the hydraulic power device; and when the movement period is a walking swing period, if the angle parameter of the knee joint is kept unchanged in a preset time, locking the hydraulic power device.
The step of marking the movement cycle of the lower limb auxiliary device according to the lower limb movement parameter comprises the following steps: when the knee joint angle parameter is greater than the angle threshold value and the knee joint angle variation parameter is less than the variation threshold value, marking that the lower limb auxiliary device is in a walking support period, otherwise, marking that the lower limb auxiliary device is in a walking swing period.
When a person moves, the walking support stage (the stage from the foot bottom to the foot bottom is moved forward little in practice, namely the later-described swing stage) and the walking swing stage (the stage from the foot bottom to the foot bottom, namely the later-described swing stage) can be roughly divided based on the principle of human mechanics, and therefore, the walking support stage is not stumbled basically because the legs are moved forward little in practice; otherwise, in the walking swing stage, the foot is lifted to be empty, so that the foot does not slide basically.
As a numerical process of the posture (motion characteristics) of the lower limb, the walking support period and the walking swing period are mainly expressed by the ankle joint pressure and the knee joint angle.
The lower limb auxiliary device is used as a device for driving a mechanical structure by a circuit, and a control program or a configuration file for controlling the motion of the device is required to be set; meanwhile, aiming at the lower limb auxiliary device, the two conditions of foot sliding and stumbling, which have larger motion characteristic differences in human mechanics, are generated, specific analysis is carried out aiming at specific conditions, and corresponding instructions are output.
Knee joint angles and angle change parameters, ankle joint pressures and pressure change parameters can be measured by various pressure sensors, such as an angle measurer, an acceleration sensor and the like; according to the principle of human mechanics, a plurality of motion experiments are actually carried out to record the change conditions of corresponding lower limb motion parameters in the motion process of the human body (in this example, the motion is mainly walking), and corresponding control instructions are read according to the change conditions (for example, in what interval the pressure is, in what interval the pressure change parameter is, in what interval the knee joint angle change parameter is, for example, in the supporting period of the human body, the knee joint is always stretched, the angle is larger than a certain value, the angle number and the change rate of the angle change are not large, and conversely, in the swinging period, the knee joint changes greatly) to control the hydraulic power device.
The protection measures adopted at the moment are that when the anti-stumbling protection mode is entered, the damping of the hydraulic power device is firstly increased to slow down the change speed of the gravity center of the body, and when the body is found to be out of balance, the damping valve of the hydraulic power device is immediately locked to ensure that the knee joint keeps the bending angle α at the moment and the balance state of the body is kept.
The foot slip critical situation is that when the foot slip occurs in the support period, the situation that the legs slip forwards or backwards at the moment of the support period exists, the situation exists at the moment, namely the gravity center of the body is unstable in the support period, the body leans forwards or backwards, for the situation, the front leaning is easily caused, and the body leans backwards and falls down more seriously, the protection measure adopted at the moment is that when the foot slip protection mode is entered, the knee joint is in the support period, under the normal condition, the knee joint is in a locked state, when the foot slip emergency occurs, the damping of the hydraulic power device is firstly increased, so that the change speed of the gravity center of the body is slowed down, no matter whether the knee joint leans forwards or backwards, the knee joint has a bending angle to maintain the balance of the body, when the time T of the knee joint keeping the bending angle β is larger than a threshold T0, the damping valve is in a locked state, so that the body is in the balanced state.
The stumbling state signal acquisition process shown in fig. 2:
the ankle joint pressure sensor mainly detects the stress change of the ankle joint caused by the change of the gravity center of the body, and during the swing period, the shank is in a suspended swing state, and the stress of the ankle joint is unchanged from theoretical analysis. When the ankle joint is in an emergency danger of stumbling, due to the blocking of foot obstacles, the ankle joint can rotate instantaneously, so that the stress of the ankle joint is changed. Meanwhile, the angle of the knee joint is unchanged due to the blocking of the foot obstacle. Instantaneous deformation signals are collected by the ankle joint pressure sensor, angle invariant signals are collected by the knee joint angle sensor, and the pressure signals and the knee joint angle signals are converted into electric signals through the signal processing circuit.
The foot slip status signal acquisition process shown in fig. 3:
the collection process comprises the following steps: the ankle joint pressure sensor mainly detects the stress change of the ankle joint caused by the change of the gravity center of the body, during the supporting period, the shank is in a state of being supported on the ground, and the stress of the ankle joint is a continuous changing process in theoretical analysis. When the foot is in an emergency danger, the pressure of the ankle joint is suddenly changed due to instantaneous impact in both forward tilting and backward tilting because the gravity center of the body is seriously unstable. The ankle joint angle sensor collects instantaneous drastic change signals, and the pressure signals are converted into electric signals through the signal processing circuit.
The system enters a stumbling prevention protection mode flow chart as shown in fig. 4:
the system is initialized, the knee joint angle sensor needs to detect whether the angle of the knee joint enters a walking swing period, and when the ankle joint angle sensor detects that the stress of the gravity center of the human body is equal to the stress of the artificially set walking support period (namely the foot is in contact with the ground), the detection system (namely the preprocessing module) can judge the swing period. When the detected knee joint rotation direction is inconsistent with the knee joint rotation direction in the artificial swing period, the knee joint angle sensor can continue to detect the change direction of the knee joint angle.
Whether the detection system enters a swing period or not has two judgment conditions: 1. whether the stress F at the ankle joint reaches an artificially set stress state or not, namely a force signal F is K1 (which accords with the human mechanics principle and is a K1-bit preset value); 2. whether the knee joint bends or does not straighten (namely, according to the angle change parameters) is judged by mainly utilizing the rotation direction of the knee joint, wherein the direction in which the knee joint straightens is 1, and the direction in which the knee joint straightens is 0. And on the premise that the two conditions are simultaneously met, the system formally enters a stumbling prevention protection mode.
Wherein, K1 is the critical value of the supporting force during the supporting period and the swinging period, and the value is the set value; the forward and reverse rotation flag distinguishes between flexion (flag ═ 0) and extension (flag ═ 1).
The flow chart of the system entering the anti-foot-slip protection mode as shown in fig. 5 is as follows:
the system is initialized, the knee joint angle sensor needs to detect whether the angle of the knee joint enters a walking support period, when the knee joint angle sensor detects that the knee joint angle α is consistent with the angle K2 of the preset walking support period, the detection system can enter judgment of the support period, and when the detected knee joint angle is unequal to the angle of the artificially set walking support period, the knee joint angle sensor can continue to detect the knee joint angle.
Whether the detection system enters the support period or not has two judgment conditions: 1. whether the knee joint bends or does not straighten is judged by mainly utilizing the rotation direction of the knee joint, the direction in which the knee joint is straightened is positive, and the direction in which the knee joint is bent is negative (according with the principle of human mechanics); 2. the time delay judges the invariance (KT is equal to 0) and the degeneration (KT is equal to 1) of the knee joint angle, and judges whether the knee joint angle has change or not by a time delay detection method. On the premise that the two conditions are simultaneously met, the system formally enters a foot slip prevention protection mode.
Wherein, K2 is the angle value of the knee joint in the support period, and this value is the set value.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (4)
1. An emergency posture control method is applicable to a lower limb auxiliary device adopting a hydraulic power device, and is characterized by comprising the following steps:
acquiring lower limb movement parameters including knee joint angle parameters, knee joint angle change parameters, ankle joint pressure parameters and ankle joint pressure change parameters;
marking a movement cycle of the lower limb auxiliary device according to the lower limb movement parameters, wherein the movement cycle comprises a walking support period and a walking swing period;
when the movement period is a walking support period, judging whether the ankle joint pressure change parameter exceeds a pressure threshold value, if so, increasing the damping of the hydraulic power device;
and when the movement period is a walking swing period, if the angle parameter of the knee joint is kept unchanged in a preset time, locking the hydraulic power device.
2. The emergency posture control method according to claim 1, wherein the step of marking a movement cycle in which the lower limb assisting device is placed according to the lower limb movement parameter includes:
when the knee joint angle parameter is greater than the angle threshold value and the knee joint angle variation parameter is less than the variation threshold value, marking that the lower limb auxiliary device is in a walking support period, otherwise, marking that the lower limb auxiliary device is in a walking swing period.
3. An emergency attitude control system for performing the method of claim 1, comprising:
the acquisition module is used for acquiring lower limb movement parameters including knee joint angle parameters, knee joint angle change parameters, ankle joint pressure parameters and ankle joint pressure change parameters;
the processing module is used for marking a motion cycle of the lower limb auxiliary device according to the lower limb motion parameters, wherein the motion cycle comprises a walking support period and a walking swing period;
the control module is used for judging whether the ankle joint pressure change parameter exceeds a pressure threshold value or not when the motion cycle is a walking support period, and if so, increasing the damping of the hydraulic power device;
and when the movement period is a walking swing period, if the angle parameter of the knee joint is kept unchanged in a preset time, locking the hydraulic power device.
4. The emergency posture control system of claim 3, wherein the step of marking the movement cycle in which the lower limb assist device is located according to the lower limb movement parameter comprises:
when the knee joint angle parameter is greater than the angle threshold value and the knee joint angle variation parameter is less than the variation threshold value, marking that the lower limb auxiliary device is in a walking support period, otherwise, marking that the lower limb auxiliary device is in a walking swing period.
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