CN103586867A - Electric control system of multi-freedom-degree wearable lower limb external skeleton robot - Google Patents
Electric control system of multi-freedom-degree wearable lower limb external skeleton robot Download PDFInfo
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Abstract
The invention relates to an electric control system of a multi-freedom-degree wearable lower limb external skeleton robot. The electric control system comprises a main controller, joint controllers, a walking stick detecting unit, a pose detecting unit, a power source unit, a motor driving controller and a motor. The electric control system is characterized in that a high-speed CPU module of the main controller is communicated with the joint controllers in a double-way data mode through a CAN communication module and is used for carrying out pose calculation, walking posture planning and integral movement synthesizing; microprocessor CPUs of the joint controllers are communicated with the high-speed CPU of the main controller through the CAN communication module, is communicated with the walking stick detecting unit through a wireless communication module and controls the frequency conversion, the variable speed and the variable torque of the motor through a speed and current control module and the motor driving controller; the joint controllers are connected with the main controller, the walking stick detecting unit, the pose detecting unit, the power source unit and the motor driving controller respectively; the pose detecting unit and the walking stick detecting unit are supplied with electricity through independent power source modules respectively, and are completely isolated.
Description
One. technical field
The present invention relates to a kind of control system of Wearable rehabilitation medical robot, be specifically related to a kind of multiple degrees of freedom wearable lower limb exoskeleton robot electric control system.
Two. background technology
Wearable lower limb exoskeleton robot is a kind of typical ectoskeleton assistant device; be worn on operator's person's outside; for operator provides functions such as power-assisted, protection, body-support; the Roboticses such as sensing, control, mobile computing have been merged again simultaneously; making this robot under operator's unconscious control, to complete certain function and task, is typical human-machine system.Brand-new research field during Wearable power assisting device, has still become hot research problem both domestic and external in exploratory development stage, the current research that utilizes ectoskeleton assessment, rebuilds and improve the flexibility of disabled limb motion muscle at present.
Human body power-assisted exoskeleton robot originates from U.S.'s Hamann of 1966 pause imagination and the research and development of power-assisting robot, to today integral body still in development.Be the starting developing stage of healing robot research the eighties in 20th century, and the U.S., the research aspect healing robot of Britain and Canada are in rank first; After nineteen ninety, the research of healing robot enters into all-round developing period, and relevant every technology has also all had significant progress, and the successful realization that can be exoskeleton robot provides strong support.
Since 2004, more domestic universities and colleges started the research of this respect successively, and the control system relevant to ectoskeleton also starts to study the atmospheric control of ，Ru Zhejiang University research and development and the electric control system of hydraulic control system and our unit's research and development in succession.The professional knowledge that has contained a plurality of fields such as technology such as servomotor, control automatically, power electronics, driving, sensor, information processing due to exoskeleton robot control system, threshold is very high, march toward difficulty, so far do not have the swift and violent growth momentum of control system ，Er wearable lower limb exoskeleton robot matching with succinct ectoskeleton structure the research of ordering about corresponding control system to be become to the focus of the coming years yet.
Three. summary of the invention
The object of the invention is to, the feature based on wearable lower limb exoskeleton robot itself and the requirement of electronic control, provide a kind of electric control system that meets multiple degrees of freedom wearable lower limb exoskeleton robot demand.The present invention adopts digital power and analog power isolation coupling, large power supply and small-power power isolation coupling, prevents that analog power from, to the crosstalking of the crosstalking of digital power, large power supply and small-power power, improving the reliability of system; Adopt modular design method, in hardware design, by controlling the function relevant with mass data computing to gait, be placed on master control borad, be placed on corresponding joint control with each joint relevant control and signal acquisition process, be placed on motor drive controller with Electric Machine Control correlation function, relevant to crutch measuring ability is placed on crutch testing circuit plate, thereby is convenient to production, test, installation, maintenance, the replacing of control; On Software for Design, adopt functionalization, modularization, Hierarchical Design, reusability is strong, makes program structure clear, is easy to write, safeguard.
Implementation of the present invention: a kind of multiple degrees of freedom wearable lower limb exoskeleton robot electric control system.This system comprises master controller 1, joint control 2, walking stick detecting unit 3, pose detecting unit 4, power subsystem 5, motor drive controller 6, motor 7.
It is characterized by:
Described master controller 1 is comprised of high speed microprocessor CPU, CAN communication module A1.High speed microprocessor CPU realizes by CAN communication module A1 and the two-way data communication of 2 of joint controls, and is directly connected with pose detecting unit, realizes pose unit to the one-way data communication of master controller.Master controller 1 is connected with each joint control 2, pose detecting unit 4 and power subsystem 5 respectively.Wherein high-speed CPU is responsible for receiving information and pose detecting unit 4 data that each joint control sends over, complete the related operation of and kinematic synthesis whole about the planning of wearable lower limb exoskeleton robot gait, and pass to joint control 2 by CAN communication module A1.Man-machine interaction task in addition is also completed by it.
Described joint control 2 is comprised of microprocessor CPU, CAN communication module B1, wireless communication module B2, rate control module B3, current control module B4, pwm signal generative circuit B5, position signalling processing module B6, A/D convertor circuit B7, low supply voltage holding circuit B8, current-limiting protection circuit B9, short-circuit protection circuit B10.Microprocessor CPU is by the two-way data communication that passes through 1 of CAN communication module B1 realization and master controller, by wireless communication module B2, realize and the two-way data communication of 3 of walking stick detecting units, Negotiation speed control module B3, current control module B4 and pwm signal generative circuit B5 produce the control signal to motor 7, by low supply voltage protection module B8, current-limiting protection module B9, short-circuit protection circuit B10 gathers periphery may produce the primary signal of protection, and finally produce corresponding guard signal, by position signalling processing module B6 and A/D convertor circuit B7, process position, speed and current signal, and be directly connected with pose detecting unit 4.Joint control 2 respectively master controller 1, walking stick detecting unit 3, pose detecting unit 4, power subsystem 6, motor drive controller 6 is connected.Wherein microprocessor CPU receives the target information of master controller 1 by CAN communication module B1, and the information gathering according to target information and external various sensors, carry out comprehensive computing, complete the control of position to follow-up motor, speed, electric current, reach control target.In addition whole in real time during, also by voltage protection circuit B8, current-limiting protection circuit B9, short-circuit protection circuit B10, constantly institute's control circuit is detected to protection.
Described walking stick detecting unit 3 is comprised of button and sensor C1, plastic filter circuit C2, walking stick detecting unit CPU C3, wireless communication module C4 and independent current source module C5.Button and sensor C1 are connected to walking stick detecting unit CPU C3 on through plastic filter circuit C2, and walking stick detecting unit CPU C3 realizes by wireless communication module C4 and the both-way communication of 2 of joint controls, and independent current source module C5 is respectively to other module for power supply.Walking stick detecting unit 3 is connected with joint control 2 is wireless.Wherein walking stick detecting unit CPU C3 is responsible for receiving sensor information, and encodes after processing, and sends to joint control 1 afterwards through wireless communication module C4.Walking stick detecting unit 3 is independent of other hardware, is arranged on freely movable walking stick, by wireless communication module C4, is connected with other parts.
Described pose detecting unit 4 is comprised of pose acquisition module D1, signal extraction module D2, signal preliminary treatment module D3, photoelectric isolation module D4 and independent current source module D5.Pose collection signal D1 is connected with joint control 2 with master controller 1 with photoelectric isolation module D4 through signal extraction module D2, signal preliminary treatment module D3 successively, and independent current source module is given respectively other each module for power supply.Wherein pose acquisition module D1 gathers pose signal, through signal extraction module, D2 obtains useful pose signal, the signal that these are simplified through signal preliminary treatment module D3 again, is transferred on master controller 1 and joint control 2 by photoelectric isolation module D4 afterwards.
The present invention compared with prior art, has advantages of following:
1. well-bedded hardware forms.
Hardware of the present invention is based on MS master-slave formula, distributed structure.Master controller 1 is responsible for the comprehensive of exoskeleton robot overall situation gait planning and mass motion, joint control 2 is responsible for the collection of the driving control of associated joint and the signal of corresponding joint, has realized the separated of computing and control, has given full play to the advantage of related hardware.
2. well-bedded software program framework and implementation
It is based on multithreading computing that the software of master control preparative layer 1 of the present invention is realized, and the computing of difference in functionality is placed under different threads, and modules is separate in computing; The software of joint control layer 2 is realized based on real time operating system, and program is divided into bottom and the large level of logical layer two.Bottom core control section adopts advanced algorithm to realize, and independence is strong.Logical layer is realized with modular mode, thereby makes whole software architecture clear, and robustness is good, safeguards convenient.
3. the further raising of reliability.
On hardware, because the present invention has adopted unique advanced person's isolation technology, make whole system antijamming capability stronger, reliability is higher.On pose detecting unit 4 and walking stick detecting unit 3, use independent current source power supply, got rid of interference, improved the Exact Travelling of detection and the stability of system simultaneously.In addition, at power unit and motor driving part, divide, fully designed various holding circuits and rapid radiator structure, make that control system is more reliable, safety.In addition, on software, adopt redundancy design technique, anti-endless loop, multistage composite resist technology, make the stability of software better.
4. walking stick detecting unit has improved whole flexibility and security
The design of walking stick detecting unit of the present invention, adopts wireless transmission, walking stick is used very flexible, and the use of walking stick has simultaneously increased again the strong point and the support scope of human body, the security that has improved whole system.
5. the lifting of key index
Technical indicator of the present invention promotes and shows the following aspects: motorized motions moment significantly increases; Acceleration of starting process is steady, non-overshoot; Static support without concussion; Power supply ripple coefficient is little, and circuit anti-interference is high; Volume is little, easy to carry; Voltage is low, safe.
Four. accompanying drawing explanation
Fig. 1 is wearable lower limb exoskeleton robot multi-freedom electric control system circuit block diagram of the present invention.
Fig. 2 is multiple degrees of freedom wearable lower limb exoskeleton robot electric control system main controller circuit block diagram of the present invention.
Fig. 3 is multiple degrees of freedom wearable lower limb exoskeleton robot electric control system simple joint controller circuitry block diagram of the present invention.
Fig. 4 is multiple degrees of freedom wearable lower limb exoskeleton robot electric control system walking stick detection cell circuit block diagram of the present invention.
Fig. 5 is multiple degrees of freedom wearable lower limb exoskeleton robot electric control system pose detection cell circuit block diagram of the present invention.
Fig. 6 is multiple degrees of freedom wearable lower limb exoskeleton robot electric control system power unit circuit figure of the present invention.
Fig. 7 is multiple degrees of freedom wearable lower limb exoskeleton robot electric control system motor drive controller of the present invention (adding motor 7) internal frame diagram.
Fig. 8 is each circuit board graph of a relation of multiple degrees of freedom wearable lower limb exoskeleton robot electric control system of the present invention.
Fig. 9 is multiple degrees of freedom wearable lower limb exoskeleton robot electric control system motor drive controller basic principle figure of the present invention.
Figure 10 is multiple degrees of freedom wearable lower limb exoskeleton robot electric control system master controller groundwork flow chart of the present invention.
Figure 11 is multiple degrees of freedom wearable lower limb exoskeleton robot electric control system joint control groundwork flow chart of the present invention.
Figure 12 is multiple degrees of freedom wearable lower limb exoskeleton robot electric control system Electric Machine Control flow chart of the present invention.
Five. the specific embodiment
Please refer to shown in Fig. 1, cooperation is with reference to figure 8, and multiple degrees of freedom wearable lower limb exoskeleton robot electric control system of the present invention comprises master controller 1, joint control 2, walking stick detecting unit 3, pose detecting unit 4, power subsystem 5, motor drive controller 6, motor 7.
The input of motor drive controller 6 is connected through isolation processing indirectly with the output of joint control 2; The output of motor drive controller is connected with the input of motor 7, current signal is returned to joint control 2 simultaneously.The rate signal of the velocity pick-up on motor 7 and position sensor collection and position signalling are also passed joint control 2 back.0
Walking stick detecting unit 3 is connected with joint control 2 is two-way; Pose detecting unit 4 outputs are connected with the output of joint control 2 with master controller 1; Walking stick detecting unit 3 and pose detecting unit 4 have independently power supply to power in addition, and all isolate with other modules.
The input of power subsystem 5 connects 36V battery.Power subsystem 5 outputs are connected with master controller 1, joint control 2, motor drive controller 6 respectively.Power subsystem 5 provides 5V dc source for master controller 1, for joint control 2 provides 3.3V, 5V, 12V and 36V dc source, for motor drive controller 6 provides 12V and 36V dc source.
Please refer to Fig. 2, coordinate with reference to figure 1, Fig. 8, multiple degrees of freedom wearable lower limb exoskeleton robot electric control system master controller internal circuit block diagram comprises high speed processor CPU and CAN communication module A1.
High speed microprocessor CPU is responsible for receiving joint status information and pose detecting unit 4 posture information that each joint control 2 sends over, complete the related operation about the mass motion of wearable lower limb exoskeleton robot and gait planning, obtain each joint current control target and control instruction, and pass to joint control 2 by CAN communication module A1.Status display interface in addition, the man-machine interaction tasks such as parameter modification interface are also all responsible for by high speed microprocessor CPU.
Please refer to shown in Fig. 3; cooperation is with reference to figure 1, and multiple degrees of freedom wearable lower limb exoskeleton robot electric control system joint control 2 internal circuit block diagrams comprise microprocessor CPU, CAN communication module B1, wireless communication module B2, rate control module B3, current control module B4, pwm signal generative circuit B5, position signalling processing module B6, A/D convertor circuit B7, low supply voltage holding circuit, current-limiting protection circuit B9, short-circuit protection circuit B10.
The control target in each joint that master controller 1 produces and control instruction enter microprocessor CPU by the CAN communication module B1 of joint control 2, the instruction that microprocessor CPU basis receives is simultaneously in conjunction with walking stick detecting unit 3, information and position signalling that pose detecting unit 4 gathers, rate signal, the information such as current signal, according to predefined algorithm, through respective handling, by the signal after processing, give the corresponding circuit in joint control 2 again, to last pwm signal generative circuit B5, generate 6 road PWM--PWM1, PWM2, PWM3, PWM4, PWM5, PWM6.This 6 road signal enters motor drive controller 6 after isolation processing.Microprocessor CPU and walking stick detecting unit carry out two-way signaling transmission by wireless communication module B2.The position, the speed feedback information that from position sensor and the velocity sensor of motor 7, send feed back to rate control module B3 through position processing module B6, the current feedback signal sending from motor drive controller 6 enters current control module B4 through A/D convertor circuit B7, the dutycycle of PWM is adjusted in processing through rate control module B3 and current control module B4, thereby reaches the object of accurate control motor 7.Various kinds of protective circuit in joint control 2--low supply voltage holding circuit B8, current-limiting protection circuit B9 and short-circuit protection circuit B10 in addition.When supply voltage is very low, and after the lasting regular hour, low supply voltage holding circuit B9 can make to trigger the protection module of microprocessor CPU inside, thereby stops the output of motor drive controller 6; Current-limiting protection circuit B9 or short-circuit protection circuit B10 also can trigger the protection module of microprocessor CPU, thereby stop the output of motor drive controller 6.
Please refer to shown in Fig. 4, multiple degrees of freedom wearable lower limb exoskeleton robot electric control system walking stick detecting unit 3 internal circuit block diagrams comprise button and sensor C1, plastic filter circuit C2, walking stick detecting unit CPU C3, wireless communication module C4 and independent current source module C5.
Button and sensor C1 load collection and detect extraneous status information, the information that collection is returned is sent walking stick detecting unit CPU C3 to and is processed judgement after plastic filter circuit C2, again through coding, through wireless communication module C4, send to joint control 2 afterwards, wireless communication module C4 accepts the instruction of replying of joint control 2 simultaneously.
Please refer to shown in Fig. 5, multiple degrees of freedom wearable lower limb exoskeleton robot electric control system pose detecting unit 4 internal circuit block diagrams comprise pose acquisition module D1, signal extraction module D2, signal preliminary treatment module D3, photoelectric isolation module D4 and independent current source module D5.
Pose acquisition module D1 is responsible for gathering pose signal, through signal extraction module D2, obtain useful pose signal, these signals are at the pose signal being simplified through signal preliminary treatment module D3, and the pose signal of these simplification is transferred on master controller 1 and joint control 2 through optical-electric module D4.
Please refer to shown in Fig. 6; cooperation is with reference to figure 8, and multiple degrees of freedom wearable lower limb exoskeleton robot electric control system power subsystem 5 internal circuit block diagrams comprise power filtering module E1, power source protective module E2, isolation module E3, switch power module E4 and regulating filtering module E5.
Please refer to shown in Fig. 7, coordinate with reference to figure 8, multiple degrees of freedom wearable lower limb exoskeleton robot electric control system motor drive controller 6 internal circuit block diagrams comprise special servo drive F1, current detection module F2 and radiating module.
From 6 road PWM of joint control 2 outputs, after isolation processing, export 6 road PWM'--PWM1 ＇, PWM2 ＇, PWM3 ＇, PWM4 ＇, PWM5 ＇, PWM6 ＇.This 6 road PWM' enters special servo drive F1 rear drive motor 7 and rotates.In motor drive controller 6, have current detection module F2 and radiating module, current detection module F2 is by gathering driver bus current, and process processing obtains current signal.Radiating module is responsible for to driver heat radiation, preventing that module is overheated, impact normal operation.
In special servo drive F1 inside, there are driving tube T1, T2, T3, T4, T5, T6, diode D1, D2, D3, D4, D5, D6.T1, T4 are in a phase; T2, T5 are in a phase; T3, T6 are in a phase.The grid of T1, T2, T3, T4, T5, T6 meets respectively the 6 road PWM ＇ through 8 outputs of photoelectric coupling isolation module, and this 6 road PWM ＇ controls the conducting of T1, T2, T3, T4, T5, T6 and closes.The conducting simultaneously of two driving tubes of same phase.Each is all connected with motor 7 mutually, controls the rotation of motor 7.Current sensor I is serially connected on the bus of driver, passes through the electric current of bus by collection, finally by current detection module F2, obtains current signal, and feeds back to joint control 2.
Circuit function principle of the present invention is: master controller 1 of the present invention, joint control 2 adopt respectively high speed microprocessor CPU and microprocessor CPU.Be located at the high speed microprocessor CPU of master controller 1 for the algorithm with needing mass data computing--the related operation of the planning of wearable lower limb exoskeleton robot gait and mass motion; The microprocessor CPU that is located at joint control 2 is mainly used in the functions such as the signal detection in each joint, control algolithm, information interaction and circuit protection.This microprocessor CPU receives control command and feedback signal, under the joint application program of design, completes functions such as speed change, Position Control, torque adjusting, hold mode.
Be located at the special servo drive B6 of drive and control of electric machine driver 7, be used for realizing specially the driving control strategy of motor.Be located at the wireless communication module between joint control 2 and walking stick detecting unit 3 and be located at pose detecting unit 4 and its photoelectric isolation module being connected between module, realized the transmission of data, again can be by the interfering signal isolation in other circuit.Be located at the interference that isolation module E3 in power subsystem 5 can make to have isolated between master controller, joint control 2 and motor drive controller 6 forceful electric power, it is very simple and rationally that the isolation of the circuit that this makes becomes.In this configuration, not only further reduced manufacturing cost, and the Design and manufacture of circuit will simplify greatly, reliability further improves.
Multiple degrees of freedom wearable lower limb exoskeleton robot electric Control System Software mainly comprises:
Software section on master controller 1, comprising such as human-computer interaction interface, gait planning module, integrated information processing module, communication module etc.
Software section on joint control 2, comprising such as control algolithm module, collecting sensor signal module, software protection module, communication module etc.,
Shown in Figure 10, multiple degrees of freedom wearable lower limb exoskeleton robot electric control system master controller groundwork flow chart of the present invention.After master controller 1 powers on, system initialization, receive afterwards the status information of each joint control, the parameter of while recipient's machine interactive interface, comprehensive posture information is carried out gait planning, gait correction and kinematic synthesis again, the data that draw send to each joint control for motion control, and human-computer interaction interface shows gait data and other status informations that obtain simultaneously.
Shown in Figure 11, multiple degrees of freedom wearable lower limb exoskeleton robot electric control system joint control groundwork flow chart of the present invention.After joint control 2 powers on, system initialization, inquire about afterwards the state of each sensor, determine control model, original state etc., wait for and accept master controller order subsequently, receive after main control order, according to received order, control motor according to instruction campaign, detect in real time the state of each sensor simultaneously, real-time correction motion state, judges whether to reach the target location of setting afterwards.If, keep present status, wait for main control order next time; If not, continue motion and detect the state of each sensor, again correction motion state.
Shown in Figure 12, multiple degrees of freedom wearable lower limb exoskeleton robot electric control system Electric Machine Control flow chart of the present invention.By detecting current movement position, motor speed and by the electric current of motor, realized three rings of position, speed, electric current and controlled, and when different constantly control loop also in real-time change, to adapt to the control needs under different conditions.
In sum, multiple degrees of freedom wearable lower limb exoskeleton robot electric control system of the present invention adopts large power supply and small-power power, analog power and digital power isolation coupling, can improve security and the reliability of operation of system communication; Each several part adopts modular design method, and function is cut apart clear and is convenient to debugging, revises, keeps in repair and change, and has simplified programming; Safe and convenient to use, complete machine is small and exquisite, is convenient to install carry and expand, and is applicable to very much multiple degrees of freedom Wearable exoskeleton robot and controls and drive.
Claims (7)
1. a multiple degrees of freedom wearable lower limb exoskeleton robot electric control system, this system comprises master controller 1, joint control 2, walking stick detecting unit 3, pose detecting unit 4, power subsystem 5, motor drive controller 6, motor 7.
2. a kind of multiple degrees of freedom wearable lower limb exoskeleton robot electric control system as claimed in claim 1, is characterized in that, described master controller 1 is comprised of high speed microprocessor CPU, CAN communication module A1.High speed microprocessor CPU realizes by CAN communication module A1 and the two-way data communication of 2 of joint controls, and is directly connected with pose detecting unit, realizes pose unit to the one-way data communication of master controller.Master controller 1 is connected with each joint control 2, pose detecting unit 4 and power subsystem 5 respectively.Wherein high-speed CPU is responsible for receiving information and pose detecting unit 4 data that each joint control sends over, complete the related operation of and kinematic synthesis whole about wearable lower limb exoskeleton robot gait planning, and by CAN communication module A1, pass to the other man-machine interaction task of joint control 2. and also by it, completed.
3. a kind of multiple degrees of freedom wearable lower limb exoskeleton robot electric control system as claimed in claim 1; it is characterized in that, described joint control 2 is comprised of microprocessor CPU, CAN communication module B1, wireless communication module B2, rate control module B3, current control module B4, pwm signal generative circuit B5, position signalling processing module B6, A/D convertor circuit B7, low supply voltage holding circuit B8, current-limiting protection circuit B9, short-circuit protection circuit B10.Microprocessor CPU is by the two-way data communication that passes through 1 of CAN communication module B1 realization and master controller, by wireless communication module B2, realize and the two-way data communication of 3 of walking stick detecting units, Negotiation speed control module B3, current control module B4 and pwm signal generative circuit B5 produce the control signal to motor 7, by low supply voltage protection module B8, current-limiting protection module B9, short-circuit protection circuit B10 gathers periphery may produce the primary signal of protection, and finally produce corresponding guard signal, by position signalling processing module B6 and A/D convertor circuit B7, process position, speed and current signal, and be directly connected with pose detecting unit 4.Joint control 2 respectively master controller 1, walking stick detecting unit 3, pose detecting unit 4, power subsystem 6, motor drive controller 6 is connected.Wherein microprocessor CPU receives the target information of master controller 1 by CAN communication module B1, and the information gathering according to target information and external various sensors, carry out comprehensive computing, complete the control of position to follow-up motor, speed, electric current, reach control target.In addition whole in real time during, also by voltage protection circuit B8, current-limiting protection circuit B9, short-circuit protection circuit B10, constantly institute's control circuit is detected to protection.
4. a kind of multiple degrees of freedom wearable lower limb exoskeleton robot electric control system as claimed in claim 1, it is characterized in that, described walking stick detecting unit 3 is comprised of button and sensor C1, plastic filter circuit C2, walking stick detecting unit CPU C3, wireless communication module C4 and independent current source module C5.Button and sensor C1 are connected to walking stick detecting unit CPU C3 on through plastic filter circuit C2, and walking stick detecting unit CPU C3 realizes by wireless communication module C4 and the both-way communication of 2 of joint controls, and independent current source module C5 is respectively to other module for power supply.Walking stick detecting unit 3 is connected with joint control 2 is wireless.Wherein walking stick detecting unit CPU C3 is responsible for receiving sensor information, and encodes after processing, and sends to joint control 1 afterwards through wireless communication module C4.Walking stick detecting unit 3 is independent of other hardware, is arranged on freely movable walking stick, by wireless communication module C4, is connected with other parts.
5. a kind of multiple degrees of freedom wearable lower limb exoskeleton robot electric control system as claimed in claim 1, it is characterized in that, described pose detecting unit 4 is comprised of pose acquisition module D1, signal extraction module D2, signal preliminary treatment module D3, photoelectric isolation module D4 and independent current source module D5.Pose collection signal D1 is connected with joint control 2 with master controller 1 with photoelectric isolation module D4 through signal extraction module D2, signal preliminary treatment module D3 successively, and independent current source module is given respectively other each module for power supply.Wherein pose acquisition module D1 gathers pose signal, through signal extraction module, D2 obtains useful pose signal, the signal that these are simplified through signal preliminary treatment module D3 again, is transferred on master controller 1 and joint control 2 by photoelectric isolation module D4 afterwards.
6. a kind of multiple degrees of freedom wearable lower limb exoskeleton robot electric control system as claimed in claim 1; it is characterized in that, power subsystem 5 is comprised of power filtering module E1, power source protective module E2, isolation module E3, switch power module E4 and regulating filtering module E5.The external 36V power supply of power filtering module E1 wherein; after meet power source protective module E2; through isolation module E3, produce again the digital power of 36V power power-supply and connecting valve power module E4; the various voltages that switch power module E4 produces are externally output after regulating filtering module E5, the isolation of the isolation that has completed large power supply and small-power power, digital power and analog power here.
7. a kind of multiple degrees of freedom wearable lower limb exoskeleton robot electric control system as claimed in claim 1, is characterized in that, motor drive controller 6 is mainly comprised of special servo drive F1 and current detection module F2.The special input of servo-driven module B6 and the pwm signal generative circuit B5 of joint control 2 are connected after isolation processing, output is connected to motor 7 through current detection module F2 and drives input, and the output of current detection module F2 is connected with the A/D convertor circuit B7 of joint control 2.The rotating shaft of the motor front end that coaxially slows down is equipped with velocity sensor, and position sensor is equipped with in the rear end of coaxially slowing down, and the position signalling processing module B6 that both outputs are all connected to joint control 2 is connected.Wherein special servo drive F1 receives the control signal of joint control 1, carries out power amplification, then removes to control drive motors by current detection module F2, and because power is larger, radiating module is accelerated the heat radiation of special servo drive F1.
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| CN104224498A (en) * | 2014-09-24 | 2014-12-24 | 哈尔滨工业大学 | Exoskeleton robot system and kinematics extremity detection-based control method |
| CN105138030A (en) * | 2015-06-25 | 2015-12-09 | 电子科技大学 | Distributed hydraulic control system for lower-limb exoskeleton |
| CN105798932A (en) * | 2016-05-19 | 2016-07-27 | 成都润惠科技有限公司 | Control method for exoskeleton system in walking state |
| CN106426097A (en) * | 2016-10-26 | 2017-02-22 | 北京航空航天大学 | Exoskeleton assisting mechanism for lower limb |
| CN108983660A (en) * | 2018-07-19 | 2018-12-11 | 浙江大学 | A kind of robotic control system and biped robot |
| CN109940585A (en) * | 2019-03-25 | 2019-06-28 | 西安交通大学 | A kind of back integration module of exoskeleton robot |
| CN110017859A (en) * | 2018-01-08 | 2019-07-16 | 北京航空航天大学 | Control of Wheeled Mobile Robots system |
| CN110236890A (en) * | 2018-03-07 | 2019-09-17 | 北京大艾机器人科技有限公司 | Control device for exoskeleton robot |
| CN111728819A (en) * | 2020-07-10 | 2020-10-02 | 上海电气集团股份有限公司 | Multi-stage protection device and method for upper limb rehabilitation robot |
| CN112217179A (en) * | 2020-10-23 | 2021-01-12 | 北京精密机电控制设备研究所 | Switch and protection circuit for exoskeleton robot |
| WO2023226376A1 (en) * | 2022-05-22 | 2023-11-30 | 远也科技（苏州）有限公司 | Powered exoskeleton system with distributed structure, and control method |
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