CN-121973162-A - Upper limb dual-mode wearable robot based on multi-sensor fusion and control method

CN121973162ACN 121973162 ACN121973162 ACN 121973162ACN-121973162-A

Abstract

The invention discloses an upper limb dual-mode wearable robot based on multi-sensor fusion and a control method, wherein the robot comprises a load bearing rack; the shoulder joint boosting exoskeleton mechanism comprises a hydraulic actuator, a four-bar mechanism, an outer swinging support, an outer swinging rotary shaft, a thrust bearing, a shoulder adjustable support and a fixed connecting rod, wherein an arm can be replaced, the arm comprises an exoskeleton form arm and an outer limb form arm, and the exoskeleton enhancement mode and the outer limb expansion mode can be switched by adjusting and connecting the fixed connecting rod. The control method for the robot comprises the steps of fusing the data of the large arm IMU, the force sensor and the depth camera, performing LSTM time sequence coding and visual target detection, intelligently identifying four working conditions of overhead support, lifting, outer limb weight lifting and free movement, and adaptively controlling an actuator. The invention realizes the dual-mode integration of human body assistance and limb expansion of the same wearable platform, and has the advantages of high power density, high intelligence and multitask adaptation.

Inventors

OUYANG XIAOPING
CHEN JIAXU
JIANG JUNXIA
Bao Yingwei
YANG BO

Assignees

浙江大学

Dates

Publication Date: 20260505
Application Date: 20260403

Claims (9)

1. Upper limb dual-mode wearable robot based on multi-sensor fusion, which is characterized by comprising: The load bearing rack is used for being worn on the trunk of a human body; The shoulder joint assisting exoskeleton mechanism is arranged in a shoulder area of the load bearing rack and comprises a hydraulic actuator, a four-bar mechanism, an outer swinging support, an outer swinging rotary shaft, a thrust bearing, a shoulder adjustable support and a fixed connecting rod, wherein the four-bar mechanism is connected with an output end of the hydraulic actuator and an exchangeable arm and is used for converting linear motion of the hydraulic actuator into lifting motion of the exchangeable arm; The replaceable arm is detachably arranged on the shoulder joint assistance exoskeleton mechanism and comprises an exoskeleton shape arm and an outer limb shape arm, wherein the exoskeleton shape arm is used for being attached to the human body arm of a wearer to transmit assistance, and the outer limb shape arm is used for executing operation independently of the human body arm; The replaceable arm is connected with the shoulder joint assistance exoskeleton mechanism in a switching way through the fixed connecting rod, and the robot is enabled to change between an exoskeleton enhancement mode and an outer limb expansion mode by adjusting the connection mode of the fixed connecting rod and correspondingly installing the exoskeleton form arm or the outer limb form arm.
2. The multi-sensor fusion-based upper limb dual-mode wearable robot according to claim 1, wherein the hydraulic actuator is integrated in the back area of the load frame, the cylinder end of the hydraulic actuator is fixedly connected with the load frame through an actuator lower support, and the piston rod end is connected with the four-bar linkage through an actuator upper support.
3. The multi-sensor fusion-based upper limb dual-mode wearable robot of claim 1, wherein the four-bar mechanism satisfies the following kinematic relationship to control the replaceable arm lifting angle : , , , wherein, In order to assist in the angle of the corner, For the distance of the lower electrohydraulic actuator support, For the distance between the upper and lower fulcra, For the length of the electro-hydraulic actuator, Is the included angle between the shoulder joint connecting piece and the electrohydraulic actuator, And (3) with The sum is a constant value, and the sum is a constant value, Is a fixed geometric parameter of the four-bar linkage.
4. The multi-sensor fusion-based upper limb dual-mode wearable robot according to claim 1, wherein the shoulder adjustable support is provided with a multi-gear adjusting position for adapting to wearers with different shoulder widths.
5. The multi-sensor fusion-based upper limb dual-mode wearable robot of claim 1, further comprising: the quick-detachable front load hook comprises a fixed chute and an adjustable bracket, and is arranged on the front side of the load rack and used for hanging a front load of a carrier; The quick-detachable back load platform comprises a lower connecting support, a turning plate rotating hook, a bending back plate and a turnover load platform, wherein the lower end of the bending back plate is hinged with the lower connecting support through the turning plate rotating hook, the turnover load platform is detachably connected with the turning plate rotating hook and is connected with the bending back plate through a steel rope to limit the rotation stroke, and the bending back plate is provided with a curved surface configuration which is matched with the physiological curve of the back of a human body.
6. The multi-sensor fusion-based upper limb dual-mode wearable robot is characterized in that the replaceable arm is in quick-change connection with the shoulder joint assistance exoskeleton mechanism through a semicircular connecting plate, a sliding groove is formed in the semicircular connecting plate, and the replaceable arm is rigidly connected with a telescopic small arm or a lifting large arm fixing piece through bolts and nuts.
7. A control method for the upper limb dual-mode wearable robot as claimed in any one of claims 1 to 6, characterized by comprising the steps of: Step one, after the device is started, IMU data vectors of the large arm area of a wearer are collected Force sensor data vector at large arm strap And capturing an RGB image stream of the depth camera, wherein, For IMU at The three-axis acceleration collected at the moment, Respectively IMU Three axes; For the force sensor The three-axis interaction force of the moment, Respectively of force transducers The three axes of the three-dimensional tube are arranged, Is the amplitude of the moment; fusing the data acquired by each sensor in the main control module through a fusion algorithm to acquire the data The IMU data vector and the force sensor data vector at the moment are spliced into a fusion characteristic vector , wherein, ; Step three, carrying an LSTM long-term memory network in the main control module to integrate the feature vectors Inputting the data into the LSTM unit, coding the time sequence characteristics of the fused data through forgetting gate, input gate and unit state update, and updating and calculating the state of the LSTM unit Wherein the forget gate and the input gate are calculated as follows: , , , , wherein, , The activation vectors are respectively a forget gate and an input gate; the function is activated for Sigmoid and used for controlling the opening and closing of the door; , , A weight matrix for the output gate; , , A bias vector for the output gate; representing a Hadamard product function; Step four, calculating the hidden state of the current moment through the output door : , , wherein, Activating the vector for the output gate; , a weight matrix and a bias vector for the output gate; step five, taking the last hidden state of LSTM in the time window Inputting the data into a full connection layer and a Softmax function to obtain a set of preset working conditions Probability distribution of (2) Exoskeleton or exolimb class in combination with depth camera RGB data stream identification Making a weighted decision: , , wherein, , The weight matrix and the bias vector of the classification layer respectively, A category of exoskeleton or outer limb used identified for using the depth camera RGB data stream; step six, according to the final working condition And generating a control instruction, and adjusting the output or displacement of the hydraulic actuator to realize the robot action matched with the current working condition.
8. The control method of claim 7, wherein the set of preset conditions Comprising the following steps: exoskeleton assisted over-roof support conditions when When the angle of the large arm is more than or equal to 70 degrees and the posture is maintained as the exoskeleton type and the IMU and force sensor data identify, the hydraulic actuator is controlled to extend to a preset holding position and constant output is maintained; exoskeleton auxiliary lifting working condition when When exoskeleton types are identified by the IMU and force sensor data, and the angle of the big arm is less than or equal to 15 degrees and a continuous lifting trend exists, controlling a hydraulic actuator to perform position closed-loop control, and driving the replaceable arm to lift to a preset angle; when the outer limb weight is lifted When the model is an outer limb, the model is controlled to execute lifting operation according to the depth camera and natural language instructions in preference to other working conditions judged by LSTM; Working condition of free movement of human body When the angle of the large arm is 15-70 degrees and irregular movement is recognized by the IMU and the force sensor data, the hydraulic actuator is controlled to be in a zero pressure following state.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the control method of claim 7 or 8.

Description

Upper limb dual-mode wearable robot based on multi-sensor fusion and control method Technical Field The invention relates to the technical field of wearable exoskeleton equipment, in particular to an upper limb dual-mode wearable robot based on multi-sensor fusion and a control method. Background The auxiliary enhancement robot is in the form of an exoskeleton and an outer limb, the exoskeleton robot is an intelligent mechanical device which can be worn outside a human body, the auxiliary enhancement function of the human body is realized, the industrial exoskeleton is commonly applied to tasks such as equipment carrying, individual combat, emergency rescue and the like at present, the tasks often face the conditions of carrying or carrying heavy loads and carrying wounded persons, and the rapid transfer of multi-scene multi-working-condition tasks needs to be adapted. The outer limb robot is an additional mechanical limb device capable of cooperatively working with a human body, and is an intelligent mechanical device for expanding limbs of a wearer and thus expanding working capacity, and is used for solving a scene requiring multi-person cooperation. In addition, the existing assisting exoskeleton or outer limb still has the condition of single auxiliary purpose, the mode switching algorithm of the dual-mode upper limb wearable robot is still blank in the field of the wearable exoskeleton, and the mode switching control of multiple working conditions is still deficient, so that the existing wearable exoskeleton cannot well solve the task mode switching and task control switching of the multiple working conditions. In summary, the existing auxiliary enhancement robot does not perfectly solve the problems of weak shock resistance and single working condition of a human body under the heavy load working condition and the multi-person collaborative operation, and a novel upper limb wearable enhancement robot which is designed for the expandable lower limb exoskeleton robot and can realize the high load lifting and multi-person collaborative industrial scene is needed to be provided, so that the dual functions of human body enhancement and limb expansion can be realized, and a unified solution is provided for the complex working environment. Disclosure of Invention The invention aims to solve the problems in the prior art, provides an upper limb dual-mode wearable robot based on multi-sensor fusion and a control method, provides dual-mode conversion of an exoskeleton and an outer limb, develops a control method for mode regulation and control based on multi-sensor data, and designs an adaptable backpack system and a quick-detachable mechanism. The invention provides a multi-sensor fusion-based upper limb dual-mode wearable robot, which comprises the following components: The loading rack comprises a carbon fiber board contacted with a human body, an aluminum alloy plate used for bearing, and a soft bag and a brace which are bound with the human body, so that the installation and arrangement of the parts of each functional block are realized; The front load hook comprises a fixing piece arranged on a rack and a front load hook with a sliding groove, wherein the tail end of the front load hook is provided with a telescopic hook, and the front load hook is provided with a telescopic rope for a wearer to lift a heavy object on the front side of the body, so that the heavy object on the whole body is shared to the front side and the rear side, and the function of front load of the body is realized; The quick-dismantling rear load platform comprises a lower connecting support, a turning plate rotating hook, a bending backboard and a turnover load platform, wherein the lower connecting support is used for connecting a load rack, the turning plate rotating hook can realize the storage and the laying down of the turnover load platform and the quick dismantling, and the rear load function and the wounded carrying function are realized; the shoulder joint assisting exoskeleton comprises a hydraulic actuator, an outer swinging support, an outer swinging rotating shaft, a shoulder adjustable support and a fixed connecting rod, wherein the hydraulic actuator realizes active assistance of sagittal plane freedom degree of the upper limb exoskeleton, the outer swinging support and the outer swinging rotating shaft ensure lateral swinging and spin passive freedom degree, the shoulder adjustable support can adjust the distance according to shoulder width of a wearer, and the fixed connecting rod can realize switching of exoskeleton and outer limb structures; the replaceable arm comprises a connecting semicircular plate, an exoskeleton shape arm and an outer limb shape arm, wherein the connecting mode is adjusted through the fixed connecting rod, quick replacement is realized through a chute connected with the semicircular plate, and the exoskeleton shape assisting person arm and the outer limb shape assisting person can be real