Cov txheej txheem:
- Kauj Ruam 1: Ntau Ntxiv Txog Exo-Arm
- Kauj Ruam 2: Yuav Tsum Tau Kho Vajtse:
- Kauj Ruam 3: Siv Software:
- Kauj Ruam 4: METHODOLOGY
- Kauj Ruam 5: EMG Circuit
- Kauj Ruam 6: Ntau Qib Hauv EMG Kev Ua Teeb Meem thiab Kev Ntsuas Sensor:
Video: Exoskeleton Caj Npab: 9 Kauj Ruam
2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27
Exoskeleton yog txheej txheem txheej sab nrauv uas tuaj yeem hnav rau ntawm caj npab. Nws tau siv hluav taws xob los ntawm cov actuators thiab tuaj yeem muab kev pab lossis nce lub zog ntawm caj npab lom, nyob ntawm lub zog ntawm tus actuator. Electromyography (EMG) yog txoj hauv kev haum rau tib neeg-tshuab sib cuam tshuam nrog kev pab ntawm exoskeleton.
Thaum ua haujlwm nrog EMG peb yeej ntsuas lub zog ua haujlwm lub zog [MUAP] tsim tawm hauv cov leeg nqaij. Qhov peev xwm no tsim tsa hauv cov leeg thaum nws tau txais lub teeb liab los ntawm lub hlwb kom cog lus lossis so.
Kauj Ruam 1: Ntau Ntxiv Txog Exo-Arm
Nerve Potential
• MOTOR UNIT ACTION POTENTIAL (MUAP) tsim tawm ntawm peb txhais tes thaum twg peb cog lus lossis so peb txhais caj npab
. • Amplitude yog nyob ntawm 0-10 millivolts
• Zaus nyob nruab nrab ntawm 0-500Hz.
• Qhov MUAP no yog qhov tseem ceeb ntawm txoj haujlwm no thiab yog lub hauv paus ntawm EMG ua.
QHOV KEV TSHAWB XEEB • Nws yog txheej txheem txheej sab nrauv uas tuaj yeem hnav rau ntawm caj npab
• Nws yog siv txoj hauv kev uas tsis cuam tshuam kom tau txais MUAP los ntawm cov leeg txhawm rau tswj lub hauv paus, uas tuaj yeem hnav rau ntawm caj npab.
• Txhawb los ntawm lub zog loj servo motor.
• Muaj peev xwm muab kev pab lossis nce lub zog ntawm caj npab lom, nyob ntawm seb lub zog ntawm servo motor
. • Electromyography (EMG) yog txoj hauv kev haum rau tib neeg-tshuab interface (HMI) nrog kev pab ntawm exoskeleton (EXO).
Kauj Ruam 2: Yuav Tsum Tau Kho Vajtse:
Nyem rau kab ntawv txuas mus rau qhov chaw uas koj tuaj yeem yuav cov khoom
1) 1x Microcontroller board: EVAL-ADuCM360 PRECISION ANALOG MICROCONTROLLER (Analog Devices Inc.) Pawg tswj hwm microcontroller no tau siv hauv peb txoj haujlwm los ua lub hlwb los tswj caj npab exoskeleton. Cov txheej txheem no yuav raug siv los cuam tshuam peb cov EMG cov ntsuas nrog caj npab (servo motors).
2) 1x AD620AN: (Analog Devices Inc.) Qhov no tau txais lub teeb liab los ntawm EMGelectrodes thiab muab qhov sib txawv tau txais txiaj ntsig raws li qhov tso tawm.
3) 2x OP-AMP: ADTL082/84 (Analog Devices Inc.) Cov zis los ntawm DIFFERENTIAL AMPLIFIER raug kho thiab qhov tso tawm no tau pub rau LOW PASS FILTER thiab tom qab ntawd mus rau GAIN AMPLIFIER.
4) 1x SERVO MOTORS: 180 kg*cm torque. Nws yog siv rau kev txav ntawm caj npab.
5) 3x EMG Cables thiab electrodes: Rau qhov tau txais lub teeb liab.
6) 2x Roj Teeb thiab Charger: Ob lub 11.2V, 5Ah Li-Po roj teeb, nws yuav siv los ua lub zog pabcuam. Ob lub roj teeb 9V txhawm rau siv hluav taws xob EMG Circuit.
7) 1x1 meter txhuas ntawv (tuab 3 hli) rau cov qauv tsim.
Resistors
• 5x 100 kOhm 1%
• 1x 150 Ohm 1%
• 3x 1 kOhm 1%
• 1x 10 kOhm Trimmer
Capacitors
• 1x 22.0 nF Tant
• 1x 0.01 uF Ceramic Disc
Lwm yam
• 2x 1N4148 Diode
• Jumper xov hlau
• 1x Oscilloscope
• 1x Multimeter
• Ceev thiab ntsia hlau
• Velcro strips
• Cushion padding ua npuas ncauj
NCO TSEG
a) Koj tuaj yeem xaiv ib qho uas xav tau microcontroller tab sis nws yuav tsum muaj ADC thiab PWM pins.
b) OP-AMP TL084 (DIP Pob) tuaj yeem siv los ntawm ADTL082/84 (SOIC Pob).
c) Yog tias koj tsis xav tsim EMG Sensor nyem ntawm no EMG Sensor.
Kauj Ruam 3: Siv Software:
1) KEIL uVision rau suav cov lej thiab saib xyuas lub teeb liab.
2) Multisim rau kev tsim hluav taws xob thiab simulation.
3) Blender rau 3D simulation ntawm tus ncej.
4) Arduino thiab ua haujlwm rau qhov tseeb simulation simulation sim.
Kauj Ruam 4: METHODOLOGY
Lub caj npab exoskeleton ua haujlwm nyob rau hauv ob hom. Thawj hom yog siv lub tshuab uas EMG teeb liab tom qab teeb tsa ua haujlwm yuav hais kom ua haujlwm servo thiab phau ntawv thib ob, lub hwj chim yuav hais kom lub cav servo.
Kauj Ruam 5: EMG Circuit
Kauj Ruam 6: Ntau Qib Hauv EMG Kev Ua Teeb Meem thiab Kev Ntsuas Sensor:
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