• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    System for testing exoskeletons in a controlled environment, comprising a fixed structure (2) with a fixed frame (4) and a fixed wall (5); a mobile structure (3) with a mobile frame (7) and a mobile wall (8) facing the fixed wall (5); a displacement device (11) to move the movable structure (3), bringing the movable wall (8) closer to or away from the fixed wall (5); a horizontal base (9) under both walls (5, 8), defining with the walls a work space (36) and obstacles (10) located in the work space (36). The walls (5, 8) are formed by sensorized panels (12) with a load cell (13) attached to the frame to measure a compression or traction force (F) applied on the sensorized panel (12) in a direction perpendicular to the same. A control unit (43) is in charge of regulating the movement of the mobile structure (3) and of collecting the measurements from the load cells (13). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2819323A1
    申请号:ES201930911
    申请日:2019-10-14
    公开日:2021-04-15
    发明作者:Jawad Masood；García Marcos Villar；Alvarez Daniel Isai Vergara；Palamarchuk Federico Maccio；Mendieta Víctor Alonso
    申请人:Fundacion para la Promocion de la Innovacion Investigacion y Desarrollo Tecnologico en la Industria de Automocion de Galicia；
    IPC主号:
    专利说明:

    [0004] Field of the invention
    [0005] The present invention falls within the field of industrial exoskeletons, and more specifically in systems for performing exoskeleton performance tests in limited work spaces, in order to select the exoskeleton that best suits a specific job position.
    [0007] Background of the invention
    [0008] Today, manufacturing industry workers who work on their feet with fixed work hours for an extended period often have knee and back problems, limiting their work and quality of life. The reduction of standing work time is one of the main objectives of the industry. In the past, there are several ways the industry has dealt with this problem. For example, job rotation is a common practice in the manufacturing industry. Despite all these measures, there are still many workstations with the same problem.
    [0010] Musculoskeletal conditions are exacerbated in jobs where operators must move in tight spaces. For example, in the case of the aeronautical industry, the assembly of seats in the airplane is a complicated task since it requires a lot of effort on the part of the worker to move between the narrow spaces and it takes a long time to assemble the seat. In the case of automobile manufacturing, operators often work in or around the cabin of the automobile. Due to space requirements and process optimization on manufacturing lines, workers work in concise spaces with automated guided vehicles, forklifts and tool carts. Something similar also happens in the ship-making process.
    [0012] Recently, the emergence of exoskeleton technology tries to help workers alleviate these problems and reduce musculoskeletal diseases. The exoskeleton industry can be divided into four categories: industrial, medical, military, and commercial. Today, statistics show that exoskeleton technology industrial consists of more than 60 solutions aimed at shoulders, trunk, arms, hands and legs. A quarter of the total exoskeleton technology corresponds to the exoskeleton of the leg. In terms of performance, the exoskeleton technology of the leg is 77% active and 23% passive. So far, the implementation of this technology is limited due to the unproven impact of these devices on the worker, the lack of training procedures, the uncertainty in the intended use cases, the gap between the needs of use cases and the specifications. of the device, the absence of safety regulations and the cost.
    [0014] Benchmarking the industrial exoskeleton is a new concept. The authors of the paper [1] present the urgency of benchmarking and test methods for industrial exoskeletons, bringing their experience in industrial robotics and response testing, suggesting test methods. An example of a test method is taken from the working draft F45.02 WK48955 (relative to test methods with physical and virtual barriers that define test spaces for autonomous land vehicles) to be able to evaluate the navigation capabilities of the exoskeleton, presenting a method appropriate for navigation through curves, but lacking the flexibility and adaptability to test industrial use cases.
    [0016] An important aspect of benchmarking is connecting different scenarios to complete a given task. For example, working in tight spaces may require going from sitting to standing, and vice versa. This aspect has been studied in the form of challenges in portable medical robotics in Cybathlon [2]. However, there is no such challenge in the area of industrial exoskeleton technology.
    [0018] The current process of implementing an industrial exoskeleton in a factory requires the execution of a series of steps to confirm the suitability of the device for the workplace. This includes a first phase of exoskeleton selection, a second phase of laboratory tests, a third phase of tests in simulated scenarios and, finally, a fourth phase of online verification. This implies long testing times and end-user participation, among other problems.
    [0020] Therefore, current exoskeleton testing technology requires a lot of effort in terms of time and resources, but in practice there is no individual standard and regulation to support this process. For example, the time taken from the phase of Selection up to the implementation phase of an industrial exoskeleton in an automobile manufacturing plant can take more than 500 man hours, which is a great effort in terms of resources and overall costs. Unfortunately, this cost in testing to implementation is borne by end users, in addition to the cost of the devices, which can lead to loss of industry interest in exoskeleton technology and thus damage impact. general of this technology in the improvement of the quality of the work of the workers.
    [0022] In addition, in the tests currently carried out with exoskeletons to check their suitability for a job, there are other additional problems in addition to the long testing time and the high cost of the same. For example, there is no measurement of the long-term impact of the exoskeleton, nor any objective measurements that allow testing the certification of the exoskeleton at the workplace.
    [0024] Therefore, a system is necessary that allows the impact and suitability of industrial exoskeletons in different jobs to be evaluated in a fast, simple, versatile, rigorous and objective way as possible, and outside the facilities of the end user. especially in those with limited movement space.
    [0026] References
    [0028] [1] R. Bostelman and T. Hong, "Test Methods for Exoskeletons-Lessons Learned from Industrial and Response Robotics."
    [0030] [2] R. Riener and L. J. Seward, "Cybathlon 2016," in 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2014, pp. 2792-2794.
    [0032] Description of the invention
    [0033] The invention relates to an automatic system whose object is to carry out tests of industrial exoskeletons in a controlled environment. The system allows to reduce test time by using a machine or test bench adapted to replicate limited work spaces where the operator moves in tight spaces.
    [0035] The test bench provides a suitable platform to validate and verify the use cases related to the navigation of operators equipped with exoskeletons in narrow spaces with obstacles, in which during the performance of tasks the operator you can walk, sit, stand, bend over while standing or sitting, etc.
    [0037] The testbed offers a platform to rigorously test different use cases for exoskeletons outside of the end-user facilities, so that the exoskeleton can be deployed in industry with confidence. In this way, the system is a tool for the industrial sector to quickly select the best exoskeleton technology for a workstation, saving time and costs.
    [0039] The system allows the initial phases of laboratory tests and tests in simulated scenarios to be replaced by a single phase of tests on a machine or test bench. In this way, the test bench applied for a use case with movement in narrow spaces allows to reduce the test time by up to 30% from the selection phase to the implementation phase of an industrial exoskeleton.
    [0041] The test bench simulates running on industrial assembly lines, working with obstacles and mounting in tight spaces. The system comprises mobile and sensorized walls and obstacles that are suitable for rapidly simulating the industrial use case. The position of one of the walls is controlled with the help of an actuator, either linear (eg, cylinder / s) or rotational (eg, motor / s), which produces a translational movement of the moving parts of the system, while that the other wall has a defined position on the stage and from this wall the rest of the elements of the system can be referenced. The test bench floor is replaceable so that different surfaces can be tested. This type of scenario allows simulating use cases in the automotive, aeronautical, construction and maintenance fields, among other industrial sectors.
    [0043] The system comprises a control unit, sensors, actuators and a user interface to quickly and automatically configure tests and use cases.
    [0045] The proposed system aims to analyze and simulate different scenarios and work environments. The system incorporates force sensors or load cells in the walls that allow the acquisition of biometric data for subsequent study. The load cells operate both in tension and compression, and are incorporated in each of the sensorized panels that make up the walls, preferably in the center of each of the panels.
    [0046] The control unit can regulate the distance between the fixed wall and the mobile wall, positioning the mobile structure with respect to the fixed structure at any point between a maximum limit and a minimum limit of the travel of the machine. This controlled movement of the mobile structure allows the generation of different simulation scenarios depending on the distance between the walls and the obstacles incorporated inside the workspace.
    [0048] Brief description of the drawings
    [0049] Next, a series of drawings will be described very briefly that help to better understand the invention and that expressly relate to an embodiment of said invention that is presented as a non-limiting example thereof.
    [0051] Figure 1 illustrates, according to one embodiment, a general view of the exoskeleton testing system.
    [0053] Figure 2 represents a detailed view of the elements incorporated in each sensorized panel.
    [0055] Figure 3 shows the elements responsible for the movement of the mobile structure.
    [0057] Figures 4A to 4C show the system in three different operating positions: open position (Figure 4A), closed position (Figure 4B), intermediate position (Figure 4C).
    [0059] Figures 5A to 5C represent the modularity of the system: a test with a single central module in the mobile structure (Figure 5A), a central module and a lateral module (Figure 5B), a central module and two lateral modules on each side ( Figure 5C).
    [0061] Figure 6 shows the security perimeter of the system.
    [0063] Figure 7 represents a simulation scenario.
    [0065] Figures 8A and 8B show two views of an operator equipped with a leg exoskeleton.
    [0067] Figure 9 illustrates a possible system control architecture.
    [0068] Detailed description of the invention
    [0069] The present invention relates to a system for testing exoskeletons in a movement scenario in confined spaces. The system is based on a machine or test bench that has a fixed structure and a mobile structure whose movement is carried out by means of a mechanism that allows a translational movement of the mobile structure.
    [0071] Figure 1 illustrates, according to one embodiment, the elements that make up the system 1. The system 1 comprises a fixed structure 2 and a mobile structure 3. The fixed structure 2 comprises a fixed frame 4 that supports a fixed wall 5 The fixed frame 4 rests on the ground through one or more supports 6.
    [0073] The mobile structure 3 has in turn a mobile frame 7 and a mobile wall 8 attached to the mobile frame 7. Both structures (2, 3) are arranged in such a way that the mobile wall 8 faces the fixed wall 5. One horizontal base 9 is arranged under both walls (5, 8), acting as the floor of the machine on which an operator equipped with an exoskeleton will support during the tests. The horizontal base 9 may include a replaceable upper bearing surface to allow testing of different bearing surfaces.
    [0075] The fixed wall 5, the mobile wall 8 and the horizontal base 9 define an open workspace of reduced dimensions where the tests with the exoskeleton will be carried out. Obstacles (implemented for example by telescopic bars 10) are arranged in the workspace, which allow a controlled working environment to be precisely defined.
    [0077] A displacement device 11 is the mechanism in charge of producing the displacement or movement M of the mobile structure 3 to position the mobile wall 8 at a certain distance from the fixed wall 5.
    [0079] Both the fixed wall 5 and the movable wall 8 are formed by one or more sensorized panels 12. In the example shown in Figure 1, both walls (5, 8) comprise three sensorized panels 12 arranged in line, one after the other. . Each sensorized panel 12 in turn comprises a damping module and a load cell 13.
    [0080] The load cell 13 is attached to the corresponding frame (fixed frame 4 or mobile frame 7, depending on the wall to which the sensorized panel 12 belongs) in the central part of the sensorized panel 12. The load cell 13 is a sensor of force configured to measure a force applied on the sensorized panel 12 in a direction perpendicular to it, either a compression force (compressing the sensorized panel 12 towards the frame) or a traction force (pulling the sensorized panel 12 away from the frame ).
    [0082] The damping module is made up of one or more damping elements 14 attached to the corresponding frame and allowing a damped movement of the sensorized panel 12 in a direction perpendicular to the surface of the sensorized panel 12, either in compression movement (towards the frame). or in pulling motion (away from the frame). The damping module allows limiting the maximum compression and traction movement of the sensorized panel 12 in a direction perpendicular to the sensorized panel 12. According to the embodiment shown in Figure 1, the damping module comprises four cushioning elements 14 located in the corners. of the sensorized panel 12, equidistant from the load cell 13, for a better distribution of forces.
    [0084] The obstacles located inside the machine, necessary to carry out the tests, can be placed in the following arrangements:
    [0085] - Arranged between the fixed and mobile structure so that they adapt to the distance between them.
    [0086] - Arranged on the floor of the machine with different dimensions if the test conditions so require.
    [0087] - Arranged in the fixed and / or mobile structure.
    [0089] The obstacles 10 can be implemented, as represented in the example of Figure 1, by means of a telescopic bar 10 arranged horizontally between both walls, so that the telescopic bar 10 is fixed at a first end, by means of a first plate of connection 15, to the fixed wall 5 and at a second end, by means of a second connection plate 16, to the movable wall 8. In this way, obstacles are not only easily placed in the workspace (for example, bolted to the walls) but also automatically and continuously adapt to the depth of the workspace (ie to the separation distance d between the walls).
    [0090] The system also comprises a control unit 43 or controller, preferably based on a processor, which is responsible for collecting in real time data from the sensors arranged in the machine and for controlling the actuators of the machine. The control unit 43 can also be in charge of verifying the safeties during the performance of the test. The control unit 43 can be included inside an electrical cabinet 39 with a user interface 42, implemented for example by means of a touch screen to configure and interact with the control unit. The control unit 43 sends the data captured by the machine's sensors (including at least the data from the load cell 13) to a server 44, which may be located in the facility where the machine is located (implemented by For example, by means of a computer or a laptop located in the control post 49, as represented in Figure 1, which receives the data wirelessly or by cable) or in a remote installation (the sending of data being carried out in that case through Internet or any other known form of remote data communication).
    [0092] To facilitate the fixing of the telescopic bars 10 to the walls, each sensorized panel 12 can have a plurality of holes 17 made at different heights and widths of the sensorized panel 12, for example, homogeneously distributed in rows and columns, as shown in Figure 2 , which represents a sensorized panel 12 (either attached to the fixed frame 4, as it appears in the figure, or to the mobile frame 7) with some of its elements enlarged. The holes 17 allow the connection plates (15, 16) to be screwed into a certain position of the sensorized panel 12. In this way, obstacles can be located at different heights and widths of the work area (considering height and width in the workspace as the vertical and horizontal dimensions in the plane defined by the panels of a wall, and the depth of the workspace 36 being defined by the separation distance d between the fixed wall 5 and the movable wall 8).
    [0094] The sensorized panel 12 has a subsystem for the measurement of forces and contacts, which comprises the damping module and at least one load cell 13. Each of the sensorized panels 12 that are part of the system 1 is connected to the frame (4, 7) of the corresponding structure (either the fixed structure 2 or the mobile structure 3) by means of the damping module. The main function of the damping module is to limit the maximum permissible displacement of the load cell 13 both in compression and in tension, through mechanical stops. The damping elements 14 that make up the damping module are elastic mechanical elements that can operate both in tension and compression, exerting a force contrary to the force registered by the load cell 13 according to the expression formulated in Hooke's law F = -K x. Said force is compensated in the measurement of the load cell 13 so as not to distort its quantification. The damping elements 14 protect the load cell 13 against a stress that exceeds the capacity of said sensor.
    [0096] The damping module and the load cell 13 can be arranged in different configurations in the structure and the panels. According to the embodiment shown in Figure 2, the damping elements 14 are located in the four corners of the sensorized panel 12. In another embodiment, the subsystem for measuring forces and contacts does not have a damping module, so that the load cell 13 registers the compressive or traction force measured directly, assuming the entire load. The system can comprise several load cells 13 distributed over the sensorized panel 12. For example, each sensorized panel 12 can have four load cells 13 distributed in the corners of each sensorized panel 12.
    [0098] The sensorized panel 12 is also connected to the rigid structure of the frame (4, 7) through the load cell 13, responsible for measuring the force F applied to compression or tension on the sensorized panel 12. Said force F can be generated by the direct interaction (eg pressure) of the exoskeleton operator with the sensorized panel 12, or indirectly by the interaction with the telescopic rod 10 (eg a blow). The load cell 13 is located in the center of each of the sensorized panels 12 that make up the system 1, so that the damping elements 14 are distributed equally with respect to the load cell 13, thus achieving optimal force distribution. The load cell 13 incorporates a force sensor whose function is to record and quantify the compression and traction forces applied to the sensorized panel 12. The force sensor is associated with a transducer element that receives energy of a mechanical nature and converts it in an electrical signal whose characteristics depend on the nature of the applied energy. This electrical signal is sent amplified in both normalized voltages and currents. The communication between the transducer element of the load cell 13 and the control unit is carried out through cables.
    [0100] Each sensorized panel 12 also comprises one or more support wheels 18 arranged in the lower part of the sensorized panel 12. According to the embodiment of Figure 2, the sensorized panel 12 has 2 support wheels located near the lower corners of sensorized panel 12. Support wheels 18 contact the horizontal base 19 to support most of the weight of the panel, to minimize the stresses suffered in the vertical direction. by the load cell 13 and the damping elements 14. The support wheels 18 are fixed to the sensorized panel 12 through a bracket 19 screwed to the sensorized panel 12, with an arrangement and orientation that allows the movement of the sensorized panel in the direction perpendicular to the sensorized panel (either in compression or traction movement).
    [0102] Figure 3 illustrates the displacement device 11 and the elements responsible for the transmission of power that allow the bi-directional movement of the mobile structure 3 to be produced, increasing or decreasing the distance between the fixed structure 2 and the mobile structure 3. The device displacement 11 comprises one or more motors 20 which, by activating them, cause the rotation of one or more drive wheels 21 in contact with one or more guide rails 22, thus generating the linear displacement of the mobile structure 3 along of the guide rails 22. The guide rails 22 are preferably oriented in the direction perpendicular to the sensor panels 12.
    [0104] In one embodiment, the horizontal base 9 is part of the mobile structure 3. Specifically, as shown in the figures, the horizontal base 9 is integral with the mobile frame 7. The mobile frame 7 is in the shape of a square, with a vertical branch for fixing the sensorized panel 12 and a horizontal branch for supporting the horizontal base 9. In turn, the mobile frame 7 is integral with a mobile base 27 that is in contact with the guide rails 22 and is actuated by the motors 20. The mobile frame 7 rests on wheels 26 that contact the ground to facilitate the movement of the mobile structure 3. In this way, when the motors 20 are activated, the mobile base 27 moves together with the mobile frame 7 , the mobile wall 8 and the horizontal base 9. In the example represented in the figures, two motors 20 are used that guarantee synchronism in the advance and retreat of the mobile structure 3, avoiding possible misalignments during its travel. The presence of two motors 20 integral with the mobile base 27 and the mobile frame 7, balances the power transmission in the system during its translational movement.
    [0106] The system 1 comprises a position sensor 23 incorporated in the mobile base 27 that allows the detection of elements of ferromagnetic material located on the guide rails 22, in positions of limit displacement. Using the position sensor information 23, the control unit in charge of controlling the position of the mobile structure 3 detects the position of the mobile base 27 in a position prior to the minimum and maximum limit of movement of the mobile base 27, in order to reduce the speed of the motorized system before completing the maximum travel set in both directions. The position sensor 23 is therefore a sensor for detecting the limit position (maximum and minimum) of the mobile frame 7 that orders the decrease in the displacement speed of the mobile structure 3 before completing the maximum travel of the mobile structure 3 set in both directions.
    [0108] The system comprises a limit switch sensor 24 at the ends of at least one guide rail 22 to prevent the mobile structure 3 from leaving the guide rails 22. In the example of Figure 1, the limit switch sensor 24 is of rod, so that when the movable base 27 reaches that position it moves the rod, which in turn activates an internal switch. Limit switches of another type can be used, such as inductive sensors or photoelectric sensors.
    [0110] Figures 4A , 4B and 4C show three different generic positions of the proposed system path, for the case in which telescopic bars 10 extended between both walls (5, 8) are used as obstacles.
    [0112] An open position is illustrated in Figure 4A, in which the telescopic bars 10 are extended to an extreme position. In this embodiment, the maximum extension length of the telescopic bars 10 limits the maximum separation distance omax between the walls. Therefore, the displacement device 11 will no longer be able to separate the walls (5, 8) to avoid the breakage of some elements of the system (eg, the sensorized panels 12, the telescopic bars 10, the motor 20, etc.) .
    [0114] A closed position is illustrated in Figure 4B, where the telescopic bars 10 are retracted to a limit position. In this embodiment, the minimum extension length of the telescopic bars 10 limits the minimum separation distance min between the walls. The displacement device 11 can not closer the walls (5, 8) to avoid breakage of any component of the system and in turn protect the operator with a remote controlled and safe minimum separation Omin.
    [0115] Figure 4C represents a position where the telescopic bars 10 are extended in an intermediate position. In this case the walls (5, 8) are separated by a separation distance d, determined between a minimum limit ( ómin ) and a maximum limit ( dMAX).
    [0117] At all times, a control unit of the system 1 regulates, using the displacement device 11 and the position sensor 23, the separation distance d between the walls, d being a configurable parameter depending on the controlled environment to be simulated, and in such a way that dMN < d < dMAx is fulfilled.
    [0119] The mobile structure 3 of the system 1 can have a modular design, which allows tests to be carried out in different work environments, having as a common part a motor module. The overall dimensions of the system corresponding to the mobile structure 3 can be expanded by adding similar modules to each side of the motor module. Based on this requirement, the fixed structure 2 has to be extended according to the number of mobile modules added.
    [0121] Figure 5A shows the mobile structure 3 formed by a motor module 30, located in a central position with respect to the fixed structure 2. Said motor module 30 integrates a first sensorized panel 12 and is equipped with the displacement device 11 that allows moving the mobile structure 3. In Figure 5B an embodiment is shown in which the mobile structure 3 is formed by the central motor module 30 and a lateral secondary module 31, adjacent and integral with the motor module 30 and which integrates an additional sensorized panel. In the example of Figure 5C , the mobile structure 3 is shown, composed of the central motor module 30 and two secondary modules 31, jointly located on each side of the motor module 30. By means of different combinations of motor module and auxiliary modules, they can be modified easily the dimensions of the working environment.
    [0123] System 1 has an interior security zone 32 delimited, as shown in the plan view of Figure 6 , by presence detectors 33 (for example, PIR infrared detectors) that make up a perimeter security subsystem , detecting any person or object that crosses the security perimeter 28 delimited by the presence detectors 33 and enters the security zone 32. The dimensions of the security zone 32 may vary depending on the different scenarios foreseen in conducting the tests. The control unit 43 of the system is located outside the security zone 32 of the machine, as shown in Figure 1.
    [0125] The security perimeter 28 defined in the machine detects the entry of any object or person during the adjustment of the distance between the walls of the system. If the entry of an object or person is detected, the control unit 43 stops the process of adjusting the walls of the machine, avoiding the possible damages caused by the contact of the moving machine with the person or object that is in its interior. In the event that the person is within the security perimeter 28 during the phase of adjusting the distance between walls, there are presence sensors 37 that detect the presence of a person in the access and exit areas of the parking space. work 36 planned in the testing phase. The presence sensors 37 are removable and can be arranged in different positions at the ends corresponding to the entrance and exit of the workspace 36. In the embodiment shown in Figure 1 the presence sensors 37 are incorporated into the 12 end sensorized panels of the fixed wall 5, but they could be located in other positions, such as in the fixed frame 4, in the mobile frame 7, in the horizontal base 9 or in the sensorized panels 12 ends of the mobile wall 8.
    [0127] The regulation of the distance d between the walls of the system is carried out by means of a displacement detector 34 of the mobile structure, which is configured to obtain measurements related to the displacement of the mobile structure 3 with respect to an initial position or to a point. reference (for example, by measuring the distance L between the displacement detector 34 and the mobile frame 7), in order to thus be able to obtain the position of the mobile frame 7 and / or the mobile wall 8 and, consequently, the separation distance d between the walls (5, 8). In the embodiment shown in the figures, an optical distance sensor is used as a displacement detector 34. This distance measuring element is preferably positioned at a certain distance from the central module of the mobile structure 3 (ie the motor module 30), for For example, in the security perimeter 28, since the central module of the mobile structure is responsible for the translational movement of the mobile structure 3, so it is an element that is always present regardless of the different connections between modules that are contemplate in the testing phase.
    [0129] The displacement detector 34 is directed towards a certain point of the mobile frame 7 of the central module of the mobile structure 3 and measures the distance L to said point of the mobile frame 7, communicating to the control unit 43 the forward and reverse data of the central module. In this way the control unit determines the exact position of the mobile structure 3 with respect to an established reference that is configurable from the control unit 43.
    [0131] The displacement detector 34 of the mobile structure can be implemented in other ways, for example by using an encoder coupled to one of the motors 20 (which allows to measure both the distance and the speed of translation), or by using a distance sensor capable of to determine the distance between the walls or between the frames (for example, a distance sensor installed on the fixed wall 5 or on the fixed frame 4 that calculates the distance to the movable wall 8 or the movable frame 7).
    [0133] Using the information from the displacement detector 34 of the movable structure, the control unit 43 detects the position of the movable wall 8 with respect to the fixed wall 5, and controls the displacement device 11 to position the movable wall 8 at a distance d from fixed wall 5 determined for testing (eg determined via user interface 42).
    [0135] The system of the present invention can be used as a test bed designed to evaluate any of the following:
    [0137] - Different types of exoskeletons, such as exoskeletons for the lower part, trunk or upper part of the body of the evaluated subject.
    [0139] - Different types of tasks, such as sitting, bending or standing in a narrow space.
    [0141] - Any type of human anthropometry.
    [0143] The workspace is configured by the position of the movable wall 8 and the fixed wall 5 of the test bench, between a maximum open position (Figure 4A) and a minimum closed position (Figure 4B). Figure 7 represents an application example of the test bench, to evaluate the behavior in a workspace 36 of an exoskeleton 35 for legs (shown in more detail in Figures 8A and 8B ) carried by a human operator 38 (represented in the figures schematically as a robot) that enters from the right side of the test bench, moves through the obstacles (telescopic bars 10) arranged in the workspace 36 delimited by the walls (5, 8) and the horizontal base 9, sits with the help of the exoskeleton 35 on the test bench and performs a task facing the fixed wall 5, although the task can be performed on the movable wall and / or on the fixed wall and / or even without fixed and movable walls. To determine the time to start the tests, the detection signal of a presence sensor 37 located on each side of the fixed wall 5 can be used to detect presence at both inputs of the machine.
    [0145] The test bench is designed for the simulation of numerous scenarios and work environments. In a test example shown in Figure 7 an exoskeleton 35 is placed on the bottom of a person (operator 38) and obstacles are distributed throughout the test stage (workspace 36). The behavior of the exoskeleton 35 is measured as a function of the contacts recorded in the sensorized areas of the test scenario, and in particular as a function of the impacts detected by the load cells 13 of the sensorized panels 12 (detected in the form of traction forces and / or compression). The number and quantification of the recorded impacts reflects the degrees of freedom of movement that the exoskeleton 35 allows the person.
    [0147] System 1 has control elements that automate machine movements, monitor sensors and guarantee safety within its operating environment. An example of a machine control architecture is shown in Figure 9. A set of sensors 40 (eg, load cell 13, position sensor 23, presence sensor 37, presence detectors 33 of the perimeter security subsystem) capture information that they send to the control unit 43 (based for example on processor or microcontroller), which sends instructions to actuators 41 (eg, motors 20) based on measurements captured by sensors 40 and configuration data entered by a user through a user interface 42, such as a touch screen used to monitor and configure the machine. The configuration data may include, but is not limited to, the separation distance d between the fixed (5) and movable (8) walls to configure the workspace 36.
    [0149] The data from the load cells 13 captured by the control unit 43 can be analyzed by the control unit 43 itself or sent to a server 44 for further analysis. Server 44 may be located in the same facility (eg, at checkpoint 49) or at a remote location. In the embodiment shown in Figure 9 the main control unit 43 of the machine communicates with the server 44 which has a application whose main purpose is the management of workflows between the monitoring layers 45, web pages 46, databases 47 and cloud storage 48. The control unit 43 constantly sends data, including those of the sensors 40 , which are registered in the database 47 and are monitored in a section of the web 46. The data collected in the database 47 are used to perform the different calculations that allow obtaining biometric data depending on the type of test that is being carried out. The data that is required can be uploaded to a cloud storage 48 or to another server if necessary.
    权利要求:
    Claims (13)
    [1]
    1. System for testing exoskeletons in a controlled environment, characterized in that the system (1) comprises:
    a fixed structure (2) with a fixed frame (4) and a fixed wall (5) attached to the fixed frame (4);
    a movable structure (3) with a movable frame (7) and a movable wall (8) attached to the movable frame (7), the movable wall (8) facing the fixed wall (5);
    a displacement device (11) configured to cause the displacement of the mobile structure (3), moving the mobile wall (8) closer or further away from the fixed wall (5);
    a horizontal base (9) located under both walls (5, 8), with the walls defining a work space (36);
    at least one obstacle (10) located in the workspace (36); Y
    a control unit (43);
    where each of the walls (5, 8) is formed by at least one sensorized panel (12), each sensorized panel (12) comprising at least one load cell (13) attached to the corresponding frame and configured to measure a force ( F) compression or traction applied to the sensorized panel (12) in a direction perpendicular to the sensorized panel (12);
    and where the control unit (43) is configured to collect the measurements from the load cells (13).
    [2]
    System according to claim 1, comprising a displacement detector (34) configured to provide a signal indicative of the displacement of the mobile structure (3);
    and where the control unit (43) is configured to, using the signal provided by the displacement detector (34), control the displacement device (11) to position the movable wall (8) at a separation distance (d ) of the fixed wall (5) determined.
    [3]
    System according to any of the preceding claims, wherein the at least one obstacle comprises at least one telescopic bar (10) arranged horizontally between both walls (5, 8), the telescopic bar (10) being fixed at a first end to the fixed wall (5) and at a second end to the mobile wall (8).
    [4]
    4. System according to claim 3, wherein each sensorized panel (12) has a plurality of holes (17) made for fixing the telescopic bars (10).
    [5]
    System according to claim 3 or 4, comprising a plurality of telescopic bars (10) arranged horizontally at different heights and / or widths of the workspace (36).
    [6]
    System according to any of the preceding claims, wherein each sensorized panel (12) of the walls (5, 8) comprises at least one damping element (14) attached to the corresponding frame and that allows a cushioned movement of the sensorized panel (12 ) in a direction perpendicular to the sensorized panel (12).
    [7]
    System according to claim 6, wherein the at least one damping element (14) is configured to limit the maximum movement in compression and tension of the sensorized panel (12) in a direction perpendicular to the sensorized panel (12).
    [8]
    System according to any of claims 6 to 7, comprising a plurality of damping elements (14) located at the corners of each sensorized panel (12).
    [9]
    9. System according to any of the preceding claims, wherein the load cell (13) is attached to the frame (4, 7) in the central part of the sensorized panel (12).
    [10]
    System according to any of the preceding claims, wherein each sensorized panel (12) comprises at least one support wheel (18) arranged in the lower part of the sensorized panel (12) and configured to support the horizontal base (9) and allow the movement of the sensorized panel (12) in a direction perpendicular to the sensorized panel (12).
    [11]
    System according to any of the preceding claims, wherein the horizontal base (9) forms part of the mobile structure (3).
    [12]
    System according to any of the preceding claims, wherein the displacement device (11) comprises at least one motor (20) configured to, by activating it, produce a linear displacement of the mobile structure (3) along at least a guide rail (22).
    [13]
    System according to any of the preceding claims, wherein at least one of the walls (5, 8) comprises a plurality of sensorized panels (12) arranged in line.
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    同族专利:
    公开号 | 公开日
    ES2819323A8|2021-12-09|
    ES2819323B2|2021-12-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN106768912A|2016-11-14|2017-05-31|南京熊猫电子股份有限公司|A kind of static submissive system safety testing device of industrial robot and method|
    法律状态:
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