A method for planning stair-climbing torque based on multi-
pose information fusion first acquires the
pose information of the lower limbs when
climbing stairs through a
pose sensor. Then, based on the pose information of the lower limbs, the motion information of the human lower limbs when
climbing stairs is obtained. Next, kinematic calculations are performed on the entire
lower limb pose data to obtain the motion information of the human lower limbs, and then the
human motion trajectory is obtained. The
vertical velocity of the
ankle joint is used as the discrimination criterion. When the velocity is greater than a predetermined threshold, an assist phase torque is output and the device outputs torque to follow the
human body according to the interactive force data. When the velocity is less than the predetermined threshold, a follow-up phase torque is used and no assist phase torque is output. Finally, the
motion controller MCU outputs torque and the
knee joint motor executes it. This invention patent utilizes the
ankle joint, which has good periodicity and strong
noise resistance, to recognize the motion state and improve the stability of state identification. By filtering the human-computer interaction force and the output torque, the accuracy of torque is improved while optimizing the user comfort of the
exoskeleton wearer.