Method and device for sensing walking gait of strength enhanced power exoskeleton

Abstract

The invention relates to a method for sensing the walking gait of a strength enhanced power exoskeleton and a sensing measuring device. The method particularly includes the specific steps that a sole pressure sensor, a knee joint encoder and a gyroscope are utilized to measure person ground touch information, joint angle change information and thigh and shank angular speed information, a method for partitioning the walking gait to five sub phases is provided according to a man-machine accompanying rule, wherein the five sub phases relates to both leg standing, left leg supporting and right leg swing, both leg supporting and right leg forward, right leg supporting and left leg swing, both leg supporting and left leg forward and the like, classification decision is conducted on the measuring information in the five gait sub phases by the adoption of a machine learning C4.5 algorithm, and then an identification method in which data are combined with the walking gait sub phases is provided. The method and the device have the advantages that walking gait classification decision is achieved by utilizing the limited measuring information on the exoskeleton, the provided man-machine accompanying gait identification method can improve real-time performance of the exoskeleton for following limb motion of a person who tries on the exoskeleton, a hydraulic control system can shrink in advance, and man-machine accompanying speed is increased.

Description

technical field [0001] The invention relates to a walking gait sensing method and device of a strength-enhanced power exoskeleton. Background technique [0002] A bottleneck problem encountered in the current research on strength-enhanced powered exoskeletons is that it is difficult for exoskeletons to follow the complex gait movement rules of humans, which leads to the obvious effect of people being constrained by exoskeleton movements, which weakens the effect of exoskeletons. The comfort of coupling movement is poor. The main reason is that there is an essential difference between the force transmission mechanism of the mechanical structure of the exoskeleton and the contraction force transmission mechanism of the human muscle chain, and the design of the exoskeleton sensor shoe is simple, which cannot be compared with the accurate recognition of human foot behavior. Especially under heavy-duty carrying conditions, people cannot adjust the balance of the center of gravit...

AI Technical Summary

Problems solved by technology

[0002] A bottleneck problem encountered in the current research on strength-enhanced powered exoskeletons is that it is difficult for exoskeletons to follow the complex gait movement rules of humans, which leads to the obvious effect of people being constrained by exoskeleton movements, which weakens the effect of exoskeletons. Poor comfort for coupled movements

The main reason is that there is an essential difference between the force transmission mechanism of the mechanical structure of the exoskeleton and the contraction force transmission mechanism of the human muscle chain, and the design of the exoskeleton sensor shoe is simple, which cannot be compared with the accurate recognition of human actions by human feet.

Especially under heavy-duty carrying conditions, people cannot adjust the balance of the center of gravity of the system through their own abilities. The accuracy of exoskeleton recognition of current human actions is low, resulting in insurmountable obstacles directly between human limbs and mechanical structures. The exoskeleton control system Instead, it becomes the resistance of people's normal movement.

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