Walking control method and system, exoskeleton robot and terminal

Abstract

The invention provides a walking control method and system, an exoskeleton robot and a terminal. The walking control method comprises the steps that motion information of movable joints of the exoskeleton robot is obtained, and according to the motion information, a motion intention is determined; according to the motion intention, corresponding walking control parameters are determined, and through the walking control parameters, the exoskeleton robot is controlled to walk. Through the technical scheme, through obtaining of the motion information of the movable joints of the exoskeleton robot, accurate identifying of the motion intention of a wearer can be achieved, an extra sensing device is not needed, the wearing and takeoff process of the exoskeleton robot is simple, meanwhile, the motion of a user is not disturbed, and on the basis of ensuring user motion intention accurate identifying, usability and safety of the exoskeleton robot is ensured.

Description

technical field [0001] The present invention relates to the technical field of exoskeleton robot control, in particular, to a walking aid control method, a walking aid control system, an exoskeleton robot, a terminal, a computer device and a computer readable storage medium. Background technique [0002] Generally speaking, for exoskeleton walking aids with motion intention recognition, motion intention recognition is mainly based on changes in EEG signals and muscle electrical signals. These two active recognition methods have the following disadvantages: [0003] The collection of EEG signals needs to be equipped with matching electrode caps and other complex wearable equipment, which is not only expensive, but also causes inconvenience to the wearer during the actual exercise process. [0004] The collection of EMG signals requires the EMG sensor to be closely attached to the skin. During the wearing process, the user’s muscles will be tense, which will cause differences...

AI Technical Summary

Problems solved by technology

[0003] The collection of EEG signals needs to be equipped with matching electrode caps and other complex equipment, which is not only expensive, but also causes inconvenience to the wearer during the actual exercise process.

[0004] The collection of EMG signals requires the EMG sensor to be closely attached to the skin. During the wearing process, the user’s muscles will be tense, which will cause differences in muscle signals and introduce noise signals, greatly reducing the accuracy of motion intention recognition and exoskeleton. Safety in the use of robots

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