Gait discrimination method, device and system for carrying exoskeleton

An exoskeleton and gait technology, applied in the computer field, can solve the problem of inability to distinguish squatting and squatting gait, and achieve the effect of accurate judgment.

Active Publication Date: 2021-12-03
BEIJING MECHANICAL EQUIP INST
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  • Claims
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Problems solved by technology

[0003] In order to solve the problem that the traditional plantar pressure discrimination method cannot discriminate the defects of squatting and squatting gait, this application provides a method, device and system for discriminating exoskeleton gait based on thigh strap interaction. The technical scheme is as follows:

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  • Gait discrimination method, device and system for carrying exoskeleton
  • Gait discrimination method, device and system for carrying exoskeleton
  • Gait discrimination method, device and system for carrying exoskeleton

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[0045] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with some aspects of the invention as recited in the appended claims.

[0046] In order to realize gait determination for squatting and squatting up, the present application provides a gait determination system for a carrying exoskeleton, the system comprising: a processor and a predetermined strap in front of the left leg electrically connected to the processor A band sensor, a band sensor is scheduled behind the left leg, a band sensor is scheduled in front of the right...

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Abstract

The application discloses a method, device and system for discriminating gait of a transporting exoskeleton, belonging to the field of computer technology. The method includes obtaining a predetermined number of samples collected in the initial standing state, and each sample includes four parameters, which are the combined pressure of a predetermined strap sensor in front of the left leg, the combined pressure of a predetermined strap sensor behind the left leg, Predetermine the combined pressure of a strap sensor in front of the right leg and the combined pressure of a predetermined strap sensor behind the right leg; calculate the mean values ​​of the four parameters in a predetermined number of samples; obtain a set of data collected in the current initial standing state; according to The collected data and the average value of the four parameters are used to discriminate the gait. This application binds multiple sensors on the front and back sides of the legs to know the pressure when the legs are squatting and squatting up, and judges the gait according to the sample data, which solves the problem that the traditional plantar pressure discrimination method cannot Identify the defects of squatting and squatting gait, and realize the accurate judgment of gait.

Description

technical field [0001] The invention belongs to the field of computer technology, and relates to a method, device and system for gait discrimination of carrying exoskeletons based on the interaction of thigh straps. Background technique [0002] Although the traditional gait discrimination method based on plantar pressure can discriminate the gait of a conventional exoskeleton robot through multiple pressure sensors on the sole of the foot, for the whole-body exoskeleton used for transportation, only the plantar pressure cannot distinguish the gait of a conventional exoskeleton robot. The squatting and squatting start stances caused the failure of gait recognition. SUMMARY OF THE INVENTION [0003] In order to solve the problem that the traditional plantar pressure discrimination method cannot discriminate the squatting and squatting start states, the present application provides a method, device and system for discriminating the gait of a carrying exoskeleton based on the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16A61B5/00A61B5/11
CPCA61B5/112A61B5/6828A61B5/6831B25J9/0006B25J9/16B25J9/1602B25J9/1694
Inventor 吴庆勋王道臣常远李冠呈崔翔
Owner BEIJING MECHANICAL EQUIP INST
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