Exoskeleton robot control method, device, exoskeleton robot and storage medium

Abstract

The embodiment of the present invention relates to a skeletal robot control method, device, exoskeleton robot and storage medium. The method includes: detecting whether the rectus femoris muscle generates an action potential; if the rectus femoris muscle generates an action potential, acquiring the The myoelectric signal of the rectus muscle within a preset time period; determine the angle to be bent of the hip joint based on the electromyography signal; control the movement of the exoskeleton of the exoskeleton robot based on the angle to be bent, and advance the action through the electromyography signal To predict the action intention corresponding to the EMG signal, assist the user to complete the lower limb movement, and improve the user experience.

Description

technical field

[0001] Embodiments of the present invention relate to the field of robots, and in particular, to an exoskeleton robot control method and device, an exoskeleton robot, and a storage medium. Background technique

[0002] With the development of science and technology, exoskeleton robots have developed by leaps and bounds in recent decades. The unique feature of exoskeleton robots is that their working space is highly overlapped with the human body, and the robot body needs to be highly coordinated with the human body. When the running speed or trajectory of the exoskeleton robot deviates from the intention of the human body, it is very easy to hinder the normal activities of the human body and even cause injury. Human-computer interaction technology based on motion intention perception has an important impact on the use of exoskeleton robots.

[0003] In related technologies, the intention recognition of exoskeleton robots usually uses various types of sensors...

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