Lower limb exoskeleton gait planning method, computer readable storage medium and device

Abstract

The invention discloses a lower limb exoskeleton gait planning method, a computer readable storage medium and a device. The lower limb exoskeleton gait planning method comprises the following steps: obtaining lower limb pose information and lower limb form information; obtaining a first kinematics model according to the lower limb pose information and the lower limb form information; optimizing initial parameters of a Bezier curve according to the first kinematics model, a movement speed, a movement period, an optimization constraint condition and an optimization objective function to obtain an optimal solution of Bezier curve parameters, and obtaining a gait set according to the optimal solution of the Bezier curve parameters; obtaining a gait library according to the movement speed, themovement period and the gait set; and performing gait calling processing on the gait library according to the uninjured-side motion parameters to obtain an affected-side gait set. By pre-establishingthe offline gait library, a lower limb exoskeleton robot can quickly call the gait set according to the uninjured-side motion parameters of a patient so as to plan an affected-side lower limb motion trail at the corresponding speed and in the corresponding period in real time.

Description

technical field [0001] The present application relates to the field of medical auxiliary equipment, in particular to a lower limb exoskeleton gait planning method, computer-readable storage medium and equipment. Background technique [0002] In related technologies, lower limb rehabilitation training is performed on stroke patients through lower limb exoskeleton robots, so that stroke patients can develop a correct walking pattern. [0003] However, the general lower extremity exoskeleton assistance method only assists according to a fixed trajectory, cannot achieve real-time correction, intelligent assistance, and only plans the trajectory of some joints separately, and cannot achieve joint movement of the three joints of the hip, knee and ankle. Contents of the invention [0004] This application aims to solve at least one of the technical problems existing in the prior art. To this end, this application proposes a lower limb exoskeleton gait planning method and compute...

AI Technical Summary

Problems solved by technology

[0003] However, the general lower extremity exoskeleton assistance method only assists according to a fixed trajectory, cannot achieve real-time correction, intelligent assistance, and only plans the trajectory of some joints separately, and cannot achieve joint movement of the three joints of the hip, knee and ankle

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