A kind of assisting exoskeleton control method, control system and computer equipment

Abstract

The invention discloses a power-assisted exoskeleton control method, control system and computer equipment. By detecting and recording the real-time joint angles of each time node of the exoskeleton wearer, the change angle is calculated according to the recorded joint angle; the change angle is generated according to the change angle. Auxiliary torque value; output torque command in real time according to the auxiliary torque value; drive corresponding joints according to the torque command. The present invention adopts the torque control method without pattern recognition, does not need to carry out links such as human body intention recognition, scene classification, gait planning, etc., avoids potential unsafe factors caused by false recognition such as intention recognition and scene classification, and the sensor is easy to use, Only the movement angle of the joint needs to be measured, the measurement and control system has good reliability, and the amount of information processing is small, which avoids the use of consumables such as pressure insoles and saves costs.

Description

Technical field [0001] The present invention relates to the field of wearable robots, and more particularly to a booster control method, a control system, and a computer device. Background technique [0002] With the extent of social aging, the daily-to-day service robots used in the elderly have received more and more applications. Among them, wearable booster devices provide assistance to wearer's limbs by wearing a robotic device outside the body to assist in daily life more conveniently. In addition, due to the disease factors such as hemiplegia, stroke cause an action barrier, in the rehabilitation process, it also needs to be trained in such automated auxiliary equipment. [0003] At present, the exogenous skeleton technology and related products are less intelligent, and it is difficult to adapt to complex daily live scenes. If there are many scenarios such as irregular gait or upper and lower stairs, the outer bones still need to manually participate in regulation, affect...

AI Technical Summary

Problems solved by technology

[0008] The present invention provides a power-assisted exoskeleton control method, control system and computer equipment to solve the problems in the prior art that the use of exoskeletons requires scene distinction, insufficient recognition of gait events, and poor wearing experience

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