Hip joint exoskeleton control method and device

Abstract

The invention provides a hip joint exoskeleton control method. The hip joint exoskeleton control method comprises the following steps of acquiring a left side current rotation angle track and a left side current rotation angular velocity track of a left hip joint exoskeleton worn by a wearer, and a right side current rotation angle track and a right side current rotation angular velocity track of a right hip joint exoskeleton worn by the wearer; determining a state switching trend of the wearer according to the left side current rotation angle track, the left side current rotation angular velocity track, the right side current rotation angle track and the right side current rotation angular velocity track, wherein the state switching trend comprises stepping and standing; and according to the state switching trend, determining power-assisted torque tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton, and according to the power-assisted torque tracks, driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in corresponding state switching. According to the method, various different lower limb movement tasks can be accurately identified, corresponding lower limb assistance can be provided, and the method is suitable for being used in different scenes.

Description

technical field [0001] The present application relates to the field of exoskeleton technology, in particular to a control method and device for a hip joint exoskeleton. Background technique [0002] As the elderly grow older, their physical functions decline, and there are problems such as slow gait, small stride length, and difficulty in walking for a long time caused by insufficient lower limb muscle strength; patients with stroke and other diseases are prone to muscle atrophy, gait disorder, etc. Problems such as lower limb movement disorders require a lot of rehabilitation training to restore and maintain the basic functions of the limbs. After completing phased rehabilitation training in the hospital, they need to continue to maintain lower limb training at home in daily life to better restore lower limb movement. ability. [0003] In terms of auxiliary nursing care for the elderly, traditional manual nursing services are likely to cause dependence on the elderly, and ...

AI Technical Summary

Problems solved by technology

[0004] However, at present, the industrialization of exoskeleton products in China is slow, and there are very few hip-assisted exoskeleton robot products, and the control strategies of most hip-joint exoskeleton products cannot meet a variety of lower limb activity tasks. Limitations; In addition, the shape of the existing hip exoskeleton products cannot be adjusted, and the assisting experience is relatively blunt

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