A method for controlling a powered exoskeleton and related devices

Abstract

An embodiment of the present application discloses a method for controlling a powered exoskeleton, including: determining the user's step frequency information based on the user's historical usage information; determining the lag duration according to the user's step frequency information; calculating a lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the moment after subtracting the lag duration from the current moment; determining a resistance torque according to the lag speed; and outputting the resistance torque, where the direction of the resistance torque is opposite to the user's movement direction. Controlling the powered exoskeleton based on this method can identify the user's movement lag time and use the lag time as a calculation factor affecting the resistance torque, so that the powered exoskeleton can make corresponding controls according to the real-time movement state of the person during the resistance training process, can realize resistance training under different speeds and different movement states, and improves the usage effect of the powered exoskeleton.

Description

Technical Field

[0001] This application belongs to device control, and particularly relates to a power exoskeleton control method and related devices thereof. Background Art

[0002] A power exoskeleton is a type of intelligent mechanical device that mimics the human physiological structure, can be worn by a person, and assists the wearer in moving while moving in coordination with the wearer. The power exoskeleton can provide external force support for the human body, thereby achieving the purposes of reducing the human body load and improving the human body's motor ability. The walking assistance device has broad application prospects in medical care for the disabled.

[0003] For a power exoskeleton, its use is often to help users move. However, in actual applications, the power exoskeleton can also be used in processes such as athlete training and patient rehabilitation, that is, by providing resistance to increase the user's exercise load, thereby achieving a certain training effect.

[0004] Existing power exoskeleton control methods for training often perform the training process with a constant torque output or achieve the purpose of resistance training through gravity or elasticity, etc. In this process, the resistance is uncontrollable and the training process cannot be finely controlled. Summary of the Invention

[0005] The purpose of the present invention is to provide a power exoskeleton control method, aiming to solve the problem that the resistance of the existing power exoskeleton control method for training is uncontrollable and the training process cannot be finely controlled. The power exoskeleton control method provided by this application includes:

[0006] In the first aspect of the embodiments of this application, a power exoskeleton control method is provided, including:

[0007] Determine the user's step frequency information based on the user's historical usage information;

[0008] Determine the lag duration according to the user's step frequency information;

[0009] Calculate the lag speed according to the lag duration, where the lag speed is the speed information of the power exoskeleton corresponding to the moment after subtracting the lag duration from the current moment;

[0010] Determine the resistance torque according to the lag speed;

[0011] Output the resistance torque, and the direction of the resistance torque is opposite to the user's movement direction.

[0012] Based on the power exoskeleton control method provided in the first aspect of the embodiments of this application, optionally, the speed information is the angular velocity information or linear velocity information corresponding to a single leg.

[0013] Based on the power exoskeleton control method provided in the first aspect of the embodiments of the present application, optionally, determining the resistance torque according to the lag speed includes: calculating the resistance torque according to the following formula:

[0014] Torque(t) = A * Speed(t - ΔT)

[0015] where Torque(t) is the resistance torque, A is the adjustment coefficient, t is the current moment, ΔT is the lag duration, and Speed(t - ΔT) is the lag speed.

[0016] Based on the power exoskeleton control method provided in the first aspect of the embodiments of the present application, optionally, the numerical value of the adjustment coefficient is preset, and the lag speed is determined according to the historical usage information.

[0017] Based on the power exoskeleton control method provided in the first aspect of the embodiments of the present application, optionally, the speed information is the angular velocity difference information or the linear velocity difference information corresponding to both legs.

[0018] Based on the power exoskeleton control method provided in the first aspect of the embodiments of the present application, optionally, determining the resistance torque according to the lag speed includes: calculating the resistance torque according to the following formula:

[0019] Torque(t) = A * (SpeedL(t - ΔT) - SpeedR(t - ΔT))

[0020] where Torque(t) is the resistance torque, A is the adjustment coefficient, t is the current moment, ΔT is the lag duration, SpeedL(t - ΔT) is the lag speed corresponding to the left leg, and SpeedR(t - ΔT) is the lag speed corresponding to the right leg.

[0021] Based on the power exoskeleton control method provided in the first aspect of the embodiments of the present application, optionally, the numerical value of the adjustment coefficient is preset, and the lag speed corresponding to the left leg and the lag speed corresponding to the right leg are determined according to the historical usage information.

[0022] The second aspect of the embodiments of the present application provides a power exoskeleton control device, including:

[0023] A step frequency information determination unit, configured to determine the step frequency information of the user based on the historical usage information of the user;

[0024] A lag duration determination unit, configured to determine the lag duration according to the step frequency information of the user;

[0025] A lag speed calculation unit for calculating a lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the moment after subtracting the lag duration from the current moment;

[0026] A resistance torque determination unit for determining a resistance torque according to the lag speed;

[0027] An output unit for outputting the resistance torque, where the direction of the resistance torque is opposite to the movement direction of the user.

[0028] A third aspect of the embodiments of the present application provides a powered exoskeleton, including:

[0029] A controller configured to determine the user's step frequency information based on the user's historical usage information; determine the lag duration according to the user's step frequency information; calculate the lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the moment after subtracting the lag duration from the current moment; determine the resistance torque according to the lag speed;

[0030] A motor for outputting the resistance torque, where the direction of the resistance torque is opposite to the movement direction of the user.

[0031] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium including instructions, which when run on a computer, cause the computer to execute the method according to any one of the first aspects of the embodiments of the present application.

[0032] A fifth aspect of the embodiments of the present application provides a computer program product containing instructions, which when run on a computer, cause the computer to execute the method according to any one of the first aspects of the embodiments of the present application.

[0033] As can be seen from the above technical solutions, the embodiments of the present application have the following advantages: The present application provides a method for controlling a powered exoskeleton, including: determining the user's step frequency information based on the user's historical usage information; determining the lag duration according to the user's step frequency information; calculating the lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the moment after subtracting the lag duration from the current moment; determining the resistance torque according to the lag speed; outputting the resistance torque, where the direction of the resistance torque is opposite to the movement direction of the user. By controlling the powered exoskeleton based on this method, the movement lag time of the user is identified, and the lag time is used as a calculation factor affecting the resistance torque, so that the powered exoskeleton can make corresponding controls according to the real-time movement state of the person during the resistance training process, and can realize resistance training under different speeds and different movement states, improving the use effect of the powered exoskeleton. Description of the Drawings

[0034] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on the provided drawings. It can be understood that the accompanying drawings provided in this part are only used to better understand the solution and do not constitute a limitation to the present application.

[0035] Figure 1 It is a schematic flowchart of an embodiment of the power exoskeleton control method provided by the present application.

[0036] Figure 2 It is another schematic flowchart of an embodiment of the power exoskeleton control method provided by the present application.

[0037] Figure 3 It is a schematic structural diagram of an embodiment of the power exoskeleton control device provided by the present application.

[0038] Figure 4 It is a schematic structural diagram of an embodiment of the power exoskeleton provided by the present application. Detailed implementation manners

[0039] In order to enable those skilled in the art to better understand the solution of the present application, the following clearly and completely describes the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. At the same time, for the sake of clear and concise description, the description of well-known functions and structures is omitted below.

[0040] The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and the above accompanying drawings of the present application are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order other than that illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, product or device including a series of steps or units does not necessarily limit to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these process, method, product or device.

[0041] Power exoskeletons are a type of intelligent mechanical device that mimics the human physiological structure, can be worn by people, and assist the wearer while moving in coordination with the wearer. Power exoskeletons can provide external force support for the human body, thereby achieving the purposes of reducing the human body load and improving the human body's motor ability. The walking assistance device has broad application prospects in medical assistance for the disabled.

[0042] For power exoskeletons, their use is often to help users move. However, in actual application processes, power exoskeletons can also be used in athlete training, patient rehabilitation, etc. That is, by providing resistance, the user's exercise load is increased, thereby achieving certain training effects.

[0043] Existing control methods for power exoskeletons used in training often involve training processes with a constant torque output or achieving the purpose of resistance training through gravity or elasticity, etc. In this process, the resistance cannot be controlled, and the training process cannot be refined. To solve the above problems, this application provides a power exoskeleton control method. Specifically, please refer to Figure 1 An embodiment of the exoskeleton control method provided by this application includes: Step 101 - Step 105.

[0044] 101. Determine the user's step frequency information based on the user's historical usage information.

[0045] Specifically, determine the user's step frequency information based on the user's historical usage information. The step frequency information is used to represent the frequency of footsteps, that is, the number of times the two legs alternate within a unit time when walking. It is one of the important factors determining walking and running speeds. Usually expressed in steps / second. During the user's use of the power exoskeleton, the device can collect the user's gait information and determine the user's step frequency information through the gait information. Specifically, there are various calculation methods for the step frequency information, including:

[0046] (1) Calculate the step frequency according to the time of a complete gait, that is: Freq1 = 1 / T1; where: Freq1 is the step frequency, and T1 is the time of a complete gait (which can be understood as the duration from the left leg's step this time to the left leg's next step), that is, the device collects the time of a complete gait of the user. This time can be calculated through the intersection point of the left and right legs or through the extreme points of the angle, and the user's step frequency information is calculated through this gait time.

[0047] (2) Calculate the step frequency according to the time of half a gait, that is, Freq2 = 1 / T2, where: Freq2 is the step frequency, and T2 is the time of half a gait (which can be understood as the duration from the left leg's step this time to the right leg's step), that is, the device collects the time of half a complete gait of the user. This time can be calculated through the intersection point of the left and right legs or through the extreme points of the angle, and the user's step frequency information is calculated through this gait time.

[0048] (3) It is calculated according to the change of hip joint angle over time, and its formula is: Freq3 = A * (Angle(t) - Angle(t - 1)), where Freq3 is the walking frequency, Angle(t) is the hip joint angle at this moment, Angle(t - 1) is the hip joint angle at the previous moment, and A is the adjustment coefficient. That is, the hip joint angles corresponding to different moments are obtained through the sensor, and the walking frequency information of the user is calculated through the hip joint angle information at different moments.

[0049] Among the above three walking frequency calculation methods, Freq1 is the most accurate, but the response speed is the slowest; Freq3 is the least accurate, but the response to the change of the user's walking speed is the fastest, and the accuracy and response speed of Freq2 are at the intermediate value. In order to obtain accurate and fast-response frequency data, the data of Freq1 to Freq3 above are used for weighted calculation, and then the walking frequency information more in line with the usage requirements is obtained. Its formula is: Freq = A1 * Freq1 + A2 * Freq2 + A3 * Freq3

[0050] Where Freq is the obtained weighted walking frequency data, and A1, A2, and A3 are weighted coefficients, and their numerical values can be adjusted according to the actual situation, and specific limitations are not made here.

[0051] 102. Determine the lag duration based on the walking frequency information of the user.

[0052] Specifically, determine the lag duration based on the walking frequency information of the user. The lag duration is an influencing factor added to better meet the user's usage experience, that is, the duration when the device lags behind the user's actual movement. The specific calculation formula for the lag duration can be:

[0053] ΔT = A * Freq + B;

[0054] Among them, ΔT is the lag duration, and A and B are regression parameters. In the actual use process, experiments can be carried out in advance to obtain the best lag time corresponding to the user at different walking frequency speeds, that is, the lag time when the user has the best physical experience at different speeds. The obtained data is the lag time historical data. Based on this data for regression analysis, the numerical relationship between the usage speed of the target user and the lag time can be determined. For example, by performing a unary regression equation analysis, the specific parameter values of A and B can be obtained. In the actual implementation process, the model used to determine the lag duration needs to be determined according to the actual usage effect, and specific limitations are not made here.

[0055] 103. Calculate the lag speed based on the lag duration.

[0056] Specifically, calculate the lag speed based on the lag duration, that is, determine the corresponding lag speed under the influence of the determined lag duration, and its expression can be:

[0057] Speed(t-ΔT)

[0058] Where t is the current moment, ΔT is the lag duration, and Speed(t-ΔT) is the speed corresponding to the moment after subtracting the lag duration from the current moment. This speed is the lag speed. It can be understood that the value of this speed can be determined by the information recorded by the device. At the same time, this speed can be multiple categories of speed parameters based on different settings of the control parameters of the device, such as angular velocity parameters, angular velocity difference parameters, linear velocity parameters, or linear velocity difference parameters. Specifically, it can be determined according to the actual situation and is not limited here.

[0059] 104. Determine the resistance torque based on the lag speed.

[0060] Specifically, determine the resistance torque based on the lag speed. The determination method of the resistance torque can be:

[0061] Torque(t)=A*Speed(t-ΔT)

[0062] Where Torque(t) is the resistance torque, A is the adjustment coefficient, t is the current moment, ΔT is the lag duration, and Speed(t-ΔT) is the lag speed. In the actual implementation process, the value of A can be set according to the empirical value obtained from the preliminary experiment and is not limited here specifically.

[0063] 105. Output the resistance torque.

[0064] Specifically, output the resistance torque. The direction of the resistance torque is opposite to the movement direction of the user, thereby enabling the user to achieve the training effect.

[0065] As can be seen from the above technical solutions, the embodiments of the present application have the following advantages: The present application provides a method for controlling a powered exoskeleton, including: determining the step frequency information of a user based on the user's historical usage information; determining the lag duration according to the step frequency information of the user; calculating a lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the moment after subtracting the lag duration from the current moment; determining a resistance torque according to the lag speed; and outputting the resistance torque, where the direction of the resistance torque is opposite to the movement direction of the user. By controlling the powered exoskeleton based on this method, the lag time of the user's movement is identified, and the lag time is used as a calculation factor affecting the resistance torque, so that the powered exoskeleton can make corresponding controls according to the real-time movement state of the person during the resistance training process, can realize resistance training under different speeds and different movement states, and improves the usage effect of the powered exoskeleton.

[0066] Based on the above Figure 1 corresponding embodiment, optionally, the present application further provides a more detailed and optional embodiment, please refer to Figure 2 , an embodiment of the present application includes: Step 201 - Step 105.

[0067] 201. Obtain the hip joint angle through a sensor.

[0068] Specifically, to obtain the hip joint angle through a sensor, in the actual implementation process, the hip joint angles of both legs of the user at different times can be obtained respectively and recorded separately.

[0069] 202. Calculate the hip joint angular velocity through the hip joint angle.

[0070] Specifically, calculate the hip joint angular velocity through the hip joint angle. The formula expression of the calculation process can be:

[0071] Speed(t) = (Angle(t) - Angle(t - Δt)) / Δt

[0072] where Speed(t) is the angular velocity at the current moment, Angle(t) is the angle at the current moment, Angle(t - Δt) is the angle at the previous moment, and Δt is the time interval between the previous moment and the current moment. Calculate the hip joint angular velocities of the left and right legs at different times based on this formula for subsequent use.

[0073] 203. Calculate the step frequency according to the hip joint angle.

[0074] Specifically, to calculate the step frequency according to the hip joint angle, there are various calculation methods for the step frequency information, including:

[0075] (1) Calculate the step frequency based on the time of a complete gait, i.e., Freq1 = 1 / T1; where: Freq1 is the step frequency, and T1 is the time of a complete gait (which can be understood as the duration from the left leg's current step to the next left leg's step), that is, the device collects the time of a complete gait of the user. This time can be calculated through the intersection point of the left and right legs, or through the extreme point of the angle, and the step frequency information of the user is obtained through this gait time calculation.

[0076] (2) Calculate the step frequency based on the time of half a gait, i.e., Freq2 = 1 / T2, where: Freq2 is the step frequency, and T2 is the time of half a gait (which can be understood as the duration from the left leg's current step to the right leg's step), that is, the device collects the time of half a complete gait of the user. This time can be calculated through the intersection point of the left and right legs, or through the extreme point of the angle, and the step frequency information of the user is obtained through this gait time calculation.

[0077] (3) Calculate based on the change of the hip joint angle over time, and its formula is expressed as: Freq3 = A * (Angle(t) - Angle(t - 1)), where Freq3 is the step frequency, Angle(t) is the hip joint angle at this moment, Angle(t - 1) is the hip joint angle at the previous moment, and A is the adjustment coefficient. That is, the hip joint angles corresponding to different moments are obtained through the sensor, and the step frequency information of the user is calculated through the hip joint angle information at different moments.

[0078] Among the above three step frequency calculation methods, Freq1 is the most accurate, but the response speed is the slowest; Freq3 is the least accurate, but the response to the change of the user's walking speed is the fastest. The accuracy and response speed of Freq2 are in the middle. In order to obtain accurate and fast response frequency data, the data of Freq1 to Freq3 above are weighted and calculated, and then the step frequency information more in line with the usage requirements is obtained. Its formula is expressed as:

[0079] Freq = A1 * Freq1 + A2 * Freq2 + A3 * Freq3

[0080] Where Freq is the obtained weighted step frequency data, and A1, A2, A3 are the weighting coefficients, and their numerical values can be adjusted according to the actual situation, and are not specifically limited here.

[0081] 204. Select a suitable model according to the obtained step frequency and calculate the lag time.

[0082] Specifically, a suitable model is selected according to the obtained step frequency, and the lag time is calculated. Different models can be selected with reference to the step frequency speed. For example, it can be divided into high-speed models, medium-speed models, and low-speed models. The A and B values are different under different speeds. The corresponding model is selected according to the speed range to which the step frequency belongs. The specific model selection can be determined according to the actual situation and is not limited here.

[0083] 205. Calculate the control torque according to the angular velocity difference and the lag time.

[0084] Specifically, the control torque is calculated according to the angular velocity difference and the lag time. The formula used for the calculation is: Torque(t) = A * (SpeedL(t - ΔT) - SpeedR(t - ΔT))

[0085] Where Torque(t) is the resistance torque, A is the adjustment coefficient, t is the current time, ΔT is the lag duration, SpeedL(t - ΔT) is the lag speed corresponding to the left leg, and SpeedR(t - ΔT) is the lag speed corresponding to the right leg. The value of the adjustment coefficient is preset. The lag speed corresponding to the left leg and the lag speed corresponding to the right leg are determined based on the historical usage information. The resistance torque obtained based on the above formula is the resistance torque of one leg, and the resistance torque of the other leg is the opposite value of the resistance torque of this leg.

[0086] 206. Output the resistance torque.

[0087] Specifically, the resistance torque is output, and the direction of the resistance torque is opposite to the movement direction of the user. Thus, the user can achieve the training effect. From the above technical solutions, it can be seen that the embodiments of the present application have the following advantages: The present application provides a method for controlling a powered exoskeleton, including: determining the step frequency information of the user based on the historical usage information of the user; determining the lag duration according to the step frequency information of the user; calculating the lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the time after subtracting the lag duration from the current time; determining the resistance torque according to the lag speed; outputting the resistance torque, and the direction of the resistance torque is opposite to the movement direction of the user. By controlling the powered exoskeleton based on this method, the movement lag time of the user is recognized, and the lag time is used as a calculation factor affecting the resistance torque, so that the powered exoskeleton can make corresponding controls according to the real-time movement state of the person during the resistance training process, and can realize resistance training under different speeds and different movement states, improving the usage effect of the powered exoskeleton.

[0088] The above content describes the power exoskeleton control method provided by the present application. To support the implementation of the above embodiments, the present application also provides a power exoskeleton control device. Please refer to Figure 3 One embodiment of the power exoskeleton control device provided by the present application includes:

[0089] A step frequency information determination unit 301, configured to determine the step frequency information of a user based on the historical usage information of the user;

[0090] A lag duration determination unit 302, configured to determine the lag duration according to the step frequency information of the user;

[0091] A lag speed calculation unit 303, configured to calculate a lag speed according to the lag duration, where the lag speed is the speed information of the power exoskeleton corresponding to the moment after subtracting the lag duration from the current moment;

[0092] A resistance torque determination unit 304, configured to determine a resistance torque according to the lag speed;

[0093] An output unit 305, configured to output the resistance torque, and the direction of the resistance torque is opposite to the movement direction of the user.

[0094] In this embodiment, the processes executed by the units in the power exoskeleton control device are similar to the method processes described in the foregoing Figure 1 or Figure 2 corresponding embodiments, and will not be elaborated here.

[0095] Figure 4 FIG. is a schematic structural diagram of a power exoskeleton device provided by an embodiment of the present application. The power exoskeleton device 400 includes:

[0096] The controller 401 can be implemented with a processing circuit (such as hardware including logic circuits), a hardware / software combination (such as a processor executing software), or a combination thereof and a memory. For example, the processing circuit may more specifically include, but is not limited to: a central processing unit (CPU), an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit, a microprocessor, an application specific integrated circuit (ASIC), etc. The controller is configured to execute the above Figure 1 or Figure 2 corresponding method processes, that is, configured to determine the step frequency information of a user based on the historical usage information of the user; determine the lag duration according to the step frequency information of the user; calculate the lag speed according to the lag duration, where the lag speed is the speed information of the power exoskeleton corresponding to the moment after subtracting the lag duration from the current moment; determine the resistance torque according to the lag speed.

[0097] The motor 402 is configured to output the resistance torque, and the direction of the resistance torque is opposite to the movement direction of the user.

[0098] Optionally, the powered exoskeleton device 400 further includes a power supply 403 and a memory 404, and one or more application programs or data are stored in the memory 404. Among them, the memory 404 can be volatile storage or persistent storage. The program stored in the memory 404 may include one or more modules, and each module may include a series of instruction operations. Further, the central processing unit 401 may be configured to communicate with the memory 404 and execute a series of instruction operations in the memory 404.

[0099] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the equivalent transformation of circuits and the division of units are only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.

[0100] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0101] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit exists physically alone, or two or more units are integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0102] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, or improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a powered exoskeleton, characterized in that including: determining the user's step frequency information based on the user's historical usage information; determining the lag duration according to the user's step frequency information; calculating the lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the moment after subtracting the lag duration from the current moment; determining the resistance torque according to the lag speed; outputting the resistance torque, and the direction of the resistance torque is opposite to the user's movement direction; the speed information is the angular velocity information or linear velocity information corresponding to one-sided legs; the determining the resistance torque according to the lag speed includes: calculating the resistance torque according to the following formula: Torque(t)=A*Speed(t-ΔT) where Torque(t) is the resistance torque, A is the adjustment coefficient, t is the current moment, ΔT is the lag duration, and Speed(t-ΔT) is the lag speed.

2. The power exoskeleton control method according to claim 1, wherein the numerical value of the adjustment coefficient is preset, and the lag speed is determined and obtained based on the historical usage information.

3. A powered exoskeleton control method, characterized in that, including: determining the user's step frequency information based on the user's historical usage information; determining the lag duration according to the user's step frequency information; calculating the lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the moment after subtracting the lag duration from the current moment; determining the resistance torque according to the lag speed; outputting the resistance torque, and the direction of the resistance torque is opposite to the user's movement direction; the speed information is the angular velocity difference information or linear velocity difference information corresponding to both legs; the determining the resistance torque according to the lag speed includes: calculating the resistance torque according to the following formula: Torque(t)=A*(SpeedL(t-ΔT)-SpeedR(t-ΔT)) where Torque(t) is the resistance torque, A is the adjustment coefficient, t is the current moment, ΔT is the lag duration, SpeedL(t-ΔT) is the lag speed corresponding to the left leg, and SpeedR(t-ΔT) is the lag speed corresponding to the right leg.

4. The power exoskeleton control method according to claim 3, wherein the numerical value of the adjustment coefficient is preset, and the lag speed corresponding to the left leg and the lag speed corresponding to the right leg are determined and obtained based on the historical usage information.

5. A powered exoskeleton control device, characterized in that, including: a step frequency information determination unit for determining the user's step frequency information based on the user's historical usage information; a lag duration determination unit for determining the lag duration according to the user's step frequency information; a lag speed calculation unit for calculating the lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the moment after subtracting the lag duration from the current moment; a resistance torque determination unit for determining the resistance torque according to the lag speed; an output unit for outputting the resistance torque, and the direction of the resistance torque is opposite to the user's movement direction; the speed information is the angular velocity information or linear velocity information corresponding to one-sided legs; the resistance torque determination unit is specifically used for: calculating the resistance torque according to the following formula: Torque(t)=A*Speed(t-ΔT) Wherein, Torque(t) is the resistance torque, A is the adjustment coefficient, t is the current time, ΔT is the lag duration, and Speed(t - ΔT) is the lag speed.

6. A powered exoskeleton control device, characterized in that, Comprising: A step frequency information determination unit, configured to determine the step frequency information of the user based on the user's historical usage information; A lag duration determination unit, configured to determine the lag duration according to the step frequency information of the user; A lag speed calculation unit, configured to calculate the lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the time after subtracting the lag duration from the current time; A resistance torque determination unit, configured to determine the resistance torque according to the lag speed; An output unit, configured to output the resistance torque, and the direction of the resistance torque is opposite to the movement direction of the user; The speed information is the angular velocity difference information or linear velocity difference information corresponding to both legs; The resistance torque determination unit is specifically configured to: calculate the resistance torque according to the following formula: Torque(t) = A * (SpeedL(t - ΔT) - SpeedR(t - ΔT)) Wherein, Torque(t) is the resistance torque, A is the adjustment coefficient, t is the current time, ΔT is the lag duration, SpeedL(t - ΔT) is the lag speed corresponding to the left leg, and SpeedR(t - ΔT) is the lag speed corresponding to the right leg.

7. A powered exoskeleton, characterized in that, Comprising: A controller, configured to determine the step frequency information of the user based on the user's historical usage information; determine the lag duration according to the step frequency information of the user; calculate the lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the time after subtracting the lag duration from the current time; determine the resistance torque according to the lag speed; the speed information is the angular velocity information or linear velocity information corresponding to a single leg; the resistance torque determination unit is specifically configured to: calculate the resistance torque according to the following formula: Torque(t) = A * Speed(t - ΔT), wherein, Torque(t) is the resistance torque, A is the adjustment coefficient, t is the current time, ΔT is the lag duration, and Speed(t - ΔT) is the lag speed; A motor, configured to output the resistance torque, and the direction of the resistance torque is opposite to the movement direction of the user.

8. A powered exoskeleton, characterized in that, Comprising: A controller, configured to determine the user's step frequency information based on the user's historical usage information; determine the lag duration according to the user's step frequency information; calculate a lag speed according to the lag duration, where the lag speed is the speed information of the powered exoskeleton corresponding to the moment after subtracting the lag duration from the current moment; determine a resistance torque according to the lag speed; the speed information is the angular velocity information or linear velocity information corresponding to a single leg; the speed information is the angular velocity difference information or linear velocity difference information corresponding to both legs; the resistance torque determination unit is specifically configured to calculate the resistance torque according to the following formula: Torque(t) = A * (SpeedL(t - ΔT) - SpeedR(t - ΔT)), where Torque(t) is the resistance torque, A is an adjustment coefficient, t is the current moment, ΔT is the lag duration, SpeedL(t - ΔT) is the lag speed corresponding to the left leg, and SpeedR(t - ΔT) is the lag speed corresponding to the right leg; A motor, configured to output the resistance torque, and the direction of the resistance torque is opposite to the user's movement direction.

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