Intelligent exoskeleton system with gait fitness detection

Abstract

This invention relates to a smart exoskeleton system with gait fitness detection, comprising a smart wearable exoskeleton, a 3D depth vision camera, and a central control computing core. The smart wearable exoskeleton has a power-driven joint and a foot pressure sensing module to provide auxiliary torque to a user during walking and to obtain a pressure center displacement trajectory of the user during walking. The 3D depth vision camera captures a visual image of the user walking. The central control computing core obtains the visual image and the pressure center displacement trajectory, calculates a dynamic center of gravity sway area, generates an active energy enhancement compensation, and transmits the active energy enhancement compensation to the smart wearable exoskeleton to dynamically control the output torque of one of the power-driven joints.

Claims

1. A smart exoskeleton system with gait fitness detection for use by a user, comprising: A smart wearable exoskeleton includes a powered joint and a foot pressure sensing module. The powered joint is worn on one of the user's lower limb joints to provide auxiliary torque during walking. The foot pressure sensing module is located on the sole of the user's foot and is used to capture the displacement trajectory of the pressure center during walking. A 3D depth vision camera is aimed at the user and captures a visual image. A central control computing core is connected to the smart wearable exoskeleton and the 3D depth vision camera. The central control computing core acquires the visual image and the displacement trajectory of the pressure center, calculates a dynamic center of gravity sway area, generates an active power compensation based on it, and transmits the active power compensation to the smart wearable exoskeleton to dynamically control the output torque of one of the powered joints.

2. The smart exoskeleton system as described in claim 1, further comprising a ceiling-mounted track, a dynamic trolley, and a fall arrest webbing, wherein the smart wearable exoskeleton further comprises a multi-point decompression safety vest; wherein the multi-point decompression safety vest is worn by the user; the ceiling-mounted track is fixed to the ceiling of one of the training areas and has a setting direction in the same direction as the user's walking direction; the dynamic trolley is slidably disposed within the ceiling-mounted track, and is signal-connected to the central control computing core and configured to move synchronously with the user; the fall arrest webbing connects the dynamic trolley and the multi-point decompression safety vest, and the fall arrest webbing is provided with a tension sensor that measures the force value of the fall arrest webbing, the tension sensor signal being connected to the central control computing core.

3. The smart exoskeleton system as claimed in claim 2, wherein when a sensing value of the tension sensor exceeds a threshold, the active power compensation increases the output value of the output torque.

4. The intelligent exoskeleton system as described in claim 3, wherein the central control computing core locks the dynamic trolley, fixing the dynamic trolley to the ceiling-mounted track.

5. The intelligent exoskeleton system as claimed in claim 1, wherein when the dynamic center of gravity sway area exceeds a preset safety envelope, the active power compensation is an output value that increases the output torque.

6. The smart exoskeleton system as claimed in claim 1, further comprising a remote control terminal wirelessly connected to the central control computing core.

7. The smart exoskeleton system as claimed in claim 1, wherein the visual image has a skeletal joint feature of the user walking, and the central control computing core is configured to calculate a gait parameter based on the skeletal joint feature, and when the gait parameter does not conform to a preset stable walking norm, the central control computing core immediately outputs a control command to the smart wearable exoskeleton to regulate the output torque of the power-driven joint.

8. The smart exoskeleton system as claimed in claim 1, further comprising a display screen.

9. The smart exoskeleton system as claimed in claim 8, wherein the visual image has a skeletal joint feature of the user walking, the central control computing core is configured to calculate a healthy gait trajectory based on the skeletal joint feature, generate a control command accordingly, and transmit the control command to the smart wearable exoskeleton to dynamically control the output torque of the power-driven joint.

10. The intelligent exoskeleton system as claimed in claim 9, wherein the display screen displays the visual image in real time.

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