A motion perception and assistance system and control method

Abstract

The present invention discloses a motion sensing and power-assistance system and control method. The motion sensing and power-assistance system includes a sensing system, a power system, a communication module, and a computing unit. The sensing system is used to detect the wearer's motion parameters through sensors. The sensors include a limb measurement unit fixed to the wearer's limbs and / or a joint angle sensor arranged near the wearer's hip joint. The computing unit is used to perform a combined operation on the motion parameters of the current cycle and / or the previous cycle to obtain a motion intention M. When the motion intention reaches or exceeds a preset threshold, the computing unit controls the power system to generate a corresponding force T to be applied to the wearer. This system and method can reduce the error of power-assistance caused by the power-assistance device's inability to correctly perceive the user's motion intention.

Description

Technical Field

[0001] The present invention relates to the technical field of wearable exoskeletons, and in particular to a motion sensing and power assistance system and a control method. Background Art

[0002] As society develops, economic and medical conditions gradually improve, and the problem of an aging population becomes increasingly prominent. As people age, their physical functions gradually decline, reducing their mobility. Diseases like stroke and Parkinson's disease, in particular, severely impact mobility.

[0003] By assisting the hip joint, human mobility can be improved, enhancing quality of life. In existing exoskeleton technologies, many control methods employ a fixed arrangement of sensors and power systems, detecting limb movement and then providing assistance. However, for people with reduced mobility, their ability to control their bodies is weakened, making it difficult for sensors to detect movement. Furthermore, it can be difficult to control the body to stop after receiving auxiliary power. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide a motion sensing and power assistance system and control method that can be used safely and stably by users with limited mobility.

[0005] To achieve the above-mentioned objectives, a first aspect of an embodiment of the present invention provides a motion sensing and power assistance system, comprising a sensing system, a power system, a communication module, and a computing unit;

[0006] The sensing system is used to detect motion parameters of the wearer through sensors; the sensors include a limb measurement unit fixed to the wearer's limbs and / or a joint angle sensor arranged near the wearer's hip joint; the motion parameters include limb motion parameters and / or hip joint motion parameters;

[0007] The power system includes an upper body frame, a hip joint component, and a lower limb frame; the upper body frame is fixed to the wearer's upper body; the hip joint components are arranged on the left and right sides of the upper body frame and are rotatably connected to the lower limb frame; the lower limb frame is arranged on the wearer's leg; at least one of the hip joint components includes a power unit to drive the lower limb frame to output torque or rotational motion relative to the upper body frame;

[0008] The communication module includes a first communication module provided in the sensor system and a second communication module provided in the power system, wherein the first communication module and the second communication module communicate via wired and / or wireless signals to send the motion parameters to the computing unit and issue control instructions to the power system;

[0009] The operation unit is used to perform combined operations on the motion parameters of the current cycle and / or before the current cycle to obtain the motion intention M; when the motion intention reaches or exceeds a preset threshold, the operation unit controls the power system to generate corresponding assistance T to be applied to the wearer.

[0010] A second aspect of an embodiment of the present invention provides a control method for the motion sensing and power assist system as described above, including:

[0011] The sensing system uses sensors to detect inertial sensing data and / or joint angle data of the wearer;

[0012] Extracting motion parameters from the inertial sensor data and / or joint angle data to obtain limb motion parameters and / or hip joint motion parameters;

[0013] Performing a combined operation on the motion parameters of the current cycle and / or the previous cycle to obtain the motion intention M;

[0014] When the movement intention M reaches or exceeds a preset threshold, the power system is controlled to generate corresponding assistance T to be applied to the wearer.

[0015] The beneficial effect of the present invention compared with the prior art is that the system and method can reduce the erroneous assistance caused by the inability of the power-assisting device to correctly perceive the user's exercise intention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a schematic diagram of an embodiment of a power-assisting device of the present invention;

[0018] Figure 2a This is a schematic diagram of an embodiment of a sensing system of the present invention;

[0019] Figure 2b This is a schematic diagram of an embodiment of a sensing system of the present invention;

[0020] Figure 2c This is a schematic diagram of an embodiment of a sensing system of the present invention;

[0021] Figure 2d This is a schematic diagram of an embodiment of a sensing system of the present invention;

[0022] Figure 2e This is a schematic diagram of an embodiment of a sensing system of the present invention;

[0023] Figure 2f This is a schematic diagram of an embodiment of a sensing system of the present invention;

[0024] Figure 2g This is a schematic diagram of an embodiment of a sensing system of the present invention;

[0025] Figure 3 It is a front view schematic diagram of a power system embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of an embodiment of a power-assisting device of the present invention;

[0027] Figure 5 This is a schematic diagram of an embodiment of a control method of the present invention;

[0028] Figure 6 A schematic diagram of an embodiment of a method for calculating movement intention according to the present invention;

[0029] Figure 7a This is a schematic diagram of an embodiment of the present invention showing how the power assist (torque) output changes over time;

[0030] Figure 7b This is a schematic diagram of an embodiment of the present invention showing how the power assist (torque) output changes over time;

[0031] Figure 7c This is a schematic diagram of an embodiment of the present invention showing how the power assist (torque) output changes over time;

[0032] Figure 8 This is a schematic diagram of a wearable embodiment of a control method of the present invention;

[0033] Figure 9 This is a schematic diagram of a control method embodiment of the present invention;

[0034] The reference numerals are as follows:

[0035] 1—sensing system; 11—sensing system strap; 12—joint angle sensor; 13—inertial measurement unit; 14—first communication module; 121—upper arm; 122—lower arm;

[0036] 2—power system; 21—power system straps; 22—upper body frame; 23—hip joint component; 24—lower limb frame; 25—computing unit; 26—second communication module; 231—power unit;

[0037] 3—Assisting equipment; 31—Equipment system communication module;

[0038] 4—Control method; 41—Sensor system data; 42—Motion parameter extraction module; 43—Motion intention calculation module; 44—Motion frequency calculation module; 45—Motion intention threshold comparison; 46—Assist duration adjustment module; 47—Response delay module; 48—Assist calculation module; 49—Control command; 491—Driven leg assist (torque) T; 492—Active leg assist (torque) T';

[0039] 51—active agent; 52—slave agent; 53—slave motion intention calculation module; 54—slave power assistance calculation module. DETAILED DESCRIPTION

[0040] The following will be combined with the accompanying drawings of the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. Similar component numbers in the drawings represent similar components. Obviously, the embodiments described below are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0042] It should also be understood that the terms used in this description of the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present invention. As used in the description of the embodiments of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0043] The embodiment of the present invention provides a motion sensing and power assistance system, such as Figure 1 As shown, it can be set on the power-assisting device. The motion sensing and power-assisting system includes a sensor system 1 (combined with Figure 2a As shown), power system 2 (combined Figure 3 As shown), communication module and computing unit 25.

[0044] The sensing system 1 is used to detect the wearer's motion parameters through sensors; the sensors include a limb measurement unit fixed to the wearer's limb and / or a joint angle sensor 12 arranged near the wearer's hip joint; the motion parameters include limb motion parameters and / or hip joint motion parameters;

[0045] The power system 2 includes an upper body frame 22, a hip joint component 23, and a lower limb frame 24; the upper body frame 22 is fixed to the wearer's upper body; the hip joint components 23 are arranged on the left and right sides of the upper body frame 22, and the hip joint components 23 are rotatably connected to the lower limb frame 24; the lower limb frame 24 is arranged on the wearer's leg; at least one side of the hip joint component 23 includes a power unit 231 to drive the lower limb frame 24 to output torque or rotational motion relative to the upper body frame 22;

[0046] The communication module includes a first communication module 14 provided in the sensor system 1 and a second communication module 26 provided in the power system 2. The first communication module 14 and the second communication module 26 communicate via wired and / or wireless signals to send the motion parameters to the computing unit 25 and issue control instructions to the power system 2.

[0047] The operation unit 25 is used to perform combined operations on the motion parameters of the current cycle and / or before the current cycle to obtain the motion intention M; when the motion intention reaches or exceeds a preset threshold, the operation unit 25 controls the power system 2 to generate corresponding assistance T to be applied to the wearer.

[0048] The limb motion parameters include but are not limited to limb inclination, limb velocity and limb acceleration, and the hip joint motion parameters include but are not limited to hip joint angle, hip joint angular velocity and hip joint angular acceleration.

[0049] The joint angle sensor 12 includes an upper arm 121 fixed to the wearer's upper body and a lower arm 122 fixed to the wearer's lower limbs. The upper arm 121 is separately provided with the upper body frame 22 of the power system 2 or is integrated with the upper body frame 22. The lower arm 122 is separately provided with the lower limb frame 24 of the power system 2 or is integrated with the lower limb frame 24. In an embodiment of the present invention, the upper arm 121 of the joint angle sensor 12 can be separately provided with the upper body frame 22 or can be integrated with it. The lower arm 122 of the joint angle sensor 12 can be separately provided with the lower limb frame 24 or can be integrated with it. In a specific implementation, the number of the joint angle sensors 12 can be 0, or the number of the joint angle sensors 12 can be 1 and be provided at one hip joint of the wearer, or the number of the joint angle sensors 12 can be 2 and be provided at the left and right hip joints of the wearer, respectively.

[0050] The limb measurement unit includes a sensor system strap 11, an inertial measurement unit 13 mounted on the sensor system strap 11, and a first communication module 14. The sensor system strap 11 is secured to the wearer's waist, upper torso, arm, thigh, or calf. In this case, the limb measurement unit, as a whole, can be worn on various body parts as needed. In specific implementations, the number of limb measurement units can be zero, one, or multiple. However, the number of limb measurement units and the number of joint angle sensors 12 cannot both be zero. The sensor system allows for flexible selection of sensor combinations and placement. Figure 2a-2g Each is a schematic diagram of an embodiment of a sensing system.

[0051] like Figure 2a As shown, the sensing system 1 includes a limb measurement unit and two joint angle sensors 12. The limb measurement unit comprises a sensor system strap 11 worn at the waist, an inertial measurement unit 13 and a first communication module 14 mounted on the sensor system strap 11. The upper arm 121 of the joint angle sensor 12 is secured to the wearer's upper body, specifically by the sensor system strap 11 worn at the waist; and the lower arm 122 of the joint angle sensor is secured to the wearer's thigh, specifically by the sensor system strap 11 worn at the thigh. This allows the inertial measurement unit 13 to obtain upper body motion data, and the joint angle sensor 12 to obtain hip joint motion data.

[0052] like Figure 2b As shown, the sensing system 1 can only use the joint angle sensor 12, cancel the inertial measurement unit 13 set on the waist sensor system strap 11, and the rest of the sensor system can be used with the joint angle sensor 12. Figure 2a The same as shown.

[0053] like Figure 2c As shown, if necessary, the joint angle sensor 12 can also be arranged only on one side of the wearer.

[0054] like Figure 2d As shown, the sensor system strap 11, the inertial measurement unit 13, and the first communication module 14 are combined as a limb measurement unit and worn on the upper body. Preferably, the wearing position is higher to better measure the motion parameters of the upper body.

[0055] like Figure 2e As shown, the sensor system strap 11, the inertial measurement unit 13, and the first communication module 14 are combined as a limb measurement unit, which is worn on the arm to measure the motion parameters of the arm.

[0056] like Figure 2fAs shown, the sensor system strap 11, the inertial measurement unit 13, and the first communication module 14 are combined as a limb measurement unit, which is worn on the thigh to measure the movement parameters of the thigh.

[0057] like Figure 2g As shown, the sensor system strap 11, the inertial measurement unit 13, and the first communication module 14 are combined as a limb measurement unit, which is worn on the calf to measure the movement parameters of the calf.

[0058] Multiple limb measurement units can be worn and can coexist with the joint angle sensor 12 to obtain more wearer's motion parameters.

[0059] Specifically, if Figure 3 As shown, the upper body frame 22 is a C-shaped structure, extending from the wearer's lower back to both hips, and is pivotally connected to the lower limb frame 24 via the hip joint components 23. The upper body frame 22 can be secured to the wearer's waist via a power system strap 21 at the waist, while the lower limb frame 24 can be secured to the wearer's thighs via power system straps 21 at the legs. The second communication module 26 can be located on the back of the upper body frame 22.

[0060] The power unit 231 can drive the lower limb frame 24 to output torque to the upper body frame 22 or generate relative rotational motion under the control of the control method executed by the computing unit 25 .

[0061] The computing unit 25 can be installed on the sensor system 1 or the power system 2. For example, the computing unit 25 can be placed on the back portion of the upper body frame 22. The motion sensing and power assist system also includes a device system communication module 31, which enables communication with different devices.

[0062] The motion sensing and power assist system can be set as follows Figure 1 The power assist device 3 shown in FIG. Figure 2a The sensor system 1 shown is Figure 3 The power system 2 shown is combined, specifically including an inertial measurement unit 13, a joint angle sensor 12, a power system strap 21, an upper body frame 22, a hip joint component 23, a power unit 231, a lower limb frame 24, a computing unit 25, and an equipment system communication module 31; wherein, the upper body frame 22 also serves as the upper arm 121 of the joint angle sensor 12, and the lower limb frame 24 also serves as the lower arm 122 of the joint angle sensor 12.

[0063] The sensor system 1 and the power system 2 are respectively worn by different wearers. Alternatively, the sensor system 1 and the power system 2 are worn by the same wearer. When only one of the hip joint components 23 includes the power unit 231, the leg including the power unit 231 is designated as the slave leg, and the other leg is designated as the active leg. When both hip joint components 23 are provided with the power unit 231, the slave leg is designated as either the left or right leg, and the other leg is designated as the active leg.

[0064] Figure 4 A simplified power assist device is presented, in some embodiments, Figure 1 The power assist device shown is simplified by removing the inertial measurement unit 13, the joint angle sensor 12 of the driven leg, and the power unit 231 of the active leg, and simplifying the lower limb frame 24 of the active leg into a hip joint lower arm 122.

[0065] The present invention provides a control method for the motion sensing and power assist system as described above, which includes:

[0066] The sensing system uses sensors to detect inertial sensing data and / or joint angle data of the wearer;

[0067] Extracting motion parameters from the inertial sensor data and / or joint angle data to obtain limb motion parameters and / or hip joint motion parameters;

[0068] Performing a combined operation on the motion parameters of the current cycle and / or the previous cycle to obtain the motion intention M;

[0069] When the movement intention M reaches or exceeds a preset threshold, the power system is controlled to generate corresponding assistance T to be applied to the wearer.

[0070] The control method 4 of the present invention is as follows: Figure 5 As shown, the sensor system data 41 includes the joint angle data obtained by the joint angle sensor 12 and / or the inertial sensor data obtained by the inertial measurement unit 13; the motion parameter extraction module 42 extracts the joint angle data into joint angle, joint angular velocity, and joint angular acceleration data, and extracts the inertial sensor data into limb (angular) acceleration, limb (angular) velocity, and limb inclination data; as shown Figure 6 As shown, the motion intention calculation module 43 performs a combined operation based on the extracted motion parameters to obtain the motion intention M, and compares the motion intention M with a preset threshold (i.e., the preset motion intention threshold) through the motion intention threshold comparison (module) 45. When the motion intention M reaches or exceeds the preset threshold, the assist calculation module 48 starts to calculate the assist T with reference to the preset assist size, and outputs a control instruction 49 to the power system 2.

[0071] The motion intention calculation module 43 can calculate the difference between the left hip joint angle and the right hip joint angle to obtain the hip joint angle difference, calculate the difference between the left hip joint angular velocity and the right hip joint angular velocity to obtain the hip joint angular velocity difference, calculate the difference between the left upper limb inclination angle and the right upper limb inclination angle to obtain the upper limb inclination angle difference or calculate the difference between the left lower limb inclination angle and the right lower limb inclination angle to obtain the lower limb inclination angle difference, calculate the difference between the left upper limb (angular) velocity and the right upper limb (angular) velocity to obtain the upper limb (angular) velocity. The difference of the left lower limb (angular) velocity and the right lower limb (angular) velocity is calculated to obtain the lower limb (angular) velocity difference, and combined with other motion parameters, such as the left hip joint angle, the right hip joint angle, the left hip joint angular velocity, the right hip joint angular velocity, the hip joint angular acceleration, the upper body posture inclination angle, the left upper / lower limb inclination angle, the right upper / lower limb inclination angle, the left upper / lower limb (angular) velocity, the right upper / lower limb (angular) velocity, the upper / lower limb (angular) acceleration, etc., a combined operation is performed to obtain the motion intention M.

[0072] In certain embodiments, the control method of the present invention also has an adaptive function. Specifically, when the movement intention M exceeds a preset threshold, controlling the power system to generate a corresponding force T applied to the wearer includes:

[0073] When the motion intention M reaches or exceeds the preset threshold, and after the power assist response delay time D, the power assist T and the power assist time are calculated according to the preset power assist magnitude, and a control command is output to the power system;

[0074] The power response delay time D is calculated as follows: c The motion frequency f is calculated, and the power assist response delay time D is adjusted according to the change of the motion frequency f, wherein when the motion frequency f increases, the power assist response delay time D is shortened; and when the motion frequency f decreases, the power assist response delay time D is extended;

[0075] The assist time is calculated as follows: c The movement frequency f is calculated, and the assist time is adjusted according to the change of the movement frequency f, wherein when the movement frequency f increases, the assist time is shortened; when the movement frequency f decreases, the assist time is extended; and / or, the hip joint angle difference and / or the thigh inclination difference between the active leg and the driven leg are compared according to the movement parameters, and it is determined according to the comparison result whether the driven leg has passed over the active leg, when the driven leg has not passed over the active leg forward, the assist time is extended; when the driven leg passes over the active leg forward, the assist time is shortened, and the farther the driven leg passes over the active leg forward, the shorter the assist time.

[0076] That is, when the motion intention M reaches or exceeds the preset threshold, and after the power assist response delay time D given by the response delay module 47, the power assist T is calculated according to the preset power assist size, and the power assist time is calculated, and a control instruction is output to the power system.

[0077] The user's exercise frequency f is obtained by inputting the exercise parameters into the exercise frequency calculation module 44; when the exercise frequency f increases, the assist response delay time D of the response delay module 47 is shortened, and the assist duration adjustment module 46 outputs an assist time shorter than the preset assist duration; when the exercise frequency f decreases, the assist response delay time D of the response delay module 47 is extended, and the assist duration adjustment module 46 outputs an assist time longer than the preset assist duration.

[0078] In addition, by inputting the motion parameters into the power-assistance duration adjustment module 46 and comparing the hip joint angle difference and / or thigh inclination angle difference between the active leg and the passive leg, the power-assistance duration is extended when the passive leg does not pass the active leg forward; the further the passive leg passes the active leg forward, the shorter the power-assistance duration. The motion frequency is calculated by counting the duration of a step cycle T c , and then find its reciprocal, the calculation formula is as follows:

[0079]

[0080] The relationship between the power (torque) output by the power system 2 and time can be shown by taking the power (torque) output by the power system 2 as the ordinate and the time as the abscissa. Figure 7a As shown, the output slave leg assist (torque) T491; a curve drawn in which the hip joint components on both sides include the power unit 231 is as shown Figure 7b As shown, the power units 231 on both sides output the same magnitude of assist (torque) but in opposite directions, outputting the assist (torque) T of the driven leg and the assist (torque) T'492 of the active leg; a curve drawn in which the hip joint components on both sides include the power unit 231 is shown in FIG. Figure 7c As shown, the power units 231 on both sides output power (torque) of unequal magnitude and opposite direction, outputting power (torque) T for the driven leg and power (torque) T'492 for the active leg.

[0081] The control method is applied to at least two power-assisting devices, one of which is worn by an active person and includes a sensor system, and the other power-assisting devices are worn by a passive person and each includes a power system. Each power-assisting device includes a device system communication module 31. The control method further includes:

[0082] Connecting at least two power-assisting devices to each other via their respective device system communication modules 31 through wireless and / or wired communication;

[0083] The power-assisting device worn by the active person sends the collected motion parameters of the active person to the power-assisting device worn by the passive person;

[0084] The power-assisting device worn by the follower executes the control method, and controls the power-assisting device worn by the follower to generate corresponding power T to be applied to the follower through the collected follower motion parameters and the received master motion parameters and the calculated motion intention M.

[0085] Figure 8 This is an example of a two-person wearing power-assisting device 3 for slave power assistance: the two power-assisting devices 3 are wirelessly connected through their respective device system communication modules 31. The power-assisting device 3 worn by the active person 51 sends the active person's motion parameters collected by its sensor system 1 to the power-assisting device 3 worn by the passive person 52. Figure 9 As shown, the computing unit 25 of the slave wearable device executes the control method, and the motion intention M is obtained by combining the motion parameters of the two power-assisting devices through the slave motion intention computing module 53. Among them, the inclination angle of the active person's limb and the active person's hip joint angle, as well as the inclination angle of the passive person's limb and the hip joint angle of the passive person can be obtained. The difference between the active person's hip joint angle and the passive person's hip joint angle is calculated to obtain the hip joint angle difference, and the difference between the active person's limb inclination angle and the passive person's limb inclination angle is calculated to obtain the limb inclination angle difference, and then the combined operation is used to obtain the motion intention M. The motion intention M is output to the slave power-assisting computing module 54 and combined with the preset power-assisting magnitude to obtain the control instruction 49, and finally the power-assisting (torque) T is output to the passive person 52. In this embodiment, the active person 51 steps forward with his left leg, resulting in a difference in the hip joint angles of the two. The effect of the power-assisting (torque) T output by the passive power-assisting device 3 will cause the passive person's left leg to step forward.

[0086] It should be noted that the various operation modules, extraction modules, calculation modules, delay modules, comparison modules, adjustment modules, etc. mentioned in the embodiments of the present invention implement the same functions as the operation unit 25. For the convenience of explanation, the embodiments of the present invention use various modules to illustrate the functions implemented by each module, but it is obvious that those skilled in the art can re-combine, adjust or replace these functional modules as needed, and these changes all fall within the scope of protection of the present invention.

[0087] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, to the extent such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to encompass such changes and modifications.

[0088] The above description is a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A motion sensing and power assist system, characterized in that: It includes sensing system, power system, communication module and computing unit; The sensing system is used to detect the wearer's motion parameters through sensors; the sensors include a limb measurement unit fixed to the wearer's limbs and a joint angle sensor arranged near the wearer's hip joint; the motion parameters include limb motion parameters and hip joint motion parameters; the limb motion parameters include limb inclination, limb velocity and limb acceleration, and the hip joint motion parameters include hip joint angle, hip joint angular velocity and hip joint angular acceleration; The power system includes an upper body frame, a hip joint component, and a lower limb frame; the upper body frame is fixed to the wearer's upper body; the hip joint components are arranged on the left and right sides of the upper body frame and are rotatably connected to the lower limb frame; the lower limb frame is arranged on the wearer's leg; at least one of the hip joint components includes a power unit to drive the lower limb frame to output torque or rotational motion relative to the upper body frame; The communication module includes a first communication module provided in the sensor system and a second communication module provided in the power system, wherein the first communication module and the second communication module communicate via wired and / or wireless signals to send the motion parameters to the computing unit and issue control instructions to the power system; The computing unit is used to perform a combined operation on the motion parameters of the current cycle and / or the previous cycle to obtain a motion intention M; when the motion intention reaches or exceeds a preset threshold, the computing unit controls the power system to generate a corresponding force T to be applied to the wearer; When the motion intention M reaches or exceeds the preset threshold, and after the power assist response delay time D, the power assist T and the power assist time are calculated according to the preset power assist magnitude, and a control command is output to the power system; The power response delay time D is calculated as follows: The motion frequency f is calculated, and the power assist response delay time D is adjusted according to the change of the motion frequency f, wherein when the motion frequency f increases, the power assist response delay time D is shortened; and when the motion frequency f decreases, the power assist response delay time D is extended; The assist time is calculated as follows: The movement frequency f is calculated, and the assist time is adjusted according to the change of the movement frequency f, wherein when the movement frequency f increases, the assist time is shortened; when the movement frequency f decreases, the assist time is extended; and, according to the movement parameters, the hip joint angle difference and / or the thigh inclination angle difference between the active leg and the driven leg are compared, and it is determined whether the driven leg has passed over the active leg according to the comparison result, when the driven leg has not passed over the active leg forward, the assist time is extended; when the driven leg passes over the active leg forward, the assist time is shortened, and the farther the driven leg passes over the active leg forward, the shorter the assist time.

2. The motion sensing and power assist system according to claim 1, characterized in that: The joint angle sensor includes an upper arm fixed to the wearer's upper body and a lower arm fixed to the wearer's lower limbs. The upper arm is separately set from the upper body frame or integrated with the upper body frame, and the lower arm is separately set from the lower limb frame or integrated with the lower limb frame.

3. The motion sensing and power assist system according to claim 1, characterized in that: The number of the limb measurement units is 0, 1, or more; the number of the joint angle sensors is 0, 1, and is set on one hip joint of the wearer, or 2, and is set on the left and right hip joints of the wearer respectively; the number of the limb measurement units and the joint angle sensors is 0 if they are different.

4. The motion sensing and power assist system according to claim 1, characterized in that: The limb measurement unit includes a sensor system strap, an inertial measurement unit arranged on the sensor system strap, and a first communication module. The sensor system strap is fixed on the wearer's waist, upper body, arm, thigh or calf.

5. The motion sensing and power assist system according to claim 1, characterized in that: The computing unit is arranged on the sensing system or the power system, and the motion sensing and power assisting system further includes an equipment system communication module.

6. The motion sensing and power assist system according to claim 1, characterized in that: The sensing system and the power system are worn by different wearers respectively; or the sensing system and the power system are worn by the same wearer. When only one side of the hip joint component contains the power unit, the leg containing the power unit is called the driven leg, and the other leg is the active leg. When both sides of the hip joint components are equipped with the power unit, the driven leg is designated as either the left or right leg, and the other leg is the active leg.

7. A method for controlling a motion sensing and power assist system according to any one of claims 1 to 6, characterized in that: include: The sensing system uses sensors to detect inertial sensing data and joint angle data of the wearer; Extracting motion parameters from the inertial sensor data and joint angle data to obtain limb motion parameters and hip joint motion parameters; Performing a combined operation on the motion parameters of the current cycle and / or the previous cycle to obtain the motion intention M; When the movement intention M reaches or exceeds a preset threshold, the power system is controlled to generate corresponding assistance T; When the motion intention M exceeds a preset threshold, controlling the power system to generate corresponding assistance T includes: When the motion intention M reaches or exceeds the preset threshold, and after the power assist response delay time D, the power assist T and the power assist time are calculated according to the preset power assist magnitude, and a control command is output to the power system; The power response delay time D is calculated as follows: The motion frequency f is calculated, and the power assist response delay time D is adjusted according to the change of the motion frequency f, wherein when the motion frequency f increases, the power assist response delay time D is shortened; and when the motion frequency f decreases, the power assist response delay time D is extended; The assist time is calculated as follows: The movement frequency f is calculated, and the assist time is adjusted according to the change of the movement frequency f, wherein when the movement frequency f increases, the assist time is shortened; when the movement frequency f decreases, the assist time is extended; and, according to the movement parameters, the hip joint angle difference and / or the thigh inclination angle difference between the active leg and the driven leg are compared, and it is determined whether the driven leg has passed over the active leg according to the comparison result, when the driven leg has not passed over the active leg forward, the assist time is extended; when the driven leg passes over the active leg forward, the assist time is shortened, and the farther the driven leg passes over the active leg forward, the shorter the assist time.

8. The control method according to claim 7, characterized in that: The control method is applied to at least two power-assisting devices, one of which is worn by an active person and includes a sensor system, and the remaining power-assisting devices are worn by a passive person and each includes a power system. Each power-assisting device includes a device system communication module. The control method further includes: Connecting at least two power-assisting devices to each other via their respective device system communication modules through wireless and / or wired communication; The power-assisting device worn by the active person sends the collected motion parameters of the active person to the power-assisting device worn by the passive person; The power-assisting device worn by the follower executes the control method, and controls the power-assisting device worn by the follower to generate corresponding power assistance T through the collected follower motion parameters and the received active motion parameters and the calculated motion intention M.

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