Control Method and Device for Exoskeleton Robot

Abstract

The present invention discloses a control method and device for an exoskeleton robot. Among them, the method includes: obtaining a first attitude parameter of a first component, a second attitude parameter of a second component, and a target joint parameter of a target joint, where the first component and the second component are connected by the target joint; correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain a third attitude parameter of the second component; and adjusting the motor control parameters of the exoskeleton robot based on the third attitude parameter. The present invention solves the technical problem in the prior art that the assistance state of the exoskeleton robot determined according to the directly measured kinematic attitude parameters is inaccurate.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a control method and device for an exoskeleton robot. Background Art

[0002] As a wearable intelligent device, an exoskeleton robot usually forms a coupling system with the human body through methods such as binding or clamping to achieve auxiliary support for the human body. The lower limb exoskeleton robot is one of the most important exoskeleton robots, and can be used in fields such as travel assistance for the disabled and the elderly, load-bearing walking assistance for border guards and express delivery personnel, and rehabilitation training for paraplegic patients.

[0003] The lower limb exoskeleton robot is connected to the wearer at various parts of the body (such as the feet, calves, thighs, waist, etc.) through connection structures such as straps and jackets to achieve the anchoring of the exoskeleton robot on the human body. The exoskeleton robot follows the limb movements of the human body to play a role in support and assistance. Due to different usage scenarios and application requirements, the lower limb exoskeleton robot can assist certain specific parts or movements of the human lower limbs, forming different forms of lower limb exoskeleton robots. For example, the lower limb exoskeleton robot with a "waist-hip" structure, the lower limb exoskeleton robot with a "waist-hip-knee" structure, and the lower limb exoskeleton robot with a "waist-hip-knee-ankle" structure (i.e., the full lower limb exoskeleton robot). The lower limb exoskeleton robot needs to obtain the precise pose relationship when the human body stands on the ground to achieve human gait recognition and gait stability analysis, and then provide precise auxiliary assistance to the human body. Since the lower limb exoskeleton robot needs to move widely in any human environment, it is impossible to use external sensors (such as three-dimensional vision cameras, optical motion capture devices, etc.) to measure the precise pose of the exoskeleton robot, and only internal embedded sensors (i.e., sensors installed on the exoskeleton and moving with the exoskeleton) can be used to measure the poses of the exoskeleton as a whole and each component. However, due to the inaccurate kinematic pose parameters measured directly, controlling the motors of the exoskeleton robot based on the directly measured kinematic pose parameters results in an inaccurate assisting state of the exoskeleton robot (poor assisting effect on the human body), and the user experience is poor.

[0004] Regarding the problem that the assisting state of the exoskeleton robot determined according to the directly measured kinematic pose parameters in the above-mentioned prior art is inaccurate, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of the present invention provide a control method and device for an exoskeleton robot to at least solve the technical problem that the assisting state of the exoskeleton robot determined according to the directly measured kinematic pose parameters in the prior art is inaccurate.

[0006] According to one aspect of the embodiments of the present invention, a control method for an exoskeleton robot is provided, including: obtaining a first attitude parameter of a first component, a second attitude parameter of a second component, and a target joint parameter of a target joint, where the first component and the second component are connected by the target joint; correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain a third attitude parameter of the second component; and adjusting the motor control parameters of the exoskeleton robot based on the third attitude parameter.

[0007] According to another aspect of the embodiments of the present invention, a control device for an exoskeleton robot is further provided, including: an obtaining module, configured to obtain a first attitude parameter of a first component, a second attitude parameter of a second component, and a target joint parameter of a target joint, where the first component and the second component are connected by the target joint; a correcting module, configured to correct the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain a third attitude parameter of the second component; and an adjusting module, configured to adjust the motor control parameters of the exoskeleton robot based on the third attitude parameter.

[0008] According to another aspect of the embodiments of the present invention, a computer storage medium is further provided. The computer storage medium stores multiple instructions, and the instructions are suitable for being loaded and executed by a processor to perform the method steps of any one of the above.

[0009] According to another aspect of the embodiments of the present invention, an exoskeleton robot is further provided, including: a processor and a memory; where the memory stores a computer program, and the computer program is suitable for being loaded and executed by the processor to perform the method steps of any one of the above.

[0010] In the embodiments of the present invention, by obtaining the first attitude parameter of the first component, the second attitude parameter of the second component, and the target joint parameter of the target joint, correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component, and adjusting the motor control parameters of the exoskeleton robot based on the third attitude parameter, the accuracy of the attitude parameters of each component is improved by correcting the attitude parameters of each component. Driving the motor of the exoskeleton robot according to the corrected attitude parameters improves the accuracy of the motor control parameters, thereby improving the support and assistance effects of the exoskeleton robot on the human body, and further solving the technical problem that the assistance state of the exoskeleton robot determined according to the directly measured kinematic attitude parameters in the prior art is inaccurate. Description of the Drawings

[0011] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0012] Figure 1It is a flowchart of a control method for an exoskeleton robot according to an embodiment of the present invention;

[0013] Figure 2a It is a schematic diagram of an exoskeleton robot with a waist-hip structure;

[0014] Figure 2b It is a schematic diagram of an exoskeleton robot with a waist-hip-knee structure;

[0015] Figure 2c It is a schematic diagram of an exoskeleton robot with a waist-hip-knee-ankle structure;

[0016] Figure 3a It is a schematic diagram of inverse kinematic solution of a waist-hip-knee-ankle structure exoskeleton robot according to an embodiment of the present invention;

[0017] Figure 3b It is a schematic diagram of forward kinematic solution of a waist-hip-knee-ankle structure exoskeleton robot according to an embodiment of the present invention;

[0018] Figure 4 It is a schematic diagram of an alternative control method for an exoskeleton robot according to an embodiment of the present invention;

[0019] Figure 5 It is a schematic diagram of a control device for an exoskeleton robot according to an embodiment of the present invention. Detailed implementation manners

[0020] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0022] Embodiment 1

[0023] According to an embodiment of the present invention, an embodiment of a control method for an exoskeleton robot is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0024] Lower limb exoskeleton robots have different structures. Figure 2a FIG. is a schematic diagram of an exoskeleton robot with a waist-hip structure. Figure 2b FIG. is a schematic diagram of an exoskeleton robot with a waist-hip-knee structure. Figure 2c FIG. is a schematic diagram of an exoskeleton robot with a waist-hip-knee-ankle structure. Compared with the exoskeleton robot with a waist-hip-knee-ankle structure, the exoskeleton robot with a waist-hip structure and the exoskeleton robot with a waist-hip-knee structure only reduce the corresponding components. Hereinafter, the exoskeleton robot with the most complete structure, namely the waist-hip-knee-ankle structure, will be taken as an example for description.

[0025] As Figure 2c shown (the exoskeleton robot is connected to the human body in the form of binding or clamping, etc., Figure 2c and the structures and tissues used for connecting the exoskeleton robot to the human body are omitted in the figure), the exoskeleton robot with a waist-hip-knee-ankle structure has components corresponding to parts of the human body such as the waist, left thigh, right thigh, left calf, right calf, left foot, and right foot. Specifically, the exoskeleton robot with a waist-hip-knee-ankle structure includes a waist member 201 connected to the human waist, a left thigh member 202 connected to the left thigh, a right thigh member 203 connected to the right thigh, a left calf member 204 connected to the left calf, a right calf member 205 connected to the right calf, a left foot member 206 connected to the left foot, and a right foot member 207 connected to the right foot. Each component is used for bearing force, connecting the human body, installing attitude sensors (for example, inertial measurement units), adjusting the dimensions between the joints of the exoskeleton robot according to the actual body size of the exoskeleton wearer, etc. Among them, a controller 201a is provided on the waist member 201, which is used to receive the human body attitude parameters collected by each sensor and send control signals to the motors of the exoskeleton robot to adjust control parameters such as the torque of the motors, and further adjust the assistance effect.

[0026] The exoskeleton robot also includes electric joints corresponding to each joint of the human body, and the electric joints are used for the active drive control and power output of the exoskeleton robot. The electric joints include a left hip joint 208, a right hip joint 209, a left knee joint 210, a right knee joint 211, a left ankle joint 212, and a right ankle joint 213. The exoskeleton robot has a left-right symmetric structure. Hereinafter, only the left half will be taken as an example to illustrate the connection relationship of each component of the exoskeleton robot, as Figure 2cAs shown, the left thigh member 202 is a connecting structure (e.g., a connecting rod) between the left hip joint 208 and the left knee joint 210. The left calf member 204 is a connecting structure between the left knee joint 210 and the left ankle joint 212. The left foot member 206 is the part below the left ankle joint 212, which is used to support the left foot of the human body and adjust the dimension between the left ankle joint 212 and the ground according to the actual body size of the exoskeleton wearer. The left thigh member 202 and the left calf member 204 are connected through the left knee joint 210. The left calf member 204 and the left foot member 206 are connected through the left ankle joint 212. The waist member 201 and the left thigh member 202 are connected through the left hip joint 208.

[0027] As Figure 2a shown, the exoskeleton robot with a waist-hip structure only has a waist member 201, a left thigh member 202 connected to the left thigh, a right thigh member 203 connected to the right thigh, a left hip joint 208, and a right hip joint 209, and does not have the part below the knee joint. As Figure 2b shown, the exoskeleton robot with a waist-hip-knee structure does not have the part below the ankle joint, and other structures are the same as those of the exoskeleton robot with a waist-hip-knee-ankle structure, which will not be elaborated here.

[0028] Since the attitude parameters directly collected by the attitude sensors installed on each component and the joint parameters collected by the joint sensors of each joint are used for calculation to drive the motors of the exoskeleton robot, the support and assistance effects of the exoskeleton robot are inaccurate.

[0029] Based on the above problems, according to an embodiment of the present invention, a control method for an exoskeleton robot is provided. Figure 1 is a flowchart of the control method for an exoskeleton robot according to an embodiment of the present invention. As Figure 1 shown, the method includes the following steps:

[0030] Step S102, obtaining a first attitude parameter of a first component, a second attitude parameter of a second component, and a target joint parameter of a target joint, where the first component and the second component are connected through the target joint.

[0031] The above-mentioned first component, second component, and target joint are all component structures on the exoskeleton robot. The first component and the second component can be connected to the human body in the form of binding or jacket for supporting and assisting the human body. The target joint can be any electric joint in the exoskeleton robot. For example, as Figure 2cAs shown, the above-mentioned target joint can be any one of the above-mentioned motor joints. The two components connected to the target joint are respectively used as the first component and the second component. When the target joint is the left knee joint 210, the first component is the left thigh component 202, and the second component is the left calf component 204, or the first component is the left calf component 204, and the second component is the left thigh component 202.

[0032] The above-mentioned first attitude parameter can be obtained by an attitude sensor disposed on the first component and is used to represent the motion attitude of the first component. In an alternative embodiment, the attitude sensor can be an inertial measurement unit (IMU), and the first attitude parameter can be the attitude angle of the first component. For example, as Figure 2c shown, an inertial measurement unit 202a is installed on the left thigh component 202 for measuring the attitude angle of the left thigh. The above-mentioned attitude angle can be an angle in any one of the sagittal plane, coronal plane, and horizontal plane defined by human anatomy. In an alternative implementation, since the active movement of the exoskeleton robot is concentrated in the sagittal plane of the human body, which is the movement direction for the exoskeleton robot to actively assist the human body in power assistance and walking assistance, the inertial measurement unit IMU is used to measure the attitude angle of the human body in the sagittal plane.

[0033] The above-mentioned target joint parameter can be obtained by a sensor disposed on the target joint. In an alternative embodiment, the sensor on the target joint can be an angle encoder disposed inside the target joint. The target joint parameter can be the joint rotation angle, and the angle encoder can achieve real-time measurement of the joint rotation angle of the target joint. In an alternative embodiment, as Figure 2c shown, when the first attitude parameter is the attitude angle in the sagittal plane and the target joint parameter is the joint rotation angle in the sagittal plane, Figure 2c the arrow directions of the components and motor joints in [[ ]] are the directions of the angle axes (perpendicular to the sagittal plane and pointing from left to right), and the attitude angle and joint rotation angle are referenced to the angle axis.

[0034] It should be noted that the above-mentioned target joint can be multiple joints, and the first component and the second component can be multiple components respectively. The first component and the second component only need to satisfy the above-mentioned connection relationship, and the specific quantity is not limited. For example, the above-mentioned first component can include the left thigh component and the right thigh component, the second component can be the waist component, and the target joint can include the left hip joint and the right hip joint.

[0035] Step S104, correct the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component.

[0036] Specifically, the first attitude parameter is collected by the attitude sensor of the first component, the second attitude parameter is collected by the attitude sensor of the second component, and the target joint parameter is collected by the sensor on the target joint. According to the preset algorithm, the originally collected second attitude parameter is corrected using the originally collected first attitude parameter and the target joint parameter to obtain the third attitude parameter. For example, as Figure 2c shown, when the target joint is the left knee joint 210, the first component is the left thigh component 202, and the second component is the left calf component 204. The attitude angle of the left calf component 204 can be corrected according to the attitude angle of the left thigh component 202 and the joint rotation angle of the left knee joint 210 to obtain a more accurate attitude angle of the left calf component 204 (i.e., the third attitude parameter). Or the first component is the left calf component 204 and the second component is the left thigh component 202. The attitude angle of the left thigh component 202 is corrected according to the attitude angle of the left calf component 204 and the joint rotation angle of the left knee joint 210 to obtain a more accurate attitude angle of the left thigh component 202 (i.e., the third attitude parameter).

[0037] Since the target joint parameter (e.g., joint rotation angle) collected by the sensor on the target joint is more accurate and reliable than the attitude parameter collected by the attitude sensor, the third attitude parameter obtained by correction using the target joint parameter can be used as the accurate attitude parameter of the second component.

[0038] It should be noted that after obtaining the third attitude parameter of the second component, the third attitude parameter can be used as the first attitude parameter of another connected component, and the second attitude parameter of another connected component is corrected to achieve sequential correction of multiple different components in the exoskeleton robot.

[0039] Step S106, adjust the motor control parameters of the exoskeleton robot based on the third attitude parameter.

[0040] The above motor control parameters can be control parameters such as the torque and angular velocity of the drive motor of the exoskeleton robot. By adjusting the motor control parameters of the exoskeleton robot, the support and assistance effects of the exoskeleton robot on the corresponding parts of the human body are improved.

[0041] In an alternative embodiment, as Figure 2cAs shown, for the exoskeleton robot with a "waist-hip-knee-ankle" structure (taking the left half as an example), the attitude parameters of the left thigh member 202, the left calf member 204, and the left foot member 206, as well as the joint parameters of the left knee joint 210 and the left ankle joint 212, are obtained. First, the left ankle joint 212 is used as the target joint, the left foot member 206 is used as the first member, and the left calf member 204 is used as the second member. According to the attitude parameters of the left foot member 206 and the joint parameters of the left ankle joint 212, the attitude parameters of the left calf member 204 are corrected to obtain the corrected attitude parameters of the left calf member 204. Then, the left knee joint 210 is used as the target joint, the left calf member 204 is used as the first member, and the left thigh member 202 is used as the second member. According to the corrected attitude parameters of the left calf member 204 and the joint parameters of the left knee joint 210, the attitude parameters of the left thigh member 202 are corrected to obtain the corrected attitude parameters of the left thigh member 202, so as to realize the correction of the attitude parameters of multiple members in the exoskeleton robot.

[0042] In this embodiment, the first attitude parameter of the first member, the second attitude parameter of the second member, and the target joint parameter of the target joint are obtained. The second attitude parameter is corrected according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second member. Based on the third attitude parameter, the motor control parameters of the exoskeleton robot are adjusted. By correcting the attitude parameters of each member, the accuracy of the attitude parameters of each member is improved. According to the corrected attitude parameters, the motors of the exoskeleton robot are driven, and the accuracy of the motor control parameters is improved, thereby improving the support and assistance effects of the exoskeleton robot on the human body, and solving the technical problem that the assistance state of the exoskeleton robot determined according to the directly measured kinematic attitude parameters in the prior art is inaccurate.

[0043] As an optional embodiment, after correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second member, the method further includes: correcting the first attitude parameter according to the third attitude parameter and the target joint parameter to obtain the fourth attitude parameter of the first member; adjusting the motor control parameters of the exoskeleton robot based on the fourth attitude parameter.

[0044] Specifically, after obtaining the relatively accurate third attitude parameter of the second member, the attitude parameter of the first member can also be corrected according to the third attitude parameter, so that the attitude parameters of the first member and the second member are both corrected.

[0045] In an optional embodiment, Figure 4 is a schematic diagram of an optional control method for an exoskeleton robot according to an embodiment of the present invention, as Figure 4As shown, for exoskeleton robots with different structural forms, morphological classification is first performed to determine the morphological classification results of the exoskeleton robots, and then different correction steps are further selected.

[0046] For the waist-hip structure exoskeleton robot, such as Figure 2a shown, the above target joints may include the left hip joint 208 and the right hip joint 209. The first member includes the left thigh member 202 and the right thigh member 203, and the second member is the waist member 201. As Figure 4 shown, the steps of the control method for the attitude parameters of each member of the waist-hip structure exoskeleton robot may include:

[0047] Step Inverse_I: Correct the second attitude parameter of the waist member 201 according to the attitude parameters of the left thigh member 202 and the right thigh member 203, and the target joint parameters of the left hip joint 208 and the right hip joint 209 to obtain the third attitude parameter of the waist member 201. The waist member 201 is used as the "floating base", that is, the reference member of the exoskeleton robot, and the attitude parameters of other members are corrected with reference to the attitude parameters of the floating base. Through Step Inverse_I, the accurate third attitude parameter of the waist member 201 can be obtained.

[0048] Step Forward_I: Correct the attitude parameter of the left thigh member 202 according to the third attitude parameter of the corrected waist member 201 and the target joint parameter of the left hip joint 208, and correct the attitude parameter of the right thigh member 203 according to the third attitude parameter of the corrected waist member 201 and the target joint parameter of the right hip joint 209. Through Step Inverse_I and Step Forward_I, the attitude parameters of the left thigh member 202 and the right thigh member 203 (i.e., the above first member) and the waist member 201 (i.e., the above second member) are all corrected.

[0049] For the waist-hip-knee structure exoskeleton robot, such as Figure 2b shown, the above target joints may include the left knee joint 210, the right knee joint 211, the left hip joint 208 and the right hip joint 209. The first member and the second member are respectively the left calf member 204, the left thigh member 202, the waist member 201, the right thigh member 203 and the right calf member 205 that satisfy the above connection relationship. As Figure 4 shown, the steps of the control method for the attitude parameters of each member of the waist-hip-knee structure exoskeleton robot may include:

[0050] Step Inverse_II: Modify the attitude parameters of the left thigh member 202 according to the attitude parameters of the left calf member 204 and the joint parameters of the left knee joint 210 to obtain the modified attitude parameters of the left thigh member 202; Modify the attitude parameters of the right thigh member 203 according to the attitude parameters of the right calf member 205 and the joint parameters of the right knee joint 211 to obtain the modified attitude parameters of the right thigh member 203.

[0051] Step Inverse_I: Modify the second attitude parameters of the waist member 201 according to the attitude parameters of the left thigh member 202 and the right thigh member 203, and the target joint parameters of the left hip joint 208 and the right hip joint 209 to obtain the third attitude parameters of the "floating base" waist member 201. Through Step Inverse_I, the accurate third attitude parameters of the waist member 201 can be obtained. It should be noted that for the exoskeleton robot with a waist-hip-knee structure, the attitude parameters of the left thigh member 202 and the right thigh member 203 in Step Inverse_I can be directly collected by the corresponding attitude sensors, or the modified attitude parameters of the left thigh member 202 and the right thigh member 203 in Step Inverse_II can be used to further improve the accuracy of the third attitude parameters of the waist member 201.

[0052] Step Forward_I: Modify the attitude parameters of the left thigh member 202 according to the third attitude parameters of the modified waist member 201 and the target joint parameters of the left hip joint 208, and modify the attitude parameters of the right thigh member 203 according to the third attitude parameters of the modified waist member 201 and the target joint parameters of the right hip joint 209, so that the attitude parameters of the left thigh member 202, the right thigh member 203, and the waist member 201 are all modified.

[0053] Step Forward_II: Modify the attitude parameters of the left calf member 204 according to the attitude parameters of the left thigh member 202 and the joint parameters of the left knee joint 210 to obtain the modified attitude parameters of the left calf member 204; Modify the attitude parameters of the right calf member 205 according to the attitude parameters of the right thigh member 203 and the joint parameters of the right knee joint 211 to obtain the modified attitude parameters of the right calf member 205. It should be noted that the attitude parameters of the left thigh member 202 and the right thigh member 203 in Step Forward_II can be directly collected by the corresponding attitude sensors, or the modified attitude parameters of the left thigh member 202 and the right thigh member 203 in Step Forward_I can be used to further improve the accuracy of the attitude parameters of the left calf member 204 and the right calf member 205.

[0054] Through steps Inverse_II, Inverse_I, Forward_I, and Forward_II, the attitude parameters of all components in the exoskeleton robot with a waist-hip-knee structure are corrected.

[0055] As Figure 2c shown, since the exoskeleton robot with a waist-hip-knee-ankle structure also includes a left foot component 206 and a right foot component 207 compared to the exoskeleton robot with a waist-hip-knee structure, as Figure 4 shown, in addition to steps Inverse_II, Inverse_I, Forward_I, and Forward_II, the control method for the attitude parameters of each component of the exoskeleton robot with a waist-hip-knee-ankle structure includes steps Inverse_III and Forward_III to achieve the correction of the left foot component 206 and the right foot component 207. Specifically, the steps of the control method for the attitude parameters of each component of the exoskeleton robot with a waist-hip-knee-ankle structure are as follows:

[0056] Step Inverse_III: Correct the attitude parameters of the left lower leg component 204 according to the attitude parameters of the left foot component 206 and the joint parameters of the left ankle joint 212 to obtain the corrected attitude parameters of the left lower leg component 204; correct the attitude parameters of the right lower leg component 203 according to the attitude parameters of the right foot component 207 and the joint parameters of the right ankle joint 213 to obtain the corrected attitude parameters of the right lower leg component 205. After performing the correction calculation for the corresponding components in sequence according to steps Inverse_II, Inverse_I, Forward_I, and Forward_II, enter step Forward_III. The method step contents in steps Inverse_II, Inverse_I, Forward_I, and Forward_II are the same as those of the exoskeleton robot with a waist-hip-knee structure and will not be elaborated here.

[0057] Step Forward_III: Correct the attitude parameters of the left foot component 206 according to the attitude parameters of the left lower leg component 204 and the joint parameters of the left ankle joint 212 to obtain the corrected attitude parameters of the left foot component 206; correct the attitude parameters of the right foot component 207 according to the attitude parameters of the right lower leg component 203 and the joint parameters of the right ankle joint 213 to obtain the corrected attitude parameters of the right foot component 207. It should be noted that in step Forward_III, the attitude parameters of the left lower leg component 204 and the right lower leg component 203 can be directly collected by the corresponding attitude sensors or can come from the attitude parameters of the corrected left lower leg component 204 and the right lower leg component 205 in step Forward_II to further improve the accuracy of the attitude parameters of the left lower leg component 204 and the right lower leg component 205.

[0058] Through the above steps Inverse_III, Inverse_II, Inverse_I, Forward_I, Forward_II, and Forward_III, the attitude parameters of all components in the exoskeleton robot with a waist-hip-knee-ankle structure are corrected.

[0059] It should be noted that for exoskeleton robots with different morphological structures, the specific contents in the above steps Inverse_III, Inverse_II, Inverse_I, Forward_I, Forward_II, and Forward_III are the same. By selecting the corresponding steps from the above 6 steps, the correction calculation of each component of the exoskeleton robot with different morphological structures can be realized. Corresponding to the modularization of the morphological structure of the exoskeleton robot, by selecting the corresponding modular correction calculation method module, different modular deformations of the exoskeleton robot can be quickly responded to, without having to re-model the attitude parameter calculation algorithm due to the module change of the exoskeleton robot body.

[0060] As an optional embodiment, the position of the second component is far from the ground relative to the first component. The second attitude parameter is corrected according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component, including: determining the first difference between the first attitude parameter and the target joint parameter; determining the second difference between the second attitude parameter and the first difference; multiplying the second difference by a preset first coefficient to obtain the first correction value; subtracting the first correction value from the second attitude parameter to obtain the third attitude parameter.

[0061] The position of the second component is far from the ground relative to the first component. For example, the first component is the left calf component 204, and the second component is the left thigh component 202, so that the method for correcting the attitude parameter of the second component is a bottom-up inverse calculation process. For example, the situation where the position of the second component is far from the ground relative to the first component can be the method steps in the above steps Inverse_II and Inverse_III.

[0062] For example, Figure 3a is a schematic diagram of the inverse calculation of the waist-hip-knee-ankle structure exoskeleton robot according to an embodiment of the present invention. As Figure 3a shown, the target joint can be the left knee joint 210, the second component is the left thigh component 202, and the first component is the left calf component 204. In step Inverse_II, the attitude parameter of the left thigh component 202 is corrected according to the attitude parameter of the left calf component 204 and the joint parameter of the left knee joint 210 to obtain the corrected attitude parameter of the left thigh component 202, which can be specifically obtained through the following formula:

[0063] IMU′ thigh_l = IMU thigh_l - k thigh_l [IMU thigh_l -(IMU shank_l - Angle knee_l )]

[0064] = (1 - k thigh_l )IMU thigh_l + k thigh_l (IMU shank_l - Angle knee_l );

[0065] Wherein, IMU shank_l is the first attitude parameter of the left calf member 204, Angle knee_l is the target joint parameter of the left knee joint 210, k thigh_l is the preset first coefficient, and k thigh_l ∈ [0, 1]. The above IMU′ thigh_l is the attitude parameter of the corrected left thigh member 202, and IMU thigh_l is the attitude parameter of the left thigh member 202 before correction (i.e., the second attitude parameter). IMU thigh_l can be detected by the inertial measurement unit IMU thigh_l installed on the left thigh member 202.

[0066] As an alternative embodiment, the position of the first member is away from the ground relative to the second member. The second attitude parameter is corrected according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second member, including: obtaining the sum value of the first attitude parameter and the target joint parameter, and obtaining the product of the sum value and the preset second coefficient to obtain the second correction value; multiplying the second attitude parameter by the preset third coefficient to obtain the third correction value; determining that the sum of the second correction value and the third correction value is the third attitude parameter.

[0067] The position of the first member is away from the ground relative to the second member. For example, the second member is the left calf member 204, and the first member is the left thigh member 202, so that the method for correcting the attitude parameter of the second member is a forward calculation process from top to bottom. The situation where the position of the first member is away from the ground relative to the second member can be the method steps in the above steps Forward_I, Forward_II, and Forward_III.

[0068] For example, Figure 3b is a schematic diagram of the forward calculation of the waist-hip-knee-ankle structure exoskeleton robot according to the embodiment of the present invention, as Figure 3bAs shown, in step Forward_I, the target joint is the left hip joint 208, the first component is the waist component 201, and the second component is the left thigh component 202. The attitude parameter of the left thigh component 202 is corrected according to the attitude parameter of the waist component 201 and the target joint parameter of the left hip joint 208. Specifically, it can be obtained through the following formula:

[0069] IMU′ thigh_l =(1 - w thigh_l )IMU thigh_l + w thigh_l (IMU hip + Angle hip_l );

[0070] Wherein, IMU thigh_l is the attitude parameter of the left thigh component 202 before correction (i.e., the second attitude parameter). The above IMU′ thigh_l is the third attitude parameter of the left thigh component 202 after correction. IMU hip is the attitude parameter of the waist component 201 (i.e., the above first attitude parameter). IMU hip can be collected by the attitude sensor of the waist component. Angle hip_l is the target joint parameter of the left hip joint 208. w thigh_l is the preset second coefficient, and 1 - w thigh_l is the preset third coefficient, and w thigh_l ∈[0, 1].

[0071] As an alternative embodiment, the first component includes a left thigh component and a right thigh component. The first attitude parameter includes a left thigh attitude parameter and a right thigh attitude parameter. The second component is the waist component. The target joints include a left hip joint and a right hip joint. The target joint parameters include a left hip joint parameter and a right hip joint parameter. The second attitude parameter is corrected according to the first attitude parameter and the target joint parameters to obtain the third attitude parameter of the second component, including: determining a third difference between the left thigh attitude parameter and the left hip joint parameter, and a fourth difference between the right thigh attitude parameter and the right hip joint parameter; determining a first error as the difference between the second attitude parameter and the third difference, and determining a second error as the difference between the second attitude parameter and the fourth difference; determining an error difference as the difference between the first error and the second error; adding the second attitude parameter and the error difference to obtain the third attitude parameter.

[0072] It should be noted that since the waist component 201 is connected to both the left hip joint 208 and the right hip joint 209 at the same time, for the attitude parameter of the waist component 201, it can be corrected by means of linear fusion and differential cancellation of the left thigh attitude parameter and the right thigh attitude parameter, the left hip joint parameter and the right hip joint parameter, so as to make the attitude parameter of the waist component 201 more accurate.

[0073] The method for correcting the attitude parameters of the waist member 201 in this embodiment can be Figure 3a the step Inverse_I in [reference], specifically, the second attitude parameter of the waist member 201 is corrected according to the attitude parameters of the left thigh member 202 and the right thigh member 203, and the target joint parameters of the left hip joint 208 and the right hip joint 209, to obtain the third attitude parameter of the "floating base" waist member 201, which can be achieved through the following formula:

[0074] IMU′ hip = IMU hip + [IMU hip - (IMU thigh_l - Angle hip_l )] - [IMU hip - (IMU thigh_r - Angle hip_r )];

[0075] Wherein, IMU′ hip is the third attitude parameter of the corrected waist member 201, IMU hip is the initial attitude parameter (i.e., the second attitude parameter) collected by the attitude sensor of the waist member, Angle hip_l is the left hip joint parameter, Angle hip_r is the right hip joint parameter, IMU thigh_l is the left thigh attitude parameter, and IMU thigh_r is the right thigh attitude parameter.

[0076] In the above calculation formula of IMU′ hip , IMU thigh_l - Angle hip_l is the above third difference, and IMU thigh_r - Angle hip_r is the above fourth difference. The above third difference and fourth difference are respectively used to obtain the temporary calculated values of the attitude parameters of the waist member. Subtracting the above third difference (i.e., IMU hip - (IMU thigh_l - Angle hip_l )) from the second attitude parameter of the waist member to obtain the first error of the attitude parameter of the waist member, and subtracting the above fourth difference (i.e., IMU hip - (IMU thigh_r - Angle hip_r )) from the second attitude parameter of the waist member to obtain the second error of the attitude parameter of the waist member. The difference between the above first error and the second error is the error difference, and the error difference can be used to correct the second attitude parameter IMU hip of the waist member to obtain the updated third attitude parameter IMU′hip 。

[0077] As an alternative embodiment, after adding the second attitude parameter and the error difference to obtain the third attitude parameter, the above method further includes: correcting the left thigh attitude parameter according to the third attitude parameter and the left hip joint parameter to obtain the corrected left thigh attitude parameter, and correcting the right thigh attitude parameter according to the third attitude parameter and the right hip joint parameter to obtain the corrected right thigh attitude parameter; adjusting the motor control parameters of the exoskeleton robot based on the corrected left thigh attitude parameter and the corrected right thigh attitude parameter.

[0078] According to Figure 3a After obtaining the attitude parameter of the corrected waist member 201 in step Inverse_I in Figure 3b As shown in

[0079] It should be noted that the left and right lower limbs of the exoskeleton robot are attached to the exoskeleton waist member. The exoskeleton robot waist member is the "floating base" of the entire lower limb exoskeleton robot (regardless of the type, "waist-hip" structure, "waist-hip-knee" structure, "waist-hip-knee-ankle" structure), and is the "floating root" of the mechanism and kinematics of the lower limb exoskeleton robot; therefore, the attitude information of the waist member can be used as the basis for solving the motion attitude of the entire lower limb exoskeleton robot. Based on the attitude information of the waist member, the above method for correcting the member can be applied to the lower limb exoskeleton robots of the above three structural forms.

[0080] As an alternative embodiment, before determining the third difference between the left thigh attitude parameter and the left hip joint parameter and the fourth difference between the right thigh attitude parameter and the right hip joint parameter, the above method further includes: obtaining the left thigh attitude parameter and the right thigh attitude parameter, where obtaining the left thigh attitude parameter and the right thigh attitude parameter includes: obtaining the left calf attitude parameter, the left knee joint parameter, and the initial left thigh attitude parameter collected by the left thigh attitude sensor, and the right calf attitude parameter, the right knee joint parameter, and the initial right thigh attitude parameter collected by the right thigh attitude sensor; correcting the initial left thigh attitude parameter according to the left calf attitude parameter and the left knee joint parameter to obtain the left thigh attitude parameter, and correcting the initial right thigh attitude parameter according to the right calf attitude parameter and the right knee joint parameter to obtain the right thigh attitude parameter.

[0081] It should be noted that for the "waist-hip-knee" structure and the "waist-hip-knee-ankle" structure of the exoskeleton robot, in order to obtain more accurate attitude parameters of the corrected waist member 201 in step Inverse_I, the above left thigh attitude parameter and right thigh attitude parameter can adopt the corrected left thigh attitude parameter and right thigh attitude parameter in step Inverse_II.

[0082] For example, as Figure 3a shown, in step Inverse_II, the attitude parameter of the left thigh member 202 is corrected according to the attitude parameter of the left calf member 204 and the joint parameter of the left knee joint 210 to obtain the corrected attitude parameter of the left thigh member 202, which can be specifically obtained through the following formula:

[0083] IMU′ thigh_l = IMU thigh_l - k thigh_l [IMU thigh_l -(IMU shank_l - Angle knee_l )]

[0084] =(1 - k thigh_l )IMU thigh_l + k thigh_l (IMU shank_l - Angle knee_l );

[0085] Wherein, IMU shank_l is the first attitude parameter of the left calf member 204, IMU shank_l can be detected by the inertial measurement unit IMU shank_l installed on the left calf member 204, Angle knee_l is the target joint parameter of the left knee joint 210, and the above IMU′ thigh_lis the attitude parameter of the corrected left thigh component 202, IMU thigh_l is the attitude parameter of the left thigh component 202 before correction (i.e., the second attitude parameter).

[0086] Furthermore, IMU' thigh_l can be substituted into the steps of step Inverse_I: IMU thigh_l = IMU' thigh_l to obtain more accurate attitude parameters of the corrected waist component 201 in step Inverse_I.

[0087] As an optional embodiment, after correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component, the above method further includes: judging whether the difference between the third attitude parameter and the second attitude parameter is less than a preset value; in the case where the difference between the third attitude parameter and the second attitude parameter is less than the preset value, entering the step of adjusting the motor control parameters of the exoskeleton robot based on the third attitude parameter; in the case where the difference between the third attitude parameter and the second attitude parameter is greater than or equal to the preset value, assigning the third attitude parameter to the second attitude parameter, and entering the step of correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component.

[0088] After completing the correction of the third attitude parameter of the second component, by judging whether the difference between the third attitude parameter and the second attitude parameter is less than a preset value (i.e., the convergence judgment process), it is determined whether the corrected third attitude parameter meets the accuracy requirement. The above preset value is determined according to the required correction accuracy and is not limited here. The smaller the preset value, the higher the accuracy of the third attitude parameter of the second component, and the larger the preset value, the lower the accuracy of the third attitude parameter of the second component.

[0089] It should be noted that the smaller the preset value, the longer the calculation time required for the exoskeleton robot, and comparing and calculating each component of the exoskeleton robot with the corresponding preset value will increase the calculation time and resources of the controller of the exoskeleton robot. In an optional embodiment, after completing the correction of the third attitude parameter of the waist component, only the attitude parameter of the corrected waist component is compared with the preset value, which improves the accuracy of attitude parameter correction on the one hand and saves calculation time and resources on the other hand.

[0090] Specifically, judging whether the difference between the third attitude parameter and the second attitude parameter is less than a preset value can be realized by the following formula:

[0091] | updated IMU hip - last IMU hip | < ε;

[0092] where ε is the above preset value, updated IMU hip is the third attitude parameter of the corrected waist member 201 obtained through step Inverse_I, last IMU hip is the second attitude parameter of the waist member. The second attitude parameter can be the initial attitude parameter collected by the attitude sensor or the attitude parameter of the corrected waist member obtained in the previous correction process.

[0093] It should be noted that the above convergence judgment process can be repeated in a loop multiple times. When the difference between the third attitude parameter and the second attitude parameter is greater than or equal to the preset value, the attitude parameters of each component of the exoskeleton robot need to be corrected in a loop again according to the steps in steps S102 - S106 until the difference between the third attitude parameter and the second attitude parameter is less than the preset value, meeting the accuracy requirements of the exoskeleton robot for the attitude parameters.

[0094] In an alternative embodiment, for a waist-hip-knee-ankle structured exoskeleton robot, in order to obtain the accurate attitude parameters of all corrected components, the accurate attitude parameters of the waist member 201 can be obtained first according to the Figure 3a inverse kinematic solution method shown, and then the attitude parameters of all components are corrected according to the Figure 3b forward kinematic solution method shown. Specifically, the attitude parameters of each component of the waist-hip-knee-ankle structured exoskeleton robot can be the attitude angles collected by the inertial measurement unit IMU, and the target joint parameters of each electric joint can be the joint angles collected by the angle encoder. The control method of the waist-hip-knee-ankle structured exoskeleton robot shown in Figure 4 specifically includes the following steps:

[0095] Step Inverse_III, correct the attitude angle IMU of the left lower leg member 204 according to the attitude angle of the left foot member 206 and the joint angle of the left ankle joint 212 shank_l to obtain the corrected attitude angle IMU' of the left lower leg member 204 shank_l :

[0096] IMU' shank_l = IMU shank_l - k shank_l [IMU shank_l -(IMU foot_l - Angle ankle_l )]

[0097] =(1 - k shank_l )IMU shank_l + k shank_l (IMUfoot_l - Angle ankle_l )

[0098] Among them, IMU shank_l is the attitude angle of the left lower leg member 204 (i.e., the second attitude parameter), and IMU shank_l can be detected by the inertial measurement unit IMU installed on the left lower leg member 204 shank_l . Angle ankle_l is the target joint parameter of the left ankle joint 212, and k shank_l is the fusion coefficient corresponding to the inverse kinematics solution of the left lower leg member 204 (i.e., the above-mentioned preset first coefficient), and k shank_l ∈[0, 1]. IMU foot_l is the attitude angle of the left foot member 206 (i.e., the first attitude parameter), and can be detected by the inertial measurement unit IMU installed on the left foot member 206 foot_l .

[0099] Through IMU shank_l = IMU' shank_l , the corrected attitude angle of the left lower leg member 204 is used in the calculation of step Inverse_II

[0100] According to the attitude angle of the right foot member 207 and the joint angle of the right ankle joint 213, the attitude angle of the right lower leg member 203 is corrected to obtain the corrected attitude angle IMU' shank_r of the right lower leg member 205:

[0101] IMU' shank_r = IMU shank_r - k shank_r [IMU shank_r -(IMU foot_r - Angle ankle_r )]

[0102] = (1 - k shank_r )IMU shank_r + k shank_r (IMU foot_r - Angle ankle_r )

[0103] Among them, IMU shank_r is the attitude angle of the right lower leg member 203 (i.e., the second attitude parameter), and IMU shank_r can be detected by the inertial measurement unit IMU installed on the right lower leg member 203 shank_r , Angle ankle_r is the joint angle of the right ankle joint 213, and k shank_r is the fusion coefficient corresponding to the inverse kinematics solution of the right lower leg member 203 (i.e., the above-mentioned preset first coefficient), and kshank_r ∈ [0, 1], IMU foot_r is the attitude angle of the right leg member 207 (i.e., the first attitude parameter), which can be detected by the inertial measurement unit IMU installed on the right leg member 207 foot_l and obtained.

[0104] Through IMU shank_r = IMU' shank_r The attitude angle IMU of the corrected right calf member 203 shank_r is used in the calculation of step Inverse_II.

[0105] Step Inverse_II: Correct the attitude angle of the left thigh member 202 according to the attitude angle of the left calf member 204 and the joint angle of the left knee joint 210 to obtain the corrected attitude angle IMU' of the left thigh member 202 thigh_l :

[0106] IMU' thigh_l = IMU thigh_l - k thigh_l [IMU thigh_l -(IMU shank_l - Angle knee_l )]

[0107] = (1 - k thigh_l )IMU thigh_l + k thigh_l (IMU shank_l - Angle knee_l );

[0108] Among them, the attitude angle IMU of the left calf member 204 shank_l is the corrected attitude angle obtained from step Inverse_III, Angle knee_l is the joint angle of the left knee joint 210, k thigh_l is the fusion coefficient corresponding to the inverse solution of the left thigh member 202 (i.e., the above-mentioned preset first coefficient), and k thigh_l ∈ [0, 1], the attitude angle IMU of the left thigh member 202 before correction thigh_l can be detected by the inertial measurement unit IMU installed on the left thigh member 202 thigh_l and obtained.

[0109] Through IMU thigh_l = IMU', the corrected attitude angle IMU of the left thigh member 202 thigh_l is used in the calculation of step Inverse_I. thigh_l

[0110] ​Modify the attitude angle of the right thigh member 203 according to the attitude angle of the right lower leg member 205 and the joint angle of the right knee joint 211 to obtain the attitude angle of the modified right thigh member 203:

[0111] IMU′ thigh_r = IMU thigh_r - k thigh_r [IMU thigh_r -(IMU shank_r - Angle knee_r )]

[0112] =(1 - k thigh_r )IMU thigh_r + k thigh_r (IMU shank_r - Angle knee_r );

[0113] Among them, the attitude angle IMU shank_r of the right lower leg member 205 is the modified attitude angle obtained from step Inverse_III, Angle knee_r is the joint angle of the right knee joint 211, k thigh_r is the fusion coefficient corresponding to the inverse solution of the right thigh member 203 (i.e., the above-mentioned preset first coefficient), and k thigh_r ∈[0, 1]. The attitude angle IMU thigh_r of the right thigh member 203 before modification can be detected by the inertial measurement unit IMU thigh_r installed on the right thigh member 203.

[0114] Through IMU thigh_r = IMU′ thigh_r , use the attitude angle IMU thigh_r of the modified right thigh member 203 in the calculation of step Inverse_I.

[0115] Step Inverse_I: Modify the second attitude parameter of the waist member 201 according to the attitude parameters of the left thigh member 202 and the right thigh member 203, and the target joint parameters of the left hip joint 208 and the right hip joint 209 to obtain the attitude angle IMU′ hip of the "floating base" waist member 201:

[0116] IMU′ hip = IMU hip + [IMU hip -(IMU thigh_l - Angle hip_l )]-[IMU hip -(IMU thigh_r - Angle hip_r )];

[0117] Among them, IMU hip is the initial attitude parameter (i.e., the second attitude parameter) collected by the attitude sensor of the waist member, Angle hip_l is the joint angle of the left hip joint, Angle hip_r is the joint angle of the right hip joint, IMU thigh_l is the attitude angle of the corrected left thigh member obtained in step Inverse_II, IMU thigh_r is the attitude angle of the corrected right thigh member obtained in step Inverse_II.

[0118] Through IMU hip = IMU′ hip The attitude angle IMU of the corrected waist member 201 is used hip in the calculation of the subsequent forward solution step Forward_I.

[0119] After steps Inverse_III, Inverse_II, and Inverse_I, an inverse solution of the exoskeleton robot is completed to obtain the attitude angle of the "floating base" waist member 201, and the forward calculation process is carried out according to the following steps:

[0120] Step Forward_I: Correct the attitude angle IMU′ of the left thigh member 202 according to the attitude angle of the corrected waist member 201 and the joint angle of the left hip joint 208 thigh_l :

[0121] IMU′ thigh_l = (1 - w thigh_l )IMU thigh_l + w thigh_l (IMU hip + Angle hip_l );

[0122] Among them, IMU thigh_l is the initial attitude angle collected by the attitude sensor of the left thigh member 202 or the attitude angle of the left thigh member 202 obtained in step Inverse_II, IMU hip is the attitude angle of the corrected waist member 201 in step Inverse_I, Angle hip_l is the joint angle of the left hip joint 208, w thigh_l is the fusion coefficient corresponding to the forward solution of the left thigh member 202 (i.e., the preset second coefficient), 1 - w thigh_l is the fusion coefficient corresponding to the forward solution of the left thigh member 202 (i.e., the preset third coefficient), and w thigh_l ∈[0, 1].

[0123] Through the IMU thigh_l = IMU' thigh_l , the attitude angle IMU of the corrected left thigh component 202 thigh_l is used in the calculation of the subsequent forward kinematics step Forward_II.

[0124] According to the third attitude parameter of the corrected waist component 201 and the target joint parameters of the right hip joint 209, correct the attitude parameter IMU' of the right thigh component 203 thigh_r :

[0125] IMU' thigh_r = (1 - w thigh_r )IMU thigh_r + w thigh_r (IMU hip + Angle hip_r );

[0126] Wherein, IMU thigh_r is the initial attitude angle collected by the attitude sensor of the right thigh component 203 or the attitude angle of the right thigh component 2032 obtained in step Inverse_II, IMU hip is the attitude angle of the corrected waist component 201 in step Inverse_I, Angle hip_r is the joint angle of the right hip joint 209, w thigh_r is the fusion coefficient corresponding to the forward kinematics of the right thigh component 203 (i.e., the preset second coefficient), 1 - w thigh_r is the fusion coefficient corresponding to the forward kinematics of the right thigh component 203 (i.e., the preset third coefficient), and w thigh_r ∈[0, 1].

[0127] Through the IMU thigh_r = IMU' thigh_r , the attitude angle IMU of the corrected right thigh component 203 thigh_r is used in the calculation of step Forward_II.

[0128] In step Forward_II, according to the attitude parameter of the left thigh component 202 and the joint parameter of the left knee joint 210, correct the attitude parameter of the left calf component 204 to obtain the corrected attitude parameter IMU' of the left calf component 204 shank_l , which can be specifically obtained through the following formula:

[0129] IMU' shank_l = (1 - w shank_l )IMU shank_l + w shank_l (IMU thigh_l + Angle knee_l);

[0130] Among them, IMU shank_l is the initial attitude angle collected by the attitude sensor of the left calf member 204 or the attitude angle of the left calf member 204 obtained in step Inverse_III. IMU thigh_l is the attitude angle of the corrected left thigh member 202 in step Forward_I, Angle knee_l is the joint angle of the left knee joint 210, w shank_l is the fusion coefficient corresponding to the forward solution of the left calf member 204 (i.e., the preset second coefficient), 1 - w shank_l is the fusion coefficient corresponding to the forward solution of the left calf member 204 (i.e., the preset third coefficient), and w shank_l ∈[0, 1].

[0131] Through IMU shank_l = IMU' shank_l the corrected attitude angle of the left calf member 204 is used in the calculation of step Forward_III.

[0132] The attitude parameters of the right calf member 205 are corrected according to the attitude parameters of the right thigh member 203 and the joint parameters of the right knee joint 211 to obtain the corrected attitude parameters of the right calf member 205, which can be specifically obtained through the following formula:

[0133] IMU' shank_r =(1 - w shank_r )IMU shank_r + w shank_r (IMU thigh_r + Angle knee_r );

[0134] Among them, IMU shank_r is the initial attitude angle collected by the attitude sensor of the right calf member 205 or the attitude angle of the right calf member 205 obtained in step Inverse_III. IMU thigh_r is the attitude angle of the corrected right thigh member 203 in step Forward_I, Angle knee_r is the joint angle of the right knee joint 211, w shank_r is the fusion coefficient corresponding to the forward solution of the right calf member 205 (i.e., the preset second coefficient), 1 - w shank_r is the fusion coefficient corresponding to the forward solution of the right calf member 205 (i.e., the preset third coefficient), and w shank_r ∈[0, 1]

[0135] Through IMU shank_r = IMU' shank_r, the attitude angle IMU of the corrected right calf member 205 shank_r is used in the calculation of step Forward_III.

[0136] Step Forward_III, according to the attitude parameters of the left calf member 204 and the joint parameters of the left ankle joint 212, correct the attitude parameters of the left foot member 206 to obtain the corrected attitude parameter IMU' of the left foot member 206 foot_l :

[0137] IMU' foot_l =(1 - w foot_l )IMU foot_l + w foot_l (IMU shank_l + Angle ankle_l ) ;

[0138] Among them, IMU foot_l is the initial attitude angle collected by the attitude sensor of the left foot member 206, IMU shank_l is the attitude angle of the corrected left calf member 204 in step Forward_II, Angle ankle_l is the joint angle of the left ankle joint 212, w foot_l is the fusion coefficient corresponding to the forward solution of the left foot member 206 (i.e., the preset second coefficient), 1 - w foot_l is the fusion coefficient corresponding to the forward solution of the left foot member 206 (i.e., the preset third coefficient), and w foot_ l ∈ [0, 1].

[0139] According to the attitude parameters of the right calf member 203 and the joint parameters of the right ankle joint 213, correct the attitude parameters of the right foot member 207 to obtain the corrected attitude parameter of the right foot member 207:

[0140] IMU' foot_r =(1 - w foot_r )IMU foot_r + w foot_r (IMU shank_r + Angle ankle_r ) ;

[0141] Among them, IMU foot_r is the initial attitude angle collected by the attitude sensor of the right foot member 207, IMU shank_r is the attitude angle of the corrected right calf member 203 in step Forward_II, Angle ankle_r is the joint angle of the right ankle joint 213, w foot_r is the fusion coefficient corresponding to the forward solution of the right foot member 207 (i.e., the preset second coefficient), 1 - w foot_rFor the positive solution of the right foot component 207, the corresponding fusion coefficient (i.e., the preset third coefficient) is calculated, and w foot_r ∈ [0, 1].

[0142] Through Step Forward_I, Step Forward_II, and Step Forward_III, the correction of all components of the exoskeleton robot is completed.

[0143] The above inverse solution process (Step Inverse_III, Step Inverse_II, and Step Inverse_I) and the positive solution process (Step Forward_I, Step Forward_II, and Step Forward_III) are regarded as a complete correction process. After completing Step Forward_III, the convergence of the attitude angle of the corrected waist component 201 can be judged according to the following formula:

[0144] | updated IMU hip - last IMU hip | < ε;

[0145] where ε is the above preset value, updated IMU hip is the attitude angle of the corrected waist component 201 obtained through Step Inverse_I, last IMU hip is the attitude angle detected by the inertial measurement unit corresponding to the waist component.

[0146] If updated IMU hip and last IMU hip are less than the ε value, it is considered that the accuracy of the attitude angles of all components of the exoskeleton robot meets the requirements, and further, it can be used to adjust the control parameters of the motor to adjust the assisting state for the human body.

[0147] If updated IMU hip and last IMU hip are greater than or equal to the ε value, it is considered that the accuracy of the attitude angles of all components of the exoskeleton robot does not meet the requirements. Through IMU foot_l = IMU' foot_l and IMU foot_r = IMU' foot_rTake the attitude angles of the right foot component 207 and the left foot component 206 obtained from the previous round of correction as the initial values of step Inverse_III, and repeat the above steps of inverse calculation and forward calculation again to achieve the re-correction of the components of the exoskeleton robot until the accuracy of the attitude angles of the components meets the above requirements.

[0148] In this embodiment, through the two-way recursive process of inverse calculation and forward calculation, the errors of the attitude sensors installed on each component of the exoskeleton robot and the recursive cumulative errors are eliminated, and the accurate attitude of the overall exoskeleton robot relative to the ground and the accurate attitudes of each component relative to the ground are obtained, improving the accuracy of the assistance effect of the exoskeleton robot.

[0149] Embodiment 2

[0150] According to an embodiment of the present invention, an embodiment of a control device for an exoskeleton robot is provided. Figure 5 It is a schematic diagram of a control device for an exoskeleton robot according to an embodiment of the present invention, as Figure 5 shown. The device includes:

[0151] An acquisition module 51, configured to acquire a first attitude parameter of a first component, a second attitude parameter of a second component, and a target joint parameter of a target joint, where the first component and the second component are connected by the target joint; a correction module 52, configured to correct the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain a third attitude parameter of the second component; an adjustment module 53, configured to adjust the motor control parameter of the exoskeleton robot based on the third attitude parameter.

[0152] As an optional embodiment, the above device further includes: a reverse correction module, configured to correct the first attitude parameter according to the third attitude parameter and the target joint parameter to obtain a fourth attitude parameter of the first component; a supplementary adjustment module, configured to adjust the motor control parameter of the exoskeleton robot based on the fourth attitude parameter.

[0153] As an optional embodiment, the position of the second component is away from the ground relative to the first component. The above correction module includes: a first difference determination sub-module, configured to determine a first difference between the first attitude parameter and the target joint parameter; a second difference determination sub-module, configured to determine a second difference between the second attitude parameter and the first difference; a first correction value determination sub-module, configured to multiply the second difference by a preset first coefficient to obtain a first correction value; a third attitude parameter determination sub-module, configured to subtract the first correction value from the second attitude parameter to obtain the third attitude parameter.

[0154] As an alternative embodiment, the position of the first component is away from the ground relative to the second component. The above-mentioned correction module includes: a second correction value acquisition sub-module, configured to acquire the sum value of the first attitude parameter and the target joint parameter, and acquire the product of the sum value and a preset second coefficient to obtain a second correction value; a third correction value acquisition sub-module, configured to multiply the second attitude parameter by a preset third coefficient to obtain a third correction value; a third attitude parameter determination sub-module, configured to determine the sum of the second correction value and the third correction value as the third attitude parameter.

[0155] As an alternative embodiment, the first component includes a left thigh component and a right thigh component, the first attitude parameter includes a left thigh attitude parameter and a right thigh attitude parameter, the second component is a waist component, the target joints include a left hip joint and a right hip joint, and the target joint parameters include a left hip joint parameter and a right hip joint parameter. The above-mentioned correction module includes: a difference determination sub-module, configured to determine a third difference between the left thigh attitude parameter and the left hip joint parameter, and a fourth difference between the right thigh attitude parameter and the right hip joint parameter; an error determination sub-module, configured to determine the difference between the second attitude parameter and the third difference as a first error, and determine the difference between the second attitude parameter and the fourth difference as a second error; an error difference determination sub-module, configured to determine the difference between the first error and the second error as an error difference; a third attitude parameter determination sub-module, configured to add the second attitude parameter and the error difference to obtain a third attitude parameter.

[0156] As an alternative embodiment, the above-mentioned device further includes: a reverse correction module, configured to correct the left thigh attitude parameter according to the third attitude parameter and the left hip joint parameter to obtain a corrected left thigh attitude parameter, and correct the right thigh attitude parameter according to the third attitude parameter and the right hip joint parameter to obtain a corrected right thigh attitude parameter; a supplementary adjustment module, configured to adjust the motor control parameters of the exoskeleton robot based on the corrected left thigh attitude parameter and the corrected right thigh attitude parameter.

[0157] As an alternative embodiment, the above-mentioned device further includes: a thigh attitude parameter acquisition module, configured to acquire a left thigh attitude parameter and a right thigh attitude parameter. The thigh attitude parameter acquisition module includes: a calf and knee joint attitude parameter acquisition sub-module, configured to acquire a left calf attitude parameter, a left knee joint parameter, and an initial left thigh attitude parameter collected by a left thigh attitude sensor, and a right calf attitude parameter, a right knee joint parameter, and an initial right thigh attitude parameter collected by a right thigh attitude sensor; a correction sub-module, configured to correct the initial left thigh attitude parameter according to the left calf attitude parameter and the left knee joint parameter to obtain a left thigh attitude parameter, and correct the initial right thigh attitude parameter according to the right calf attitude parameter and the right knee joint parameter to obtain a right thigh attitude parameter.

[0158] As an alternative embodiment, the above device further includes: a judgment module, configured to judge whether the difference between the third attitude parameter and the second attitude parameter is less than a preset value; an assignment module, configured to assign the third attitude parameter to the second attitude parameter when the difference between the third attitude parameter and the second attitude parameter is greater than or equal to the preset value.

[0159] Embodiment 3

[0160] According to an embodiment of the present invention, there is provided an embodiment of a computer storage medium. The computer storage medium stores multiple instructions, and the instructions are adapted to be loaded and executed by a processor to perform the method steps of any one of the above.

[0161] According to an embodiment of the present invention, there is provided an embodiment of an exoskeleton robot. The above exoskeleton robot includes: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the method steps of any one of the above.

[0162] The above serial numbers of the embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0163] In the above embodiments of the present invention, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0164] In several embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can 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 couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in an electrical or other form.

[0165] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can 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.

[0166] In addition, in each embodiment of the present invention, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0167] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs.

[0168] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A control method for an exoskeleton robot, characterized in that, it includes: obtaining a first attitude parameter of a first component, a second attitude parameter of a second component, and a target joint parameter of a target joint, wherein the first component and the second component are connected by the target joint; correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain a third attitude parameter of the second component; adjusting the motor control parameter of the exoskeleton robot based on the third attitude parameter; The position of the second component is away from the ground relative to the first component. Correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component includes: determining a first difference between the first attitude parameter and the target joint parameter; determining a second difference between the second attitude parameter and the first difference; multiplying the second difference by a preset first coefficient to obtain a first correction value; subtracting the first correction value from the second attitude parameter to obtain the third attitude parameter; Or, the position of the first component is away from the ground relative to the second component. Correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component includes: obtaining a sum value of the first attitude parameter and the target joint parameter, and obtaining a product of the sum value and a preset second coefficient to obtain a second correction value; multiplying the second attitude parameter by a preset third coefficient to obtain a third correction value; determining the sum of the second correction value and the third correction value as the third attitude parameter.

2. The control method for an exoskeleton robot according to claim 1, characterized in that, after correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component, the method further includes: correcting the first attitude parameter according to the third attitude parameter and the target joint parameter to obtain a fourth attitude parameter of the first component; adjusting the motor control parameter of the exoskeleton robot based on the fourth attitude parameter.

3. The control method for an exoskeleton robot according to claim 1, characterized in that, the first component includes a left thigh component and a right thigh component, the first attitude parameter includes a left thigh attitude parameter and a right thigh attitude parameter, the second component is a waist component, the target joints include a left hip joint and a right hip joint, and the target joint parameters include a left hip joint parameter and a right hip joint parameter. Correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component includes: determining a third difference between the left thigh attitude parameter and the left hip joint parameter, and a fourth difference between the right thigh attitude parameter and the right hip joint parameter; determining that the difference between the second attitude parameter and the third difference is a first error, and determining that the difference between the second attitude parameter and the fourth difference is a second error; Determine the difference between the first error and the second error as the error difference; Add the second attitude parameter to the error difference to obtain the third attitude parameter.

4. The control method of the exoskeleton robot according to claim 3, wherein, after adding the second attitude parameter to the error difference to obtain the third attitude parameter, the method further includes: correct the left thigh attitude parameter according to the third attitude parameter and the left hip joint parameter to obtain the corrected left thigh attitude parameter, and correct the right thigh attitude parameter according to the third attitude parameter and the right hip joint parameter to obtain the corrected right thigh attitude parameter; Adjust the motor control parameters of the exoskeleton robot based on the corrected left thigh attitude parameter and the corrected right thigh attitude parameter.

5. The control method of the exoskeleton robot according to claim 3, wherein, before determining the third difference between the left thigh attitude parameter and the left hip joint parameter, and the fourth difference between the right thigh attitude parameter and the right hip joint parameter, the method further includes: obtaining the left thigh attitude parameter and the right thigh attitude parameter, wherein obtaining the left thigh attitude parameter and the right thigh attitude parameter includes: obtain the left calf attitude parameter, the left knee joint parameter, and the initial left thigh attitude parameter collected by the left thigh attitude sensor, and the right calf attitude parameter, the right knee joint parameter, and the initial right thigh attitude parameter collected by the right thigh attitude sensor; correct the initial left thigh attitude parameter according to the left calf attitude parameter and the left knee joint parameter to obtain the left thigh attitude parameter, and correct the initial right thigh attitude parameter according to the right calf attitude parameter and the right knee joint parameter to obtain the right thigh attitude parameter.

6. The control method of the exoskeleton robot according to claim 1, wherein, after correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component, the method further includes: judge whether the difference between the third attitude parameter and the second attitude parameter is less than a preset value; in the case where the difference between the third attitude parameter and the second attitude parameter is less than the preset value, enter the step of adjusting the motor control parameters of the exoskeleton robot based on the third attitude parameter; in the case where the difference between the third attitude parameter and the second attitude parameter is greater than or equal to the preset value, assign the third attitude parameter to the second attitude parameter, and enter the step of correcting the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain the third attitude parameter of the second component.

7. A control device for an exoskeleton robot, wherein, comprises: an acquisition module, configured to acquire a first attitude parameter of a first component, a second attitude parameter of a second component, and a target joint parameter of a target joint, wherein the first component and the second component are connected by the target joint; A correction module, configured to correct the second attitude parameter according to the first attitude parameter and the target joint parameter to obtain a third attitude parameter of the second component; An adjustment module, configured to adjust the motor control parameter of the exoskeleton robot based on the third attitude parameter; The position of the second component is away from the ground relative to the first component. The correction module includes: a first difference determination sub-module, configured to determine a first difference between the first attitude parameter and the target joint parameter; a second difference determination sub-module, configured to determine a second difference between the second attitude parameter and the first difference; a first correction value determination sub-module, configured to multiply the second difference by a preset first coefficient to obtain a first correction value; a third attitude parameter determination sub-module, configured to subtract the first correction value from the second attitude parameter to obtain the third attitude parameter; Alternatively, the position of the first component is away from the ground relative to the second component. The correction module includes: a second correction value acquisition sub-module, configured to acquire a sum value of the first attitude parameter and the target joint parameter, and acquire a product of the sum value and a preset second coefficient to obtain a second correction value; a third correction value acquisition sub-module, configured to multiply the second attitude parameter by a preset third coefficient to obtain a third correction value; a third attitude parameter determination sub-module, configured to determine that a sum of the second correction value and the third correction value is the third attitude parameter.

8. A computer storage medium, characterized in that, the computer storage medium stores multiple instructions, and the instructions are adapted to be loaded and executed by a processor to perform the method steps of any one of claims 1 to 6.

9. An exoskeleton robot, characterized in that, comprising: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the method steps of any one of claims 1 to 6.

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