Unilateral hip joint walking-assisting robot and control method

Abstract

The present application provides a unilateral hip joint walking-assist robot and a control method, which relate to the technical field of walking-assist robots; the waist fixing component includes a backpack, and a control system is provided in the backpack; the healthy-side wearable component includes a healthy-side encoder for collecting healthy-side thigh movement information, the healthy-side encoder is correspondingly arranged at the healthy-side hip joint position, and the healthy-side encoder is electrically connected to the control system; the affected-side power component includes a power unit and an affected-side encoder for collecting affected-side thigh movement information, the power unit and the affected-side encoder are arranged on the affected-side leg connecting rod corresponding to the affected-side hip joint position, and the power unit and the affected-side encoder are electrically connected to the control system respectively. For hemiplegic users, a single-joint power solution is adopted to further reduce weight and reduce the burden of the equipment on patients; movement intention recognition is simple and accurate; and the power-assisting torque is adaptively adjusted.

Description

Technical Field

[0001] The present application relates to the technical field of walking-assist robots, and in particular to a unilateral hip joint walking-assist robot and a control method thereof. Background Art

[0002] With the development of society, the problem of population aging is becoming increasingly serious, and the number of stroke patients is increasing every year. In the later stages of rehabilitation, patients with hemiplegia due to stroke have acquired the ability to stand and balance, as well as a certain degree of walking ability. However, they lack professional rehabilitation equipment from hospitals at home and cannot continue to receive effective rehabilitation treatment.

[0003] For hemiplegic stroke patients whose gait deformity and walking ability are reduced due to muscle atrophy on the affected side, such patients can undergo gait rehabilitation training in the early stages through lower limb rehabilitation exoskeleton equipment in the hospital. However, in the later stages of rehabilitation, traditional lower limb rehabilitation exoskeleton equipment is bulky, large, and expensive, making it impossible for patients to continue effective rehabilitation treatment at home. In fact, in the later stages of rehabilitation, patients already have the ability to stand and balance, and a certain degree of walking ability, but their walking ability is weak. The main reason is that the lower limb muscle strength is affected, resulting in insufficient hip flexion muscle strength, making it impossible to continuously or effectively lift the thigh to take a step. To carry out muscle strength rehabilitation, walking training must be insisted on, and at this time the patient falls into a vicious cycle of ineffective rehabilitation.

[0004] However, existing technologies primarily focus on hip-assisted walking for healthy individuals or the elderly, with very little coverage of walking assistance for hemiplegic patients. The weight of the equipment is still a burden for hemiplegic patients, and the overall design and functional requirements of the equipment are not designed with the specific conditions of hemiplegic patients in mind. Therefore, for these patients, there is a need for an effective, lightweight rehabilitation device that can assist with lower limb movement, allowing them to continue walking rehabilitation training at home and improve lower limb muscle strength. Summary of the Invention

[0005] In view of the above problems, the present application is proposed to provide a unilateral hip joint walking-assist robot and a control method that overcome the above problems or at least partially solve the above problems, including:

[0006] A unilateral hip joint walking-assist robot comprises: a waist fixing assembly, a healthy-side wearing assembly, and an affected-side power assembly, wherein the healthy-side wearing assembly and the affected-side power assembly are respectively arranged on both sides of the waist fixing assembly;

[0007] The waist fixing assembly includes a backpack, and a control system is provided in the backpack;

[0008] The healthy side wearable component includes a healthy side encoder for collecting healthy side thigh movement information, the healthy side encoder is correspondingly arranged at the healthy side hip joint position, and the healthy side encoder is electrically connected to the control system;

[0009] The affected-side power assembly includes a power unit and an affected-side encoder for collecting motion information of the affected-side thigh. The power unit and the affected-side encoder are correspondingly arranged at the position of the affected-side hip joint; the power unit and the affected-side encoder are respectively electrically connected to the control system;

[0010] When the patient wears the walking-assist robot, the waist fixing component is arranged at a position corresponding to the patient's waist; the healthy-side wearing component corresponds to the patient's healthy-side lower limb; the affected-side power component corresponds to the patient's affected-side lower limb; the control system is fixed to the patient's back through the backpack, wherein the healthy-side encoder corresponds to the patient's healthy-side hip joint position, and the affected-side encoder corresponds to the patient's affected-side hip joint position.

[0011] Preferably, the control system includes a main control unit, a Bluetooth unit, a power management unit and a lithium battery. The main control unit, the Bluetooth unit and the power management unit are electrically connected to each other, the power management unit is electrically connected to the lithium battery, and the Bluetooth unit is communicatively connected to the external device end.

[0012] Preferably, the waist fixing assembly further comprises a waist connecting rod and a waist belt, the waist belt is adhered to the inner side of the waist connecting rod, and the open end of the waist connecting rod is provided with mutually cooperating buckles; the backpack and the waist fixing assembly are connected with adjustable shoulder straps.

[0013] Preferably, the healthy-side wearing assembly further includes a healthy-side leg connecting rod, and the affected-side power assembly further includes an affected-side leg connecting rod, and the bottom ends of the healthy-side leg connecting rod and the affected-side leg connecting rod are both provided with leg straps.

[0014] Preferably, the healthy-side wearable component and the affected-side power component further include a fixed bracket, which is arranged on the connecting parts extending downward on both sides of the waist belt, and a connecting belt is provided on the fixed bracket, which is connected to the buckle; the healthy-side encoder, the power unit and the affected-side encoder are respectively connected to the fixed bracket.

[0015] Preferably, a rotating arm is provided on the fixing bracket, and the rotating arms on the healthy side and the affected side are hinged to the top ends of the healthy side leg connecting rod and the affected side leg connecting rod respectively.

[0016] A control method for a unilateral hip joint walking-assist robot as described above, wherein the control method is applied to an exoskeleton walking-assist robot; comprising:

[0017] Obtaining the healthy side motion parameters of the wearer's healthy side hip joint;

[0018] determining the movement intention of the wearer's leg based on the healthy side movement parameters;

[0019] Obtaining the affected side motion parameters of the wearer's affected side hip joint;

[0020] The output torque of the affected side is determined according to the movement intention and the movement parameters of the affected side, and the output torque is sent to the control system.

[0021] Preferably, the healthy side motion parameters include the healthy side hip joint angle, the healthy side hip joint angular velocity, and the healthy side hip joint angular acceleration; and the step of determining the wearer's leg motion intention based on the healthy side motion parameters includes:

[0022] Recording and processing the healthy side motion parameters, and extracting motion feature information of the healthy side motion parameters;

[0023] The movement intention of the wearer's legs is determined based on the extracted movement feature information; wherein the movement intention includes the intention to lift the leg and take a step and the intention to land.

[0024] Preferably, the step of determining the movement intention of the wearer's legs based on the extracted movement feature information includes:

[0025] determining the leg-lifting stepping intention or the leg-landing intention according to the magnitude of the healthy-side hip joint angular velocity;

[0026] When the angular velocity of the healthy side hip joint is greater than a preset angular velocity threshold, determining that the movement intention is a leg-lifting stepping intention;

[0027] At the moment when the angular velocity of the healthy-side hip joint changes from a positive value to a negative value, it is determined that the movement intention is a landing intention.

[0028] Preferably, the motion parameters of the affected side include the hip joint angle, the angular velocity and the angular acceleration of the hip joint on the affected side, and the step of determining the output torque of the affected side based on the motion intention and the motion parameters of the affected side includes:

[0029] generating an output power assistance curve according to the movement intention;

[0030] The output torque value and the assisting time of the output assisting curve are adjusted according to the affected-side hip joint angle, the affected-side hip joint angular velocity and the affected-side hip joint angular acceleration to determine the affected-side output torque.

[0031] This application has the following advantages:

[0032] In an embodiment of the present application, a waist fixing component, a healthy side wearing component and an affected side power component are respectively arranged on both sides of the waist fixing component; the waist fixing component includes a backpack, and a control system is provided in the backpack; the healthy side wearing component includes a healthy side encoder for collecting healthy side thigh movement information, the healthy side encoder is correspondingly arranged at the healthy side hip joint position, and the healthy side encoder is electrically connected to the control system; the affected side power component includes a power unit and an affected side encoder for collecting affected side thigh movement information, the power unit and the affected side encoder are correspondingly arranged at the affected side hip joint position; the power unit and the affected side encoder are respectively electrically connected to the control system; when the patient wears the walking-assisting robot, the waist fixing component is arranged at a position corresponding to the patient's waist; the healthy side wearing component corresponds to the patient's healthy side lower limb; the affected side power component corresponds to the patient's affected side lower limb; the control system is fixed to the patient's back position through the backpack, wherein the healthy side encoder corresponds to the patient's healthy side hip joint position, and the affected side encoder corresponds to the patient's affected side hip joint position. By adopting a backpack-like structure, individuals can wear it while standing or sitting. It is lightweight and easy to wear. Specifically for patients with hemiplegia, a unilateral joint power design is adopted. The healthy side uses a lightweight magnetic woven structure to obtain healthy side movement information. At the same time, it is fixed to the patient's hip joint, intuitively and effectively obtaining healthy side movement information. In terms of software and control solutions, the power level can be adjusted according to the user's situation. The wearer's movement intention and gait analysis are detected by encoder sensors at both ends of the hip joint motor. This is simple, effective and accurate, while reducing the cost of adding external sensors. According to the wearer's movement intention and gait information, the output curve of the control torque can be adjusted in real time, adjusting the power experience in real time to assist the wearer in walking, with strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for the description of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] Figure 1 This is a schematic diagram of the overall structure of a unilateral hip joint walking-assist robot and a control method provided in one embodiment of the present application;

[0035] Figure 2 This is a flowchart of the steps of a control method provided by an embodiment of the present application;

[0036] Figure 3This is a curve diagram of the affected side assistance provided by an embodiment of the present application;

[0037] Figure 4 This is a structural block diagram of a control device for a unilateral hip joint walking-assist robot and a control method provided in one embodiment of the present application;

[0038] Figure 5 It is a structural diagram of a computer device provided in one embodiment of the present application.

[0039] The reference numerals in the drawings of the specification are as follows:

[0040] 100. Backpack; 110. Waist connecting rod; 120. Waist belt; 130. Buckle; 200. Adjustable shoulder strap; 310. Healthy leg connecting rod; 320. Healthy side encoder; 410. Ill-side leg connecting rod; 420. Ill-side encoder; 500. Fixing bracket; 510. Connecting belt; 520. Rotating arm; 530. Leg strap; 12. Computer equipment; 14. External devices; 16. Processing unit; 18. Bus; 20. Network adapter; 22. I / O interface; 24. Display; 28. Memory; 30. Random access memory; 32. Cache memory; 34. Storage system; 40. Program / utility; 42. Program module. DETAILED DESCRIPTION

[0041] To make the objectives, features, and advantages of this application more readily apparent, the present application is further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the embodiments described are only a portion of the embodiments of this application, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments in this application without inventive effort are also within the scope of protection of this application.

[0042] By analyzing the existing technology, the inventors found that the invention patent disclosed by patent number CN114642572A, "A unilateral lower limb exoskeleton walking-assist robot and its power-assistance control method", discloses unilateral hip joint assistance for hemiplegic patients, but it uses an inertial sensor at the thigh end to collect joint motion information, and the noise and wearing effect will lead to poor information effect; the waist fixation is simple and cannot effectively fix the patient's waist and the equipment. The machine is cumbersome to wear, heavy, and has a poor wearing experience; the freedom of movement of the healthy side joint is insufficient, affecting the normal walking of the healthy leg; it is not optimized for the particularity of hemiplegic users; gait intention recognition is inaccurate and easy to trigger by mistake, and more sensors need to be added to capture the intention; the power-assistance torque is small, and the power-assistance experience is relatively stiff.

[0043] In response to the above-mentioned defects, the purpose of the present invention is to provide a hip joint exoskeleton walking aid system for patients in the late stage of hemiplegia, which is easy to wear, accurately recognizes intentions and has good assisting effect to help patients perform home rehabilitation training.

[0044] Reference Figure 1 , shows a unilateral hip joint walking-assist robot and control method provided by an embodiment of the present application, comprising: a waist fixation component, a healthy-side wearable component, and an affected-side power component, wherein the healthy-side wearable component and the affected-side power component are respectively arranged on both sides of the waist fixation component;

[0045] The waist fixing assembly includes a backpack 100, and a control system is provided in the backpack 100;

[0046] The healthy side wearable component includes a healthy side encoder 320 for collecting healthy side thigh movement information, the healthy side encoder 320 is correspondingly arranged at the healthy side hip joint position, and the healthy side encoder 320 is electrically connected to the control system;

[0047] The ipsilateral power assembly includes a power unit and an ipsilateral encoder 420 for collecting ipsilateral thigh motion information. The power unit and the ipsilateral encoder 420 are correspondingly arranged at the ipsilateral hip joint position; the power unit and the ipsilateral encoder 420 are respectively electrically connected to the control system;

[0048] When the patient wears the walking-assist robot, the waist fixing component is set at a position corresponding to the patient's waist; the healthy-side wearing component corresponds to the patient's healthy-side lower limb; the affected-side power component corresponds to the patient's affected-side lower limb; the control system is fixed to the patient's back through the backpack 100, wherein the healthy-side encoder 320 corresponds to the patient's healthy-side hip joint position, and the affected-side encoder 420 corresponds to the patient's affected-side hip joint position.

[0049] In an embodiment of the present application, through a waist fixing component, a healthy side wearing component and an affected side power component, the healthy side wearing component and the affected side power component are respectively arranged on both sides of the waist fixing component; the waist fixing component includes a backpack 100, and a control system is provided in the backpack 100; the healthy side wearing component includes a healthy side encoder 320 for collecting healthy side thigh movement information, the healthy side encoder 320 is correspondingly arranged at the healthy side hip joint position, and the healthy side encoder 320 is electrically connected to the control system; the affected side power component includes a power unit and an affected side encoder 420 for collecting affected side thigh movement information, the power unit The affected-side encoder 420 is arranged at the position of the affected-side hip joint; the power unit and the affected-side encoder 420 are electrically connected to the control system respectively; when the patient wears the walking-assist robot, the waist fixing component is arranged at the position corresponding to the patient's waist; the healthy-side wearing component corresponds to the healthy-side lower limb of the patient; the affected-side power component corresponds to the affected-side lower limb of the patient; the control system is fixed to the back position of the patient through the backpack 100, wherein the healthy-side encoder 320 corresponds to the healthy-side hip joint position of the patient, and the affected-side encoder 420 corresponds to the affected-side hip joint position of the patient. By adopting a backpack 100 structure, individuals can wear it while standing or sitting. It is lightweight and easy to wear. Specifically for patients with hemiplegia, it adopts a unilateral joint power design. The healthy side uses a lightweight magnetic woven structure to obtain healthy side movement information. It is also fixed to the patient's hip joint, intuitively and effectively obtaining healthy side movement information. In terms of software and control solutions, the power level can be adjusted according to the user's situation. The wearer's movement intention and gait analysis are detected by encoder sensors at both ends of the hip joint motor. This is simple, effective and accurate, while reducing the cost of adding external sensors. According to the wearer's movement intention and gait information, the output curve of the control torque can be adjusted in real time, adjusting the power experience in real time to assist the wearer in walking, with strong versatility.

[0050] Next, a unilateral hip joint walking-assist robot and a control method in this exemplary embodiment will be further described.

[0051] In this embodiment, the waist fixing assembly includes a backpack 100, which is arranged at the rear side of the waist fixing assembly to facilitate the wearer to walk, sit or stand. A control system is provided in the backpack 100, that is, the backpack 100 contains various electronic modules, each of which constitutes the control system of the device. The backpack 100 and the waist fixing assembly are connected with an adjustable shoulder strap 200, and the adjustable shoulder strap 200 is provided with an adjustment buckle for adjusting the length of the adjustable shoulder strap 200 to suit different users. By using the backpack 100 The backpack 100 is combined with the shoulder strap to form an easy-to-wear backpack 100 structure, which can be worn by individuals while standing or sitting. It is lightweight and easy to wear. It also includes a waist connecting rod 110 and a waist belt 120. The waist belt 120 is bonded to the inner side of the waist connecting rod 110. The bonding method makes it easy to disassemble the waist belt 120 for cleaning or replacement. The open end of the waist connecting rod 110 is provided with a buckle 130 that cooperates with each other. The buckle 130 is used to fix the waist belt 120 to the user's waist, which is convenient for disassembly and installation.

[0052] In this embodiment, the healthy side wearable component includes a healthy side leg connecting rod 310 and a healthy side encoder 320 for collecting healthy side thigh movement information. The healthy side encoder 320 is arranged on the healthy side leg connecting rod 310 corresponding to the healthy side hip joint position, and the healthy side encoder 320 is electrically connected to the control system; the affected side power component includes an affected side leg connecting rod 410, a power unit and an affected side encoder 420 for collecting affected side thigh movement information. The power unit and the affected side encoder 420 are arranged on the affected side leg connecting rod 410 corresponding to the affected side hip joint position; the power unit and the affected side encoder 420 are respectively electrically connected to the control system. Specifically, the above-mentioned power unit can be a drive motor, which is driven by the control system to generate an output torque on the affected side leg connecting rod, so that it provides the desired control torque according to the control frequency.

[0053] To address the unique needs of hemiplegic patients, the power unit is added only to the affected side, leaving the healthy side unaffected. An encoder is added only to the hip joint, further reducing the weight of the device. Furthermore, adding an encoder directly to the hip joint to measure hip motion information on the healthy side reduces noise and more directly reflects movement intent. The encoder captures information such as the angle, angular velocity, and angular acceleration of the hip joint as the user steps, and transmits this motion information to the control system.

[0054] In this embodiment, the control system includes a main control unit, a Bluetooth unit, a power management unit, and a lithium battery. The main control unit, the Bluetooth unit, and the power management unit are electrically connected to each other, and the power management unit is electrically connected to the lithium battery. The main control unit obtains the healthy side motion information collected by the healthy side encoder 320 to identify the wearer's movement intention. Combined with the affected side motion information collected by the affected side encoder 420, the power unit on the affected side is controlled to output the optimal output torque to provide assistance to the affected side of the hemiplegic patient. The Bluetooth unit is connected to the external device 1414 terminal to achieve real-time monitoring and control of the external device 1414 terminal, which is used to monitor the motion state of the affected leg and adjust the output torque level of the affected side. The Bluetooth unit on the device side can be connected to an external mobile phone app for easy portability by the wearer, or connected to a physical button on the walking robot to adjust the assistance level. The lithium battery and power management unit provide power and power management for each electronic module, allowing the device to be used in standby mode for a long time.

[0055] As an example, the backpack 100 equipped with the control system is a detachable shell, and the backpack 100 can be disassembled to remove the lithium battery for replacement and charging to maintain the power of the device.

[0056] In this embodiment, the healthy-side wearable assembly and the affected-side power assembly further include fixed brackets 500, which are located at the connection portions extending downwardly from both sides of the waist belt 120. The fixed brackets 500 are provided with connecting straps 510, which are connected to the buckles 130 to further enhance the stability of the leg-assisting assemblies on both sides. The healthy-side encoder 320, the power unit, and the affected-side encoder 420 are respectively connected to the fixed brackets 500. The fixed brackets 500 are provided with rotating arms 520, which are hingedly connected to the top ends of the healthy-side leg connecting rod 310 and the affected-side leg connecting rod 410, respectively. Specifically, the rotating arms 520 on the healthy and affected sides are connected by pins, which facilitate assembly and disassembly, and make the leg connecting rods more flexible and more adaptable to different leg shapes. The bottom ends of the healthy-side leg connecting rod 310 and the affected-side leg connecting rod 410 are both provided with leg straps 530 for securing the leg connecting rods to the patient's legs.

[0057] Reference Figure 2-Figure 3 , shows a control method for a unilateral hip joint walking-assist robot according to any of the above embodiments, provided in one embodiment of the present application. The control method is used for an exoskeleton walking-assist robot, comprising:

[0058] S110, obtaining the healthy side motion parameters of the healthy side hip joint of the wearer;

[0059] S120, determining the movement intention of the wearer's leg based on the healthy side movement parameters;

[0060] S130, obtaining the affected-side motion parameters of the wearer's affected-side hip joint;

[0061] S140 , determining the output torque of the affected side according to the movement intention and the movement parameters of the affected side, and sending the output torque to the control system.

[0062] Next, a rapid gait assessment method in this exemplary embodiment will be further described.

[0063] As described in step S110, the healthy side motion parameters of the healthy side hip joint of the wearer are obtained.

[0064] Real-time healthy-side motion parameters collected by the healthy-side encoder 320 provided at the healthy-side hip joint are obtained; wherein, the real-time healthy-side motion parameters include the real-time healthy-side hip joint angle, the real-time healthy-side hip joint angular velocity and the real-time healthy-side hip joint angular acceleration. By obtaining the above-mentioned real-time healthy-side motion parameters, the wearer's motion state can be obtained. For example, the wearer's walking speed can be obtained through the real-time healthy-side hip joint angle, the real-time healthy-side hip joint angular velocity and the real-time healthy-side hip joint angular acceleration, and the cadence, stride, leg lift, stepping and other information can be obtained. The information is sent to the control system for analysis and processing.

[0065] As described in step S120, determining the movement intention of the wearer's leg according to the healthy side movement parameters specifically includes:

[0066] Recording and processing the contralateral motion parameters, i.e., recording motion data such as the real-time contralateral hip joint angle, the real-time contralateral hip joint angular velocity, and the real-time contralateral hip joint angular acceleration obtained from the contralateral encoder 320, extracting motion feature information of the contralateral motion parameters, specifically by performing a low-order filtering operation to reduce the influence of noise on the motion information, and extracting the motion feature information through the above operation; determining the wearer's leg motion intention based on the extracted motion feature information; wherein the motion intention includes the leg lifting intention and the landing intention;

[0067] As an example, the intention to lift the leg and take a step or the intention to land is determined based on the size of the angular velocity of the healthy-side hip joint; when the angular velocity of the healthy-side hip joint is greater than the preset angular velocity threshold, the movement intention is determined to be the intention to lift the leg and take a step; when the angular velocity of the healthy-side hip joint changes from a positive value to a negative value, it is confirmed that the healthy-side leg has been lifted to the highest point, which can be understood as the healthy side completing the leg-lifting and stepping action and is about to land from the highest point, and the movement intention is determined to be the intention to land, and this is the moment when the assistance to the affected side begins.

[0068] As described in step S130, the affected-side motion parameters of the wearer's affected-side hip joint are obtained.

[0069] Real-time motion parameters of the affected side are acquired from the encoder 420 on the affected side, which is provided at the hip joint on the affected side. The real-time motion parameters of the affected side include the real-time angle of the affected side hip joint, the real-time angular velocity of the affected side hip joint, and the real-time angular acceleration of the affected side hip joint. The motion state of the wearer's affected leg can be obtained by acquiring the above-mentioned real-time motion parameters on the affected side. The information is sent to the control system, and the time for the power unit on the affected side to output the torque can be driven according to the motion state of the affected side. If the encoder on the affected side detects that the affected side is lifted to the highest point and is in a downward trend, the power unit on the affected side stops assisting.

[0070] As described in step S140, determining the output torque of the affected side according to the movement intention and the movement parameters of the affected side, and sending the output torque to the control system specifically includes:

[0071] Generate an output power curve based on the movement intention, such as Figure 3 As shown, based on the acquired motion information such as the affected-side hip joint angle, the affected-side hip joint angular velocity and the affected-side hip joint angular acceleration, that is, based on the wearer's current walking state information, the power assist strategy is adjusted in real time, the output torque value and the power assist time of the output power assist curve are adjusted, and the output torque of the affected side is determined, wherein the maximum peak torque Npeak can be adjusted according to the power assist level by adjusting the external device 14 terminal mobile phone app, and the continuous power assist time Ts changes in real time according to each leg lifting situation on the affected side. According to the power assist curve set by the output strategy, the desired control torque is provided according to the control frequency to help the wearer walk.

[0072] In a specific embodiment, for patients with hemiplegia caused by stroke, they can stand and walk on their own, but due to insufficient strength in the affected leg, their walking speed is slow, their steps are small, and their walking time is short. At the same time, they may suffer from foot drop, and their toes may drag on the ground, causing them to fall. For this type of people, a unilateral hip joint walking robot can be used for training. The appropriate power level can be adjusted through a mobile phone app, and the machine can be put on. First, the healthy side encoder 320 is used to judge the lifting and landing of the healthy side. When the landing is detected, the affected side joint provides continuous power to help the affected side lift the leg. When the affected side encoder 420 detects that the affected side is lifted to the highest point and is in a downward trend, the affected side joint stops providing power. The torque output time can be determined according to the wearer's walking speed. When walking slowly, the time for providing power will become longer. On the contrary, when walking faster, the power time will become shorter accordingly. Through the above-mentioned power assistance scheme, unilateral power assistance can be provided to the wearer's affected side, helping the wearer to increase the height of the leg lift and the pace of walking, thereby improving the walking speed. At the same time, it can reduce the walking burden on the wearer's hip joint, increase the walking time, and avoid falls due to foot drop.

[0073] Beneficial effects of this application:

[0074] For hemiplegic users, a single-joint power solution can be adopted to further reduce the weight and reduce the burden of the equipment on the patient; movement intention recognition is simple and accurate; and the power torque is adaptively adjusted.

[0075] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0076] Reference Figure 4 , shows a control device for a unilateral hip joint walking-assist robot as described in any of the above embodiments, provided in one embodiment of the present application, the control device comprising:

[0077] The healthy side motion parameter acquisition module 210 is used to obtain the healthy side motion parameters of the healthy side hip joint of the wearer;

[0078] an exercise intention determination module 220, configured to determine the wearer's leg exercise intention based on the healthy side exercise parameters;

[0079] The affected side motion parameter acquisition 230 is used to obtain the affected side motion parameters of the wearer's affected side hip joint.

[0080] The torque output module 240 is configured to determine the output torque of the affected side according to the motion intention and the motion parameters of the affected side, and send the output torque to the control system.

[0081] Reference Figure 5 , shows a computer device 12 of the present application, which may specifically include the following:

[0082] The computer device 1212 is implemented as a general-purpose computing device. Components of the computer device 1212 may include, but are not limited to, one or more processors or processing units 1616, a memory 2828, and a bus 1818 connecting different system components (including the memory 2828 and the processing unit 1616).

[0083] The bus 1818 represents one or more of several types of bus 18 structures, including a memory bus 18 or memory controller, a peripheral bus 18, an accelerated graphics port, a processor, or a local bus 18 using any of a variety of bus 18 architectures. These architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus 18, a Micro Channel Architecture (MAC) bus 18, an Enhanced ISA bus 18, an Audio Video Electronics Standards Association (VESA) local bus 18, and a Peripheral Component Interconnect (PCI) bus 18, by way of example.

[0084] The computer device 1212 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 1212, including volatile and non-volatile media, removable and non-removable media.

[0085] Memory 2828 may include computer system readable media in the form of volatile memory, such as random access memory 3030 and / or cache memory 3232. Computer device 1212 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 3434 may be used to read and write to non-removable, non-volatile magnetic media (commonly referred to as a "hard drive"). Although Figure 5 Not shown, a disk drive for reading and writing to a removable non-volatile disk (such as a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (such as a CD-ROM, DVD-ROM or other optical media) can be provided. In these cases, each drive can be connected to the bus 1818 via one or more data medium interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules 4242, which are configured to perform the functions of the various embodiments of the present application.

[0086] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in a memory. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules 42, and program data, each of which, or some combination thereof, may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0087] The computer device 12 may also communicate with one or more external devices 14 (e.g., a keyboard, a pointing device, a display 24, a camera, etc.), one or more devices that enable an operator to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed through an I / O interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN)), a wide area network (WAN), and / or a public network (e.g., the Internet) through a network adapter 20. Figure 5 As shown, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. Figure 5Not shown, other hardware and / or software modules may be used in conjunction with the computer device 12, including but not limited to microcode, device drivers, redundant processing units 16, external disk drive arrays, RAID systems, tape drives, and data backup storage systems 34.

[0088] The processing unit 16 executes various functional applications and data processing by running the programs stored in the memory 28, such as implementing a unilateral hip joint walking-assist robot and control method provided in an embodiment of the present application.

[0089] That is, when the processing unit 16 executes the above program, it achieves: obtaining the healthy side motion parameters of the healthy side hip joint of the wearer; determining the movement intention of the wearer's leg based on the healthy side motion parameters; obtaining the affected side motion parameters of the affected side hip joint of the wearer; determining the affected side output torque based on the movement intention and the affected side motion parameters, and sending the output torque to the control system.

[0090] In one embodiment of the present application, a computer-readable storage medium is further provided, on which a computer program is stored. When the program is executed by a processor, a unilateral hip joint walking assistance robot and a control method as provided in all embodiments of the present application are implemented.

[0091] That is, when the program is executed by the processor, it implements: obtaining the healthy side motion parameters of the wearer's healthy side hip joint; determining the movement intention of the wearer's leg based on the healthy side motion parameters; obtaining the affected side motion parameters of the wearer's affected side hip joint; determining the affected side output torque based on the movement intention and the affected side motion parameters, and sending the output torque to the control system.

[0092] Any combination of one or more computer-readable media may be employed. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0093] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0094] The computer program code for performing the operations of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed entirely on the operator's computer, partially on the operator's computer, as a separate software package, partially on the operator's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the operator's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other.

[0095] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0096] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0097] The above is a detailed introduction to a unilateral hip joint walking aid robot and control method provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A unilateral hip joint walking-assist robot, characterized in that: include: A waist fixing component, a healthy side wearing component and an affected side power component, wherein the healthy side wearing component and the affected side power component are respectively arranged on both sides of the waist fixing component; The waist fixing assembly includes a backpack, and a control system is provided in the backpack; The healthy side wearable component includes a healthy side encoder for collecting healthy side thigh movement information, the healthy side encoder is correspondingly arranged at the healthy side hip joint position, and the healthy side encoder is electrically connected to the control system; The affected-side power assembly includes a power unit and an affected-side encoder for collecting motion information of the affected-side thigh. The power unit and the affected-side encoder are correspondingly arranged at the position of the affected-side hip joint; the power unit and the affected-side encoder are respectively electrically connected to the control system; Control methods include: Obtaining healthy side motion parameters of the wearer's healthy side hip joint; the healthy side motion parameters include healthy side hip joint angle, healthy side hip joint angular velocity and healthy side hip joint angular acceleration; Determining the movement intention of the wearer's leg according to the healthy side movement parameters; including: Recording and processing the healthy side motion parameters, and extracting motion feature information of the healthy side motion parameters; Determining the movement intention of the wearer's legs based on the extracted movement feature information; including: determining the leg-lifting stepping intention or the leg-landing intention according to the magnitude of the healthy-side hip joint angular velocity; When the angular velocity of the healthy side hip joint is greater than a preset angular velocity threshold, determining that the movement intention is a leg-lifting stepping intention; When the angular velocity of the healthy side hip joint changes from a positive value to a negative value, determining that the movement intention is a landing intention; Obtaining the affected side motion parameters of the wearer's affected side hip joint; the affected side motion parameters include the affected side hip joint angle, the affected side hip joint angular velocity and the affected side hip joint angular acceleration; Determining an output torque of the affected side according to the movement intention and the movement parameters of the affected side, and sending the output torque to the control system, including: generating an output power assistance curve according to the movement intention; The output torque value and the assisting time of the output assisting curve are adjusted according to the affected-side hip joint angle, the affected-side hip joint angular velocity and the affected-side hip joint angular acceleration to determine the affected-side output torque.

2. The unilateral hip joint walking-assist robot according to claim 1, characterized in that: The control system includes a main control unit, a Bluetooth unit, a power management unit and a lithium battery. The main control unit, the Bluetooth unit and the power management unit are electrically connected to each other, the power management unit is electrically connected to the lithium battery, and the Bluetooth unit is communicatively connected to the external device end.

3. The unilateral hip joint walking-assist robot according to claim 1, characterized in that: The waist fixing assembly also includes a waist connecting rod and a waist belt, the waist belt is bonded to the inner side of the waist connecting rod, and the open end of the waist connecting rod is provided with mutually matching buckles; the backpack and the waist fixing assembly are connected with adjustable shoulder straps.

4. The unilateral hip joint walking-assist robot according to claim 3, characterized in that: The healthy side wearing assembly also includes a healthy side leg connecting rod, and the affected side power assembly also includes an affected side leg connecting rod. The bottom ends of the healthy side leg connecting rod and the affected side leg connecting rod are both provided with leg straps.

5. The unilateral hip joint walking-assist robot according to claim 4, characterized in that: The healthy-side wearable component and the affected-side power component also include a fixed bracket, which is arranged on the connecting parts extending downward on both sides of the waist belt. The fixed bracket is provided with a connecting belt, which is connected to the buckle; the healthy-side encoder, the power unit and the affected-side encoder are respectively connected to the fixed bracket.

6. The unilateral hip joint walking-assist robot according to claim 5, characterized in that: The fixing bracket is provided with a rotating arm, and the rotating arms on the healthy side and the affected side are hinged to the top ends of the healthy side leg connecting rod and the affected side leg connecting rod respectively.

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