A self-following exoskeleton control device

Abstract

The present invention provides a self-following exoskeleton control device, which relates to the technical field of device control and includes: obtaining the target parameters of the exoskeleton in the current cycle; determining the movement direction of the patient in the current cycle based on the target parameters; determining the first driving torque coefficient of the exoskeleton based on the movement direction in the current cycle, the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle, and determining the second driving torque coefficient of the exoskeleton based on the rotational speed of the motor; determining the driving torque of the exoskeleton in the current cycle based on the first driving torque coefficient, the second driving torque coefficient, and the working gear of the exoskeleton in the current cycle, thus solving the technical problem that the existing exoskeleton control method cannot provide self-following training for patients.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment control, and particularly relates to a self-following exoskeleton control device. Background Art

[0002] Robot-assisted rehabilitation therapy is a new technology to help stroke patients recover. By generating output torque through the operation of a motor, it assists in controlling the opening and closing of the patient's joint range of motion, enabling different degrees of recovery of the patient's nerve tissue.

[0003] According to the different degrees of impairment of the patient's motor function disorder, corresponding levels are divided. Muscle strength is generally divided into grades 0-V.

[0004] Grade 0 means that the limb is completely immobile and no muscle contraction is visible; Grade I means that visible muscle contraction can be seen, but limb movement cannot be caused; Grade II muscle strength means that the limb can move, but cannot resist gravity, that is, the patient's limb cannot be lifted off the bed surface; Grade III muscle strength means that the patient can resist gravity, but cannot resist resistance, and the patient can generally barely lift off the bed surface; Grade IV muscle strength means that the patient's limb can resist a certain amount of resistance. For example, when a certain resistance is given when lifting the affected limb, it can be felt that the affected limb of the patient has a certain resistance; Grade V muscle strength is normal muscle strength. From grade 0 to grade V, the muscle strength gradually increases. Grade 0 is complete paralysis, and grade V is normal muscle strength.

[0005] According to the patient's muscle strength level, corresponding rehabilitation training methods are formulated. For patients with muscle strength grades 0-I, only passive and stretching training can be carried out;

[0006] For patients with muscle strength grades II-III, certain assistance training is required from rehabilitation equipment; for grade IV patients, zero-moment active training is applicable;

[0007] For grade V patients, the rehabilitation equipment can provide certain resistance training to help train muscle strength.

[0008] For patients with muscle strength grades above II, the patient itself has a certain subjective movement intention and range of motion. In this case, the patient can initiate movement actively, and the exoskeleton rehabilitation device can identify the patient's movement intention and give dynamically adjusted assistance, zero moment or resistance according to the muscle strength level, etc., which can achieve better rehabilitation effects and experiences.

[0009] However, the following problems exist in the existing rehabilitation technologies:

[0010] 1. Most of the assistance and resistance training adopt passive methods, that is, the force direction is constant, and the patient can only move along the force direction, unable to identify the patient's active movement intention, and the effect is not good.

[0011] 2. The force magnitude is constant, unable to be dynamically adjusted or the adjustment accuracy is not high, and the response speed is not high.

[0012] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0013] In view of this, an object of the present invention is to provide a self-following exoskeleton control device to alleviate the technical problem that the existing exoskeleton control method cannot provide self-following training for patients.

[0014] In a first aspect, an embodiment of the present invention provides a self-following exoskeleton control system, including: when the exoskeleton is in the assist training mode or the resistance training mode, obtaining the target parameters of the exoskeleton in the current cycle, where the target parameters include: the rotation angle of the motor and the rotation speed of the motor; based on the target parameters, determining the movement direction of the patient in the current cycle; based on the movement direction in the current cycle, the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle, determining the first driving torque coefficient of the exoskeleton, and based on the rotation speed of the motor, determining the second driving torque coefficient of the exoskeleton; based on the first driving torque coefficient, the second driving torque coefficient, and the working gear of the exoskeleton in the current cycle, determining the driving torque of the exoskeleton in the current cycle; converting the driving torque of the exoskeleton in the current cycle into the working current of the motor of the exoskeleton, so that the motor works based on the working current.

[0015] Further, determining the first driving torque coefficient of the exoskeleton based on the movement direction of the current cycle and the movement direction of the previous cycle of the current cycle includes: if the movement direction of the current cycle is the same as the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle is less than 0, then determining the product between the count value of the state machine counter of the previous cycle of the current cycle and the first coefficient as the first driving torque coefficient; if the movement direction of the current cycle is the same as the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle is greater than 0, then determining the sum value of the count value of the state machine counter of the previous cycle of the current cycle and 1 as the first driving torque coefficient; if the movement direction of the current cycle is opposite to the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle is greater than 0, then determining the product between the count value of the state machine counter of the previous cycle of the current cycle and the second coefficient as the first driving torque coefficient; if the movement direction of the current cycle is opposite to the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle is less than 0, then determining the difference value between the count value of the state machine counter of the previous cycle of the current cycle and 1 as the first driving torque coefficient; wherein, the value ranges of the first coefficient and the second coefficient are (0, 1).

[0016] Further, the method further includes: if it is determined that the exoskeleton is in a stationary state based on the movement direction of the current cycle and the movement direction of the previous cycle of the current cycle, then determining the product between the count value of the state machine counter of the previous cycle of the current cycle and the third coefficient as the first driving torque coefficient; wherein, the value range of the third coefficient is (0, 1).

[0017] Further, determining the second driving torque coefficient of the exoskeleton based on the rotational speed of the motor includes: if the exoskeleton is in an assistive training mode, then the second driving torque coefficient of the exoskeleton is negatively correlated with the rotational speed of the motor; if the exoskeleton is in a resistance training mode, then the second driving torque coefficient of the exoskeleton is positively correlated with the rotational speed of the motor.

[0018] Further, the calculation formula for the driving torque of the exoskeleton in the current cycle is , where is the driving torque of the exoskeleton in the current cycle, is the driving torque parameter corresponding to the working gear of the exoskeleton in the current cycle, is the first driving torque coefficient, is the maximum count value of the state machine counter .

[0019] In a second aspect, an embodiment of the present invention further provides a self-following exoskeleton control device, including: an acquisition unit configured to acquire target parameters of the exoskeleton in the current cycle when the exoskeleton is in an assistive training mode or a resistance training mode, where the target parameters include: the rotation angle of the motor and the rotation speed of the motor; a first determination unit configured to determine the movement direction of the patient in the current cycle based on the target parameters; a second determination unit configured to determine a first driving torque coefficient of the exoskeleton based on the movement direction in the current cycle, the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle, and determine a second driving torque coefficient of the exoskeleton based on the rotation speed of the motor; a third determination unit configured to determine the driving torque of the exoskeleton in the current cycle based on the first driving torque coefficient, the second driving torque coefficient, and the working gear of the exoskeleton in the current cycle; and a control unit configured to convert the driving torque of the exoskeleton in the current cycle into the working current of the motor of the exoskeleton, so that the motor operates based on the working current.

[0020] Further, the second determination unit is configured to: if the movement direction in the current cycle is the same as the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is less than 0, determine the product of the count value of the state machine counter in the previous cycle of the current cycle and a first coefficient as the first driving torque coefficient; if the movement direction in the current cycle is the same as the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is greater than 0, determine the sum of the count value of the state machine counter in the previous cycle of the current cycle and 1 as the first driving torque coefficient; if the movement direction in the current cycle is opposite to the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is greater than 0, determine the product of the count value of the state machine counter in the previous cycle of the current cycle and a second coefficient as the first driving torque coefficient; if the movement direction in the current cycle is opposite to the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is less than 0, determine the difference between the count value of the state machine counter in the previous cycle of the current cycle and 1 as the first driving torque coefficient; where the value ranges of the first coefficient and the second coefficient are (0, 1).

[0021] Further, the second determining unit is further configured to: if it is determined that the exoskeleton is in a stationary state based on the movement direction in the current period and the movement direction in the previous period of the current period, then determine the product of the count value of the state machine counter in the previous period of the current period and a third coefficient as the first driving torque coefficient; wherein, the value range of the third coefficient is (0, 1).

[0022] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory is used to store a program for supporting the processor to execute the method described in the first aspect above, and the processor is configured to execute the program stored in the memory.

[0023] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored.

[0024] In the embodiment of the present invention, when the exoskeleton is in the assist training mode or the resistance training mode, the target parameters of the exoskeleton in the current period are obtained, where the target parameters include: the rotation angle of the motor and the rotation speed of the motor; based on the target parameters, the movement direction of the patient in the current period is determined; based on the movement direction in the current period, the movement direction in the previous period of the current period, and the count value of the state machine counter in the previous period of the current period, the first driving torque coefficient of the exoskeleton is determined, and based on the rotation speed of the motor, the second driving torque coefficient of the exoskeleton is determined; based on the first driving torque coefficient, the second driving torque coefficient, and the working gear of the exoskeleton in the current period, the driving torque of the exoskeleton in the current period is determined; the driving torque of the exoskeleton in the current period is converted into the working current of the motor of the exoskeleton, so that the motor works based on the working current, achieving the purpose of dynamically adjusting the output torque of the exoskeleton according to the movement direction of the patient, and further solving the technical problem that the existing exoskeleton control method cannot provide self-following training for patients, thereby achieving the technical effect of providing a better rehabilitation experience for patients.

[0025] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification, the claims, and the drawings.

[0026] To make the above objectives, features, and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings

[0027] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is a flowchart of a self-following exoskeleton control method provided by an embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of an exoskeleton provided by an embodiment of the present invention;

[0030] Figure 3 It is a flowchart of another self-following exoskeleton control method provided by an embodiment of the present invention;

[0031] Figure 4 It is a schematic diagram of a self-following exoskeleton control device provided by an embodiment of the present invention;

[0032] Figure 5 It is a schematic diagram of an electronic device provided by an embodiment of the present invention. Specific Embodiments

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention with reference to the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0034] Embodiment 1:

[0035] According to an embodiment of the present invention, an embodiment of a self-following exoskeleton control method is provided. It should be noted that the steps shown in the flowchart of the 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.

[0036] Figure 1 It is a flowchart of a self-following exoskeleton control method according to an embodiment of the present invention. As Figure 1 shown, the method includes the following steps:

[0037] Step S102, when the exoskeleton is in the assist training mode or the resistance training mode, obtain the target parameters of the exoskeleton in the current cycle, where the target parameters include: the rotation angle of the motor and the rotation speed of the motor;

[0038] This application provides an exoskeleton, the structure of which is as Figure 2 shown.

[0039] Step S104, based on the target parameters, determine the movement direction of the patient in the current cycle;

[0040] Step S106, based on the movement direction in the current cycle, the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle, determine the first driving torque coefficient of the exoskeleton, and based on the rotation speed of the motor, determine the second driving torque coefficient of the exoskeleton;

[0041] Step S108, based on the first driving torque coefficient, the second driving torque coefficient, and the working gear of the exoskeleton in the current cycle, determine the driving torque of the exoskeleton in the current cycle;

[0042] It should be noted that the calculation formula for the driving torque of the exoskeleton in the current cycle is , where is the driving torque of the exoskeleton in the current cycle, is the driving torque parameter corresponding to the working gear of the exoskeleton in the current cycle, is the first driving torque coefficient, is the maximum count value of the state machine counter, .

[0043] Step S110, convert the driving torque of the exoskeleton in the current cycle into the working current of the motor of the exoskeleton, so that the motor works based on the working current.

[0044] In an embodiment of the present invention, when the exoskeleton is in the assistive training mode or the resistance training mode, target parameters of the exoskeleton in the current cycle are obtained, where the target parameters include: the rotation angle of the motor and the rotation speed of the motor; based on the target parameters, the movement direction of the patient in the current cycle is determined; based on the movement direction in the current cycle, the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle, the first driving torque coefficient of the exoskeleton is determined, and based on the rotation speed of the motor, the second driving torque coefficient of the exoskeleton is determined; based on the first driving torque coefficient, the second driving torque coefficient, and the working gear of the exoskeleton in the current cycle, the driving torque of the exoskeleton in the current cycle is determined; the driving torque of the exoskeleton in the current cycle is converted into the working current of the motor of the exoskeleton, so that the motor works based on the working current, achieving the purpose of dynamically adjusting the output torque of the exoskeleton according to the movement direction of the patient, and further solving the technical problem that the existing exoskeleton control method cannot provide self-following training for the patient, thereby realizing the technical effect of providing a better rehabilitation experience for the patient.

[0045] In an embodiment of the present invention, as Figure 3 shown, step S106 includes the following steps:

[0046] Step S1061, if the movement direction in the current cycle is the same as the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is less than 0, then the product of the count value of the state machine counter in the previous cycle of the current cycle and the first coefficient is determined as the first driving torque coefficient;

[0047] Step S1062, if the movement direction in the current cycle is the same as the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is greater than 0, then the sum value of the count value of the state machine counter in the previous cycle of the current cycle and 1 is determined as the first driving torque coefficient;

[0048] Step S1063, if the movement direction in the current cycle is opposite to the movement direction in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is greater than 0, then the product of the count value of the state machine counter in the previous cycle of the current cycle and the second coefficient is determined as the first driving torque coefficient;

[0049] Step S1064, if the movement direction in the current cycle is opposite to that in the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is less than 0, then the difference between the count value of the state machine counter in the previous cycle of the current cycle and 1 is determined as the first driving torque coefficient;

[0050] Wherein, the value ranges of the first coefficient and the second coefficient are (0, 1).

[0051] Step S1065, if it is determined that the exoskeleton is in a stationary state based on the movement direction in the current cycle and the movement direction in the previous cycle of the current cycle, then the product of the count value of the state machine counter in the previous cycle of the current cycle and the third coefficient is determined as the first driving torque coefficient;

[0052] Wherein, the value range of the third coefficient is (0, 1).

[0053] If the exoskeleton is in the assisted training mode, the second driving torque coefficient of the exoskeleton is negatively correlated with the rotational speed of the motor;

[0054] If the exoskeleton is in the resistance training mode, the second driving torque coefficient of the exoskeleton is positively correlated with the rotational speed of the motor.

[0055] The above method will be described in detail below.

[0056] In exoskeleton rehabilitation training, according to the muscle strength level, it is divided into passive, stretching training, assisted training, active training, resistance training, etc.

[0057] In passive and stretching training, the exoskeleton drives the patient to perform reciprocating training, and the driving device generally works in the position mode.

[0058] In active training, the exoskeleton offsets the machine's own weight and the patient's foot weight, and the patient performs similar weightless training.

[0059] When the exoskeleton is in the assisted training mode or the resistance training mode, first, obtain the target parameters of the exoskeleton in the current cycle, wherein the target parameters include: the rotation angle of the motor and the rotational speed of the motor, and the rotation angle of the motor is used to represent the current angle value of the patient's joint, and the rotational speed of the motor is used to represent the movement speed of the patient's joint.

[0060] The exoskeleton drives the patient's foot back to the origin. At the origin position, weigh to obtain the machine (the weight of the left and right calf devices) + the patient's foot self-weight.

[0061] The exoskeleton enters the assisted or resistance training, the motor enters the torque mode, and the motor torque current magnitude is set to the self-weight current.

[0062] At this time, the output torque of the motor is equal to the weight, and it is in a balanced state.

[0063] The patient can move freely. By comparing the magnitude and direction of the position change between two times before and after the unit time Ts (i.e., the duration of one cycle), the subjective movement direction of the patient can be determined.

[0064] It should be noted that during the movement process, the patient may be in three states: stationary, forward, and backward. Corresponding to the rotation process of the motor (stop, forward rotation, reverse rotation). These three states are repeatedly switched during the operation.

[0065] During the assistance process, when the patient moves forward, the motor provides a positive torque; when the patient moves backward, the motor provides a negative torque; when the patient changes from movement to stationary, the motor adjusts the output torque to 0. There is a negative correlation between the motor output torque and the patient's movement speed.

[0066] During the resistance training process, the motor output torque is always opposite to the patient's movement direction. The greater the patient's movement speed, the greater the output torque. When the patient changes from movement to stationary, the motor adjusts the output torque to 0. There is a positive correlation between the motor output torque and the patient's movement speed.

[0067] During the process of the motor output torque following the patient's movement, the relationship between the output torque and speed, time T, is 。

[0068] Specifically, if the movement direction of the current cycle is the same as that of the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is less than 0, then calculate the product of the count value of the state machine counter in the previous cycle of the current cycle and the first coefficient as the first driving torque coefficient.

[0069] If the movement direction of the current cycle is the same as that of the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is greater than 0, then calculate the sum value of the count value of the state machine counter in the previous cycle of the current cycle and 1 as the first driving torque coefficient.

[0070] If the movement direction of the current cycle is opposite to that of the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is greater than 0, then take the product of the count value of the state machine counter in the previous cycle of the current cycle and the second coefficient as the first driving torque coefficient.

[0071] If the movement direction of the current cycle is opposite to that of the previous cycle of the current cycle, and the count value of the state machine counter in the previous cycle of the current cycle is less than 0, then calculate the difference value between the count value of the state machine counter in the previous cycle of the current cycle and 1 as the first driving torque coefficient.

[0072] If it is determined that the exoskeleton is in a stationary state based on the movement direction in the current cycle and the movement direction in the previous cycle of the current cycle, then the product of the count value of the state machine counter in the previous cycle of the current cycle and the third coefficient is determined as the first driving torque coefficient;

[0073] It should be noted that the first coefficient, the second coefficient, and the third coefficient are all less than 1, and the specific values can be set by medical staff according to the actual situation.

[0074] Next, if the exoskeleton is in the assisted training mode, the second driving torque coefficient of the exoskeleton is negatively correlated with the rotational speed of the motor;

[0075] If the exoskeleton is in the resistance training mode, the second driving torque coefficient of the exoskeleton is positively correlated with the rotational speed of the motor.

[0076] Finally, through the calculation formula of the driving torque of the exoskeleton in the current cycle , calculate the driving torque of the exoskeleton in the current cycle, where is the driving torque of the exoskeleton in the current cycle, is the driving torque parameter corresponding to the working gear of the exoskeleton in the current cycle, is the first driving torque coefficient, is the maximum count value of the state machine counter, .

[0077] In the embodiment of the present invention, by introducing the first coefficient, the second coefficient, the third coefficient, the first driving torque coefficient, and the second driving torque coefficient, the related items in the system are related to the driving torque, and the complex functional relationship is transformed into addition, subtraction, and comparison operations of the MCU, improving the system operation efficiency.

[0078] In the embodiment of the present invention, by identifying the intended movement direction of the patient, automatically responding to synchronize the patient's movement training direction, and dynamically adjusting the output torque size in real time, dynamic active movement rehabilitation training is realized. At the same time, through special design, complex operation simulation is avoided, and complex calculations are transformed into addition, subtraction, and comparison operations that are convenient for single-chip microcomputer processing. The requirements for the hardware platform are low, the cost is low, and by dynamically adjusting the first driving torque coefficient, the purpose of dynamically adjusting the output torque is achieved. Finally, the patient can feel the accurate output torque and achieve the treatment effect.

[0079] Embodiment 2:

[0080] The embodiment of the present invention also provides a self-following exoskeleton control device, which is used to execute the self-following exoskeleton control method provided in the above content of the embodiment of the present invention. The following is a specific introduction to the self-following exoskeleton control device provided by the embodiment of the present invention.

[0081] As Figure 4 shown Figure 4 is a schematic diagram of the above self-following exoskeleton control device. The self-following exoskeleton control device includes:

[0082] An acquisition unit 10, configured to acquire target parameters of the exoskeleton in the current cycle when the exoskeleton is in an assisted training mode or a resistance training mode, where the target parameters include: the rotation angle of the motor and the rotation speed of the motor;

[0083] A first determination unit 20, configured to determine the movement direction of the patient in the current cycle based on the target parameters;

[0084] A second determination unit 30, configured to determine a first driving torque coefficient of the exoskeleton based on the movement direction of the current cycle, the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle, and determine a second driving torque coefficient of the exoskeleton based on the rotation speed of the motor;

[0085] A third determination unit 40, configured to determine the driving torque of the exoskeleton in the current cycle based on the first driving torque coefficient, the second driving torque coefficient, and the working gear of the exoskeleton in the current cycle;

[0086] A control unit 50, configured to convert the driving torque of the exoskeleton in the current cycle into the working current of the motor of the exoskeleton, so that the motor operates based on the working current.

[0087] In the embodiment of the present invention, by acquiring the target parameters of the exoskeleton in the current cycle when the exoskeleton is in an assisted training mode or a resistance training mode, where the target parameters include: the rotation angle of the motor and the rotation speed of the motor; determining the movement direction of the patient in the current cycle based on the target parameters; determining the first driving torque coefficient of the exoskeleton based on the movement direction of the current cycle, the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle, and determining the second driving torque coefficient of the exoskeleton based on the rotation speed of the motor; determining the driving torque of the exoskeleton in the current cycle based on the first driving torque coefficient, the second driving torque coefficient, and the working gear of the exoskeleton in the current cycle; converting the driving torque of the exoskeleton in the current cycle into the working current of the motor of the exoskeleton, so that the motor operates based on the working current, the purpose of dynamically adjusting the output torque of the exoskeleton according to the movement direction of the patient is achieved, thereby solving the technical problem that the existing exoskeleton control method cannot provide self-following training for patients, and thus achieving the technical effect of providing a better rehabilitation experience for patients.

[0088] Embodiment Three:

[0089] An embodiment of the present invention further provides an electronic device, including a memory and a processor. The memory is used to store a program that supports the processor to execute the method described in the first embodiment above, and the processor is configured to execute the program stored in the memory.

[0090] See Figure 5 , an embodiment of the present invention further provides an electronic device 100, including: a processor 60, a memory 61, a bus 62, and a communication interface 63. The processor 60, the communication interface 63, and the memory 61 are connected through the bus 62; the processor 60 is used to execute an executable module stored in the memory 61, such as a computer program.

[0091] Among them, the memory 61 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. Through at least one communication interface 63 (which can be wired or wireless), a communication connection between the system network element and at least one other network element can be realized, and the Internet, wide area network, local area network, metropolitan area network, etc. can be used.

[0092] The bus 62 may be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 5 only a bidirectional arrow is used in [description], but it does not mean that there is only one bus or one type of bus.

[0093] Among them, the memory 61 is used to store a program. After receiving an execution instruction, the processor 60 executes the program. The method executed by the device defined by the flow process disclosed in any of the foregoing embodiments of the present invention can be applied to the processor 60 or implemented by the processor 60.

[0094] The processor 60 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 60 or the instructions in the form of software. The above-mentioned processor 60 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by the combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61 and combines its hardware to complete the steps of the above method.

[0095] Embodiment 4:

[0096] The embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the method described in Embodiment 1 above.

[0097] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0098] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

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

[0100] 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 network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0101] In addition, in each embodiment of the present invention, the functional units can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0102] Finally, it should be noted that the above-described embodiments are only specific implementation manners of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A self-following exoskeleton control device, characterized in that Including: An acquisition unit, configured to acquire target parameters of the exoskeleton in the current cycle when the exoskeleton is in the assisted training mode or the resistance training mode, where the target parameters include: the rotation angle of the motor and the rotation speed of the motor; A first determination unit, configured to determine the movement direction of the patient in the current cycle based on the target parameters; A second determination unit, configured to determine a first driving torque coefficient of the exoskeleton based on the movement direction of the current cycle, the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle, and determine a second driving torque coefficient of the exoskeleton based on the rotation speed of the motor; A third determination unit, configured to determine the driving torque of the exoskeleton in the current cycle based on the first driving torque coefficient, the second driving torque coefficient, and the working gear of the exoskeleton in the current cycle; A control unit, configured to convert the driving torque of the exoskeleton in the current cycle into the working current of the motor of the exoskeleton, so that the motor operates based on the working current; Wherein, the second determination unit is configured to: If the movement direction of the current cycle is the same as the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle is less than 0, then determine the product of the count value of the state machine counter of the previous cycle of the current cycle and the first coefficient as the first driving torque coefficient; If the movement direction of the current cycle is the same as the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle is greater than 0, then determine the sum value of the count value of the state machine counter of the previous cycle of the current cycle and 1 as the first driving torque coefficient; If the movement direction of the current cycle is opposite to the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle is greater than 0, then determine the product of the count value of the state machine counter of the previous cycle of the current cycle and the second coefficient as the first driving torque coefficient; If the movement direction of the current cycle is opposite to the movement direction of the previous cycle of the current cycle, and the count value of the state machine counter of the previous cycle of the current cycle is less than 0, then determine the difference value between the count value of the state machine counter of the previous cycle of the current cycle and 1 as the first driving torque coefficient; Wherein, the value ranges of the first coefficient and the second coefficient are (0, 1).

2. The device according to claim 1, characterized in that, The second determination unit is further configured to: If it is determined that the exoskeleton is in a static state based on the movement direction of the current cycle and the movement direction of the previous cycle of the current cycle, then determine the product of the count value of the state machine counter of the previous cycle of the current cycle and the third coefficient as the first driving torque coefficient; Wherein, the value range of the third coefficient is (0, 1).

3. The device according to claim 1, characterized in that, The second determination unit is further configured to: If the exoskeleton is in the assisted training mode, then the second driving torque coefficient of the exoskeleton is negatively correlated with the rotation speed of the motor; If the exoskeleton is in the resistance training mode, the second driving torque coefficient of the exoskeleton is positively correlated with the rotational speed of the motor.

4. The device according to claim 3, wherein The calculation formula for the driving torque of the exoskeleton in the current cycle is , where is the driving torque of the exoskeleton in the current cycle, is the driving torque parameter corresponding to the working gear of the exoskeleton in the current cycle, is the first driving torque coefficient, is the maximum count value of the state machine counter, .

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