A monkey lower limb exoskeleton system based on a brain-computer interface and a control method thereof

Abstract

The application provides a monkey lower limb exoskeleton system based on a brain-computer interface, comprising a brain-computer interface device and an exoskeleton device; the exoskeleton device comprises a back plate structure, a waist adjusting structure arranged oppositely on the left and right sides of the back plate structure, and a lower limb driving structure connected with the waist adjusting structure; the waist adjusting structure comprises a first adjusting assembly for adjusting the distance between the two lower limb driving structures and a second adjusting assembly for adjusting the distance between the lower limb driving structure and the back plate structure; the lower limb driving structure comprises a motor assembly and a sensor assembly arranged on the output end of the motor assembly; the back plate structure comprises a driver for controlling the rotation of the motor assembly; the brain-computer interface device is wirelessly connected with the sensor assembly and the driver; and the driver is electrically connected with the motor assembly. By arranging the waist adjusting structure between the back plate structure and the lower limb driving structure, the distance between the two lower limb driving structures and the distance between the lower limb driving structure and the back plate structure can be adjusted, so that the application is suitable for wearers of different body types.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeleton control, and in particular to a monkey lower limb exoskeleton system based on a brain-computer interface and a control method thereof. BACKGROUND

[0002] The brain-computer interface has important development potential in the field of motor nerve rehabilitation, and by exploring the correlation between brain-computer signals and motor rehabilitation, it is helpful to lay a foundation for subsequent research fields such as helping paralyzed people to achieve autonomous movement through brain-computer interface signals, remodeling the nervous system based on brain-computer interface signals, and realizing motor rehabilitation based on brain-computer interface signals.

[0003] However, research based on brain-computer interface technology has certain risks, especially invasive brain-computer interfaces have greater risks, so when exploring related research, it is more inclined to start from primates similar to humans, for example, EXiO-A Brain-Controlled Lower Limb Exoskeleton for Rhesus Macaques provides a rhesus monkey lower limb exoskeleton system based on a brain-computer interface.

[0004] However, the existing monkey lower limb exoskeleton system has the following problems: the size cannot be adjusted; there is no flexible design for the ankle joint; four-legged walking gait is not supported; drop walking is not supported; the fixing method for the monkey is not firm enough. SUMMARY

[0005] In view of the problems, the present application is proposed in order to provide a monkey lower limb exoskeleton system based on a brain-computer interface and a control method thereof which overcomes the problems or at least partially solves the problems, comprising:

[0006] A monkey lower limb exoskeleton system based on a brain-computer interface, comprising: a brain-computer interface device and an exoskeleton device; the exoskeleton device comprises a back plate structure, a waist adjusting structure oppositely arranged on the left and right sides of the back plate structure, and a lower limb driving structure connected with the waist adjusting structure;

[0007] The waist adjusting structure comprises a first adjusting assembly for adjusting the distance between the two lower limb driving structures and a second adjusting assembly for adjusting the distance between the lower limb driving structure and the back plate structure; the first adjusting assembly is connected with the side edge of the back plate structure; the second adjusting assembly is connected with the movable end of the first adjusting assembly; the lower limb driving structure is connected with the movable end of the second adjusting assembly;

[0008] The lower limb driving structure comprises a sensor assembly arranged at an output end of the motor assembly; the back plate structure comprises a driver for controlling rotation of the motor assembly; the brain-computer interface device is wirelessly connected to the sensor assembly and the driver respectively; and the driver is electrically connected to the motor assembly.

[0009] When the monkey wears the monkey lower limb exoskeleton system, the brain-computer interface device is connected to the brain of the monkey; the back plate structure corresponds to the back position of the monkey; and the lower limb driving structure corresponds to the lower limb position of the monkey, wherein the motor assembly corresponds to the hip joint position and the knee joint position of the monkey.

[0010] Preferably, the back plate structure comprises a back plate shell, a switch button, an emergency stop button, a wiring socket and the driver; the switch button, the emergency stop button and the wiring socket are arranged on the surface of the back plate shell respectively; the driver is arranged in the interior of the back plate shell; the switch button, the emergency stop button and the wiring socket are electrically connected to the driver respectively; and the first adjusting assembly is connected to the side edge of the back plate shell.

[0011] Preferably, the first adjusting assembly comprises a first guide rail connected to the side edge of the back plate structure, a first sliding block slidingly arranged on the surface of the first guide rail, a first stopper fixed to the end of the first guide rail away from the back plate structure, and a first fastener for locking the first sliding block and the first guide rail; the first fastener is arranged between the first sliding block and the first guide rail; the second adjusting assembly comprises a second guide rail connected to the side edge of the first sliding block, a second sliding block slidingly arranged on the surface of the second guide rail, a second stopper fixed to the end of the second guide rail away from the first sliding block, a second fastener for locking the second sliding block and the second guide rail, and a shock absorption module fixed to the side edge of the second sliding block; and the second fastener is arranged between the second sliding block and the second guide rail.

[0012] Preferably, the lower limb driving structure comprises a hip joint power assembly connected to the active end of the second adjusting assembly, a thigh assembly rotationally connected to the hip joint power assembly, a lower leg assembly rotationally connected to the thigh assembly, and a foot assembly rotationally connected to the lower leg assembly; the hip joint power assembly comprises a hip joint motor; the thigh assembly comprises a knee joint motor; and the hip joint motor and the knee joint motor are electrically connected to the driver respectively.

[0013] Preferably, the hip joint power assembly comprises a hip joint swing arm connected with the active end of the second adjusting assembly, the hip joint motor fixed at the end of the hip joint swing arm away from the second adjusting assembly, and a hip limiting block fixed at the side of the hip joint motor; the thigh assembly is connected with the output end of the hip joint motor;

[0014] The thigh assembly comprises a thigh connecting cylinder connected with the output end of the hip joint motor, the knee joint motor fixed at the end of the thigh connecting cylinder away from the hip joint motor, a thigh support rod fixed at the side of the thigh connecting cylinder, and a thigh baffle fixed at the end of the thigh support rod away from the thigh connecting cylinder; the shank assembly is connected with the output end of the knee joint motor;

[0015] The shank assembly comprises a knee joint swing arm connected with the output end of the knee joint motor, a shank baffle fixed at the side of the knee joint swing arm, a bandage clamping seat fixed at the side of the knee joint swing arm, and an ankle joint rotating seat fixed at the end of the knee joint swing arm away from the knee joint motor; the foot assembly is rotationally connected with the ankle joint rotating seat;

[0016] The foot assembly comprises an ankle joint rotating shaft and a silica gel pad plate connected with the ankle joint rotating shaft; the ankle joint rotating shaft is rotationally connected with the ankle joint rotating seat.

[0017] Preferably, the hip joint power assembly comprises a hip joint swing arm connected with the active end of the second adjusting assembly, the hip joint motor fixed at the end of the hip joint swing arm away from the second adjusting assembly, and a hip limiting block fixed at the side of the hip joint motor; the thigh assembly is connected with the output end of the hip joint motor;

[0018] Preferably, the support comprises a push handle and a handrail; the push handle and the handrail are oppositely arranged on the front and back sides of the back plate structure.

[0019] A control method of the monkey lower limb exoskeleton system according to any one of the above, the control method is aimed at the brain-computer interface device; comprising:

[0020] Obtaining the real-time electroencephalogram signal of the monkey and the real-time motion parameter of the motor assembly;

[0021] According to the real-time electroencephalogram signal, determining the expected waist motion trajectory and the expected foot bottom motion trajectory;

[0022] According to the expected waist motion trajectory, the expected foot bottom motion trajectory and the real-time motion parameter, determining the hip joint output torque and the knee joint output torque, and sending the hip joint output torque and the knee joint output torque to the driver.

[0023] Preferably, the step of determining the expected waist motion trajectory and the expected foot bottom motion trajectory according to the real-time electroencephalogram signal comprises:

[0024] determining a desired gait, a desired stride length and a desired stride speed according to the real-time brain electrical signal;

[0025] determining the desired waist movement trajectory according to the desired gait;

[0026] determining the desired foot movement trajectory according to the desired stride length and the desired stride speed.

[0027] Preferably, the real-time movement parameters include real-time hip joint angle, real-time hip joint angular velocity, real-time knee joint angle and real-time knee joint angular velocity; and the step of determining the hip joint output torque and the knee joint output torque according to the desired waist movement trajectory, the desired foot movement trajectory and the real-time movement parameters comprises:

[0028] determining a desired hip movement trajectory and a desired knee movement trajectory according to the desired waist movement trajectory and the desired foot movement trajectory;

[0029] determining a desired hip joint angle and a desired hip joint angular velocity according to the desired hip movement trajectory, and generating the hip joint output torque according to the desired hip joint angle, the desired hip joint angular velocity, the real-time hip joint angle and the real-time hip joint angular velocity;

[0030] determining a desired knee joint angle and a desired knee joint angular velocity according to the desired knee movement trajectory, and generating the knee joint output torque according to the desired knee joint angle, the desired knee joint angular velocity, the real-time knee joint angle and the real-time knee joint angular velocity.

[0031] The present application has the following advantages:

[0032] In the embodiments of the present application, in order to solve the problem that the existing monkey lower limb exoskeleton system cannot be adjusted in size, the present application provides a solution that the lower limb driving structure and the back plate structure are connected through the waist adjusting structure, specifically: "a monkey lower limb exoskeleton system based on a brain-computer interface, comprising: a brain-computer interface device and an exoskeleton device; the exoskeleton device comprises a back plate structure, a waist adjusting structure arranged on the left and right sides of the back plate structure, and a lower limb driving structure connected with the waist adjusting structure; the waist adjusting structure comprises a first adjusting assembly for adjusting the distance between the two lower limb driving structures and a second adjusting assembly for adjusting the distance between the lower limb driving structure and the back plate structure; the first adjusting assembly is connected with the side edge of the back plate structure; the second adjusting assembly is connected with the movable end of the first adjusting assembly; the lower limb driving structure is connected with the movable end of the second adjusting assembly; the lower limb driving structure comprises a motor assembly and a sensor assembly arranged at the output end of the motor assembly; the back plate structure comprises a driver for controlling the rotation of the motor assembly; the brain-computer interface device is wirelessly connected with the sensor assembly and the driver respectively; the driver is electrically connected with the motor assembly; when the monkey wears the monkey lower limb exoskeleton system, the brain-computer interface device is connected with the brain of the monkey; the back plate structure corresponds to the back position of the monkey; the lower limb driving structure corresponds to the lower limb position of the monkey, wherein the motor assembly corresponds to the hip joint position and the knee joint position of the monkey". By arranging the waist adjusting structure between the back plate structure and the lower limb driving structure, the distance between the two lower limb driving structures and the distance between the lower limb driving structure and the back plate structure can be adjusted, so that the monkey lower limb exoskeleton system is suitable for wearers of different sizes. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the description of the present application will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0034] Figure 1 is a perspective view of a monkey lower limb exoskeleton system provided by an embodiment of the present application;

[0035] Figure 2 is a front view of a monkey lower limb exoskeleton system provided by an embodiment of the present application;

[0036] Figure 3 is a top view of a monkey lower limb exoskeleton system provided by an embodiment of the present application;

[0037] Figure 4 This is a side view of a monkey lower limb exoskeleton system provided in an embodiment of this application;

[0038] Figure 5 This is a schematic diagram of the waist adjustment structure in a monkey lower limb exoskeleton system according to an embodiment of this application;

[0039] Figure 6 This is a schematic diagram of the lower limb drive structure in a monkey lower limb exoskeleton system according to an embodiment of this application;

[0040] Figure 7 This is a flowchart illustrating the steps of a control method for a monkey lower limb exoskeleton system according to an embodiment of this application;

[0041] Figure 8 This is a schematic diagram illustrating the generation process of the desired waist trajectory and the desired foot movement trajectory provided in an embodiment of this application;

[0042] Figure 9 This is a schematic diagram illustrating the generation process of the desired hip joint motion trajectory and the desired knee joint motion trajectory provided in an embodiment of this application;

[0043] Figure 10 This is a structural block diagram of a control device for a monkey lower limb exoskeleton system provided in one embodiment of this application;

[0044] Figure 11 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application.

[0045] The reference numerals in the accompanying drawings are as follows:

[0046] 100. Backrest structure; 200. Waist adjustment structure; 210. First adjustment component; 220. Second adjustment component; 300. Lower limb drive structure; 310. Hip joint power component; 320. Thigh component; 330. Lower leg component; 340. Foot component; 400. Base; 500. Lifting mechanism; 600. Bracket; 610. Push handle; 620. Handrail; 700. Hip strap; 12. Computer equipment; 14. External device; 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 Implementation

[0047] In order to make the objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0048] Referring to Figures 1-6 , an embodiment of the present application provides a monkey lower limb exoskeleton system based on brain-computer interface, comprising: a brain-computer interface device and an exoskeleton device; the exoskeleton device comprises a back plate structure 100, a waist adjusting structure 200 arranged on the left and right sides of the back plate structure 100, and a lower limb driving structure 300 connected with the waist adjusting structure 200;

[0049] The waist adjusting structure 200 comprises a first adjusting assembly 210 for adjusting the distance between the two lower limb driving structures 300 and a second adjusting assembly 220 for adjusting the distance between the lower limb driving structure 300 and the back plate structure 100; the first adjusting assembly 210 is connected with the side edge of the back plate structure 100; the second adjusting assembly 220 is connected with the movable end of the first adjusting assembly 210; the lower limb driving structure 300 is connected with the movable end of the second adjusting assembly 220;

[0050] The lower limb driving structure 300 comprises a motor assembly and a sensor assembly arranged at the output end of the motor assembly; the back plate structure 100 comprises a driver for controlling the rotation of the motor assembly; the brain-computer interface device is wirelessly connected with the sensor assembly and the driver respectively; the driver is electrically connected with the motor assembly;

[0051] When the monkey wears the monkey lower limb exoskeleton system, the brain-computer interface device is connected with the brain of the monkey; the back plate structure 100 corresponds to the back position of the monkey; the lower limb driving structure 300 corresponds to the lower limb position of the monkey, wherein the motor assembly corresponds to the hip joint position and the knee joint position of the monkey.

[0052] When the monkey lower limb exoskeleton system assists the monkey in movement, the sensor assembly acquires real-time movement parameters of the motor assembly and sends the real-time movement parameters to the brain-computer interface device; the brain-computer interface device acquires real-time electroencephalogram signals of the monkey, determines hip joint output torque and knee joint output torque according to the real-time electroencephalogram signals and the real-time movement parameters, and sends the hip joint output torque and the knee joint output torque to the driver; the driver drives the motor assembly to rotate according to the hip joint output torque and the knee joint output torque, thereby driving the lower limbs of the monkey equipped with the lower limb driving structure 300 to move.

[0053] In the embodiments of the present application, in order to solve the problem that the existing monkey lower limb exoskeleton system cannot be adjusted in size, the present application provides a solution that the waist adjusting structure 200 connects the lower limb driving structure 300 and the back plate structure 100, specifically: "a monkey lower limb exoskeleton system based on brain-computer interface, comprising: a brain-computer interface device and an exoskeleton device; the exoskeleton device comprises a back plate structure 100, a waist adjusting structure 200 arranged on the left and right sides of the back plate structure 100, and a lower limb driving structure 300 connected with the waist adjusting structure 200; the waist adjusting structure 200 comprises a first adjusting assembly 210 for adjusting the distance between the two lower limb driving structures 300 and a second adjusting assembly 220 for adjusting the distance between the lower limb driving structure 300 and the back plate structure 100; the first adjusting assembly 210 is connected with the side edge of the back plate structure 100; the second adjusting assembly 220 is connected with the movable end of the first adjusting assembly 210; the lower limb driving structure 300 is connected with the movable end of the second adjusting assembly 220; the lower limb driving structure 300 comprises a sensor assembly arranged on the output end of a motor assembly; the back plate structure 100 comprises a driver for controlling the rotation of the motor assembly; the brain-computer interface device is wirelessly connected with the sensor assembly and the driver respectively; the driver is electrically connected with the motor assembly; when the monkey wears the monkey lower limb exoskeleton system, the brain-computer interface device is connected with the brain of the monkey; the back plate structure 100 corresponds to the back position of the monkey; the lower limb driving structure 300 corresponds to the lower limb position of the monkey, wherein the motor assembly corresponds to the hip joint position and the knee joint position of the monkey". By arranging the waist adjusting structure 200 between the back plate structure 100 and the lower limb driving structure 300, the distance between the two lower limb driving structures 300 and the distance between the lower limb driving structure 300 and the back plate structure 100 can be adjusted, so that the monkey lower limb exoskeleton system is suitable for wearers of different sizes.

[0054] Hereinafter, a monkey lower limb exoskeleton system based on a brain-computer interface in the present exemplary embodiment will be further described.

[0055] In the present embodiment, the back plate structure 100 comprises a back plate shell, a switch button, an emergency stop button, a wiring socket and the driver; the switch button, the emergency stop button and the wiring socket are arranged on the surface of the back plate shell respectively; the driver is arranged inside the back plate shell; the switch button, the emergency stop button and the wiring socket are electrically connected with the driver respectively; the first adjusting assembly 210 is connected with the side edge of the back plate shell. By arranging the switch button, the driver can be turned on or off as needed; by arranging the emergency stop button, the driver can be quickly turned off in abnormal conditions; by arranging the wiring socket, the driver, the motor assembly and the sensor assembly are powered conveniently.

[0056] In the present embodiment, the first adjusting assembly 210 comprises a first guide rail connected with the side edge of the back plate structure 100, a first sliding block slidingly arranged on the surface of the first guide rail, a first stopper fixed at the end of the first guide rail away from the back plate structure 100 and a first fastener for locking the first sliding block and the first guide rail; the first fastener is arranged between the first sliding block and the first guide rail; the second adjusting assembly 220 comprises a second guide rail connected with the side edge of the first sliding block, a second sliding block slidingly arranged on the surface of the second guide rail, a second stopper fixed at the end of the second guide rail away from the first sliding block, a second fastener for locking the second sliding block and the second guide rail and a damping module fixed at the side edge of the second sliding block; the second fastener is arranged between the second sliding block and the second guide rail. By arranging the first adjusting assembly 210, the distance between the two lower limb driving structures 300 is adjusted conveniently; by arranging the second adjusting assembly 220, the distance between the lower limb driving structure 300 and the back plate is adjusted conveniently, so that the length and width of the exoskeleton device can be adjusted according to the requirements, and the monkey lower limb exoskeleton system is suitable for wearers of different sizes.

[0057] In the embodiment, the lower limb driving structure 300 comprises a hip joint power assembly 310 connected with the active end of the second adjusting assembly 220, a thigh assembly 320 rotatably connected with the hip joint power assembly 310, a shank assembly 330 rotatably connected with the thigh assembly 320, and a foot assembly 340 rotatably connected with the shank assembly 330. The hip joint power assembly 310 comprises a hip joint motor. The thigh assembly 320 comprises a knee joint motor. The hip joint motor and the knee joint motor are electrically connected with the driver respectively. Through the flexible design of the ankle joint, i.e. the foot assembly 340 is rotatably connected with the shank assembly 330, the monkey can walk in a more natural state.

[0058] In the embodiment, the hip joint power assembly 310 comprises a hip joint swing arm connected with the active end of the second adjusting assembly 220, the hip joint motor fixed at the end of the hip joint swing arm away from the second adjusting assembly 220, and a hip limiting block fixed at the side of the hip joint motor. The thigh assembly 320 is connected with the output end of the hip joint motor. Through the setting of the hip limiting block, the hip joint power assembly 310 is more firmly connected with the hip of the monkey, and the stability of the lower limb exoskeleton system of the monkey in the movement process of the monkey is improved.

[0059] The thigh assembly 320 comprises a thigh connecting cylinder connected with the output end of the hip joint motor, the knee joint motor fixed at the end of the thigh connecting cylinder away from the hip joint motor, a thigh support rod fixed at the side of the thigh connecting cylinder, and a thigh baffle fixed at the end of the thigh support rod away from the thigh connecting cylinder. The shank assembly 330 is connected with the output end of the knee joint motor. Through the setting of the thigh support rod and the thigh baffle, the thigh assembly 320 is more firmly connected with the thigh of the monkey, and the stability of the lower limb exoskeleton system of the monkey in the movement process of the monkey is improved.

[0060] The shank assembly 330 comprises a knee joint swing arm connected with the output end of the knee joint motor, a shank baffle fixed at the side of the knee joint swing arm, a band clamp seat fixed at the side of the knee joint swing arm, and an ankle joint rotating seat fixed at the end of the knee joint swing arm away from the knee joint motor. The foot assembly 340 is rotatably connected with the ankle joint rotating seat. Through the setting of the shank baffle and the band clamp seat, the shank assembly 330 is more firmly connected with the shank of the monkey, and the stability of the lower limb exoskeleton system of the monkey in the movement process of the monkey is improved.

[0061] The foot assembly 340 comprises an ankle pivot and a silica gel pad plate connected with the ankle pivot; the ankle pivot is rotationally connected with the ankle pivot seat. By arranging the silica gel pad plate, the comfort of the feet of the monkey when wearing the monkey lower limb exoskeleton system can be improved.

[0062] In this embodiment, the base 400, the lifting mechanism 500 arranged on the base 400, the support 600 connected with the lifting mechanism 500, and the hip strap 700 arranged on the support 600 are further included; the back plate structure 100 is fixed on the support 600. Specifically, the lifting mechanism comprises an outer tube connected with the base 400, an inner tube slidingly arranged in the outer tube, and a third fastener for locking the outer tube and the inner tube; the third fastener is arranged between the outer tube and the inner tube. By arranging the lifting mechanism 500, the horizontal height of the exoskeleton device can be adjusted, so that the exoskeleton device supports multiple walking modes such as hovering walking and landing walking, and in the landing walking mode, multiple gait modes such as biped walking and quadruped walking are also supported, which greatly widens the application scenarios of the monkey lower limb exoskeleton system.

[0063] In this embodiment, the support 600 comprises a push handle 610 and a handrail 620; the push handle 610 and the handrail 620 are oppositely arranged on the front and back sides of the back plate structure 100. By arranging the push handle 610, the exoskeleton device can be easily moved; by arranging the handrail 620, the upper limbs of the monkey can be easily held, so that the stability and comfort of the monkey during the movement process are improved.

[0064] Referring to Figure 7 , a control method of a monkey lower limb exoskeleton system according to any one of the above embodiments is shown, and the control method is for the brain-computer interface device, comprising:

[0065] S110, acquiring real-time electroencephalogram signals of the monkey and real-time motion parameters of the motor assembly;

[0066] S120, determining a desired waist motion trajectory and a desired foot bottom motion trajectory according to the real-time electroencephalogram signals;

[0067] S130, determining a hip joint output torque and a knee joint output torque according to the desired waist motion trajectory, the desired foot bottom motion trajectory, and the real-time motion parameters, and sending the hip joint output torque and the knee joint output torque to the driver.

[0068] In the following, a control method of a monkey lower limb exoskeleton system in this exemplary embodiment will be further described.

[0069] As described in step S110, the real-time EEG signal of the monkey and the real-time motion parameter of the motor assembly are acquired.

[0070] The real-time EEG signal and the real-time motion parameter from the sensor assembly are acquired; wherein the real-time motion parameter includes real-time hip joint angle, real-time hip joint angular velocity, real-time knee joint angle and real-time knee joint angular velocity.

[0071] As described in step S120, the expected waist motion trajectory and the expected foot motion trajectory are determined according to the real-time EEG signal.

[0072] The expected gait, expected stride and expected step speed are determined according to the real-time EEG signal. Specifically, a linear decoder is constructed based on the activity information of the cerebral cortex neuron group, the motion information contained in the real-time EEG signal is decoded by using the linear decoder to obtain the motion intention of the monkey, wherein the motion intention includes the expected gait, the expected stride and the expected step speed; the expected gait can be bipedal gait or quadrupedal gait.

[0073] The expected waist motion trajectory is determined according to the expected gait. Specifically, the expected waist motion trajectory is determined in real time based on the expected gait identified. Specifically, with reference to Figure 8 When the expected gait identified is bipedal gait, it can be considered that the waist of the monkey is at a certain higher horizontal height, and a preset first waist motion trajectory is taken as the expected waist motion trajectory; when the expected gait identified is quadrupedal gait, it can be considered that the waist of the monkey is at a certain lower horizontal height, and a preset second waist motion trajectory is taken as the expected waist motion trajectory.

[0074] The expected foot motion trajectory is determined according to the expected stride and the expected step speed. Specifically, the expected foot motion trajectory is determined in real time based on the expected stride and the expected step speed identified. Specifically, with reference to Figure 8 , the expected stride is used to obtain a single step length, a single foot motion trajectory is generated according to the single step length and a preset step height parameter (obtained by polynomial fitting), an updated step frequency is calculated according to the expected step speed, and a continuous expected foot motion trajectory is generated according to the single foot motion trajectory and the updated step frequency.

[0075] As described in step S130, the hip joint output torque and the knee joint output torque are determined according to the expected waist motion trajectory, the expected foot motion trajectory and the real-time motion parameter, and the hip joint output torque and the knee joint output torque are sent to the driver.

[0076] According to the expected waist movement trajectory and the expected foot bottom movement trajectory, an expected hip joint movement trajectory and an expected knee joint movement trajectory are determined. Specifically, with reference to Figure 9 , according to a preset waist length, a thigh length and a lower leg length, a hip joint position and a knee joint position at each time are determined, the hip joint positions at various times are connected to obtain the expected hip joint movement trajectory, and the knee joint positions at various times are connected to obtain the expected knee joint movement trajectory.

[0077] According to the expected hip joint movement trajectory, an expected hip joint angle and an expected hip joint angular velocity are determined, and according to the expected hip joint angle, the expected hip joint angular velocity, a real-time hip joint angle and a real-time hip joint angular velocity, the hip joint output torque is generated. Specifically, a variable impedance control method in a joint space is adopted to control the motor assembly, and a calculation formula of the hip joint output torque is as follows:

[0078]

[0079] Wherein, τ1 is the hip joint output torque, K P and K d are adjustable impedance parameters, θ d1 is the expected hip joint angle, is the expected hip joint angular velocity, θ a1 is the real-time hip joint angle, is the real-time hip joint angular velocity. By adjusting different K P and K d parameters, different impedance movement tracking effects can be achieved.

[0080] According to the expected knee joint movement trajectory, an expected knee joint angle and an expected knee joint angular velocity are determined, and according to the expected knee joint angle, the expected knee joint angular velocity, a real-time knee joint angle and a real-time knee joint angular velocity, the knee joint output torque is generated. Specifically, a variable impedance control method in a joint space is adopted to control the motor assembly, and a calculation formula of the knee joint output torque is as follows:

[0081]

[0082] Wherein, τ2 is the knee joint output torque, K P and K d are adjustable impedance parameters, θ d2 is the expected knee joint angle, is the expected knee joint angular velocity, θ a2 is the real-time knee joint angle, is the real-time knee joint angular velocity. By adjusting different K P and K dThe parameters can realize different impedance motion tracking effects.

[0083] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts are described in the part of the method embodiment.

[0084] Referring to Figure 10 , a control device of a lower limb exoskeleton system of a monkey is shown, the control device is included in the brain-computer interface device, and the control device comprises:

[0085] The real-time signal acquisition module 210 is configured to acquire real-time electroencephalogram signals of the monkey and real-time motion parameters of the motor assembly.

[0086] The motion trajectory determination module 220 is configured to determine a desired waist motion trajectory and a desired foot bottom motion trajectory according to the real-time electroencephalogram signals.

[0087] The joint torque determination module 230 is configured to determine a hip joint output torque and a knee joint output torque according to the desired waist motion trajectory, the desired foot bottom motion trajectory, and the real-time motion parameters, and send the hip joint output torque and the knee joint output torque to the driver.

[0088] Referring to Figure 11 , a computer device is shown, which can specifically include the following:

[0089] The computer device 12 is in the form of a general-purpose computing device, and the components of the computer device 12 can include but are not limited to one or more processors or processing units 16, a memory 28, and a bus 18 connecting different system components including the memory 28 and the processing unit 16.

[0090] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to an industry standard architecture (ISA) bus, a microchannel architecture (MAC) bus, an enhanced ISA bus, a video electronics standards association (VESA) local bus, and a peripheral component interconnect (PCI) bus.

[0091] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0092] Memory 28 can include computer system readable media in the form of volatile memory, such as random access memory 30 and / or cache memory 32. Computer device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (typically called a "hard drive"). Figure 11 Although not shown in FIG. 3, computer device 12 can employ other, peripheral, and / or software modules that can be used in conjunction with computer device 12, including but not limited to: micro-code, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems 34, etc.

[0093] Program / utility 40, having a set (at least one) of program modules 42, can be stored in, for example, memory by way of example, and not limitation, as

[0094] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard or a pointing device, display 24, camera, etc.; one or more devices that enable a user to interact with computer device 12; and / or one or more devices that enable computer device 12 to communicate with one or more other computing devices. Such communication can be via I / O interface 22. 22. Additionally, computer device 12 can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and / or a public network (e.g., the Internet) via network adapter 20. As depicted, network adapter 20 communicates with the other components of computer device 12 via bus 18. It should be appreciated that other buses and / or communication media can be utilized to facilitate communication between the various components of computer device 12 and / or to facilitate communication between computer device 12 and one or more other systems. Figure 11 Figure 11 It is to be appreciated that computer device 12 can be one of a plurality of computer devices that forms a network, and that the plurality of computer devices can exchange data via a connection, which can be a network. It is further appreciated that a network can include a local area network, a wide area network, or an intranet, such as a network in a company or an academic institution, or the Internet.

[0095] ​The processing unit 16 executes various function applications and data processing by running programs stored in the memory 28, such as a control method of a lower limb exoskeleton system for a monkey.

[0096] That is, the processing unit 16, when executing the programs, acquires real-time electroencephalogram signals of the monkey and real-time motion parameters of the motor assembly, determines a desired waist motion trajectory and a desired foot bottom motion trajectory according to the real-time electroencephalogram signals, determines a hip joint output torque and a knee joint output torque according to the desired waist motion trajectory, the desired foot bottom motion trajectory and the real-time motion parameters, and sends the hip joint output torque and the knee joint output torque to the driver.

[0097] In an embodiment of the present application, a computer readable storage medium is provided, which stores a computer program. The program, when executed by a processor, implements a control method of a lower limb exoskeleton system for a monkey as provided in all embodiments of the present application.

[0098] That is, the program, when executed by a processor, acquires real-time electroencephalogram signals of the monkey and real-time motion parameters of the motor assembly, determines a desired waist motion trajectory and a desired foot bottom motion trajectory according to the real-time electroencephalogram signals, determines a hip joint output torque and a knee joint output torque according to the desired waist motion trajectory, the desired foot bottom motion trajectory and the real-time motion parameters, and sends the hip joint output torque and the knee joint output torque to the driver.

[0099] Any combination of one or more computer readable medium can be employed. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, the computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0100] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0101] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "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 standalone 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 remote computers, the remote computer can be connected to the operator's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider). The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably.

[0102] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0103] Finally, it is to be understood that the phraseology or terminology such as "first" and "second" etc. used herein is merely intended to differentiate one entity or operation from another entity or operation, without necessarily requiring or implying any actual such relationship or order between such entities or operations. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0104] The above provides a kind of based on brain-computer interface's monkey lower limb exoskeleton system and its control method provided in the application, have carried out detailed introduction, the principle and implementation mode of the application are described in this paper with specific examples, the above example is only for helping to understand the method of the application and its core idea;For the general technical personnel in the art, according to the idea of the application, there will be changes in specific implementation mode and application range, as described above, the content of the specification should not be understood as the limitation of the application.

Claims

1. A monkey lower limb exoskeleton system based on brain-computer interface, characterized in that, The application relates to a brain-computer interface device and an exoskeleton device; the exoskeleton device comprises a back plate structure, waist adjusting structures arranged on the left and right sides of the back plate structure and lower limb driving structures connected with the waist adjusting structures. The waist adjusting structure comprises a first adjusting assembly for adjusting the distance between the two lower limb driving structures and a second adjusting assembly for adjusting the distance between the lower limb driving structures and the back plate structure; the first adjusting assembly is connected with the side edges of the back plate structure. The second adjusting assembly is connected with the movable end of the first adjusting assembly; the lower limb driving structure is connected with the movable end of the second adjusting assembly. The lower limb driving structure comprises a motor assembly and a sensor assembly arranged on the output end of the motor assembly. The back plate structure comprises a driver for controlling the rotation of the motor assembly. The brain-computer interface device is wirelessly connected with the sensor assembly and the driver respectively; the driver is electrically connected with the motor assembly. When a monkey wears the monkey lower limb exoskeleton system, the brain-computer interface device is connected with the brain of the monkey; the back plate structure corresponds to the back position of the monkey; the lower limb driving structure corresponds to the lower limb position of the monkey, wherein the motor assembly corresponds to the hip joint position and the knee joint position of the monkey. The back plate structure comprises a back plate shell, a switch button, an emergency stop button, a wiring socket and the driver; the switch button, the emergency stop button and the wiring socket are arranged on the surface of the back plate shell respectively; the driver is arranged in the interior of the back plate shell; the switch button, the emergency stop button and the wiring socket are electrically connected with the driver respectively.

2. The monkey lower extremity exoskeleton system according to claim 1, wherein, The first adjusting assembly is connected with the side edges of the back plate shell. The first adjusting assembly comprises a first guide rail connected with the side edges of the back plate structure, a first sliding block slidingly arranged on the surface of the first guide rail, a first stop block fixed at the end of the first guide rail away from the back plate structure and a first fastener for locking the first sliding block and the first guide rail; the first fastener is arranged between the first sliding block and the first guide rail; the second adjusting assembly comprises a second guide rail connected with the side edges of the first sliding block, a second sliding block slidingly arranged on the surface of the second guide rail, a second stop block fixed at the end of the second guide rail away from the first sliding block, a second fastener for locking the second sliding block and the second guide rail and a damping module fixed at the side edges of the second sliding block; the second fastener is arranged between the second sliding block and the second guide rail.

3. The monkey lower extremity exoskeleton system according to claim 1, wherein, The lower limb driving structure comprises a hip joint power assembly connected with the movable end of the second adjusting assembly, a thigh assembly rotationally connected with the hip joint power assembly, a shank assembly rotationally connected with the thigh assembly and a foot assembly rotationally connected with the shank assembly; the hip joint power assembly comprises a hip joint motor; the thigh assembly comprises a knee joint motor; the hip joint motor and the knee joint motor are electrically connected with the driver respectively.

4. The monkey lower extremity exoskeleton system according to claim 1, wherein, ​ 5. The monkey lower extremity exoskeleton system according to claim 4, wherein, The hip joint power assembly comprises a hip joint swing arm connected with the active end of the second adjusting assembly, the hip joint motor fixed at the end of the hip joint swing arm away from the second adjusting assembly, and a hip limiting block fixed at the side of the hip joint motor; the thigh assembly is connected with the output end of the hip joint motor; The thigh assembly comprises a thigh connecting cylinder connected with the output end of the hip joint motor, the knee joint motor fixed at the end of the thigh connecting cylinder away from the hip joint motor, a thigh support rod fixed at the side of the thigh connecting cylinder, and a thigh baffle fixed at the end of the thigh support rod away from the thigh connecting cylinder; the shank assembly is connected with the output end of the knee joint motor; The shank assembly comprises a knee joint swing arm connected with the output end of the knee joint motor, a shank baffle fixed at the side of the knee joint swing arm, a bandage clamping seat fixed at the side of the knee joint swing arm, and an ankle joint rotating seat fixed at the end of the knee joint swing arm away from the knee joint motor; the foot assembly is rotationally connected with the ankle joint rotating seat; The foot assembly comprises an ankle joint rotating shaft and a silica gel pad plate connected with the ankle joint rotating shaft; the ankle joint rotating shaft is rotationally connected with the ankle joint rotating seat.

6. The monkey lower extremity exoskeleton system according to claim 1, wherein, Further comprising: a base, a lifting mechanism arranged on the base, a support connected with the lifting mechanism, and a hip bandage arranged on the support; The back plate structure is fixed on the support.

7. The monkey lower extremity exoskeleton system according to claim 6, wherein, The support comprises a push handle and a handrail; the push handle and the handrail are oppositely arranged on the front and rear sides of the back plate structure.

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