Exoskeleton-based high-speed motion assisting method, device and equipment

Abstract

The present invention provides an exoskeleton-based high-speed motion assistance method, device, and equipment. The method includes obtaining the real-time angle values ​​of the left and right hip joints of a user during high-speed motion. If the angle value of one hip joint of the user exceeds the range of the current latest angle threshold, the angular velocity of the user's hip joint on that side is continuously obtained. When the direction of the angular velocity of the user's hip joint on that side changes, the time point at which the direction of the angular velocity of the user's hip joint on that side changes is recorded as a calibration point, and the force applied to the user by the exoskeleton to assist motion is initiated at the calibration point. The method proposed by the present invention can assist the human body in high-speed motion, has extremely high timeliness and flexibility, effectively improves the coordination and stability of the user's movements during high-speed motion, reduces the burden of motion on the user, and ensures the safety of the user during high-speed motion.

Description

Technical Field

[0001] The present invention belongs to the field of exoskeleton power-assist technology, and specifically relates to an exoskeleton-based high-speed motion assist method, device and equipment. Background Art

[0002] An exoskeleton is a hard external structure that can provide configuration, construction and protection for the soft internal organs of an organism. Scientists have extensively expanded the research on exoskeletons in military, medical, industrial production and other fields.

[0003] There are also many science fiction works that mention powered suits based on exoskeleton technology. With this "suit", humans can become so-called "iron men". Therefore, exoskeleton mechanical equipment is often associated with "super armor" or systems used to expand or enhance a person's physiological functions. Such equipment can help a person lift or carry heavier loads, run faster, and jump higher.

[0004] In real life, in addition to providing basic functions such as protection and body support for the operator, exoskeleton technology also provides the wearer with additional power or capabilities by integrating sensing, control, information, communication and other technologies, thereby enhancing human functions and enabling exoskeleton mechanical equipment to complete certain functions and tasks under the control of the operator, thereby achieving strength enhancement and sensory extension.

[0005] Exoskeleton technology is also widely used to assist human movement, but most existing exoskeleton motion-assistance devices achieve motion assistance through remote control, or operate in a pre-set fixed manner. They cannot make timely adaptive adjustments based on the user's walking speed and have relatively low flexibility. Especially when the user is performing relatively high-speed and intense exercise, such motion-assistance devices cannot adapt to the user's movement in a timely manner and may even hinder the user's normal exercise. In severe cases, the user may be injured. Summary of the Invention

[0006] In order to overcome the above-mentioned defects of the prior art, the present invention proposes a high-speed motion assist method based on an exoskeleton, the method comprising:

[0007] Get the real-time angle values ​​of the left and right hip joints of the user during high-speed exercise;

[0008] If the angle value of the hip joint on one side of the user exceeds the range of the latest angle threshold, start to continuously obtain the angular velocity of the hip joint on the side of the user;

[0009] If the angular velocity direction of the user's hip joint on that side changes, the time point at which the angular velocity direction of the user's hip joint on that side changes is recorded as a calibration point, and at the calibration point, the exoskeleton is activated to apply auxiliary movement force to the user.

[0010] Specifically, the range of the angle threshold is updated in real time based on the hip joint angle value of the user, the angle threshold includes a first angle threshold and a second angle threshold, and the method for updating the angle threshold includes:

[0011] If the angular velocity direction of the hip joint on one side changes from positive to negative at the calibration point, record the angle of the hip joint on the side as the first angle, and update the current latest first angle threshold based on the first angle;

[0012] If the angular velocity direction of the hip joint on one side changes from negative to positive at the calibration point, the angle of the hip joint on this side is recorded as the second angle, and the current latest second angle threshold is updated based on the second angle.

[0013] Furthermore, the applied auxiliary motion force includes:

[0014] When the angle value of the hip joint on one side of the user exceeds the first angle threshold, a first force is applied to the hip joint on the side of the user at the next calibration point;

[0015] When the angle value of the user's hip joint on one side exceeds the current second angle threshold, a second force is applied to the user's hip joint on that side at the next calibration point; the first force and the second force are used to assist the movement of the user's hip joint, and the first force and the second force act in opposite directions.

[0016] Preferably, the angle values ​​of the left and right hip joints of the user are obtained by correcting angle measurement values ​​obtained by detection equipment arranged at the left and right hip joints of the user with preset angle correction values.

[0017] Specifically, the angle correction value is obtained by:

[0018] When the user is in a stationary state, a test force is applied to the left and right hip joints of the user in advance to measure the offset angle value of the detection device, and the strength of the test force and the corresponding offset angle value of the detection device are recorded as the angle correction value corresponding to the test force; the test force corresponding to the preset angle correction value is the same as the force applied to the user when the angle measurement value is measured.

[0019] Specifically, “preliminarily applying a test force to the left and right hip joints of the user to measure the offset angle value of the detection device” includes:

[0020] At least two test action directions are preset, and the user is made to stand. One of the untested test action directions is selected to apply a gradually increasing test force to the left and right hip joints of the user until the strength of the test force reaches a preset strength. This step is repeated until the detection of all the test action directions is completed, and the offset angle value of the detection device under the preset force is obtained.

[0021] Preferably, the method further comprises:

[0022] During the high-speed exercise of the user, the real-time angle values ​​of the left and right hip joints of the user during the high-speed exercise are continuously obtained with a first precision. If the angle value of the hip joint on one side of the user exceeds the angle threshold range, the real-time angle value of the hip joint on that side of the user is obtained with a second precision until the calibration point is reached; the first precision is lower than the second precision.

[0023] The present invention also proposes a high-speed motion assist device based on an exoskeleton, the device comprising:

[0024] The first acquisition module is used to obtain the real-time angle values ​​of the left and right hip joints of the user during high-speed exercise;

[0025] A second acquisition module is configured to start continuously acquiring the angular velocity of the user's hip joint on one side when the angle value of the user's hip joint on that side exceeds the range of the current latest angle threshold;

[0026] The calibration module is configured to record the time point at which the angular velocity direction of the user's hip joint changes as a calibration point when the angular velocity direction of the user's hip joint changes, and to initiate, at the calibration point, a force exerted by the exoskeleton to assist the user in exercising the user.

[0027] Specifically, the range of the angle threshold is updated in real time based on the hip joint angle value of the user, the angle threshold includes a first angle threshold and a second angle threshold, and the device further includes:

[0028] a first updating module, configured to record the angle of the hip joint on one side as a first angle when the angular velocity direction of the hip joint on the one side changes from positive to negative at the calibration point, and update the first angle threshold value currently based on the first angle;

[0029] The second updating module is configured to record the angle of the hip joint on one side as a second angle when the angular velocity direction of the hip joint on the side changes from negative to positive at the calibration point, and to update the current latest second angle threshold based on the second angle.

[0030] The present invention also proposes an exoskeleton-based high-speed motion assisting device for implementing the exoskeleton-based high-speed motion assisting method as described above.

[0031] The present invention has at least the following beneficial effects:

[0032] The method proposed in this invention is suitable for assisting high-speed movements, reducing the burden on users. The method can change the force of the assisted movement in real time according to the changes in the user's movements, and can perform balance correction according to the user's own movements to ensure the user's movement coordination.

[0033] Furthermore, the method proposed in the present invention can also ensure the accuracy of measuring the angular velocity of the hip joint through preliminary detection. The detection can be adapted according to the user's own situation and has strong flexibility. In addition, the method can also realize global detection of the angular velocity of the hip joint and improve the accuracy only when it is necessary to measure the change in the direction of the angular velocity. While ensuring high-precision detection of the nodes of motion change, it can provide users with additional real-time auxiliary detection and assistance.

[0034] Therefore, the present invention provides a high-speed motion assistance method, device and equipment based on an exoskeleton. The method proposed in the present invention can assist the human body in high-speed motion, has extremely high timeliness and flexibility, effectively improves the coordination and stability of the user's movements during high-speed motion, reduces the burden brought to the user by the motion, and at the same time ensures the safety of the user during high-speed motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 A schematic diagram of the overall process of the exoskeleton-based high-speed motion assistance method provided in Example 1;

[0037] Figure 2 A schematic diagram of a human body walking;

[0038] Figure 3 This is an example of a fitted waveform graph formed based on the movements of the left and right hip joints;

[0039] Figure 4 A flowchart of a method for performing global detection;

[0040] Figure 5 Schematic diagram of the module structure of the exoskeleton-based high-speed motion assist device provided in Example 2.

[0041] Reference numerals:

[0042] 21 - first acquisition module; 22 - second acquisition module; 23 - calibration module; 24 - first update module; 25 - second update module. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0044] Hereinafter, various embodiments of the present invention will be described more fully. The present invention can have various embodiments, and modifications and variations can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but rather that the present invention should be construed to encompass all modifications, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0045] Hereinafter, the terms "include" or "may include" used in various embodiments of the present invention indicate the presence of disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be understood as excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0046] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0047] The expressions (such as "first", "second", etc.) used in the various embodiments of the present invention may modify the various constituent elements in the various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used to distinguish one element from other elements. For example, a first user device and a second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present invention, a first element may be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0048] It should be noted that, in the present invention, unless otherwise expressly specified or defined, terms such as "mounted," "connected," and "fixed" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0049] In the present invention, those skilled in the art need to understand that the terms indicating orientation or positional relationships herein are based on the orientation or positional relationships shown in the accompanying drawings, and are 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 cannot be understood as a limitation on the present invention.

[0050] The terms used in various embodiments of the present invention are only used to describe the purpose of specific embodiments and are not intended to limit the various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as those of ordinary skill in the art generally understood by the various embodiments of the present invention. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having idealized meaning or too formal meaning, unless clearly defined in various embodiments of the present invention.

[0051] Example 1

[0052] This embodiment proposes a high-speed motion assistance method based on exoskeleton. This method is based on exoskeleton technology and is used to assist the human body in high-speed motion, effectively improving the coordination and stability of the user's motion, reducing the burden of motion on the user, and ensuring the safety of the user during high-speed motion. Please refer to Figure 1 , the method comprising:

[0053] S100: Obtaining real-time angle values ​​of the left and right hip joints of the user during high-speed exercise.

[0054] S200: If the angle value of the hip joint on one side of the user exceeds the range of the current latest angle threshold, start to continuously obtain the angular velocity of the hip joint on the side of the user.

[0055] It should be noted that the angle threshold used as a benchmark for determining the start of obtaining the user's hip joint angular velocity on that side is pre-set before the user performs high-speed exercise. The user can set an appropriate angle threshold based on the type of high-speed exercise to be performed and his or her own situation.

[0056] S300: If the angular velocity direction of the user's hip joint on that side changes, the time point at which the angular velocity direction of the user's hip joint on that side changes is recorded as a calibration point, and at the calibration point, the exoskeleton is activated to apply auxiliary movement force to the user.

[0057] During high-speed movement, the "initiating the exoskeleton to apply auxiliary movement force to the user at the calibration point" described in step S300 is based on the changing trend of the user's left and right hip joint angle values, and provides the user's left hip joint and right hip joint with a force suitable for assisting the left side of the body movement, and based on the changing trend of the user's left and right hip joint angle values, provides the user's left hip joint and right hip joint with a force suitable for assisting the right side of the body movement, such as providing the user's left hip joint with a force to assist the left leg upward during the user's left leg lifting process.

[0058] It should also be noted that the angle values ​​of the left and right hip joints of the user during high-speed exercise are obtained by a detection device, which is arranged at the left and right hip joints of the user. In this embodiment, the detection device specifically includes a connecting rod mechanism and an encoder connected to the connecting rod mechanism. The connecting rod mechanism connects the left and right hip joints of the user. The angle values ​​of the left and right hip joints of the user during high-speed exercise are identified by the encoder.

[0059] When the user's left and right hip joints move, the connecting rod mechanisms set at the user's left and right hip joints will move synchronously, and the movement mode of the connecting rod mechanism is related to the movement of the user's left and right hip joints. Therefore, the encoder can obtain the angle value of the user's left and right hip joints when they move through the movement of the connecting rod mechanism.

[0060] In this embodiment, the force assisting the user in exercising includes hip flexion force or hip extension force. Hip flexion refers to the movement of the hip joint angle from small to large, such as leg lifting. Hip extension refers to the movement of the hip joint angle from large to small, such as leg lifting. Please refer to Figure 2 At a certain point in time when a person is walking forward quickly, one of the two legs will be in a leg-lifting state. At this time, the angle of the leg on that side relative to when the person is standing upright is the hip joint angle of the hip joint on that side, that is, the angle θ shown in the figure. It should be noted that when one of the two legs is in a leg-lifting state during the person's forward walking process, the hip joint angle of the hip joint on the raised leg side is a positive angle greater than zero, while the hip joint angle of the hip joint on the other side is a negative angle less than zero.

[0061] The hip flexion force is used to assist the hip joint in moving from a small to a large angle or to provide resistance for the hip joint in moving from a large to a small angle. The hip extension force is used to assist the hip joint in moving from a large to a small angle or to provide resistance for the hip joint in moving from a small to a large angle. By combining the corresponding hip flexion force and hip extension force, a force suitable for assisting users in high-speed movement is formed.

[0062] It should be noted that the assisting movement of the user's hip joint described in this embodiment includes assisting the user's hip joint movement to assist the user in exercise training, or assisting the user in impedance training by providing resistance to the user's hip joint movement. The user can specifically set the method proposed in this embodiment to provide assistance or resistance to hip joint movement. In a specific embodiment, when the user sets the force to assist the hip joint movement, the hip flexion force is provided for the movement of the hip joint angle from a small to a large angle, and the hip extension force is provided for the movement of the hip joint angle from a large to a small angle; when the user sets the force to provide resistance to the hip joint movement, the hip extension force is provided for the movement of the hip joint angle from a small to a large angle, and the hip flexion force is provided for the movement of the hip joint angle from a large to a small angle;

[0063] Furthermore, users can also set the force or no force provided for hip joint movements in different stages. For example, if the user sets it to provide resistance for leg lifting movements and provide assistance for leg retraction movements, then hip flexion force will be provided for the hip joint in both the movement of the hip joint angle from small to large and the movement of the hip joint angle from large to small.

[0064] In a specific embodiment, the force applicable to the left hip joint in the process of the hip joint angle value increasing from small to large is determined to be the hip extension force, and the magnitude of the hip extension force is 10N. This force can be used to assist the user in the movement of the left hip joint angle value from small to large when the user performs high-speed exercise.

[0065] In this embodiment, a user running is used as an example of high-speed exercise. During running, changes in the angular velocity of either hip joint represent the alternation of leg-lifting and leg-retraction movements. For example, if the trend of the user's left hip joint angle changes from small to large to large to large to small, it represents a shift from a leg-lifting movement to a leg-retraction movement. If the trend of the user's left hip joint angle changes from large to small to small to small to large, it represents a shift from a leg-retraction movement to a leg-lifting movement.

[0066] In this embodiment, the angular velocity direction of the user's hip joint angle value when it changes from small to large is set to the positive direction, and the angular velocity direction of the user's hip joint angle value when it changes from large to small is set to the negative direction. That is, if the user's leg is performing a leg-lifting action, the angular velocity direction of the hip joint on that side is positive; if the user's leg is performing a leg-retracting action, the angular velocity direction of the hip joint on that side is negative.

[0067] Preferably, the range of the angle threshold is updated in real time based on the user's hip joint angle value, and the angle threshold includes a first angle threshold and a second angle threshold, see Figure 3 Taking the fitting waveform as an example, in the fitting waveform formed by the movement of the left and right hip joints, the peaks and troughs of the waveform are the time points when the angular velocity direction of the hip joint changes; when the angle value of the hip joint on one side of the user exceeds the first angle threshold or the second angle threshold, the angular velocity of the hip joint on that side of the user is detected with high precision, and the time point when the angular velocity direction of the hip joint on that side of the user changes can be determined in time, thereby changing the force assisting the user in high-speed movement accordingly, saving the computing power required to obtain the angular velocity of the hip joint, and ensuring that the angular velocity can be detected with extremely high precision at the node where the angular velocity direction of the hip joint changes.

[0068] Therefore, specifically, the auxiliary motion force applied in step S300 includes:

[0069] When the angle value of the user's hip joint on one side exceeds the current first angle threshold, the first force applied to the user's hip joint on that side is applied at the next calibration point;

[0070] When the angle value of the user's hip joint on one side exceeds the current second angle threshold, a second force is applied to the user's hip joint on that side at the next calibration point; the first force and the second force are used to assist the movement of the user's hip joint, and the directions of the first force and the second force are opposite.

[0071] Because the flesh tissue near the human hip joint is soft, when the user performs high-speed exercise, the force provided to the user to assist the exercise will cause the device detecting the hip joint angle value to have a certain degree of angle deviation. In order to prevent the angle deviation from affecting the detection device and causing the hip joint angle value obtained by the detection device to deviate, preferably, the user's left and right hip joint angle values ​​in step S100 are obtained by correcting the angle measurement values ​​obtained by the detection device set at the user's left and right hip joints with a preset angle correction value. The angle correction value is obtained by the following method:

[0072] When the user is in a stationary state, a test force is applied to the user's left and right hip joints in advance to measure the offset angle value of the detection equipment, and the strength of the test force and the corresponding offset angle value of the detection equipment are recorded as the angle correction value corresponding to the test force; the test force corresponding to the preset angle correction value is the same as the force applied to the user when the angle measurement value is measured.

[0073] Specifically, the “preliminary application of test forces to the left and right hip joints of the user to measure the offset angle value of the detection device” specifically includes:

[0074] At least two test action directions are preset, and the user is allowed to stand. An untested test action direction is selected to apply a gradually increasing test force to the user's left and right hip joints until the test force reaches a preset force. This step is repeated until all test action directions are tested, and the offset angle value of the detection device under the preset force is obtained.

[0075] It should be noted that the test action direction includes at least two directions: hip flexion direction and hip extension direction. The hip flexion direction is used to test the angle value of the detection device offset by the force acting on the auxiliary hip joint from large to small, and the hip extension direction is used to test the angle value of the detection device offset by the force acting on the auxiliary hip joint from small to large.

[0076] Preferably, the method for updating the angle threshold includes:

[0077] If the angular velocity direction of the hip joint on one side changes from positive to negative at the calibration point, the angle of the hip joint on the side is recorded as the first angle, and the first angle is updated to the current latest first angle threshold;

[0078] If the angular velocity direction of the hip joint on one side changes from negative to positive at the calibration point, the angle of the hip joint on this side is recorded as the second angle, and the second angle is updated to the current latest second angle threshold.

[0079] By dynamically adjusting the angle threshold as described above, the subsequent movement of the hip joint on one side can be adjusted by the prior movement of the other hip joint, thereby continuously adjusting to form a cyclic assistance, thereby improving the user's balance and movement stability during high-speed movement.

[0080] Optionally, the first angle threshold and the second angle threshold are determined by the first angle and the second angle, respectively, but are not equivalent to the first angle and the second angle. In a specific embodiment, the first angle threshold is obtained by subtracting a preset first difference from the first angle, and the second angle threshold is obtained by adding a preset second difference to the second angle. The sizes of the first difference and the second difference may be equal or different.

[0081] There are many methods for presetting the first difference and the second difference. Optionally, the first difference and the second difference can be preset as fixed angle values. For example, the initially preset first angle threshold is 30°, the first difference is 20°, and the hip joint whose angle value exceeds the first angle threshold for the first time is the right hip joint. If the angular velocity direction of the user's right hip joint changes from positive to negative at the calibration point, the recorded angle value of the first angle is 51°, then the first angle obtained this time is subtracted from the first difference, and it can be calculated that the first angle threshold should be updated to 31°; the next time the angle value of the user's left hip joint exceeds the first angle threshold, if the angular velocity direction of the user's left hip joint changes from positive to negative at the calibration point, the recorded angle value of the first angle is 60°, then the first angle obtained this time is subtracted from the first difference, and it can be calculated that the first angle threshold should be updated to 40°.

[0082] Furthermore, a first interval value may be added on the basis of the preset first difference value. If the difference between the first angle and the first angle threshold is not greater than the first interval value, the first interval value is used as the first difference to redetermine the first angle threshold value. For example, the initially preset first angle threshold value is 30°, the first difference value is 20°, the first interval value is 5°, and the hip joint whose angle value exceeds the first angle threshold value for the first time is the right hip joint. If the angular velocity direction of the user's right hip joint changes from positive to negative at the calibration point, the recorded angle value of the first angle is 31°, and the difference between the first angle threshold value and the first angle is not greater than the first interval value, the first interval value is used as the first difference this time to redetermine the first angle threshold value. That is, by subtracting the first interval value from the first angle obtained this time, it can be calculated that the first angle threshold value should be updated to 26°.

[0083] The next time the user's left hip joint angle value exceeds the first angle threshold, if the angular velocity direction of the user's left hip joint changes from positive to negative at the calibration point, the recorded first angle value is 60°, and the difference between the first angle threshold and the first angle is greater than the first interval value, then the initial preset first difference will still be used to re-determine the first angle threshold, that is, by subtracting the first difference from the first angle obtained this time, it can be calculated that the first angle threshold should be updated to 40°.

[0084] Likewise, a second interval value may be added based on the preset second difference value.

[0085] Optionally, the method proposed in the present invention can also obtain the angular velocity of the user's hip joint on that side when the user's hip joint angle value does not exceed the preset angle threshold range, and determine the force suitable for applying to the hip joint on that side by obtaining the angular velocity of the hip joint on either side, so as to improve the adaptability of the provided force to the movement of the other hip joint.

[0086] However, it should be noted that if the same accuracy is used to perform global detection of the user's hip joint angular velocity throughout the entire high-speed movement process, it will require more resources and computing power, and errors are likely to occur, affecting the detection results.

[0087] Therefore, preferably, during the time period when the user's hip joint angle value on one side exceeds the preset angle threshold range, the accuracy of obtaining the hip joint angular velocity and the computing power required should be much higher than during the time period when the user's hip joint angle value does not exceed the preset angle threshold range, so as to ensure that the method proposed in this embodiment can allocate sufficient resources to detect the user's movement changes at key nodes, thereby ensuring that the force provided to the user will not hinder the user's normal movement, and at the same time, it can also avoid the occurrence of errors that may be caused by global detection to the greatest extent. Specifically:

[0088] When the user is performing high-speed exercise, the real-time angle values ​​of the left and right hip joints of the user are continuously obtained with the first accuracy. If the angle value of one side of the user's hip joint exceeds the angle threshold range, the real-time angle value of the hip joint of the user on that side is obtained with the second accuracy until the calibration point is reached; the first accuracy is lower than the second accuracy.

[0089] In a specific embodiment, the user's gait can be formed into a fitting waveform diagram to form an intuitive display diagram of the user's gait during high-speed movement. Before the user starts high-speed movement, the user can be allowed to stand for zero-position calibration. The zero position represents the state in which the angle values ​​of the user's left and right hip joints are the same. When the user's hip joint on one side is at zero position, the angle value of the hip joint on that side is regarded as 0°. During the user's high-speed movement, when the left hip joint and the right hip joint reach the same angle value, that is, the time point when the left and right legs are raised with the same amplitude, it can be regarded as the user being in a standing state or a state close to standing state. This time point can also be called "zero position", and this time point is used as the starting position of a complete gait cycle of the user, that is, the starting position of the waveform of a gait cycle of the gait waveform diagram of the user's left and right hip joints.

[0090] Specifically, the method for performing global detection includes:

[0091] S410: Monitoring the left and right hip joint movements of the user during high-speed movement, and forming a fitting waveform diagram of the left and right hip joint movements applying an outdoor skeleton gait.

[0092] Please refer again Figure 3 In this embodiment, the fitting waveform graph uses time as the horizontal coordinate and angle value as the vertical coordinate; the angle value is the angle value of the left and right hip joint movements;

[0093] Specifically, the peak in the fitting waveform graph is the time point when the left hip joint or the right hip joint reaches the maximum angle value, the trough in the fitting waveform graph is the time point when the left hip joint or the right hip joint reaches the minimum angle value, and the waveform intersection in the fitting waveform graph is the time point when the left hip joint and the right hip joint reach the same angle value at the same time.

[0094] S420: Select the time point when one of the left and right hip joints reaches the first specific angle and the second specific angle in the fitting waveform diagram, and calibrate the time point when the hip joint reaches the first specific angle as the third time point, and the time point when the hip joint reaches the second specific angle as the fourth time point.

[0095] Specifically, the time sequence of the third time point is before the fourth time point, and the time difference between the third time point and the fourth time point does not exceed one cycle of the left and right hip joint activities. Since the force at this time only acts on the angle value of the hip joint in a process of changing from small to large, the third time point and the fourth time point are only calibrated in the waveform of the left and right hip joint angle values ​​changing from small to large in the fitting waveform diagram.

[0096] In this embodiment, the first specific angle and the second specific angle that can be selected include but are not limited to:

[0097] The angle at which the left or right hip joint reaches its maximum angle;

[0098] The angle of the left or right hip joint reaches the minimum angle value;

[0099] The left hip joint and the right hip joint both reach the same angle value at the same time.

[0100] It should be noted that the changes in the amplitude of the user's left and right legs can be known through the angle values ​​of the left and right hip joints. When the left hip joint and the right hip joint reach the maximum angle value, it is the time point when the left and right legs are lifted with the highest amplitude; when the left hip joint and the right hip joint reach the minimum angle value, it is the time point when the left and right legs are lifted with the lowest amplitude; when the left hip joint and the right hip joint reach the same angle value at the same time, it is the time point when the left and right legs are lifted with the same amplitude.

[0101] It should also be noted that before the user starts high-speed exercise, the user can maintain a standing state for zero-position calibration. The zero position represents the state where the angle values ​​of the user's left and right hip joints are the same. When one of the user's hip joints is at zero position, the angle value of the hip joint on this side is regarded as 0°; when the user performs high-speed exercise, when the left hip joint and the right hip joint reach the same angle value, that is, the time point when the left and right legs are raised with the same amplitude, it can be regarded as the user being in a standing state or an approximate standing state, and this time point can also be called "zero position", and this time point is used as the starting position of a complete gait cycle of the user, that is, the starting position of the waveform of a gait cycle of the gait waveform diagram of the user's left and right hip joints.

[0102] In this embodiment, before the user starts high-speed exercise, the user's standing state is first calibrated to zero position, and the angle values ​​of the left and right hip joints are determined based on the zero position. During the user's high-speed exercise, the zero position is calibrated multiple times at the time points when the user's left hip joint and right hip joint reach the same angle value to ensure that the user does not have a large gait deviation when performing high-speed exercise.

[0103] S430: Based on the first specific angle, the second specific angle, and the time difference between the third time point and the fourth time point, determine the force provided to the hip joint, so that when the other hip joint of the left and right hip joints reaches the first specific angle next time, the force is applied to the other hip joint until the other hip joint reaches the second specific angle.

[0104] The exoskeleton-based high-speed motion assistance method proposed in this embodiment can adjust the force that assists the right hip joint to press down based on the prior movement trend of the left hip joint. In the same way, it can also adjust the force that assists the left hip joint to press down based on the prior movement trend of the right hip joint, thereby achieving a closed-loop assisted motion effect for the user during high-speed motion.

[0105] It should be noted that the action force determined in step S430 includes three-dimensional elements such as action intensity, action direction and action time.

[0106] Exemplarily, the angle at which the left hip joint reaches a minimum angle value and the angle at which the left hip joint reaches a maximum angle value are selected as the first specific angle and the second specific angle, respectively. Based on the time difference between the third time point and the fourth time point, the force appropriate for the left hip joint is determined, that is, the force appropriate for the left hip joint from the time the left leg contacts the ground to the time the left leg leaves the ground is determined.

[0107] When the right hip joint reaches the minimum angle, that is, when the right leg touches the ground, the force is applied to the right hip joint to assist the right hip joint in maintaining balance.

[0108] Thus, the exoskeleton-based high-speed motion assistance method proposed in the present invention can make timely adaptive adjustments based on the user's gait, with low lag and high real-time performance, and can promptly respond to the user's gait adjustments during high-speed motion. In one specific embodiment, if the user maintains a relatively high speed when starting the motion, the exoskeleton-based high-speed motion assistance method proposed in the present invention can provide the user with timely feedback force based on the movement of the user's left and right hip joints to match the user's high-speed starting state.

[0109] Exemplarily, the angle at which the left hip joint reaches a minimum angle value and the angle at which the left hip joint reaches a maximum angle value are selected as the first specific angle and the second specific angle, respectively, to calibrate the third time point and the fourth time point, and based on the time difference between the third time point and the fourth time point, determine the force suitable for the left hip joint;

[0110] When the right hip joint reaches the minimum angle, the force is applied to the right hip joint to assist the right hip joint in maintaining balance;

[0111] In addition, after the right hip joint reaches the minimum angle value, the real-time angle value of the right hip joint is continuously obtained, and when the right hip joint reaches the maximum angle value, the action of the force is stopped.

[0112] In a specific embodiment, the force suitable for the left hip joint is determined to be 10N, the action angle is downward, and the action time is 500ms. When the right hip joint reaches a first specific angle, a downward force of 10N is applied to the right hip joint to ensure that the downward pressure of the right hip joint is stable; after 450ms, if it is determined that the right hip joint reaches a second specific angle, the action of the force on the right hip joint is stopped.

[0113] Preferably, the method further comprises:

[0114] If it is determined that the current calibration is not the first calibration during the calibration in step S420 , the fourth time point in the previous calibration is used as the third time point in the current calibration.

[0115] In this way, by cyclically calibrating time points, a continuous closed-loop high-speed motion assistance can be formed to ensure that the user maintains balance between the left and right hip joints during high-speed movement.

[0116] Example 2

[0117] This embodiment proposes a high-speed motion assist device based on an exoskeleton. Figure 5 , the device comprises:

[0118] The first acquisition module 21 is used to obtain the real-time angle values ​​of the left and right hip joints of the user during high-speed exercise;

[0119] The second acquisition module 22 is configured to start continuously acquiring the angular velocity of the user's hip joint on one side when the angle value of the user's hip joint on the other side exceeds the range of the latest angle threshold;

[0120] The calibration module 23 is used to record the time point when the angular velocity direction of the user's hip joint changes as a calibration point, and start applying auxiliary movement force to the user through the exoskeleton at the calibration point.

[0121] Preferably, the range of the angle threshold is updated in real time based on the user's hip joint angle value, and the angle threshold includes a first angle threshold and a second angle threshold. The device further includes:

[0122] a first updating module 24 configured to record the angle of the hip joint on one side as a first angle when the angular velocity direction of the hip joint changes from positive to negative at the calibration point, and to update the current latest first angle threshold based on the first angle;

[0123] The second updating module 25 is configured to record the angle of the hip joint on one side as a second angle when the angular velocity direction of the hip joint changes from negative to positive at the calibration point, and to update the current latest second angle threshold based on the second angle.

[0124] Example 3

[0125] This embodiment proposes an exoskeleton-based high-speed motion assist device, including the exoskeleton-based high-speed motion assist device as described in Example 2, for implementing the exoskeleton-based high-speed motion assist method as described in Example 1, the method comprising:

[0126] S100: Obtaining real-time angle values ​​of the left and right hip joints of the user during high-speed exercise.

[0127] S200: If the angle value of the hip joint on one side of the user exceeds the range of the current latest angle threshold, start to continuously obtain the angular velocity of the hip joint on the side of the user.

[0128] S300: If the angular velocity direction of the user's hip joint on that side changes, the time point at which the angular velocity direction of the user's hip joint on that side changes is recorded as a calibration point, and at the calibration point, the exoskeleton is activated to apply auxiliary movement force to the user.

[0129] Specifically, the high-speed motion assisting device proposed in this embodiment includes a monitoring device and a motor. The monitoring device is used to obtain the left and right hip joint angle values ​​of the user during high-speed motion. The motor is arranged at the left and right hip joints of the user to apply force to the left and right hip joints of the user.

[0130] In this embodiment, the high-speed exercise assist device is worn on the left and right hip joints of the user, and the monitoring device is used to obtain the angle values ​​of the left and right hip joints of the user. The monitoring device includes a connecting rod mechanism and an encoder. The connecting rod mechanism is set at the left and right hip joints of the user. The angle values ​​of the left and right hip joints when they move are recognized by the encoders connected to the connecting rod mechanism set at the left and right hip joints of the user.

[0131] When the user's left and right hip joints move, the connecting rod mechanisms set at the user's left and right hip joints will move synchronously, and the movement mode of the connecting rod mechanism is related to the movement of the user's left and right hip joints. Therefore, the encoder can obtain the angle value of the user's left and right hip joints when they move through the movement of the connecting rod mechanism.

[0132] In summary, the present invention provides a high-speed motion assistance method, device and equipment based on an exoskeleton. The method proposed in the present invention can assist the human body in high-speed motion, has extremely high timeliness and flexibility, effectively improves the coordination and stability of the user's movements during high-speed motion, reduces the burden of motion on the user, and at the same time ensures the safety of the user during high-speed motion.

[0133] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-speed motion assistance method based on an exoskeleton, characterized in that: The method comprises: Get the real-time angle values ​​of the left and right hip joints of the user during high-speed exercise; If the angle value of the hip joint on one side of the user exceeds the range of the latest angle threshold, start to continuously obtain the angular velocity of the hip joint on the side of the user; the range of the angle threshold is updated in real time based on the angle value of the hip joint of the user, and the angle threshold includes a first angle threshold and a second angle threshold; If the angular velocity direction of the user's hip joint on that side changes, the time point at which the angular velocity direction of the user's hip joint on that side changes is recorded as a calibration point, and at the calibration point, the exoskeleton initiates a force to assist the user in exercising. The method for updating the angle threshold includes: If the angular velocity direction of the hip joint on one side changes from positive to negative at the calibration point, record the angle of the hip joint on the side as the first angle, and update the current latest first angle threshold based on the first angle; If the angular velocity direction of the hip joint on one side changes from negative to positive at the calibration point, the angle of the hip joint on this side is recorded as the second angle, and the current latest second angle threshold is updated based on the second angle.

2. The exoskeleton-based high-speed motion assist method according to claim 1, characterized in that: The forces applied to assist the movement include: When the angle value of the hip joint on one side of the user exceeds the first angle threshold, a first force is applied to the hip joint on the side of the user at the next calibration point; When the angle value of the user's hip joint on one side exceeds the current second angle threshold, a second force is applied to the user's hip joint on that side at the next calibration point; the first force and the second force are used to assist the movement of the user's hip joint, and the first force and the second force act in opposite directions.

3. The exoskeleton-based high-speed motion assist method according to claim 1, characterized in that: The angle values ​​of the left and right hip joints of the user are obtained by correcting the angle measurement values ​​obtained by the detection equipment arranged at the left and right hip joints of the user with the preset angle correction values.

4. The exoskeleton-based high-speed motion assist method according to claim 3, characterized in that: The angle correction value is obtained by: When the user is in a stationary state, a test force is applied to the left and right hip joints of the user in advance to measure the offset angle value of the detection device, and the strength of the test force and the corresponding offset angle value of the detection device are recorded as the angle correction value corresponding to the test force; The test force corresponding to the preset angle correction value is the same as the force applied to the user when the angle measurement value is measured.

5. The exoskeleton-based high-speed motion assist method according to claim 4, characterized in that: The “preliminary application of test forces to the left and right hip joints of the user to measure the offset angle value of the detection device” includes: At least two test action directions are preset, and the user is made to stand. One of the untested test action directions is selected to apply a gradually increasing test force to the left and right hip joints of the user until the strength of the test force reaches a preset strength. This step is repeated until the detection of all the test action directions is completed, and the offset angle value of the detection device under the preset force is obtained.

6. The exoskeleton-based high-speed motion assist method according to claim 1, characterized in that: The method further comprises: During the high-speed exercise of the user, the real-time angle values ​​of the left and right hip joints of the user during the high-speed exercise are continuously obtained with a first precision. If the angle value of the hip joint on one side of the user exceeds the angle threshold range, the real-time angle value of the hip joint on that side of the user is obtained with a second precision until the calibration point is reached; the first precision is lower than the second precision.

7. A high-speed motion assist device based on an exoskeleton, characterized in that: The device comprises: The first acquisition module is used to obtain the real-time angle values ​​of the left and right hip joints of the user during high-speed exercise; a second acquisition module, configured to continuously acquire the angular velocity of the user's hip joint on one side when the user's hip joint angle value exceeds a current angle threshold; the angle threshold range is updated in real time based on the user's hip joint angle value, and the angle threshold includes a first angle threshold and a second angle threshold; a calibration module configured to record, as a calibration point, the time at which the angular velocity direction of the user's hip joint changes when the angular velocity direction of the user's hip joint changes, and initiate, at the calibration point, the application of an auxiliary motion force to the user via the exoskeleton; a first updating module, configured to record the angle of the hip joint on one side as a first angle when the angular velocity direction of the hip joint on the one side changes from positive to negative at the calibration point, and update the first angle threshold value currently based on the first angle; The second updating module is configured to record the angle of the hip joint on one side as a second angle when the angular velocity direction of the hip joint on the side changes from negative to positive at the calibration point, and to update the current latest second angle threshold based on the second angle.

8. A high-speed motion assist device based on an exoskeleton, characterized in that: Used to implement the exoskeleton-based high-speed motion assistance method as described in any one of claims 1-6.

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