Carrying exoskeleton robot with waist and hip integrated power-assisted motor and control method thereof

Abstract

The present application belongs to the field of exoskeleton robots, and particularly relates to a carrying exoskeleton robot with waist-hip integrated assisting motors and a control method thereof. The exoskeleton robot comprises an adjustable back frame mechanism, two groups of passive upper limb assisting mechanisms, two groups of waist-hip assisting mechanisms with double motors, the passive upper limb mechanisms are symmetrically arranged on both sides of the back frame mechanism, the passive upper limb mechanism comprises a shoulder joint forward flexion / extension mechanism, a shoulder joint internal rotation / external rotation mechanism and a bandage mechanism, a waist adjusting mechanism is connected with the waist-hip double assisting motor mechanism, and human carrying movement is coordinated with hip joint and lumbar vertebra movement. The present application adopts waist-hip double motor assistance, the waist motor provides assistance for relative rotation of the upper limb and the waist, and the hip motor provides assistance for relative rotation of the hip joint and walking, so as to adapt to different human carrying habits and solve the walking assistance problem.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton robots, specifically relating to a transport exoskeleton robot with an integrated waist and hip assist motor and its control method. Background Technology

[0002] With the development of science and technology, industrial production processes, from parts processing to large-scale parts assembly, have largely been automated. Meanwhile, in assembly line production, the handling of heavy goods is mostly replaced by mechanical equipment. However, in special environments, relying on human labor for heavy object handling remains one of the most reliable methods. A handling exoskeleton robot is a robotic mechanism that can be worn on the operator and connected to its upper limbs and legs, enabling it to perform coordinated movements and assist in tasks according to the operator's intentions. Human lifting involves coordinated movements of the hip and lumbar spine, and the lifting process also includes weight-bearing walking. Traditional lifting exoskeletons simplify the hip and lumbar joints into a single joint. However, human lifting postures vary, often involving a combination of hip and lumbar movements. Simplifying the five-bar human model into a four-bar model reduces the relative rotation angle while neglecting the actual movement state during lifting, resulting in reduced assistance and decreased comfort. Ignoring different human lifting habits makes single hip or lumbar assistance methods unsuitable and unable to achieve good human-machine coordination. Interference is prone to occur during human-machine movement. Furthermore, the upper limbs also need to bear some tension during lifting. When the center of gravity of the upper limbs is too high, active assistance methods often have high mass, which usually puts a burden on the human body while providing assistance. At the same time, the complex upper limb joints of the human body are very flexible with many redundant degrees of freedom, enabling them to complete a variety of complex movements. However, when the shoulder joint of the exoskeleton has too many free parts, the assistance effect for human lifting is poor.

[0003] In the invention patent with publication number CN115070734A, an upper limb exoskeleton robot is disclosed. It adopts line drive, which eliminates the need for waist-assisted joints. However, the line drive method is difficult to control and has poor human-machine coordination. While obtaining assistance, the human body needs to overcome resistance during the squatting process, resulting in low assistance effect.

[0004] In the invention patent with publication number CN106493714B, an exoskeleton transport assistive robot is disclosed. The invention uses an active drive method for the hip joint and shoulder, but the waist movement is restricted. At the same time, the shoulder joint only retains the flexion and extension degrees of freedom, which reduces the comfort of the wearer and makes it difficult to guarantee human-machine coordinated movement. Summary of the Invention

[0005] The purpose of this invention is to provide a transport exoskeleton robot with an integrated waist and hip assist motor and a control method, which solves the problem that existing transport exoskeletons cannot well match the movement of the waist and hip joints during human transport.

[0006] The technical solution to achieve the purpose of this invention is: a transport exoskeleton robot with integrated waist and hip assist motors, including a back frame mechanism and two sets of passive upper limb assist mechanisms symmetrically arranged on both sides of the upper end of the back frame mechanism, two sets of dual-motor waist and hip assist mechanisms symmetrically arranged on both sides of the lower end of the back frame mechanism, and leg rods connected to the dual-motor waist and hip assist mechanisms.

[0007] The dual-motor hip and waist assist mechanism includes an L-shaped waist connecting rod, a first torque sensor, a first connecting flange, a motor connecting rod, a first motor, a second motor, a second connecting flange, a second torque sensor, and a hip joint connecting rod;

[0008] Both the first motor and the second motor are mounted on the motor connecting rod. The first motor is connected to one end of the L-shaped waist connecting rod via the first connecting flange and the first torque sensor, and the other end of the L-shaped waist connecting rod is connected to the back frame mechanism. The second motor is connected to the hip joint connecting rod via the second connecting flange and the second torque sensor, and the other end of the hip joint connecting rod is connected to the leg bar.

[0009] Furthermore, the back frame mechanism has height adjustment function and waist width adjustment function to adapt to different human bodies.

[0010] Furthermore, the back frame mechanism includes a T-shaped back plate, a clamping knob, a back plate sleeve, a pull rod, a button, a pawl, a torsion spring, and a length adjustment housing;

[0011] The back panel sleeve has a hollow groove that fits the back panel. The back panel can be adjusted up and down inside the back panel sleeve by pressing the knob, thereby realizing the up and down adjustment of the back frame mechanism.

[0012] The lower end of the backplate is set on the length adjustment shell. There are pull rods on both sides inside the length adjustment shell. The outer ends of the pull rods are connected to the waist connecting rods respectively. There are multiple strip-shaped grooves that cooperate with the claws evenly on the pull rods.

[0013] The claw is cross-shaped, and the two ends of the claw in the vertical direction are provided with rotating shafts that are rotatably connected to the length adjustment shell. A torsion spring is sleeved on the rotating shaft. One of the wings of the claw in the horizontal direction is provided with a protrusion that cooperates with the strip groove on the pull rod. The opposite wing is equipped with a button on the outside and the inside is reserved for the claw wing to rotate inward.

[0014] The button releases the engagement between the claw and the groove, allowing the position of the pull rod relative to the length adjustment housing to be adjustable. Releasing the button resets the claw under the action of the torsion spring, thus engaging the pull rod.

[0015] The upper part of the back panel contacts the back of the human body, and the lower part of the back panel is convex with an outward arc. The maximum protrusion protrudes outward by six centimeters, providing room for the human body to bend over.

[0016] Furthermore, the passive upper limb assistive mechanism includes a back link, an internal rotation link, a first flexion-extension link and a tension spring, and a second flexion-extension link;

[0017] The back link is connected to the back frame at one end with multiple rows of threaded holes. The distance between the two passive upper limb assist mechanisms can be adjusted by connecting the back frame with different threaded holes. The other end of the back link is connected to the internal rotation link through a bearing, and the bearing enables the shoulder to rotate inward / outward. The other end of the internal rotation link is connected to one end of the first flexion-extension link through a bolt. The other end of the first flexion-extension link is connected to the second flexion-extension link through a bearing, and the bearing enables the shoulder to flex forward / extension.

[0018] The second link of bending and extending has an upper protrusion, and the end of the first link of bending and extending connected to the internal rotation link also has an upper protrusion. The tension spring is located between the upper protrusion of the second link of bending and extending and the upper protrusion of the first link of bending and extending.

[0019] Furthermore, there is a limiting block at the end of the back link that connects to the internal rotation link. The external opening angle of the limiting block is 135 degrees, so that the internal / external rotation angle of the human shoulder is within 0-225 degrees.

[0020] The second link of the flexion and extension mechanism is connected to the upper arm and secured by bolts.

[0021] Furthermore, the outer ring of the first motor is connected to the motor connecting rod by screws, the inner ring of the first motor is connected to the outer ring of the first connecting flange by screws, the inner ring of the first torque sensor is connected to the inner ring of the first connecting flange by screws, and the outer ring of the first torque sensor is connected to the waist connecting rod.

[0022] Limit blocks are placed on the waist connecting rod and the motor connecting rod, so that the motor connecting rod can swing within a range of 0-88 degrees at the waist. The waist connecting rod is connected to the pull rod by bolts, and the first binding connecting block is fixed to the waist connecting rod by screws to fix the waist binding.

[0023] Furthermore, the second motor is connected to the motor connecting rod via a screw outer ring, the second motor inner ring is connected to the second connecting flange outer ring via a screw, the second torque sensor inner ring is connected to the second connecting flange inner ring via a screw, the second connecting flange outer ring is connected to the hip joint connecting rod, the first torque sensor outer ring is connected to the waist connecting rod, and limit blocks are provided on both the hip joint connecting rod and the motor connecting rod. The hip joint connecting rod swings within a range of 0-155 degrees in the waist area. The second binding connecting block is fixed to the motor connecting rod via screws for connecting the hip binding.

[0024] Furthermore, the first and second motors have built-in joint angle sensors.

[0025] A control method for the above-mentioned transport exoskeleton robot is characterized by comprising the following steps:

[0026] Step (1): After the wearer puts on the exoskeleton, the pressure sensor on the hand is worn and the wearer remains still to collect and calibrate initial information;

[0027] Step (2): When the wearer starts exercising, information about the human body movement is collected by the joint angle sensor, the first torque sensor, the second torque sensor and the pressure sensor in the hand built into the motor;

[0028] Step (3): The controller determines the exoskeleton motion assistance status based on the data collected by the joint angle sensor of the waist motor in step (2);

[0029] Step (4): The controller calculates the actual output torque of the exoskeleton based on the data collected by the pressure sensor on the hand in step (2) and the assistance state determined in step (3).

[0030] Step (5): Based on the actual output torque calculated in step (4), the controller controls the underlying servo system to drive the corresponding motors to realize the movement of the exoskeleton system;

[0031] Step (6): Measure the kinematic information of the exoskeleton in real time, monitor whether the output of the underlying servo system is correct, use it as feedback input to the controller, and continuously reduce the difference between the actual motion torque and the actual output torque through impedance control, so that the exoskeleton moves to the designated position with the actual output torque to complete the closed-loop control of the exoskeleton movement.

[0032] Furthermore, the calculation in step (4) is based on the impedance model, specifically:

[0033] The control law is based on the following formula:

[0034]

[0035]

[0036] In the formula τ E and τ H Let q represent the driving torque of the exoskeleton and the lifting torque of the heavy object, respectively, and q be the actual output rotation angle of the lower limb exoskeleton joint; d , These are the ideally driven joint angles, angular velocities, and angular accelerations of the lower limb exoskeleton; Δq, These are the correction values ​​for joint rotation angle, angular velocity, and angular acceleration obtained through the impedance control loop; The corrected position input is obtained after impedance control; K p and K d τ is the proportional and differential feedback matrix; d is the disturbance term; f K represents the difference between the actual torque and the desired torque. dLet M be the stiffness matrix, C be the inertia matrix, C be the centripetal force and Coriolis force torque, and G be the gravity vector.

[0037] Combining equations (1-1) and (1-2), we get:

[0038]

[0039] in The design incorporates impedance control to suppress the effects of system uncertainties and improve trajectory tracking accuracy; ΔM(q), ΔG(q), τ f The values ​​of d are all 0, which conforms to the impedance control relationship:

[0040]

[0041] Where F = f d -f e f d f e These represent the desired human-computer interaction force and the actual human-computer interaction force, respectively, during the actual control process. d Set as a constant

[0042] Compared with the prior art, the significant advantages of this invention are:

[0043] (1) The waist adjustment mechanism of the present invention is connected to the waist and hip dual-assist motor mechanism, wherein the waist motor provides assistance for the relative rotation of the upper limb and waist, and the hip motor provides assistance for the relative rotation of the waist and thigh at the hip joint. The waist and hip dual-assist motor is adopted to better adapt to the movement habits of different people and the characteristics of the carrying action, and to provide assistance for the relative movement of the hip joint and waist relative to the human body during carrying.

[0044] (2) The leg bar and strap mechanism of the present invention are tilted to a certain extent from the vertical state during processing and installation, which is more in line with the characteristics of human legs.

[0045] (3) In this invention, while the height of the passive upper limb assist mechanism is adjustable by using an adjustable back plate, the button placed above the claw is pressed to rotate the claw and pull the rod to adapt to different waist widths. A row of threaded holes is placed on the back connecting rod and the strap mechanism to make the width of the passive upper limb assist mechanism and the length of the leg connecting rod adjustable, further improving the comfort of wearing the device.

[0046] (4) In order to improve the problem of interference between the back plate and human movement during exercise, the present invention adopts a curved back plate and each joint is equipped with a joint limiting device, which has a joint protection function, making it safe and reliable to use and avoiding damage to human joints. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the transport exoskeleton robot with integrated waist and hip assist motor of the present invention.

[0048] Figure 2 This is a schematic diagram of the passive upper limb assist mechanism of the present invention.

[0049] Figure 3 This is a schematic diagram of the back frame mechanism of the present invention.

[0050] Figure 4 This is a schematic diagram of the rotating claw part on the back frame mechanism of the present invention.

[0051] Figure 5 This is a schematic diagram of the back frame mechanism without a backplate sleeve according to the present invention.

[0052] Figure 6 This is a schematic diagram of the dual-motor hip and waist assist mechanism of the present invention.

[0053] Figure 7 Impedance control algorithm flowchart.

[0054] Explanation of reference numerals in the attached figures:

[0055] 1- Passive upper limb assist mechanism, 2- Backrest mechanism, 3- Dual-motor lumbar and hip assist mechanism, 4- Leg bar, 5- Strap mechanism, 101- Backrest link, 102- Internal rotation link, 103- Flexion and extension first link, 104- Tension spring, 105- Flexion and extension second link, 106- Upper arm restraint, 201- Backplate, 202- Pressure knob, 203- Backplate sleeve, 204- Pull rod, 205- Button, 206- Claw. 207 - Torsion spring, 208 - Length adjustment shell, 301 - First binding connecting block, 302 - Waist connecting rod, 303 - First torque sensor, 304 - First connecting flange, 305 - Motor connecting rod, 306 - First motor, 307 - Second motor, 308 - Thigh binding, 309 - Second binding connecting block, 310 - Second connecting flange, 311 - Second torque sensor, 312 - Hip joint connecting rod. Detailed Implementation

[0056] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0057] Combination Figure 1A transport exoskeleton robot with integrated waist and hip assist motors and its control method are disclosed. The robot includes an adjustable back frame mechanism 2, two sets of passive upper limb assist mechanisms 1, and two sets of dual-motor waist and hip assist mechanisms 3. The two sets of passive upper limb mechanisms 2 are symmetrically arranged on both sides of the back frame mechanism 1. The passive upper limb mechanism includes a shoulder joint flexion / extension mechanism, a shoulder internal / external rotation mechanism, and a strap mechanism 5. The shoulder joint flexion / extension mechanism is connected to the shoulder internal / external rotation mechanism. The passive upper limb assist mechanism 1 is connected to the adjustable back frame mechanism 2. The waist adjustment mechanism is connected to the waist and hip dual-motor mechanism 3. The waist motor provides assistance for the relative rotation between the upper limb and the waist, and the hip motor provides assistance for the relative rotation between the waist and the thigh at the hip joint.

[0058] The back frame mechanism 2 has an up-and-down adjustment mechanism to adapt to different body heights and a waist adjustment mechanism to adjust the width.

[0059] The leg bar 4 and the strap mechanism 5 are tilted to a certain extent from the vertical state during processing and installation, which is more in line with human characteristics. The strap mechanism 5 has evenly distributed threaded holes, and the length can be adjusted according to the height of different wearers.

[0060] Combination Figure 1 , Figure 2 The aforementioned passive upper limb assist mechanism includes, in sequence, a back link 101, an internal rotation link 102, a first flexion-extension link 103, a tension spring 104, a second flexion-extension link 105, and an upper arm restraint 106.

[0061] The back link 101 is bolted to the back plate mechanism 2. The back link 101 is placed in the front opening groove of the internal rotation link 102 and connected to the internal rotation link 102 via a bearing to achieve shoulder internal / external rotation. A limiting block is present at the end of the back link 101, i.e., the end connected to the internal rotation link 102. The external opening angle of the limiting block is 135 degrees, so that the internal / external rotation angle of the human shoulder is 0-225 degrees. The internal rotation link 102 is bolted to the first flexion-extension link 103. The first flexion-extension link 103 is placed in the opening groove at the end of the second flexion-extension link 105 and connected to it via a bearing. The bearing connection enables shoulder flexion / extension. Simultaneously, the first flexion / extension link 103 and the second flexion / extension link 105 are connected to the tension spring 104 via screws. During the downward rotation of the second flexion / extension link 105, the tension spring 104 can be extended, providing assistance for the rotation of the second flexion / extension link 105. During weight-bearing walking, the tension spring 104 extends, obtaining an upward force to assist in weight-bearing and carrying. The upper arm strap 106 is connected to the second flexion / extension link 105 via a threaded hole. The upper arm strap 106 is connected to the upper arm of the human body, realizing the synchronous movement of the passive upper limb assist mechanism and the human upper limb.

[0062] The passive upper limb assist mechanism 1 can adjust the distance between the first flexion and extension link 103 and the back frame mechanism 2, as well as the position of the upper arm binding 106, to adapt to different wearers.

[0063] Combination Figure 3 , Figure 4 The back plate mechanism includes, in sequence, a back plate 201, a pressing knob 202, a back plate sleeve 203, a pull rod 204, a button 205, a claw 206, a torsion spring 207, and a length adjustment shell 208.

[0064] The back plate 201 is placed in the hollow slot of the back plate sleeve 203. The back plate sleeve 203 can be loosened and tightened by the loosening and tightening knob 202 to adjust the back plate 201 to adapt to the position requirements of the passive upper limb assistive mechanism 1 at different heights. The back is strapped and fixed to the back frame mechanism 2 and connected to the back plate 201 through the threaded hole. The length adjustment shell 208 has pull rods 204 built into both sides. The claws 206 are engaged in the grooves of the pull rods 204. One end of the torsion spring 207 is in contact with the length adjustment shell 208 and the other end is in contact with the claws 206. Pressing the button 205 placed above the claws will rotate the claws 206 and adjust the length of the pull rods 204. The length adjustment shell 208 is placed on the outside of the outer back plate sleeve 203 and is connected to it by bolts.

[0065] The back panel 201 contacts the human back at the top and protrudes outward by about six centimeters at the bottom. The top of the back panel 201 and the back panel 201 are connected by an arc, which provides room for the human body to bend over and improves the comfort of exercise.

[0066] Combination Figure 5 The dual-motor hip and waist assist mechanism includes a first motor 306, a motor connecting rod 305, a first connecting flange 304, a first torque sensor 303, a waist connecting rod 302, a first binding connecting block 301, a second motor 307, a thigh binding 308, a second binding connecting block 309, a second flange 310, a second torque sensor 311, and a hip joint connecting rod 312.

[0067] The outer ring of the first motor 306 is connected to the motor connecting rod 305 by screws, and the inner ring of the first motor 306 is connected to the outer ring of the first connecting flange 304 by screws. The inner ring of the first torque sensor 303 is connected to the inner ring of the first connecting flange 304 by screws. The outer ring of the first torque sensor 303 is connected to the waist connecting rod 302. The waist connecting rod 302 and the motor connecting rod 305 are equipped with limit blocks. The swing range of the motor connecting rod 302 at the waist is 0-88 degrees. The waist connecting rod 302 is connected to the pull rod 204 by bolts. The width of the back frame mechanism 2 can be adjusted by adjusting the pull rod 204 to adapt to different wearers. The first binding connecting block 301 is fixed to the waist connecting rod by screws for fixing the waist binding.

[0068] The second motor 307 is connected to the motor connecting rod 305 by a screw outer ring. The inner ring of the second motor 307 is connected to the outer ring of the second connecting flange 310 by a screw. The inner ring of the second torque sensor 311 is connected to the inner ring of the second connecting flange 310 by a screw. The outer ring of the second connecting flange 310 is connected to the hip joint connecting rod 312. The outer ring of the first torque sensor 303 is connected to the waist connecting rod 302. The hip joint connecting rod 312 and the motor connecting rod 305 are equipped with limit blocks. The hip joint connecting rod 312 swings within a range of 0-155 degrees in the waist. The second binding connecting block 309 is fixed to the motor connecting rod 305 by screws for connecting the hip binding 308.

[0069] A control method for a material handling exoskeleton robot with an integrated hip and waist assist motor, the method steps are as follows:

[0070] Step (1): Select the information acquisition unit as a fixed reference point and construct the exoskeleton mathematical model;

[0071] Step (2): After the wearer puts on the exoskeleton, they remain still and perform initial information collection and calibration.

[0072] Step (3): When the wearer starts exercising, information about human movement is collected through joint angle sensors, human-computer interaction force data acquisition subunit, and hand pressure sensors;

[0073] Step (4): The controller receives the data collected by the waist motor joint angle sensor in step (3) and determines the exoskeleton motion assistance status;

[0074] Step (5): The controller receives the data collected by the hand pressure sensor in step (3) and the status data collected in step (4), and calculates the actual output torque of the exoskeleton based on the control rate;

[0075] Step (6): The actual output torque calculated in step (5) is transmitted to the embedded controller; the embedded controller controls the underlying servo system to drive the corresponding motors to realize the movement of the exoskeleton system;

[0076] Step (7): The information acquisition unit measures the kinematic information of the exoskeleton in real time, monitors whether the output of the underlying servo system is correct, and uses it as feedback input to the controller. Through impedance control, the difference between the actual motion torque and the actual output torque is continuously reduced, so that the exoskeleton moves to the designated position with the actual output torque as much as possible to complete the closed-loop control of the exoskeleton movement.

[0077] Furthermore, regarding the state data in step (4), when calculating the actual output torque of the exoskeleton based on the control rate, the specific state when the exoskeleton is in the handling assistance state is as follows:

[0078] The controller is based on the system's inertia matrix M0(θ), the system's centrifugal force matrix, and the Coriolis force component matrix. The actual torque output curve τ is calculated using the gravity vector matrix G0(θ) and the joint position θ, and its law is based on formula (1-1);

[0079]

[0080]

[0081] In formulas (1-1) and (1-2), τ E and τ H These represent the driving torque of the exoskeleton and the transport torque of the heavy object, respectively; M0(θ) is the inertia matrix of the system. G0(θ) is the system's centrifugal force and Coriolis force component matrix; G0(θ) is the gravity vector matrix; θ, Let θ be the position vector, velocity vector, and acceleration vector of each joint; d , The position vector, velocity vector, and acceleration vector are given for each joint; τ C For torque compensation; K p and K d For proportional and differential feedback matrices;

[0082] Combining equations (1-1) and (1-2), we get:

[0083]

[0084] Incorporating impedance control in the design suppresses the effects of system uncertainties and improves trajectory tracking accuracy; the impedance control relationship is as follows:

[0085]

[0086] Where F = f d -f e f d f e These represent the desired human-computer interaction force and the actual human-computer interaction force, respectively.

[0087] The interaction force between the exoskeleton and the wearer can be expressed as:

[0088]

[0089] In the formula k t Indicates the contact stiffness between humans and machines;

[0090] Because in the actual control process f d Set as a constant to obtain the error of the human-computer interaction force:

[0091]

[0092] In the formula k e This is the equivalent stiffness.

Claims

1. A control method of a waist-hip integrated assist motor carrying exoskeleton robot, characterized by, The carrying exoskeleton robot of waist and hip integrated power assisting motor comprises a back frame mechanism (2), two groups of passive upper limb assisting mechanisms (1) symmetrically arranged on both sides of the upper end of the back frame mechanism (2), two groups of double-motor waist and hip assisting mechanisms (3) symmetrically arranged on both sides of the lower end of the back frame mechanism (2), and a leg rod (4) connected with the double-motor waist and hip assisting mechanisms (3); the double-motor waist and hip assisting mechanism (3) comprises an L-shaped waist connecting rod (302), a first torque sensor (303), a first connecting flange (304), a motor connecting rod (305), a first motor (306), a second motor (307), a second connecting flange (310), a second torque sensor (311) and a hip joint connecting rod (312); the first motor (306) and the second motor (307) are arranged on the motor connecting rod (305), the first motor (306) is connected with the L-shaped one end of the waist connecting rod (302) through the first connecting flange (304) and the first torque sensor (303), and the L-shaped other end of the waist connecting rod (302) is connected with the back frame mechanism (2); the second motor (307) is connected with the hip joint connecting rod (312) through the second connecting flange (310) and the second torque sensor (311), and the other end of the hip joint connecting rod (312) is connected with the leg rod (4). The method comprises the following steps: Step (1): after the wearer wears the exoskeleton, the hand wears the pressure sensor and keeps still, and initial information collection and calibration are carried out; Step (2): when the wearer starts to move, the information during the movement of the human body is collected through the joint angle sensor, the first torque sensor, the second torque sensor and the pressure sensor of the hand built in the motor; Step (3): the controller judges the exoskeleton movement assisting state according to the data collected by the joint angle sensor of the waist motor in step (2); Step (4): the controller calculates the actual output torque of the exoskeleton according to the data collected by the pressure sensor of the hand in step (2) and the assisting state obtained in step (3) according to the control law; Step (5): the controller controls the bottom servo system to drive the corresponding motor to realize the movement of the exoskeleton system according to the actual output torque calculated in step (4); Step (6): the kinematics information of the exoskeleton is measured in real time, the output of the bottom servo system is monitored, and the output is taken as the feedback input into the controller, and the difference between the actual movement torque and the actual output torque is continuously reduced through impedance control, so that the exoskeleton moves to the specified position with the actual output torque to complete the closed-loop control of the movement of the exoskeleton; The calculation of step (4) is based on the impedance model, and specifically: The control law rule is according to the following formula: where τ E and τ H represent the driving torque of the exoskeleton and the carrying torque of the weight, respectively, and q is the actual output angle of the lower limb exoskeleton joint; q d , is the ideal driving joint angle, angular velocity and angular acceleration of the lower limb exoskeleton; Δq, is the correction value of the joint angle, angular velocity and angular acceleration obtained through the impedance control loop; is the corrected position input obtained after impedance control; K p and K d are proportional and differential feedback matrices; d is the disturbance term; τ f is the difference between the actual torque and the desired torque; K d is the stiffness matrix, M represents the inertia matrix, C represents the centripetal force and Coriolis force torque, and G is the gravity vector; The simultaneous equations (1-1) and (1-2) are obtained: wherein The design is combined with impedance control, the influence of system uncertainty is inhibited, and the trajectory tracking precision is improved; ΔM(q), ΔG(q), τ f The values of d are all 0, and the impedance control relationship is consistent with the impedance control relationship: where F = f d -f e , f d , f e represent the set desired human-machine interaction force and the actual human-machine interaction force, respectively, and f d is set as a constant during the actual control process.

2. The method of claim 1, wherein, The back frame mechanism (2) has the functions of up and down adjustment and waist width adjustment for different human bodies.

3. The method of claim 2, wherein, The back frame mechanism (2) comprises a T-shaped back plate (201), a compression knob (202), a back plate sleeve (203), a pull rod (204), a button (205), a claw (206), a torsional spring (207) and a length adjustment shell (208). The back plate sleeve (203) is provided with a hollow groove matched with the back plate (201), and the up-down position of the back plate (201) in the back plate sleeve (203) can be adjusted by pressing the knob (202), so as to realize the up-down adjustment of the back frame mechanism; The lower end of the back plate sleeve (203) is arranged on the length adjustment shell (208), both sides of the length adjustment shell (208) are provided with pull rods (204), the outer ends of the pull rods (204) are connected with the waist connecting rods (302) respectively, and the pull rods (204) are uniformly provided with a plurality of strip-shaped grooves matched with the clamping claws (206); The clamping claw (206) is in a cross shape, both ends of the clamping claw in the up-down direction are provided with rotating shafts rotatably connected with the length adjustment shell (208), the rotating shafts are sleeved with torsional springs (207), one wing of the clamping claw in the horizontal direction is provided with a protrusion matched with the strip-shaped groove on the pull rod, and the other wing is provided with a button (205) matched with the clamping claw in the inside. The clamping claw is matched with the strip-shaped groove, the position of the pull rod relative to the length adjustment shell (208) can be adjusted by releasing the clamping claw from the strip-shaped groove through the button (205), and the clamping claw is reset under the action of the torsional spring (207), so that the clamping of the pull rod is realized. The upper part of the back plate (201) is in contact with the human body, and the lower part of the back plate is in an outward convex arc shape, and the maximum convex part protrudes outward by six centimeters, thereby providing a reserved amount for the human body to bend over.

4. The method of claim 3, wherein, The passive upper limb assisting mechanism (1) comprises a back connecting rod (101), an inner rotating connecting rod (102), a flexion and extension first connecting rod (103), a pull spring (104) and a flexion and extension second connecting rod (105). The back connecting rod (101) is connected with the back plate (201) and is provided with a plurality of threaded holes, the distance between the two passive upper limb assisting mechanisms (1) can be adjusted by connecting the back frame through different threaded holes, the other end of the back connecting rod (101) is connected with the inner rotating connecting rod (102) through a bearing, the shoulder is rotated inward and outward through the bearing, the other end of the inner rotating connecting rod (102) is connected with one end of the flexion and extension first connecting rod (103) through a bolt, the other end of the flexion and extension first connecting rod (103) is connected with the flexion and extension second connecting rod (105) through a bearing, and the shoulder is flexed and stretched forward and backward through the bearing; The flexion and extension second connecting rod (105) is provided with an upper protrusion, one end of the flexion and extension first connecting rod (103) connected with the inner rotating connecting rod (102) is provided with an upper protrusion, and the pull spring (104) is arranged between the upper protrusions of the flexion and extension second connecting rod and the flexion and extension first connecting rod (103).

5. The method of claim 4, wherein, The end of the back connecting rod (101) is provided with a limiting block, and the opening angle of the limiting block is 135 degrees, so that the rotation angle of the human shoulder is within 0-225 degrees; The flexion and extension second connecting rod (105) is connected with the large arm binding (106) through a bolt.

6. The method of claim 5, wherein, The outer ring of the first motor (306) is connected with the motor connecting rod (305) through a screw, the inner ring of the first motor (306) is connected with the outer ring of the first connecting flange (304) through a screw, the inner ring of the first torque sensor (303) is connected with the inner ring of the first connecting flange (304) through a screw, and the outer ring of the first torque sensor (303) is connected with the waist connecting rod (302). The waist connecting rod (302) is provided with a limiting block on the motor connecting rod (305), so that the motor connecting rod swings in a range of 0-88 degrees at the waist, the waist connecting rod (302) is connected with the pull rod (204) through a bolt, and the first binding connecting block (301) is fixed on the waist connecting rod through a screw and used for fixing the waist binding.

7. The method of claim 6, wherein, The outer ring of the second motor (307) is connected with the motor connecting rod (305) through a screw, the inner ring of the second motor (307) is connected with the outer ring of the second connecting flange (310) through a screw, the inner ring of the second torque sensor (311) is connected with the inner ring of the second connecting flange (310) through a screw, the outer ring of the second connecting flange (310) is connected with the hip joint connecting rod (312), the outer ring of the first torque sensor (303) is connected with the waist connecting rod (302), and the hip joint connecting rod (312) is provided with a limiting block on the motor connecting rod (305). The hip joint connecting rod (312) swings in a range of 0-155 degrees at the waist, and the second binding connecting block (309) is fixed on the motor connecting rod (305) through a screw and used for connecting the hip binding (308).

8. The method of claim 7, wherein, The first motor and the second motor are provided with joint angle sensors.

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