Lower limb training equipment control method, device and equipment and storage medium

Abstract

The application relates to a lower limb training equipment control method and device, equipment and a storage medium, and belongs to the technical field of medical rehabilitation. The method comprises the following steps: determining a support force parameter adjustment amount according to the current and rotating speed of a hip joint motor, the current and rotating speed of a knee joint motor and the running distance of an auxiliary support; and adjusting the support force of a support spring according to the support force parameter adjustment amount. The lower limb training equipment control method provided by the application can calculate the support force of the support spring according to the current and rotating speed of the hip joint motor, the current and rotating speed of the knee joint motor and the running distance of the auxiliary support, can automatically adjust the support force parameter of the auxiliary support during walking, is suitable for different lower limb exoskeleton wearers and different gaits, and effectively improves the walking efficiency of the lower limb exoskeleton.

Description

Technical Field

[0001] This application belongs to the field of medical rehabilitation technology, specifically relating to a control method, device, equipment, and storage medium for lower limb training equipment. Background Technology

[0002] Most existing lower limb exoskeletons on the market provide walking rehabilitation training for patients by combining them with auxiliary supports. Please refer to the invention patent applications CN202310101403.4 ("A Mobile Medical Robot for Lower Limb Multi-Joint Rehabilitation Training") and 201911409204.X ("A Walking Safety Support and Exoskeleton Robot"). These auxiliary supports can restrict the movement of the lower limb exoskeleton in the coronal plane and prevent its lateral tilting, thereby ensuring the wearer's balance and safety. Furthermore, the auxiliary support can provide vertical support for both the exoskeleton and the wearer, reducing the support force on the exoskeleton's legs, thus reducing the torque and energy consumption of the exoskeleton's lower limb joints during walking.

[0003] Excessive support force from the auxiliary support frame can lead to insufficient foot pressure on the exoskeleton, causing the feet to lift off the ground and dangle during walking, or insufficient friction on the supporting leg, resulting in slippage. Conversely, insufficient support force from the auxiliary support frame can cause excessive support force in the exoskeleton's legs, increasing torque and energy consumption in the lower limb joints. Therefore, such systems often require adjustment to a suitable support force parameter to ensure stable walking with low energy consumption. For different wearers and predefined gait patterns of the exoskeleton, the support force parameter adjustment of auxiliary support frames and similar devices is often done manually based on the operator's experience. This method has the following problems: First, exoskeleton wearers have varying weights, requiring manual adjustment of the support force parameter for each training session, increasing the operator's burden. Second, the accuracy of the auxiliary support frame support parameter adjusted based on the operator's experience is poor, making it difficult to achieve optimal energy-saving effects. Summary of the Invention

[0004] Therefore, the purpose of this application is to provide a control method, device, equipment and storage medium for lower limb training equipment, which can automatically adjust the support force parameters of the auxiliary support during walking, and is suitable for different lower limb exoskeleton wearers and different gaits, effectively improving the walking efficiency of the lower limb exoskeleton.

[0005] The technical solution of this application is as follows:

[0006] In a first aspect, this application provides a control method for a lower limb training device, applied to a lower limb training device, the device including an auxiliary support and a lower limb exoskeleton, the auxiliary support including a support spring, and the lower limb exoskeleton including a hip joint motor and a knee joint motor, the method including:

[0007] The current and speed of the hip joint motor during the gait cycle are obtained;

[0008] The current and rotational speed of the knee joint motor are obtained during the gait cycle;

[0009] Obtain the travel distance of the auxiliary support during the gait cycle;

[0010] The adjustment amount of the support force parameter is determined based on the current and speed of the hip joint motor, the current and speed of the knee joint motor, and the travel distance of the auxiliary support.

[0011] Adjust the support force of the support spring according to the adjustment amount of the support force parameter.

[0012] As an optional solution, determining the adjustment amount of the support force parameter based on the current and speed of the hip joint motor, the current and speed of the knee joint motor, and the travel distance of the auxiliary support includes:

[0013] The real-time power of the hip joint motor is determined based on the current and speed of the hip joint motor.

[0014] The real-time power of the knee joint motor is determined based on the current and speed of the knee joint motor.

[0015] The total energy consumption of a single leg is determined based on the power of the hip and knee motors during the gait cycle.

[0016] Walking energy efficiency is determined based on the total energy consumption and distance traveled per leg within the gait cycle;

[0017] The adjustment amount of the support force parameter is determined based on the walking energy efficiency within the gait cycle.

[0018] As an optional solution, the auxiliary support also includes a bracket and a lifting motor, with the bottom end of the support spring supported by the bracket; the calculation model for determining the adjustment amount of the support force parameter based on the walking energy efficiency within the gait cycle is as follows:

[0019]

[0020] Where k is the gait cycle count, J is the walking energy efficiency, ξ(k) is the intermediate variable, θ(k) is the rotation angle of the lifting motor in the kth gait cycle, ω is the frequency of the disturbance signal, λ is the gain coefficient, h represents the cutoff frequency of the high-pass filter, and Δθ(k) represents the adjustment amount of the support force parameter.

[0021] Secondly, this application provides a control device for a lower limb training device, applied to a lower limb training device. The device includes an auxiliary support and a lower limb exoskeleton. The auxiliary support includes a support spring, and the lower limb exoskeleton includes a hip joint motor and a knee joint motor. The device includes:

[0022] A hip joint acquisition module is used to acquire the current and rotational speed of the hip joint motor during the gait cycle;

[0023] A knee joint acquisition module is used to acquire the current and rotational speed of the knee joint motor during the gait cycle;

[0024] The travel distance acquisition module is used to acquire the travel distance of the auxiliary support during the gait cycle;

[0025] An adaptive processing module is used to determine the adjustment amount of the support force parameter based on the current and speed of the hip joint motor, the current and speed of the knee joint motor, and the travel distance of the auxiliary support.

[0026] The support force adjustment module is used to adjust the support force of the support spring according to the adjustment amount of the support force parameter.

[0027] Thirdly, this application provides a lower limb training device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the steps in the lower limb training device control method described above.

[0028] Fourthly, this application provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the steps in the lower limb training device control method described above.

[0029] The beneficial effects of this application are:

[0030] The lower limb training device control method provided in this application can calculate the supporting force of the support spring based on the current and speed of the hip joint motor, the current and speed of the knee joint motor, and the travel distance of the auxiliary support. It can also automatically adjust the supporting force parameters of the auxiliary support during walking, making it suitable for different lower limb exoskeleton wearers and different gaits, effectively improving the walking efficiency of the lower limb exoskeleton. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The above and other objects, features, and advantages of this application will become clearer through the drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not intentionally drawn to scale to actual size; the focus is on illustrating the main points of this application.

[0032] Figure 1 A schematic diagram of a scenario for the lower limb training equipment control system provided in an embodiment of this application;

[0033] Figure 2 This is a schematic diagram of the structure of the lower limb training device provided in the embodiments of this application;

[0034] Figure 3 This is a schematic diagram illustrating the usage state of the lower limb training device provided in the embodiments of this application;

[0035] Figure 4 A schematic flowchart illustrating the control method for the lower limb training device provided in this application embodiment;

[0036] Figure 5 A flowchart illustrating one step of the lower limb training device control method provided in this application embodiment;

[0037] Figure 6 A schematic diagram of the functional modules of the lower limb training equipment control device provided in the embodiments of this application;

[0038] Figure 7 This is a schematic diagram of the structure of the terminal device in the embodiments of this application.

[0039] Icons: 100-Lower limb training equipment; 200-Storage device; 110-Auxiliary support; 111-Lower limb exoskeleton; 112-Supporting spring; 120-Control device; 121-Hip joint acquisition module; 122-Knee joint acquisition module; 123-Travel distance acquisition module; 124-Adaptive processing module; 125-Support force adjustment module; 130-Power supply; 131-Processor; 132-Memory; 133-Input unit. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0042] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0043] Embodiments of this application provide a control method, apparatus, device, and storage medium for a lower limb training device, which will be described in detail below.

[0044] Please refer to Figure 1 As shown, Figure 1 This is a schematic diagram of a lower limb training device control system provided in an embodiment of this application. The control system may include a lower limb training device 100 and a storage device 200, which can transmit data to the lower limb training device 100. Figure 1 The lower limb training device 100 can access the control program stored in the storage device 200 to execute the lower limb training device 100 control method of this application.

[0045] In this embodiment of the application, the lower limb training device 100 and the storage device 200 can communicate through any communication method, including but not limited to mobile communication based on the 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), and Worldwide Interoperability for Microwave Access (WiMAX), or computer network communication based on the TCP / IP Protocol Suite (TCP / IP) and User Datagram Protocol (UDP).

[0046] It should be noted that, Figure 1 The schematic diagram of the lower limb training device 100 control system shown is merely an example. The lower limb training device 100 control system and scenarios described in this application embodiment are for the purpose of more clearly illustrating the technical solutions of this application embodiment and do not constitute a limitation on the technical solutions provided in this application embodiment. As those skilled in the art will know, with the evolution of the lower limb training device 100 control system and the emergence of new business scenarios, the technical solutions provided in this application embodiment are also applicable to similar technical problems.

[0047] Please refer to Figures 2-4 As shown, Figure 2 This is a schematic diagram of the structure of the lower limb training device 100 provided in the embodiments of this application; Figure 3 A schematic diagram illustrating the usage state of the lower limb training device 100 provided in this embodiment of the application; Figure 4 This is a flowchart illustrating the control method for the lower limb training device 100 provided in this application embodiment; the control method for the lower limb training device 100 is applied to the lower limb training device 100.

[0048] Please combine Figure 2 , Figure 3 As shown, the lower limb training device 100 includes an auxiliary support 110 and a lower limb exoskeleton 111.

[0049] The structure of the auxiliary support 110 can refer to the prior art. The auxiliary support 110 includes a support spring 112. The arrangement of the support spring 112 is not limited. In this embodiment, the following schemes can be adopted, but are not limited to: The auxiliary support 110 is mainly composed of a support body, a support component, and an adjustment component.

[0050] The support body may include a base and a column. The bottom of the base may be equipped with wheels, etc., and the column is set on the base. Handrails for patients to hold on may be set on the column.

[0051] The support assembly mainly consists of a bracket, a lifting frame, and a support spring 112. Both the bracket and the lifting frame are vertically mounted on the column. A support cantilever can be installed on the lifting frame to support the lower limb exoskeleton 111. The top of the lifting frame can be limited, thus determining its highest point. The support spring 112 can be a compression spring, tension spring, etc., and is located between the bracket and the lifting frame. In this embodiment, the support spring 112 is a compression spring. The bracket is located below the lifting frame, the bottom end of the support spring 112 is supported by the bracket, and the top end of the support spring 112 is connected to the lifting frame. With the bracket position fixed, the lifting frame can rise or fall, meaning the compression of the support spring 112 changes.

[0052] The adjustment component controls the raising and lowering of the bracket. The structure of the adjustment component is not limited; it may include a power component, such as a telescopic cylinder or a lifting motor. In this embodiment, a lifting motor is used as the power component. The lifting motor is mounted on the bracket body, and the lifting motor and the bracket are connected via a ball screw mechanism. When the lifting motor rotates, it drives the bracket to rise or fall, thereby changing the compression of the support spring 112, i.e., changing the supporting force of the support spring 112. The greater the compression of the support spring 112, the greater the supporting force; conversely, the smaller the compression of the support spring 112, the smaller the supporting force.

[0053] The structure of the lower limb exoskeleton 111 is not limited and can refer to existing technologies. The lower limb exoskeleton 111 is mounted on the support cantilever of the auxiliary bracket 110. In this embodiment, the following schemes can be adopted, but are not limited to: The lower limb exoskeleton 111 is mainly composed of a hip, a thigh, a lower leg, and a foot. The hip corresponds to the waist of the human body, the thigh corresponds to the thigh of the human body, the lower leg corresponds to the lower leg of the human body, and the foot corresponds to the sole of the human body. The hip is used to connect and fix to the support cantilever. The hip and thigh are hinged, and the hinge point corresponds to the hip joint of the human body. The hip joint motor is used to drive the thigh to rotate relative to the hip. The thigh and lower leg are hinged, and the hinge point corresponds to the knee joint of the human body. The knee joint motor is used to drive the lower leg to rotate relative to the thigh. The lower leg and foot are hinged, and the hinge point corresponds to the ankle joint of the human body. The rotation between the lower leg and the foot can be driven without a motor or can be driven by an ankle joint motor.

[0054] For other unmentioned aspects of the lower limb training device 100, please refer to existing technologies, such as the invention patent with announcement number CN110960403B and invention title "A Walking Safety Bracket and Exoskeleton Robot", which will not be elaborated here.

[0055] The control method for the lower limb training device 100 is applied to the lower limb training device 100. For details, please refer to... Figure 4 As shown, Figure 4 This is a flowchart illustrating the control method for the lower limb training device 100 provided in this application embodiment. The control method for the lower limb training device 100 includes the following steps S1-S5:

[0056] S1, obtain the current and speed of the hip motor during the gait cycle.

[0057] In this embodiment, the current and speed of the hip joint motor can be obtained from corresponding sensors. Generally, the lower limb exoskeleton 111 includes a hip joint controller, which can control the hip joint motor, and the hip joint controller contains corresponding sensors.

[0058] There can be one or more gait cycles. During one or more gait cycles in the walking process, taking the left or right leg as an example, the hip joint controller controls the hip joint motor of the lower limb exoskeleton 111 to follow a predefined trajectory θ. h Movement, and acquisition of the current I of the hip joint motor. h and rotational speed θ h &, and then provide feedback.

[0059] S2, obtains the current and speed of the knee joint motor during the gait cycle.

[0060] In this embodiment, the current and speed of the knee joint motor can be obtained from corresponding sensors. Generally, the lower limb exoskeleton 111 includes a knee joint controller, which can control the knee joint motor, and the knee joint controller contains corresponding sensors.

[0061] The knee joint controller controls the knee joint motors of the lower limb exoskeleton 111 to follow a predefined trajectory θ. k Movement, and acquisition of current I from the knee joint motor. k and rotational speed θ k &, and then provide feedback.

[0062] S3, obtain the travel distance of the auxiliary support 110 during the gait cycle.

[0063] A walking distance sensor can be installed on the walking support. The type of walking distance sensor is not limited and can be a laser sensor, ultrasonic sensor, etc. The walking distance sensor can detect the walking distance s of the auxiliary support 110.

[0064] The order of steps S1-S3 is not limited; they can be performed simultaneously, sequentially, or in a different order. Figure 4 The diagram only shows a scheme in which steps S1-S3 are performed sequentially, and is not the only process.

[0065] S4. Based on the current and speed of the hip joint motor, the current and speed of the knee joint motor, and the travel distance of the auxiliary support 110, determine the adjustment amount of the support force parameter.

[0066] Please combine Figure 5 As shown, Figure 5 This is a flowchart illustrating one step of the control method for the lower limb training device 100 provided in this application embodiment. Step S4 may include the following steps: S41-S45:

[0067] S41, determine the real-time power of the hip joint motor based on the current and speed of the hip joint motor.

[0068] S42 determines the real-time power of the knee joint motor based on the current and speed of the knee joint motor.

[0069] The real-time power calculation methods for hip joint motors and knee joint motors are the same or similar, and the calculation models for both can be:

[0070]

[0071] Where I represents the current of the hip joint motor or knee joint motor. This indicates the rotational speed of the hip or knee joint motor, where r is the reduction ratio of the reducer in the hip or knee joint. Additionally, the motor impedance R... m and torque constant K m It is a constant used to describe the characteristics of a hip joint motor or a knee joint motor.

[0072] Of course, in other embodiments, the real-time power of the hip or knee motor can also be determined by other calculation methods.

[0073] S43 determines the total energy consumption of a single leg based on the power of the hip and knee motors during the gait cycle.

[0074] The calculation model for total energy consumption is as follows:

[0075]

[0076] Where E is the total energy consumption of a single leg during a gait cycle, T is the duration of one or more gait cycles, and P... h and P k dt represents the power of the hip joint motor and the knee joint motor, respectively, and dt is the sampling time interval of the system.

[0077] S44 determines walking energy efficiency based on the total energy consumption and distance traveled per leg during the gait cycle.

[0078] The calculation model for walking energy efficiency is as follows:

[0079] J = E / s

[0080] Where J represents the walking energy efficiency during the gait cycle, and s represents the walking distance of the auxiliary support 110 during the gait cycle.

[0081] S45 determines the adjustment amount of the support force parameter based on the walking energy efficiency within the gait cycle.

[0082] The adjustment amount of the support force parameter can be calculated using the extreme value search control method. Of course, it can also be calculated in other ways. In this embodiment, the calculation model can be:

[0083]

[0084] Where k is the gait cycle count, which can be 1, 2, 3, etc., J is the walking energy efficiency, ξ(k) is an intermediate variable, and θ(k) is the rotation angle of the lifting motor in the k-th gait cycle. ω is the frequency of the disturbance signal, λ is the gain coefficient, and h represents the cutoff frequency of the high-pass filter; all three are preset constants. b is a constant, and Δθ(k) represents the adjustment amount of the support force parameter.

[0085] S5, adjust the support force of the support spring 112 according to the support force parameter adjustment amount.

[0086] The lifting motor is controlled to rotate at a certain angle according to Δθ(k), and the support force of the auxiliary support 110 is adjusted at the beginning of the next gait cycle.

[0087] The above control method is an adaptive adjustment, repeatedly executing steps S1-S5 until the most suitable support force is found, thereby allowing for use by users of different weights and different gaits suitable for the same user.

[0088] To better test the control method of the lower limb training device 100 in this application embodiment, please combine it with the control method of the lower limb training device 100. Figure 6 As shown, Figure 6 This is a functional module diagram of the control device 120 for the lower limb training device 100 provided in this application embodiment. This application embodiment also provides a control device 120 for the lower limb training device 100. The lower limb training device 100 includes an auxiliary support 110 and a lower limb exoskeleton 111. The structure of the auxiliary support 110 can refer to the prior art. The auxiliary support 110 includes a support spring 112. The lower limb exoskeleton 111 has a hip joint motor and a knee joint motor.

[0089] The lower limb training equipment 100 control device 120 includes:

[0090] The hip joint acquisition module 121 is used to acquire the current and speed of the hip joint motor during the gait cycle.

[0091] The knee joint acquisition module 122 is used to acquire the current and speed of the knee joint motor during the gait cycle.

[0092] The travel distance acquisition module 123 is used to acquire the travel distance of the auxiliary support 110 during the gait cycle.

[0093] The adaptive processing module 124 is used to determine the adjustment amount of the support force parameter based on the current and speed of the hip joint motor, the current and speed of the knee joint motor, and the travel distance of the auxiliary support 110.

[0094] The support force adjustment module 125 is used to adjust the support force of the support spring 112 according to the support force parameter adjustment amount.

[0095] In some embodiments of this application, the adaptive processing module 124 is specifically used for:

[0096] Determine the real-time power of the hip joint motor based on its current and speed.

[0097] The real-time power of the knee joint motor is determined based on its current and speed.

[0098] The total energy consumption of a single leg is determined based on the power of the hip and knee motors during the gait cycle.

[0099] Walking energy efficiency is determined based on the total energy consumption and distance traveled per leg within the gait cycle;

[0100] The adjustment amount of the support force parameter is determined based on the walking energy efficiency within the gait cycle.

[0101] This application also provides a lower limb training device 100, which includes a processor 131, a memory 132, and a computer program stored in the memory 132 and executable on the processor 131. The processor 131 executes the computer program to implement the steps in the lower limb training device 100 control method of any one of the embodiments of this application.

[0102] The lower limb training device 100 integrates any of the lower limb training device 100 control methods provided in the embodiments of this application, such as... Figure 7 As shown, Figure 7 This is a schematic diagram of the terminal device in the embodiments of this application, specifically:

[0103] The lower limb training device 100 may include components such as a processor 131 with one or more processing cores, a memory 132 with one or more computer-readable storage media, a power supply 130, and an input unit 133. Those skilled in the art will understand that the structure of the lower limb training device 100 does not constitute a limitation on the device, and it may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements. Wherein:

[0104] The processor 131 is the control center of the lower limb training device 100. It connects to various parts of the lower limb training device 100 via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 132, and by calling data stored in the memory 132, it performs various functions and processes data of the lower limb training device 100, thereby providing overall monitoring of the lower limb training device 100. Optionally, the processor 131 may include one or more processing cores; the processor 131 may be a central processing unit (CPU), or other general-purpose processors 131, digital signal processors 131 (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor 131 can be a microprocessor 131, or any conventional processor 131. Preferably, the processor 131 can integrate an application processor 131 and a modem processor 131. The application processor 131 mainly handles the operating system, user interface, and applications, while the modem processor 131 mainly handles wireless communication. It is understood that the modem processor 131 may also not be integrated into the processor 131.

[0105] The memory 132 can be used to store software programs and modules. The processor 131 executes various functional applications and data processing by running the software programs and modules stored in the memory 132. The memory 132 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created based on the use of the lower limb training device 100, etc. In addition, the memory 132 may include high-speed random access memory 132, and may also include non-volatile memory 132, such as at least one disk storage device 132, flash memory device, or other volatile solid-state memory 132. Accordingly, the memory 132 may also include a memory controller to provide the processor 131 with access to the memory 132.

[0106] The lower limb training device 100 also includes a power supply 130 that supplies power to the various components. Preferably, the power supply 130 can be logically connected to the processor 131 through a power supply 130 management system, thereby enabling functions such as charging, discharging, and power consumption management through the power supply 130 management system. The power supply 130 may also include one or more DC or AC power supplies 130, a recharging system, a power supply 130 fault detection circuit, a power supply 130 converter or inverter, a power supply 130 status indicator, and any other components.

[0107] The lower limb training device 100 may further include an input unit 133, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control. Training gait, training duration, and other information can be input through the input unit 133.

[0108] Although not shown, the lower limb training device 100 may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 131 in the lower limb training device 100 loads the executable files corresponding to the processes of one or more applications into the memory 132 according to the following instructions, and the processor 131 runs the applications stored in the memory 132 to realize various functions.

[0109] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by the processor 131.

[0110] Therefore, this application embodiment also provides a computer-readable storage medium, which may include: a read-only memory 132 (ROM), a random access memory (RAM), a disk, or an optical disk, etc. A computer program is stored thereon, which is loaded by a processor 131 to execute the steps in any of the lower limb training device 100 control methods provided in this application embodiment. In the above embodiments, the descriptions of each embodiment have different focuses. Parts not described in detail in a certain embodiment can be referred to the detailed descriptions of other embodiments above, and will not be repeated here.

[0111] In practice, each of the above units or structures can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units or structures, please refer to the previous method embodiments, which will not be repeated here.

[0112] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control device for lower limb training equipment, characterized in that, An application in lower limb training equipment, the equipment including an auxiliary support and a lower limb exoskeleton, the auxiliary support including a support spring, the lower limb exoskeleton including a hip joint motor and a knee joint motor, the device comprising: A hip joint acquisition module is used to acquire the current and rotational speed of the hip joint motor during the gait cycle; A knee joint acquisition module is used to acquire the current and rotational speed of the knee joint motor during the gait cycle; The travel distance acquisition module is used to acquire the travel distance of the auxiliary support during the gait cycle; An adaptive processing module is used to determine the adjustment amount of the support force parameter based on the current and speed of the hip joint motor, the current and speed of the knee joint motor, and the travel distance of the auxiliary support. The support force adjustment module is used to adjust the support force of the support spring according to the adjustment amount of the support force parameter; The step of determining the support force parameter adjustment amount based on the current and speed of the hip joint motor, the current and speed of the knee joint motor, and the travel distance of the auxiliary support includes: determining the real-time power of the hip joint motor based on the current and speed of the hip joint motor; determining the real-time power of the knee joint motor based on the current and speed of the knee joint motor; determining the total energy consumption of a single leg based on the power of the hip joint motor and the knee joint motor during the gait cycle; determining the walking energy efficiency based on the total energy consumption and travel distance of a single leg during the gait cycle; and determining the adjustment amount of the support force parameter based on the walking energy efficiency during the gait cycle. The auxiliary support also includes a bracket and a lifting motor, with the bottom end of the support spring supported by the bracket; the calculation model for determining the adjustment amount of the support force parameter based on the walking energy efficiency within the gait cycle is as follows: k is the gait cycle count, and J is the walking energy efficiency. As an intermediate variable, Let be the rotation angle of the lifting motor during the kth gait cycle. Let λ be the frequency of the disturbance signal, λ be the gain coefficient, and h be the cutoff frequency of the high-pass filter. This indicates the adjustment amount of the support force parameter.

2. A lower limb training device, characterized in that, The lower limb training device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the steps in the lower limb training device control method of claim 1.

3. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that is executed by a processor to implement the steps of the lower limb training device control method of claim 1.

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