Control method, device and storage medium for artificial leg climbing stairs

Abstract

The present invention discloses a control method, device and storage medium for artificial leg climbing stairs, and the control method for artificial leg climbing stairs comprises: upon receiving a preset action instruction, entering a stair climbing mode; in response to a backward swinging leg action, controlling the resistance device with a first bending damping parameter; in response to a forward swinging action, controlling the resistance device with a target extension damping parameter and a second bending damping parameter, the second bending damping parameter being greater than the first bending damping parameter; in response to a landing action, controlling the resistance device with a third bending damping parameter, the third bending damping parameter being greater than the second bending damping parameter. In the stair climbing mode, the present invention utilizes the correspondence between the actions and damping parameters at each stage of the stair climbing to dynamically adjust the bending damping and extension damping parameters of the actions at different stages, thereby accurately controlling the movement performance of the artificial leg during the stair climbing process and reducing the risk of falling of the user when climbing stairs.

Description

Technical Field

[0001] The present invention relates to the technical field of artificial leg control, and in particular to a control method, device and storage medium for artificial leg climbing stairs. Background Art

[0002] In the development history of prosthetic technology, in order to be closer to the functions of natural limbs, the design and control strategies of prosthetic legs have been continuously optimized, aiming to help users achieve daily activities such as walking and climbing stairs more freely and efficiently.

[0003] Traditional prosthetic leg control methods mostly rely on mechanical locking or simple mechanical friction to simulate the motion characteristics of natural knee joints, but these methods are often difficult to accurately adapt to the needs of different walking scenarios, especially in complex stair climbing movements, which can easily cause users to fall. Summary of the invention

[0004] The present invention provides a method for controlling a prosthetic leg to climb stairs, aiming to improve the accuracy of prosthetic leg control in a stair climbing scenario and reduce the risk of a user falling when climbing stairs.

[0005] To achieve the above-mentioned purpose, the present invention provides a control method for an artificial leg to climb stairs, wherein the artificial leg comprises a receiving cavity, a knee joint and a supporting part, wherein the knee joint comprises an upper connecting part, a rotating shaft, a calf part and a resistance device, wherein the resistance device provides bending damping and extension damping for the knee joint, and the method comprises:

[0006] When receiving the preset action command, enter the stair climbing mode;

[0007] In response to the backward leg swinging action, controlling the resistance device with a first bending damping parameter;

[0008] In response to the forward swinging motion, controlling the resistance device with a target extension damping parameter and a second bending damping parameter, the second bending damping parameter being greater than the first bending damping parameter;

[0009] In response to a landing action, the resistance device is controlled with a third bending damping parameter, wherein the third bending damping parameter is greater than the second bending damping parameter.

[0010] Optionally, the step of entering the stair climbing mode upon receiving a preset action instruction includes:

[0011] If it is detected that the duration of the standing posture is greater than the preset duration threshold, and the trend characteristics of the backward leg swinging action are detected, it is determined that the preset action instruction is received and the stair climbing mode is entered.

[0012] Optionally, the trend characteristics of the backward leg-swinging action are determined based on the motion data, speed and acceleration corresponding to the backward leg-swinging action.

[0013] Optionally, the step of controlling the resistance device with a first bending damping parameter in response to the backward leg swinging action comprises:

[0014] In response to the backward leg swinging action, a first bending damping is added on the basis of an initial bending damping parameter to obtain the first bending damping parameter, wherein the first bending damping is determined according to a preset first bending degree;

[0015] During the backward leg swinging action, the resistance device is controlled with the first bending damping parameter.

[0016] Optionally, the first bending damping is determined according to a preset first bending degree, including:

[0017] Get the user's height data, leg length data, and weight data;

[0018] Determining a first center of gravity position of the user when performing the backward leg swinging action based on the height data, leg length data and weight data of the user;

[0019] The first bending degree is determined based on the first center of gravity position, and different first center of gravity positions correspond to different first bending degrees.

[0020] Optionally, in response to the forward swinging motion, the step of controlling the resistance device with a target extension damping parameter and a second bending damping parameter, wherein the second bending damping parameter is greater than the first bending damping parameter, comprises:

[0021] In response to the forward swinging action, a second bending damping is added to the first bending damping parameter to obtain the second bending damping parameter, wherein the second bending damping is determined according to a preset second bending degree;

[0022] and, based on the initial stretch damping parameter, adding a stretch damping curve to obtain a target stretch damping parameter, wherein the stretch damping curve is determined according to the current speed;

[0023] During the forward swinging motion, the resistance device is controlled with the target extension damping parameter and the second bending damping parameter.

[0024] Optionally, the second bending damping is determined according to a preset second bending degree, including:

[0025] Get the user's height data, leg length data, and weight data;

[0026] Determining a second center of gravity position of the user when performing the forward swinging action based on the height data, leg length data, and weight data of the user;

[0027] The second degree of curvature is determined based on the second center of gravity position, and different second center of gravity positions correspond to different second degrees of curvature.

[0028] Optionally, the extension damping curve is determined according to the current speed, including:

[0029] Get the initial extension damping in the standing position;

[0030] The extension damping curve is determined according to the current speed and on the basis of the initial extension damping.

[0031] The present invention also proposes a device for controlling an artificial leg climbing stairs, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the above-mentioned method for controlling an artificial leg climbing stairs are implemented.

[0032] The present invention further proposes a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for controlling a prosthetic leg to climb stairs are implemented.

[0033] The technical solution of the prosthetic leg stair climbing control method of the present invention enters the stair climbing mode through preset action instructions. In the stair climbing mode, the corresponding relationship between the actions in each stage of stair climbing and the damping parameters is used to dynamically adjust the bending damping and extension damping parameters of the actions in different stages, thereby accurately controlling the movement performance of the prosthetic leg in the process of climbing stairs and reducing the risk of users falling when climbing stairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a flow chart of a method for controlling a prosthetic leg to climb stairs provided by an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of the structure of a control device for an artificial leg climbing stairs provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0039] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] See also Figure 1 , Figure 1 It is a flow chart of a method for controlling a prosthetic leg to climb stairs provided in an embodiment of the present invention.

[0041] In this embodiment, the artificial leg comprises a receiving cavity, a knee joint and a supporting part, the knee joint comprises an upper connecting part, a rotating shaft, a calf part and a resistance device, the resistance device provides bending damping and extension damping for the knee joint, and the artificial leg stair climbing control method comprises the following steps:

[0042] Step S10, when receiving a preset action instruction, entering the stair climbing mode.

[0043] In this embodiment, the preset action command is issued by the user and responded by the artificial leg. The artificial leg includes at least a walking mode and a stair climbing mode, wherein the walking mode can be used for walking control in a flat ground scene, and the stair climbing mode can be used for walking control in a stair climbing scene.

[0044] After the user's limb is connected to the receiving cavity, the user's limb makes corresponding movements, and the processor (microcontroller) in the prosthetic leg generates corresponding action instructions based on the detected movements, and the actuator of the prosthetic leg will respond to the action instructions and perform the corresponding actions.

[0045] The above-mentioned action instruction may be a backward leg swinging action, which is an action performed by the user. After the prosthetic leg detects the backward leg swinging action, it may enter the stair climbing mode. It should be noted that the backward leg swinging action is generally a pre-action for stair climbing.

[0046] The above-mentioned backward leg-swinging action can be detected by a sensor provided in the artificial leg, and the above-mentioned sensor can be a motion sensor, a speed sensor, an angular velocity sensor, etc.

[0047] In a possible embodiment, the above-mentioned backward leg-swinging action can be a backward leg-swinging action after staying or standing for a preset time. In this way, it can be explained that the user is prepared to stay in front of the stairs, making the judgment condition for entering the stair climbing mode more accurate.

[0048] Step S20, in response to the backward leg swinging action, controlling the resistance device with a first bending damping parameter.

[0049] In this embodiment, it should be noted that the action of climbing stairs can be decomposed into a backward swinging leg action, a forward swinging action, and a landing action. By sequentially performing the backward swinging leg action, the forward swinging leg action, and the landing action, a complete action of climbing stairs of one step can be achieved. Therefore, controlling the bending damping parameters of the prosthetic leg in the three actions can make the control accuracy of the prosthetic leg climbing stairs higher.

[0050] After entering the stair climbing mode, the resistance device can be controlled by the first bending damping parameter according to the user's backward leg swinging action, so that the resistance device provides a bending resistance that is more in line with the backward leg swinging action, thereby avoiding abnormal excessive bending of the knee joint.

[0051] In a possible embodiment, the first bending damping parameter is increased compared to the damping parameter when entering the stair climbing mode. In this way, the resistance device can provide greater bending resistance during the backward leg swinging action, thereby avoiding abnormal excessive bending of the knee joint.

[0052] Step S30, in response to the forward swinging motion, controlling the resistance device with a target extension damping parameter and a second bending damping parameter.

[0053] In this embodiment, the forward swinging action is the action after the backward leg swinging action, which can be detected by a sensor. After the backward leg swinging action is completed, when the forward swinging action is detected, the resistance device can be controlled by the target extension damping parameter and the second bending damping parameter, so that the resistance device provides extension resistance and bending resistance that are more in line with the forward swinging action.

[0054] The second bending damping parameter is greater than the first bending damping parameter to avoid abnormal excessive bending of the knee joint during the forward swinging movement. The target extension damping parameter is greater than the extension damping parameter during standing, so that an excessive forward angle can be avoided.

[0055] Step S40, in response to the landing action, controlling the resistance device with a third bending damping parameter.

[0056] In this embodiment, the above-mentioned landing action is an action after the forward swinging action, which can be detected by a sensor. After the forward swinging action is completed, when the landing action is detected, the resistance device can be controlled by the third bending damping parameter.

[0057] The third bending damping parameter is greater than the second bending damping parameter, which can provide strong support for the artificial leg, thereby preventing abnormal excessive bending of the knee joint. It should be noted that the third bending damping parameter can be the maximum bending damping parameter of the artificial leg, or it can be a bending damping parameter adaptively adjusted according to the user's center of gravity and the height of the stair step.

[0058] In a possible embodiment, after the prosthetic leg touches the ground, the bending damping is further increased to the maximum to provide maximum support for the single leg. After the prosthetic leg stands up, the above steps S10 to S40 are looped. Specifically, after the response to the landing action is completed, if there are subsequent stairs, the above steps S10 to S40 are looped, that is, each time a step is walked, the above steps S10 to S40 are executed, that is, before each step is walked, it is checked whether to enter the stair climbing mode. In this way, it can be avoided that the stair climbing mode is still in the stair climbing mode after walking up the stairs.

[0059] The prosthetic leg stair climbing control method of this embodiment is implemented to enter the stair climbing mode through preset action instructions. In the stair climbing mode, the corresponding relationship between the actions in each stage of stair climbing and the damping parameters is used to dynamically adjust the bending damping and extension damping parameters of the actions in different stages, so as to accurately control the movement performance of the prosthetic leg in the process of climbing stairs and reduce the risk of users falling when climbing stairs.

[0060] It can be understood that in the specific implementation of this application, user data, control data, action data and other related data are involved. When the embodiments in this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of relevant data, as well as the training and use of various models need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0061] Optionally, when a preset action instruction is received, in the step of entering the stair climbing mode, it can be detected that the duration of the standing posture is greater than a preset duration threshold, and the trend characteristics of the leg swinging backward action are detected, then it is determined that the preset action instruction has been received and the stair climbing mode has been entered.

[0062] In an embodiment of the present invention, the length of time the user stays or stands + the trend characteristics of the backward leg swinging action can be used to jointly determine whether the user intends to go up the stairs, thereby improving the accuracy of the judgment of entering the stair-climbing mode.

[0063] Specifically, by detecting the duration of the standing posture, the user's preparation time can be determined. If it is detected that the user has a tendency to swing the legs backward, it can be determined that the user is preparing to go up the stairs.

[0064] It should be noted that, for sensor data, for each action, there is a feature data corresponding to the action, and the feature data can be a feature in the time domain / frequency domain. By using the relationship between the action and the feature data, the action performed by the user can be found based on the detected sensor data. Similarly, for sensor data, for each action, there is a trend feature corresponding to the action, and the trend feature can be the first half of the feature data corresponding to the action. By using the relationship between the action and the trend feature, the preparatory action performed by the user can be found based on the detected sensor data.

[0065] Optionally, the trend characteristics of the backward leg-swinging action are determined based on the motion data, speed and acceleration corresponding to the backward leg-swinging action.

[0066] In this embodiment, motion data, speed and acceleration can be collected through corresponding sensors. For sensor data, for each action, there is a trend feature corresponding to the action, and the trend feature can be the instantaneous feature corresponding to the action. The instantaneous feature of each action is represented by sensor data in a short period of time. By utilizing the corresponding relationship between sensor data and instantaneous features, the corresponding relationship between instantaneous features and trend features, and the relationship between actions and trend features, it is possible to find out whether the preparatory action made by the user is a backward leg swinging action based on the detected sensor data.

[0067] The sensor data may be at least one of motion data, speed data and acceleration data. If the sensor data is at least two of the motion data, speed data and acceleration data, it is necessary to perform data fusion on at least two of the motion data, speed data and acceleration data. The fused data is used to determine whether the preparatory action performed by the user is a backward leg swinging action.

[0068] Optionally, in the step of controlling the resistance device with a first bending damping parameter in response to the backward leg swinging action, the first bending damping can be increased on the basis of the initial bending damping parameter in response to the backward leg swinging action to obtain the first bending damping parameter, and the first bending damping is determined according to a preset first bending degree; during the backward leg swinging action, the resistance device is controlled with the first bending damping parameter.

[0069] In this embodiment, the initial bending damping parameter may be a bending damping parameter when standing, or a default bending damping parameter when entering the stair climbing mode. The first bending damping may be a fixed value or a variable value greater than 0. On the basis of the initial bending damping parameter, the first bending damping is added so that the bending damping in the first bending damping parameter is greater than the initial bending damping parameter, thereby enabling the resistance device to provide greater bending resistance during the backward leg swinging action, thereby avoiding the user's unstable center of gravity caused by abnormal excessive bending of the knee joint.

[0070] The above-mentioned first bending degree can be understood as the maximum bending degree that the user can accept to maintain stability when swinging the leg backward. The above-mentioned first bending degree can be obtained through testing of the user, or calculated based on the user's stair climbing posture and the user's physical data.

[0071] Different first bending degrees may correspond to different first bending dampings based on experience, so that the first bending damping most suitable for the user may be adaptively determined, thereby making the first bending damping parameters more accurate.

[0072] Optionally, in the step of determining the first bending damping according to a preset first bending degree, the user's height data, leg length data and weight data can be obtained; based on the user's height data, leg length data and weight data, the first center of gravity position of the user when performing the backward leg swinging action is determined; based on the first center of gravity position, the first bending degree is determined, and different first center of gravity positions correspond to different first bending degrees.

[0073] In this embodiment, the height data, leg length data and weight data of the user can be obtained in advance, and the user is tested for the backward leg swinging action multiple times, so as to comprehensively calculate the first center of gravity position of the user when performing the backward leg swinging action. This is mainly because different individual users have different movement habits. Some individual users are accustomed to pressing the center of gravity downward when going upstairs, while some individual users are accustomed to not pressing the center of gravity downward when going upstairs. Due to the individual habit differences when going up stairs, the control of the artificial leg may also be inaccurate, increasing the risk of falling of the user when going up stairs. Therefore, it is necessary to calculate the first center of gravity position of the user, and then accurately determine the best first bending degree of the artificial leg of the user when the leg swings backward.

[0074] The first center of gravity position can be calculated by the following formula:

[0075]

[0076] in, This is the first center of gravity position when performing the backward leg swing action. is the center of gravity of the human body when standing. For height data, For leg length data, For weight data, is the number of times the backward leg swing action is performed (the number of historical backward leg swing actions), Indicates Perform the backward leg swing movement. Indicates The backward swing angle when performing the backward swing leg action for the first time, Indicates The maximum backward swing angle when performing the backward swing leg action for the first time, Indicates The instantaneous speed when performing the backward leg swing action, Indicates The average speed of the backward leg swing action, Represents the time between two adjacent instantaneous velocities. The calculation can be performed based on existing human body center of gravity algorithms, such as using Varinon's theorem to calculate the center of gravity of a standing human body.

[0077] After determining the first center of gravity position, the first degree of curvature can be determined by looking up a table, and different first center of gravity positions correspond to different first degrees of curvature. The correspondence between the first center of gravity position and the first degree of curvature can be recorded in a first mapping table. Each user can correspond to a first mapping table.

[0078] In a possible embodiment, there may be multiple first mapping tables for locating stairs with different step heights. Since different step heights correspond to different leg-lifting heights, that is, different first center of gravity positions, and stairs of different heights are often located at different positions, different first mapping tables may correspond to different positioning information. Therefore, when entering the stair climbing mode, the user's positioning information may be obtained, and the corresponding first mapping table may be determined according to the user's positioning information. The first degree of curvature may be determined in the determined first mapping table, and the first curvature damping may be determined according to the first degree of curvature. In this way, a more accurate first curvature damping may be adapted according to different step heights, further improving the accuracy of the first curvature damping parameters.

[0079] Optionally, in response to the forward swinging motion, the resistance device is controlled with the target extension damping parameter and the second bending damping parameter, and in the step in which the second bending damping parameter is greater than the first bending damping parameter, in response to the forward swinging motion, on the basis of the first bending damping parameter, a second bending damping is added to obtain a second bending damping parameter, and the second bending damping is determined according to a preset second bending degree; and, on the basis of the initial stretch damping parameter, a stretch damping curve is added to obtain a target stretch damping parameter, and the stretch damping curve is determined according to the current speed; during the forward swinging motion, the resistance device is controlled with the target extension damping parameter and the second bending damping parameter.

[0080] In this embodiment, the first bending damping parameter is a bending damping parameter during the backward leg swinging action, and the second bending damping can be a constant value or a variable value greater than 0. On the basis of the first bending damping parameter, the second bending damping is added so that the bending damping in the second bending damping parameter is greater than the first bending damping parameter, thereby allowing the resistance device to provide greater bending resistance during the forward swinging action, thereby avoiding the user's unstable center of gravity caused by abnormal excessive bending of the knee joint.

[0081] The second bending degree may be understood as the maximum bending degree that the user can accept to maintain stability during the forward swinging motion. The second bending degree may be obtained through user testing or calculated based on the user's stair climbing posture and the user's body data.

[0082] The initial extension damping parameter may be a extension damping parameter when standing, or a default extension damping parameter when entering the stair climbing mode. The extension damping curve may be understood as a variable extension damping, that is, during the forward swinging motion, the extension damping is continuously increased to avoid an excessively large forward angle of the forward swinging motion.

[0083] Different second bending degrees may correspond to different second bending dampings based on experience, so that the second bending damping most suitable for the user may be adaptively determined, thereby making the second bending damping parameters more accurate.

[0084] The extension damping curve can be determined based on the velocity or angular velocity during the forward swing motion.

[0085] Optionally, in the step of determining the second bending damping according to a preset second bending degree, the user's height data, leg length data and weight data can be obtained; based on the user's height data, leg length data and weight data, the second center of gravity position of the user when performing a forward swinging motion is determined; based on the second center of gravity position, the second bending degree is determined, and different second center of gravity positions correspond to different second bending degrees.

[0086] In the present embodiment, similarly, the second center of gravity position can also be calculated in the same way as the first center of gravity position. The height data, leg length data and weight data of the user can be obtained in advance, and the user is tested with multiple forward swinging movements, so as to comprehensively calculate the second center of gravity position of the user when performing the forward swinging movement. This is mainly because different individual users have different movement habits. Some individual users are used to pressing the center of gravity downward when going upstairs, while some individual users are used to not pressing the center of gravity downward when going upstairs. Due to the individual habit differences when going upstairs, the control of the artificial leg may also be inaccurate, increasing the risk of falling of the user when going upstairs. Therefore, it is necessary to calculate the second center of gravity position of the user, and then accurately determine the best second bending degree of the artificial leg of the user when the forward swinging movement is performed.

[0087] The second center of gravity position can be calculated by the following formula:

[0088]

[0089] in, For the second center of gravity position when performing the forward swing action, is the center of gravity of the human body when standing. For height data, For leg length data, For weight data, is the number of forward swings performed (the number of historical forward swings), Indicates Perform the forward swing motion. Indicates The forward swing angle when performing the forward swing action for the first time, Indicates The maximum forward swing angle when performing the forward swing action for the first time, Indicates The instantaneous speed when performing the forward swing action, Indicates The average speed of the forward swing movement, Represents the time between two adjacent instantaneous velocities. The calculation can be performed based on existing human body center of gravity algorithms, such as using Varinon's theorem to calculate the center of gravity of a standing human body.

[0090] After determining the second center of gravity position, the second bending degree can be determined by looking up a table, and different second center of gravity positions correspond to different second bending degrees. The corresponding relationship between the second center of gravity position and the second bending degree can be recorded by a second mapping table. Each user can correspond to a second mapping table.

[0091] In a possible embodiment, there may be multiple second mapping tables for locating stairs with different step heights. Since different step heights correspond to different leg-lifting heights, that is, different second center of gravity positions, and stairs of different heights are often located at different positions, different second mapping tables may correspond to different positioning information. Therefore, when entering the stair climbing mode, the user's positioning information may be obtained, and the corresponding second mapping table may be determined according to the user's positioning information. The second degree of curvature may be determined in the determined second mapping table, and the second curvature damping may be determined according to the second degree of curvature. In this way, a more accurate second curvature damping may be adapted according to different step heights, further improving the accuracy of the second curvature damping parameters.

[0092] Optionally, in the step of determining the extension damping curve according to the current speed, the initial extension damping in the standing posture may be obtained; and the extension damping curve may be determined according to the current speed on the basis of the initial extension damping.

[0093] In this embodiment, the extension damping curve may be a linear curve or a nonlinear curve. The linear curve may be understood as a curve with a fixed slope, and the nonlinear curve may be understood as a curve with a changing slope.

[0094] Different speeds correspond to different extension damping curves, and the corresponding relationship between the speed and the extension damping curve can be recorded through a third mapping table. The faster the current speed, the greater the corresponding extension damping.

[0095] The current speed may be the speed at which the forward swinging motion is detected.

[0096] It should be noted that all the above-mentioned embodiments of the method for controlling stair climbing of a prosthetic leg of the present application can be arbitrarily combined or combined to form a new embodiment if there is no contradiction or conflict between them.

[0097] The present invention also provides a control device for artificial legs climbing stairs, see Figure 2 , Figure 2 It is a structural schematic diagram of a control device for artificial legs climbing stairs in a hardware operating environment involved in an embodiment of the present invention.

[0098] The artificial leg stair climbing control device of the embodiment of the present invention can be a computing device such as a desktop computer, a notebook, a palm computer, and a server. Figure 2As shown, the control device for stair climbing of a prosthetic leg may include: a processor 1001 (e.g., a CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit, such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0099] Those skilled in the art will understand that Figure 2 The structure of the prosthetic leg stair climbing control device shown in the figure does not constitute a limitation of the prosthetic leg stair climbing control device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0100] like Figure 2 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module and a computer program.

[0101] exist Figure 2 In the artificial leg stair climbing control device shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the computer program stored in the memory 1005. When the computer program is called and executed by the processor 1001, the steps of the above-mentioned artificial leg stair climbing control method are implemented.

[0102] Based on the computer program proposed in the aforementioned embodiment, the present invention further proposes a storage medium, which stores the computer program. When the computer program is executed by a controller, the method for controlling the prosthetic leg to climb stairs recorded in the aforementioned embodiment is implemented.

[0103] Since the artificial leg stair climbing control device and storage medium of the present invention can implement the steps of the above-mentioned artificial leg stair climbing control method, they at least have all the beneficial effects brought by the technical solutions of the above-mentioned artificial leg stair climbing control method embodiments, which will not be described one by one here.

[0104] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0105] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0107] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0108] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A method for controlling a prosthetic leg to climb stairs, characterized in that: The artificial leg comprises a receiving cavity, a knee joint and a supporting part, the knee joint comprises an upper connecting part, a rotating shaft, a calf part and a resistance device, the resistance device provides bending damping and extension damping for the knee joint, and the method comprises: When receiving the preset action command, enter the stair climbing mode; In response to the backward leg swinging action, a first bending damping is added to the initial bending damping parameter to obtain a first bending damping parameter, wherein the first bending damping is determined according to a preset first bending degree; during the backward leg swinging action, the resistance device is controlled by the first bending damping parameter; The first bending damping is determined according to a preset first bending degree, including: obtaining height data, leg length data and weight data of the user; determining a first center of gravity position of the user when performing the backward leg swinging action based on the height data, leg length data and weight data of the user; determining the first bending degree based on the first center of gravity position, and different first center of gravity positions correspond to different first bending degrees; In response to the forward swinging motion, controlling the resistance device with a target extension damping parameter and a second bending damping parameter, the second bending damping parameter being greater than the first bending damping parameter; In response to a landing action, the resistance device is controlled with a third bending damping parameter, wherein the third bending damping parameter is greater than the second bending damping parameter.

2. The method for controlling a prosthetic leg to climb stairs according to claim 1, characterized in that: When receiving the preset action instruction, entering the stair climbing mode includes: If it is detected that the duration of the standing posture is greater than the preset duration threshold, and the trend characteristics of the backward leg swinging action are detected, it is determined that the preset action instruction is received and the stair climbing mode is entered.

3. The method for controlling a prosthetic leg to climb stairs according to claim 2, characterized in that: The trend characteristics of the backward leg-swinging action are determined based on the motion data, speed and acceleration corresponding to the backward leg-swinging action.

4. The control method for stair climbing of an artificial leg according to any one of claims 1 to 3, characterized in that: The controlling of the resistance device with a target extension damping parameter and a second bending damping parameter in response to the forward swinging motion, wherein the second bending damping parameter is greater than the first bending damping parameter, comprises: In response to the forward swinging action, a second bending damping is added to the first bending damping parameter to obtain the second bending damping parameter, wherein the second bending damping is determined according to a preset second bending degree; and, based on the initial stretch damping parameter, adding a stretch damping curve to obtain a target stretch damping parameter, wherein the stretch damping curve is determined according to the current speed; During the forward swinging motion, the resistance device is controlled with the target extension damping parameter and the second bending damping parameter.

5. The method for controlling a prosthetic leg to climb stairs according to claim 4, characterized in that: The second bending damping is determined according to a preset second bending degree, including: Get the user's height data, leg length data, and weight data; Determining a second center of gravity position of the user when performing the forward swinging action based on the height data, leg length data, and weight data of the user; The second degree of curvature is determined based on the second center of gravity position, and different second center of gravity positions correspond to different second degrees of curvature.

6. The method for controlling a prosthetic leg to climb stairs according to claim 4, characterized in that: The extension damping curve is determined according to the current speed, including: Get the initial extension damping in the standing position; The extension damping curve is determined according to the current speed and on the basis of the initial extension damping.

7. A control device for artificial legs climbing stairs, characterized in that: The prosthetic leg stair climbing control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the prosthetic leg stair climbing control method as described in any one of claims 1 to 6 are implemented.

8. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for controlling stair climbing of an artificial leg according to any one of claims 1 to 6.

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