Method for determining control parameters of lower limb exoskeleton robot and lower limb exoskeleton robot

Abstract

The present application is applicable to the technical field of exoskeleton robots, and provides a method for determining control parameters of a lower limb exoskeleton robot and a lower limb exoskeleton robot. The method comprises: adding a drive motor and a Bowden cable on the basis of a purely passive lower limb exoskeleton robot without a motor, obtaining the plantar pressure value of a target object, and sensor data corresponding to the skeletal joints of the lower limb exoskeleton robot worn by the target object; determining the gait pattern of the lower limb exoskeleton robot according to the comparison result between the plantar pressure value and a preset threshold value; when the exoskeleton robot is in a supporting phase mode, determining the tension applied to the Bowden cable by the drive motor according to the plantar pressure value, the angle and angular velocity of the skeletal joints, so as to provide assistance to the skeletal joints with a single drive motor; when the exoskeleton robot is in a swinging phase mode, determining the length of the Bowden cable released by the drive motor according to the angle of the skeletal joints, so as to achieve efficient assistance of weight-bearing walking in a complex environment.

Description

Technical Field

[0001] The present application belongs to the technical field of exoskeleton robots, and in particular, relates to a method for determining control parameters of a lower limb exoskeleton robot and a lower limb exoskeleton robot. Background Art

[0002] Human transportation is an indispensable part of object transportation methods and has strong flexibility. At present, outdoor patrols, material transportation for disaster relief, and material transportation for infrastructure construction in mountainous areas still require a large amount of manpower for load-bearing transportation. However, long-term weight-bearing walking can cause a variety of physical injuries or diseases, such as muscle strain and fatigue fractures.

[0003] In order to alleviate or treat lower limb injuries or diseases in humans, lower limb exoskeleton robots have been developed. Lower limb exoskeleton robots are widely used in various fields. For example, in the medical field, they can assist patients in rehabilitation training and assist elderly people with limited mobility to complete daily activities. In the logistics field, they can provide waist assistance for workers with high labor intensity and heavy loads, thereby reducing the risk of spinal strain and muscle injury and improving work quality and efficiency. However, current lower limb exoskeleton robots face practical problems such as cumbersome operation and difficulty in efficient weight-bearing walking in complex environments. Summary of the invention

[0004] The embodiments of the present application provide a method for determining control parameters of a lower limb exoskeleton robot and a lower limb exoskeleton robot, which can solve the problems faced by lower limb exoskeleton robots in the prior art, such as cumbersome operation and difficulty in efficient load-bearing walking in complex environments.

[0005] In a first aspect, an embodiment of the present application provides a method for determining control parameters of a lower limb exoskeleton robot, which is applied to a lower limb exoskeleton robot, comprising:

[0006] Acquire the plantar pressure value of the target object and the sensor data corresponding to the skeletal joints of the lower limb exoskeleton robot worn by the target object; wherein the sensor data includes at least one of the following: the angle of the skeletal joints and the angular velocity of the skeletal joints;

[0007] Determining the gait mode of the lower limb exoskeleton robot according to the comparison result between the plantar pressure value and the preset threshold value; wherein the gait mode includes a support phase mode and a swing phase mode;

[0008] When the exoskeleton robot is in the support phase mode, determining the pulling force applied by the drive motor to the Bowden cable according to the plantar pressure value, the angle of the skeletal joint and the angular velocity of the skeletal joint;

[0009] When the exoskeleton robot is in the swing phase mode, the length of the Bowden cable released by the drive motor is determined according to the angle of the skeletal joint.

[0010] In a possible implementation of the first aspect, determining the gait mode of the lower limb exoskeleton robot according to a comparison result between the plantar pressure value and a preset threshold value includes:

[0011] When the plantar pressure value is greater than or equal to the preset threshold, it is determined that the lower limb exoskeleton robot is in the support phase mode;

[0012] When the plantar pressure value is less than the preset threshold, it is determined that the lower limb exoskeleton robot is in the swing phase mode.

[0013] In a possible implementation of the first aspect, when the exoskeleton robot is in the support phase mode, determining the tension applied by the drive motor to the Bowden cable according to the plantar pressure value, the angle of the skeletal joint, and the angular velocity of the skeletal joint includes:

[0014] Determine the vertical power of the leg of the lower limb exoskeleton robot according to the plantar pressure value, the angle of the bone joint and the angular velocity of the bone joint; wherein the angle of the bone joint and the angular velocity of the bone joint are measured by a hip joint angle sensor, a knee joint angle sensor and an ankle joint angle sensor;

[0015] The tension applied to the Bowden cable by the drive motor is determined according to the vertical power of the leg, the preset power ratio and the parameters of the drive motor; wherein the parameters of the drive motor include at least one of the following: the radius of the winding wire core shaft in the drive motor, the rotational angular velocity of the drive motor.

[0016] In a possible implementation of the first aspect, determining the vertical power of the leg of the lower limb exoskeleton robot according to the plantar pressure value, the angle of the skeletal joint, and the angular velocity of the skeletal joint includes:

[0017] The vertical power of the leg of the lower limb exoskeleton robot is determined according to the plantar pressure value, the angle of the skeletal joint, the angular velocity of the skeletal joint and a preset vertical power calculation formula of the leg; wherein the skeletal joint includes a hip joint, a knee joint and an ankle joint; the preset vertical power calculation formula of the leg is:

[0018] ;

[0019] in, is the vertical power of the leg; is the plantar pressure value; is the angular velocity of the knee joint; is the length of the calf support of the lower limb exoskeleton robot; is the angular velocity of the hip joint; is the length of the thigh support of the lower limb exoskeleton robot; is the angle of the knee joint; is the angle of the ankle joint.

[0020] In a possible implementation manner of the first aspect, determining the tension applied by the drive motor to the Bowden cable according to the vertical power of the leg, a preset power ratio, and a parameter of the drive motor includes:

[0021] The tension applied by the drive motor to the Bowden cable is determined according to the vertical power of the leg, the preset power ratio, the parameters of the drive motor and the preset motor tension calculation formula; wherein the preset motor tension calculation formula is:

[0022] ;

[0023] in, is the tension applied by the drive motor to the Bowden cable; is the preset power ratio; is the radius of the winding core shaft in the driving motor; is the rotational angular velocity of the drive motor.

[0024] In a possible implementation manner of the first aspect, after determining the tension applied by the drive motor to the Bowden cable, the method further includes:

[0025] The current of the driving motor is determined according to the tension applied by the driving motor to the Bowden cable and a preset motor current calculation formula; wherein the preset motor current calculation formula is:

[0026] ;

[0027] in, is the current of the driving motor; is the current torque constant of the drive motor.

[0028] In a possible implementation of the first aspect, when the exoskeleton robot is in the swing phase mode, determining the length of the Bowden cable released by the drive motor according to the angle of the skeletal joint includes:

[0029] The length of the Bowden cable released by the driving motor is determined according to the angle of the skeletal joint, the preset Bowden cable rotation radius at the skeletal joint and the preset motor release Bowden cable length calculation formula; wherein the preset motor release Bowden cable length calculation formula is:

[0030] ;

[0031] in, the length of the Bowden cable released for the drive motor; is the angle of the hip joint; A Bowden cable rotation radius preset at the hip joint; is the angle of the knee joint; A Bowden cable rotation radius preset at the knee joint; is the angle of the ankle joint; A Bowden cable rotation radius preset at the ankle joint; The preset length margin.

[0032] In a second aspect, an embodiment of the present application provides a lower limb exoskeleton robot, the lower limb exoskeleton robot comprising: a drive motor, a Bowden cable, a hip joint support, a thigh support, a calf support, a foot support, and a back support;

[0033] Wherein, the hip joint support is connected to the thigh support through the hip joint; the thigh support is connected to the calf support through the knee joint, and the calf support is connected to the foot support through the ankle joint;

[0034] The drive motor is arranged on the hip joint support or the back support; a drive motor position sensor and a drive motor current sensor are arranged on the drive motor, the drive motor position sensor is used to measure the rotation angular velocity of the drive motor; the drive motor current sensor is used to measure the current of the drive motor;

[0035] The first end of the Bowden cable is connected to the rotor of the driving motor, and the second end of the Bowden cable passes through the hip joint and the knee joint in sequence and ends at the ankle joint; the Bowden cable is used to drive the hip joint, the knee joint and the ankle joint to move simultaneously;

[0036] The back support is arranged on the upper part of the hip joint support, and an industrial computer is arranged at the back support. The industrial computer is used to determine the tension applied to the Bowden cable by the drive motor and the length of the Bowden cable released by the drive motor according to the sensor data corresponding to the hip joint, the knee joint and the ankle joint respectively.

[0037] In a possible implementation of the second aspect, a hip joint angle sensor is provided on the hip joint, and the hip joint angle sensor is used to measure the angle and angular velocity of the hip joint;

[0038] A knee joint angle sensor is provided on the knee joint, and the knee joint angle sensor is used to measure the angle and angular velocity of the knee joint;

[0039] An ankle joint angle sensor is arranged on the ankle joint, and the ankle joint angle sensor is used to measure the angle and angular velocity of the ankle joint;

[0040] A plantar pressure sensor is provided at the plantar support, and the plantar pressure sensor is used to measure the plantar pressure of the target object.

[0041] In a possible implementation of the second aspect, the lower limb exoskeleton robot further includes: a limit block, which is arranged at the knee joint and is used to limit the extension angle of the knee joint.

[0042] In a third aspect, an embodiment of the present application provides a device for determining control parameters of a lower limb exoskeleton robot, which is applied to a lower limb exoskeleton robot, comprising:

[0043] A data acquisition module is used to acquire the plantar pressure value of the target object and the sensor data corresponding to the skeletal joints of the lower limb exoskeleton robot worn by the target object; wherein the sensor data includes at least one of the following: the angle of the skeletal joint and the angular velocity of the skeletal joint;

[0044] A mode determination module, used to determine the gait mode of the lower limb exoskeleton robot according to the comparison result of the plantar pressure value and the preset threshold value; wherein the gait mode includes a support phase mode and a swing phase mode;

[0045] A tension determination module, used for determining the tension applied by the drive motor to the Bowden cable according to the plantar pressure value, the angle of the skeletal joint and the angular velocity of the skeletal joint when the exoskeleton robot is in the support phase mode;

[0046] The length determination module is used to determine the length of the Bowden cable released by the drive motor according to the angle of the skeletal joint when the exoskeleton robot is in the swing phase mode.

[0047] In a fourth aspect, an embodiment of the present application provides a lower limb exoskeleton robot control parameter determination device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above-described methods for determining the control parameters of a lower limb exoskeleton robot when executing the computer program.

[0048] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements any of the above-mentioned methods for determining the control parameters of a lower limb exoskeleton robot.

[0049] In a sixth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute any of the above-described methods for determining control parameters of a lower limb exoskeleton robot.

[0050] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the present application adds a drive motor and a Bowden cable on the basis of a purely passive lower limb exoskeleton robot without a motor, and obtains the plantar pressure value of the target object and the sensor data corresponding to the skeletal joints of the lower limb exoskeleton robot worn by the target object; wherein the sensor data corresponding to the skeletal joints includes at least one of the following: the angle of the skeletal joints and the angular velocity of the skeletal joints; the gait pattern of the lower limb exoskeleton robot is determined according to the comparison result between the plantar pressure value and the preset threshold value; when the exoskeleton robot is in the support phase mode, the tension applied to the Bowden cable by the drive motor is determined according to the plantar pressure value, the angle of the skeletal joints and the angular velocity of the skeletal joints, so as to provide assistance to the skeletal joints with a single drive motor; when the exoskeleton robot is in the swing phase mode, the length of the Bowden cable released by the drive motor is determined according to the angle of the skeletal joints, so as to achieve efficient assistance in weight-bearing walking in complex environments, thereby solving the problem of cumbersome operation and difficulty in efficient weight-bearing walking in complex environments faced by lower limb exoskeleton robots in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 It is a flow chart of a method for determining control parameters of a lower limb exoskeleton robot provided in one embodiment of the present application;

[0053] Figure 2 is a flow chart of a method for determining control parameters of a lower limb exoskeleton robot provided in another embodiment of the present application;

[0054] Figure 3 It is a curve diagram of the Bowden cable tension and gait pattern of a lower limb exoskeleton robot provided in one embodiment of the present application;

[0055] Figure 4 It is a schematic diagram of calculating the vertical power of the legs provided by an embodiment of the present application;

[0056] Figure 5 It is a structural schematic diagram of a lower limb exoskeleton robot provided in one embodiment of the present application;

[0057] Figure 6 is a schematic structural diagram of a lower limb exoskeleton robot provided by another embodiment of the present application;

[0058] Figure 7 It is a structural schematic diagram of a lower limb exoskeleton robot control parameter determination device provided in one embodiment of the present application;

[0059] Figure 8 It is a structural schematic diagram of a lower limb exoskeleton robot control parameter determination device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0060] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0061] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0062] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0063] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0064] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0065] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0066] See also Figure 1 , Figure 1 1 is a flow chart of a method for determining control parameters of a lower limb exoskeleton robot provided in an embodiment of the present application. The method for determining control parameters of a lower limb exoskeleton robot is applied to a lower limb exoskeleton robot, and the method comprises:

[0067] S11, obtaining the plantar pressure value of the target object and the sensor data corresponding to the skeletal joints of the lower limb exoskeleton robot worn by the target object; wherein the sensor data includes at least one of the following: the angle of the skeletal joint and the angular velocity of the skeletal joint;

[0068] S12, determining the gait mode of the lower limb exoskeleton robot according to the comparison result between the plantar pressure value and the preset threshold value; wherein the gait mode includes a support phase mode and a swing phase mode;

[0069] S13, when the exoskeleton robot is in the support phase mode, determining the pulling force applied by the drive motor to the Bowden cable according to the plantar pressure value, the angle of the skeletal joint and the angular velocity of the skeletal joint;

[0070] S14. When the exoskeleton robot is in the swing phase mode, the length of the Bowden cable released by the drive motor is determined according to the angle of the skeletal joint.

[0071] It should be noted that, in the present embodiment, the method for determining the control parameters of the lower limb exoskeleton robot is mainly applied to the lower limb exoskeleton robot, and the execution subject may be the industrial computer or other terminal equipment of the lower limb exoskeleton robot, and no specific limitation is made to this.

[0072] In step S11, the lower limb exoskeleton robot is a wearable robot device that can assist users in rehabilitation training or weight-bearing walking, etc. The target object refers to the user wearing the lower limb exoskeleton robot, such as a patient who needs rehabilitation training, a person who walks with weights, etc. The plantar pressure value is the pressure value of the sole of the target object, which is used to judge the walking state and ground support of the target object, and is usually obtained through a pressure sensor installed on the foot bracket of the lower limb exoskeleton robot.

[0073] The skeletal joints of the lower limb exoskeleton robot generally include the hip joint, knee joint and ankle joint. Angle sensors are installed at the hip joint, knee joint and ankle joint. These angle sensors are used to measure the angles and angular velocities of these skeletal joints of the lower limb exoskeleton robot in real time, that is, the sensor data corresponding to the skeletal joints. The sensor data corresponding to the skeletal joints can be used to understand the walking gait and speed of the target object.

[0074] In step S12, the preset threshold is a pressure value pre-set according to experiments or experience, which is used to compare with the foot pressure value to determine the gait mode of the lower limb exoskeleton robot. In this embodiment, the preset threshold is not specifically limited. The gait mode refers to the different stages and action modes taken by the lower limb exoskeleton robot when assisting the target object to walk. According to the gait cycle of human walking, it generally includes a support phase mode and a swing phase mode. The support phase mode refers to the stage in which the lower limb exoskeleton robot's feet are in contact with the ground and support the body weight during walking; the swing phase mode refers to the stage in which the lower limb exoskeleton robot's feet leave the ground and swing forward during walking. The coordination of the support phase mode and the swing phase mode is crucial to the stability, efficiency and comfort of the lower limb exoskeleton robot's walking.

[0075] In step S13, the driving motor provides power for the lower limb exoskeleton robot, and the driving motor applies corresponding tension to the Bowden cable to realize the movement of the skeletal joints of the lower limb exoskeleton robot. The Bowden cable is a flexible transmission device, which is composed of an internal steel wire and an external flexible sheath, and can convert the rotational motion of the driving motor into linear motion to transmit force or motion remotely. In the lower limb exoskeleton robot, the Bowden cable can be connected to the skeletal joints of the lower limb exoskeleton robot, and the angle and position of the skeletal joints can be changed by adjusting the tension of the Bowden cable. In the support phase mode, the tension that the driving motor needs to apply to the Bowden cable is calculated according to the plantar pressure value, the angle of the skeletal joint and the angular velocity of the skeletal joint, and then the driving motor is controlled to apply corresponding tension to the Bowden cable, so that a driving motor can simultaneously drive the movement of the three skeletal joints of the hip joint, knee joint and ankle joint of the lower limb exoskeleton robot to assist the stable support and weight-bearing walking of the target object.

[0076] In step S14, in the swing phase mode, the length of the Bowden cable that the drive motor needs to release is calculated according to the angle of the skeletal joint, and then the drive motor is controlled to release the corresponding length of the Bowden cable to assist the target object to complete the leg swing and step forward. In the swing phase mode, the lower limb exoskeleton robot can follow the target object's free movement and can achieve walking in complex terrain environments.

[0077] It should be noted that the left and right legs of the lower limb exoskeleton robot are independently controlled and are controlled based on the information of each leg.

[0078] It can be understood that the present application adds a drive motor and a Bowden cable on the basis of a purely passive lower limb exoskeleton robot without a motor, and obtains the plantar pressure value of the target object and the sensor data corresponding to the skeletal joints of the lower limb exoskeleton robot worn by the target object; wherein the sensor data includes at least one of the following: the angle of the skeletal joints and the angular velocity of the skeletal joints; the gait pattern of the lower limb exoskeleton robot is determined based on the comparison result between the plantar pressure value and the preset threshold value; when the exoskeleton robot is in the support phase mode, the tension applied to the Bowden cable by the drive motor is determined according to the plantar pressure value, the angle of the skeletal joints and the angular velocity of the skeletal joints, so as to achieve the use of a single drive motor to provide assistance to the skeletal joints; when the exoskeleton robot is in the swing phase mode, the length of the Bowden cable released by the drive motor is determined according to the angle of the skeletal joints, so as to achieve efficient assistance in weight-bearing walking in complex environments, thereby solving the problem of cumbersome operation and difficulty in efficient weight-bearing walking in complex environments faced by lower limb exoskeleton robots in the prior art.

[0079] In a possible implementation, determining the gait mode of the lower limb exoskeleton robot according to the comparison result between the plantar pressure value and the preset threshold value includes:

[0080] When the plantar pressure value is greater than or equal to a preset threshold, it is determined that the lower limb exoskeleton robot is in the support phase mode;

[0081] When the plantar pressure value is less than a preset threshold, it is determined that the lower limb exoskeleton robot is in the swing phase mode.

[0082] Specifically, due to the presence of noise, the plantar pressure value will be slightly greater than 0, so a preset threshold is set to compare with the foot pressure value to determine the gait mode of the lower limb exoskeleton robot. When the plantar pressure value is greater than or equal to the preset threshold, the gait mode of the lower limb exoskeleton robot is the support phase mode; when the plantar pressure value is less than the preset threshold, the gait mode of the lower limb exoskeleton machine is the swing phase mode. Different control strategies will be adopted when the lower limb exoskeleton robot is in different gait modes.

[0083] In a possible implementation, when the exoskeleton robot is in the support phase mode, the tension applied by the drive motor to the Bowden cable is determined according to the plantar pressure value, the angle of the skeletal joint, and the angular velocity of the skeletal joint, including:

[0084] Determine the vertical power of the leg of the lower limb exoskeleton robot according to the plantar pressure value, the angle of the bone joint and the angular velocity of the bone joint; wherein the angle of the bone joint and the angular velocity of the bone joint are measured by a hip joint angle sensor, a knee joint angle sensor and an ankle joint angle sensor;

[0085] The tension applied by the drive motor to the Bowden cable is determined based on the vertical power of the leg, the preset power ratio and the parameters of the drive motor; wherein the parameters of the drive motor include at least one of the following: the radius of the winding wire core shaft in the drive motor, the rotational angular velocity of the drive motor.

[0086] It should be noted that if Figure 2 As shown, Figure 2 It is a flow chart of a method for determining control parameters of a lower limb exoskeleton robot provided by another embodiment of the present application. A hip joint angle sensor is provided on the hip joint of the lower limb exoskeleton robot to measure the angle and angular velocity of the hip joint; a knee joint angle sensor is provided on the knee joint of the lower limb exoskeleton robot to measure the angle and angular velocity of the knee joint; an ankle joint angle sensor is provided on the ankle joint of the lower limb exoskeleton robot to measure the angle and angular velocity of the ankle joint. That is, the angle of the skeletal joint includes the angle of the hip joint obtained by the hip joint angle sensor, the angle of the knee joint obtained by the knee joint angle sensor, and the angle of the ankle joint obtained by the ankle joint angle sensor. The angular velocity of the skeletal joint includes the angular velocity of the hip joint obtained by the hip joint angle sensor, the angular velocity of the knee joint obtained by the knee joint angle sensor, and the angular velocity of the ankle joint obtained by the ankle joint angle sensor. The plantar pressure value is obtained by a pressure sensor installed on the foot bracket of the lower limb exoskeleton robot.

[0087] Among them, the angle of the hip joint, the angle of the knee joint and the angle of the ankle joint are parameters that describe the position or direction of these skeletal joints relative to each other or other parts. Specifically, the angle of the hip joint usually refers to the relative angle between the thigh support and the hip support, which is used to describe the degree of lifting or lowering of the thigh support relative to the hip support. The angle of the knee joint usually refers to the relative angle between the thigh support and the calf support, which is used to describe the degree of bending or straightening of the leg. The angle of the ankle joint usually refers to the relative angle between the calf support and the foot, which is used to describe the degree of lifting or stepping down of the foot.

[0088] It should be noted that the vertical power of the legs usually refers to the energy output rate generated by the legs in the vertical direction during movement. Calculating the vertical power of the legs usually requires measuring the force and speed generated by the legs in the vertical direction. The preset power ratio is a proportional coefficient pre-set according to the needs of the target object. The assist power of the lower limb exoskeleton robot can be adjusted according to the preset power ratio of the vertical power of the legs.

[0089] When the lower limb exoskeleton robot enters the support phase mode, the drive motor performs torque control, and a method based on the vertical power of the leg can be used to calculate the pulling force provided by the drive motor, that is, the pulling force applied by the drive motor to the Bowden cable. Figure 3 As shown, Figure 3 This is a curve diagram of the Bowden cable tension and gait pattern of a lower limb exoskeleton robot provided in one embodiment of the present application. Figure 3 In the present invention, when the lower limb exoskeleton robot is in the support phase mode, the tension applied by the drive motor to the Bowden cable changes with the gait, and the lower limb exoskeleton robot supports the load and assists the skeletal joints.

[0090] In a possible implementation, the vertical power of the leg of the lower limb exoskeleton robot is determined according to the plantar pressure value, the angle of the skeletal joint, and the angular velocity of the skeletal joint, including:

[0091] The vertical power of the leg of the lower limb exoskeleton robot is determined according to the plantar pressure value, the angle of the skeletal joint, the angular velocity of the skeletal joint and the preset vertical power calculation formula of the leg; wherein the skeletal joints include the hip joint, the knee joint and the ankle joint; the preset vertical power calculation formula of the leg is:

[0092] ;

[0093] in, is the vertical power of the leg; is the plantar pressure value; is the angular velocity of the knee joint; is the length of the calf support of the lower limb exoskeleton robot; is the angular velocity of the hip joint; is the length of the thigh support of the lower limb exoskeleton robot; is the angle of the knee joint; is the angle of the ankle joint.

[0094] Please note that Figure 4 , Figure 4 Schematic diagram of calculating the vertical power of the legs provided by an embodiment of the present application. Figure 4 As shown, the specific calculation process is: The calculation formula for the power of a single leg in the vertical direction is:

[0095] (1-1)

[0096] In the formula, is the power of a single leg in the vertical direction, that is, the vertical power of the leg; is the plantar pressure value, is the vertical velocity at the hip joint. The lower limb skeletal joint can be simplified into a two-link model, and the velocity vector of the hip joint is It can be obtained through formula (1-2),

[0097] (1-2)

[0098] in, is the linear velocity of the knee joint, is the linear velocity of the hip joint relative to the knee joint due to the angular velocity of the thigh.

[0099] Therefore, the velocity vector of the hip joint is The component in the vertical direction , can be obtained by formula (1-3),

[0100] (1-3)

[0101] Right now,

[0102] (1-4)

[0103] in, is the angular velocity of the knee joint; is the length of the calf support of the lower limb exoskeleton robot; is the angular velocity of the hip joint; is the length of the thigh support of the lower limb exoskeleton robot; is the angle of the knee joint; Angle of the ankle joint

[0104] Thus, the preset leg vertical power calculation formula is obtained, as shown in formula (1-5):

[0105] (1-5)

[0106] In a possible implementation, determining the pulling force applied by the drive motor to the Bowden cable according to the vertical power of the leg, the preset power ratio and the parameters of the drive motor includes:

[0107] The pulling force applied by the driving motor to the Bowden cable is determined according to the vertical power of the leg, the preset power ratio, the parameters of the driving motor and the preset motor pulling force calculation formula; wherein the preset motor pulling force calculation formula is:

[0108] ;

[0109] in, The tension applied to the Bowden cable by the drive motor; is the preset power ratio; is the radius of the winding core shaft in the drive motor; is the angular velocity of the driving motor.

[0110] It should be noted that the assist power of the lower limb exoskeleton robot can be set according to the ratio of the power in the vertical direction of the leg, that is, the preset power ratio, which can be adjusted through the buttons of the lower limb exoskeleton robot, so that the target object can choose an appropriate ratio according to needs. The tension applied by the drive motor to the Bowden cable can be calculated according to formula (1-6):

[0111] (1-6)

[0112] Thus, the preset motor pulling force calculation formula is:

[0113] (1-7)

[0114] in, The tension applied to the Bowden cable by the drive motor; is the preset power ratio; is the radius of the winding core shaft in the drive motor; is the angular velocity of the driving motor.

[0115] It should be noted that the radius of the winding core shaft in the drive motor and the angular velocity of the drive motor It is a parameter of the drive motor. The radius of the winding shaft of the drive motor usually refers to the distance from the wire core wound on the shaft to the center of the shaft inside the drive motor. The angular velocity of the drive motor usually describes the rotation speed of the drive motor shaft, that is, the angle the shaft rotates per unit time.

[0116] In a possible implementation, after determining the tension applied by the drive motor to the Bowden cable, the control method of the lower limb exoskeleton robot further includes:

[0117] The current of the driving motor is determined according to the tension applied by the driving motor to the Bowden cable and the preset motor current calculation formula; wherein the preset motor current calculation formula is:

[0118] ;

[0119] in, is the current driving the motor; is the current torque constant of the driving motor.

[0120] It should be noted that after determining the tension applied by the drive motor to the Bowden cable, the current of the drive motor can be calculated based on the current and torque relationship of the drive motor, as shown in formula (1-8),

[0121] (1-8)

[0122] It can be obtained that the preset motor current calculation formula is as follows:

[0123] (1-9)

[0124] in, is the current driving the motor; is the current torque constant of the driving motor.

[0125] In a possible implementation, when the exoskeleton robot is in the swing phase mode, the length of the Bowden cable released by the drive motor is determined according to the angle of the skeletal joint, including:

[0126] The length of the Bowden wire released by the driving motor is determined according to the angle of the bone joint, the preset Bowden wire rotation radius at the bone joint and the preset motor release Bowden wire length calculation formula; wherein the preset motor release Bowden wire length calculation formula is:

[0127] ;

[0128] in, The length of the Bowden cable released to drive the motor; is the angle of the hip joint; The preset Bowden cable rotation radius at the hip joint; is the angle of the knee joint; The preset Bowden cable rotation radius at the knee joint; is the angle of the ankle joint; The preset Bowden cable rotation radius at the ankle joint; The preset length margin.

[0129] It should be noted that when the lower limb exoskeleton robot enters the swing phase mode, the drive motor performs position control to release the Bowden cable. The length of the released Bowden cable is related to the angle of the skeletal joints of the lower limbs, so that the lower limb exoskeleton robot enters a completely passive state, and the amount of additional released cable is relatively small, which helps to quickly retract it. Therefore, the length of the Bowden cable released by the drive motor is calculated based on the angle of the skeletal joints and the preset Bowden cable rotation radius at the skeletal joints. Among them, the calculation formula for the length of the Bowden cable released by the preset motor is:

[0130] (1-10)

[0131] In formula (1-10), The length of the Bowden cable released to drive the motor; is the angle of the hip joint; The preset Bowden cable rotation radius at the hip joint; is the angle of the knee joint; The preset Bowden cable rotation radius at the knee joint; is the angle of the ankle joint; The preset Bowden cable rotation radius at the ankle joint; The preset length margin.

[0132] It should be noted that the preset rotation radius of the Bowden cable at the skeletal joint is a rotation radius of a Bowden cable preset at each skeletal joint according to actual needs, and is related to the radius of the skeletal joint, that is, the length of the Bowden cable wrapped around the skeletal joint. The skeletal joints include hip joints, knee joints and ankle joints. The preset length margin is the length margin of the Bowden cable preset according to actual applications, which is used to ensure the walking stability of the lower limb exoskeleton robot. In this embodiment, the preset length margin is not specifically limited.

[0133] like Figure 3 As shown, Figure 3 This is a curve diagram of the Bowden cable tension and gait pattern of a lower limb exoskeleton robot provided in one embodiment of the present application. Figure 3 In the swing phase mode, the driving motor releases a certain length of the Bowden cable, and the lower limb exoskeleton robot passively moves with the target object's legs, achieving efficient load-bearing walking in complex environments.

[0134] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0135] Corresponding to a method for determining control parameters of a lower limb exoskeleton robot in the above embodiment, Figure 5 A schematic structural diagram of a lower limb exoskeleton robot provided in one embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0136] Please refer to Figure 5 The lower limb exoskeleton robot 3 of this embodiment includes: a drive motor 31, a Bowden cable 32, a hip joint support 33, a thigh support 34, a calf support 35, a foot support 36, and a back support 37;

[0137] The hip joint support 33 is connected to the thigh support 34 via the hip joint 41; the thigh support 34 is connected to the calf support 35 via the knee joint 42, and the calf support 35 is connected to the foot support 36 via the ankle joint 43;

[0138] The driving motor 31 is arranged on the hip joint support 33 or the back support 37; the driving motor 31 is provided with a driving motor position sensor and a driving motor current sensor, the driving motor position sensor is used to measure the rotation angular velocity of the driving motor 31; the driving motor current sensor is used to measure the current of the driving motor 31;

[0139] The first end of the Bowden cable 32 is connected to the rotor of the driving motor 31, and the second end of the Bowden cable 32 passes through the hip joint 41 and the knee joint 42 in sequence and ends at the ankle joint 43; the Bowden cable 32 is used to drive the hip joint 41, the knee joint 42 and the ankle joint 43 to move at the same time;

[0140] The back support 37 is arranged on the upper part of the hip joint support 33, and an industrial computer 44 is arranged on the back support 37. The industrial computer 44 is used to determine the tension applied to the Bowden cable 32 by the drive motor 31 and the length of the Bowden cable 32 released by the drive motor 31 according to the sensor data corresponding to the hip joint 41, the knee joint 42 and the ankle joint 43 respectively.

[0141] It should be noted that the lower limb exoskeleton robot in this embodiment is a pure passive lower limb exoskeleton robot without a drive motor, with a drive motor 31 added, and the drive motor 31 is used to assist the three joints of the hip joint 41, the knee joint 42 and the ankle joint 43.

[0142] In this embodiment, the lower limb exoskeleton robot 3 includes two drive motors 31, which are arranged on the hip joint bracket 33 or the back bracket 37. The stator part of the drive motor 31 is connected to the hip joint bracket 33 or the back bracket 37, and the rotor part of the drive motor 31 is connected to the first end of the Bowden cable 32. The drive motor 31 is provided with a drive motor position sensor and a drive motor current sensor. The drive motor position sensor is used to measure the rotational angular velocity of the drive motor 31; the drive motor current sensor is used to measure the current of the drive motor 31. The second end of the Bowden cable 32 passes through the hip joint 41, the knee joint 42 in sequence and ends at the ankle joint 43. The Bowden cable 32 can drive the hip joint 41, the knee joint 42 and the ankle joint 43 to move at the same time.

[0143] The hip joint support 33 is connected to the thigh support 34 via the hip joint 41; the thigh support 34 is connected to the calf support 35 via the knee joint 42, and the calf support 35 is connected to the foot support 36 via the ankle joint 43;

[0144] The back support 37 is arranged on the upper part of the hip joint support 33, and an industrial computer 44 is arranged on the back support 37. The industrial computer 44 is used to determine the tension applied to the Bowden cable 32 by the drive motor 31 and the length of the Bowden cable 32 released by the drive motor 31 according to the sensor data corresponding to the hip joint 41, the knee joint 42 and the ankle joint 43. A load can also be placed on the back support 37.

[0145] It should be noted that the thigh and calf supports of the lower limb exoskeleton robot use lightweight carbon fiber rods, which can reduce the impact of the swing phase mode on the leg inertia.

[0146] In a possible implementation, a hip joint angle sensor is provided on the hip joint 41, and the hip joint angle sensor is used to measure the angle and angular velocity of the hip joint 41;

[0147] A knee joint angle sensor is provided on the knee joint 42, and the knee joint angle sensor is used to measure the angle and angular velocity of the knee joint 42;

[0148] The ankle joint 43 is provided with an ankle joint angle sensor, which is used to measure the angle and angular velocity of the ankle joint 43;

[0149] A plantar pressure sensor is provided at the plantar support 36 , and the plantar pressure sensor is used to measure the plantar pressure of the target object.

[0150] It should be noted that angle sensors are provided at the hip, knee and ankle joints of the lower limb exoskeleton robot 3, that is, a hip joint angle sensor is provided on the hip joint 41 to measure the angle and angular velocity of the hip joint 41; a knee joint angle sensor is provided on the knee joint 42 to measure the angle and angular velocity of the knee joint 42; an ankle joint angle sensor is provided on the ankle joint 43 to measure the angle and angular velocity of the ankle joint 43. A plantar pressure sensor is provided at the sole support 36 of the lower limb exoskeleton robot 3 to measure the plantar pressure of the target object.

[0151] It should be noted that the angle sensors installed at the hip, knee and ankle joints of the lower limb exoskeleton robot 3 can be replaced by an inertial measurement unit (IMU). When using an IMU, it is necessary to install an IMU at the hip joint support 33, thigh support 34, calf support 35 and foot support 36.

[0152] In a possible implementation, the lower limb exoskeleton robot 3 further includes: a limit block 38 , which is disposed at the knee joint 42 and is used to limit the straightening angle of the knee joint 42 .

[0153] It should be noted that if Figure 6 As shown, Figure 6FIG. 1 is a schematic diagram of the structure of a lower limb exoskeleton robot provided by another embodiment of the present application. Figure 6 In the embodiment, a limit block 38 is also provided at the knee joint 42 of the lower limb exoskeleton robot 3. The limit block 38 is used to limit the straightening angle of the knee joint 42 to prevent the straightening angle of the knee joint 42 from exceeding the normal range and causing hyperextension. Figure 6 In the support phase mode, the inner core of the Bowden cable in the lower limb exoskeleton robot 3 assists, and it is fixed to the rotor to provide tension; in the swing phase mode, the inner core of the Bowden cable in the lower limb exoskeleton robot 3 is released.

[0154] It should be noted that the information interaction, execution process, etc. between the modules in the above-mentioned lower limb exoskeleton robot 3 are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0155] Corresponding to a method for determining control parameters of a lower limb exoskeleton robot in the above embodiment, Figure 7 A schematic diagram of the structure of a lower limb exoskeleton robot control parameter determination device provided in one embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0156] Please refer to Figure 7 The lower limb exoskeleton robot control parameter determination device 5 of this embodiment is applied to the lower limb exoskeleton robot 3, comprising:

[0157] The data acquisition module 51 is used to acquire the plantar pressure value of the target object and the sensor data corresponding to the skeletal joints of the lower limb exoskeleton robot worn by the target object; wherein the sensor data includes at least one of the following: the angle of the skeletal joint and the angular velocity of the skeletal joint;

[0158] The mode determination module 52 is used to determine the gait mode of the lower limb exoskeleton robot according to the comparison result between the plantar pressure value and the preset threshold value; wherein the gait mode includes a support phase mode and a swing phase mode;

[0159] A tension determination module 53 is used to determine the tension applied by the drive motor to the Bowden cable according to the plantar pressure value, the angle of the skeletal joint and the angular velocity of the skeletal joint when the exoskeleton robot is in the support phase mode;

[0160] The length determination module 54 is used to determine the length of the Bowden cable released by the drive motor according to the angle of the skeletal joint when the exoskeleton robot is in the swing phase mode.

[0161] It should be noted that the information interaction, execution process, etc. between the modules in the above-mentioned lower limb exoskeleton robot control parameter determination device 5 are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0162] The present application also provides a device for determining control parameters of a lower limb exoskeleton robot, such as Figure 8 As shown, Figure 8 This is a schematic diagram of a lower limb exoskeleton robot control parameter determination device provided in one embodiment of the present application. Figure 8 The lower limb exoskeleton robot control parameter determination device 6 of this embodiment includes: a memory 61, a processor 62, and a computer program stored in the memory 61 and executable on the processor 62. When the processor 62 executes the computer program, the steps in any one of the above-mentioned lower limb exoskeleton robot control parameter determination method embodiments are implemented.

[0163] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0164] The embodiment of the present application also provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0165] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0166] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0167] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0168] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0169] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0170] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for determining control parameters of a lower limb exoskeleton robot, applied to a lower limb exoskeleton robot, characterized in that: include: Acquire the plantar pressure value of the target object and the sensor data corresponding to the skeletal joints of the lower limb exoskeleton robot worn by the target object; wherein the sensor data includes at least one of the following: the angle of the skeletal joints and the angular velocity of the skeletal joints; Determining the gait mode of the lower limb exoskeleton robot according to the comparison result between the plantar pressure value and the preset threshold value; wherein the gait mode includes a support phase mode and a swing phase mode; When the exoskeleton robot is in the support phase mode, determining the pulling force applied by the drive motor to the Bowden cable according to the plantar pressure value, the angle of the skeletal joint and the angular velocity of the skeletal joint; When the exoskeleton robot is in the swing phase mode, the length of the Bowden cable released by the drive motor is determined according to the angle of the skeletal joint; wherein, When the exoskeleton robot is in the support phase mode, determining the pulling force applied by the drive motor to the Bowden cable according to the plantar pressure value, the angle of the skeletal joint and the angular velocity of the skeletal joint includes: The vertical power of the leg of the lower limb exoskeleton robot is determined according to the plantar pressure value, the angle of the bone joint and the angular velocity of the bone joint; wherein the angle of the bone joint and the angular velocity of the bone joint are measured by a hip joint angle sensor, a knee joint angle sensor and an ankle joint angle sensor; specifically: The vertical power of the leg of the lower limb exoskeleton robot is determined according to the plantar pressure value, the angle of the skeletal joint, the angular velocity of the skeletal joint and a preset vertical power calculation formula of the leg; wherein the skeletal joint includes a hip joint, a knee joint and an ankle joint; the preset vertical power calculation formula of the leg is: ； in, is the vertical power of the leg; is the plantar pressure value; is the angular velocity of the knee joint; is the length of the calf support of the lower limb exoskeleton robot; is the angular velocity of the hip joint; is the length of the thigh support of the lower limb exoskeleton robot; is the angle of the knee joint; is the angle of the ankle joint; and, The tension applied by the drive motor to the Bowden cable is determined according to the vertical power of the leg, the preset power ratio and the parameters of the drive motor; wherein the parameters of the drive motor include at least one of the following: the radius of the winding core shaft in the drive motor, the rotational angular velocity of the drive motor; specifically: The tension applied by the drive motor to the Bowden cable is determined according to the vertical power of the leg, the preset power ratio, the parameters of the drive motor and the preset motor tension calculation formula; wherein the preset motor tension calculation formula is: ； in, is the tension applied by the drive motor to the Bowden cable; is the preset power ratio; is the radius of the winding core shaft in the driving motor; is the rotational angular velocity of the drive motor.

2. The method for determining control parameters of a lower limb exoskeleton robot according to claim 1, characterized in that: Determining the gait mode of the lower limb exoskeleton robot according to the comparison result between the plantar pressure value and the preset threshold value includes: When the plantar pressure value is greater than or equal to the preset threshold, it is determined that the lower limb exoskeleton robot is in the support phase mode; When the plantar pressure value is less than the preset threshold, it is determined that the lower limb exoskeleton robot is in the swing phase mode.

3. The method for determining control parameters of a lower limb exoskeleton robot according to claim 1, characterized in that: After determining the tension applied by the drive motor to the Bowden cable, the method further includes: The current of the driving motor is determined according to the tension applied by the driving motor to the Bowden cable and a preset motor current calculation formula; wherein the preset motor current calculation formula is: ； in, is the current of the driving motor; is the current torque constant of the drive motor.

4. The method for determining control parameters of a lower limb exoskeleton robot according to claim 3, characterized in that: When the exoskeleton robot is in the swing phase mode, determining the length of the Bowden cable released by the drive motor according to the angle of the skeletal joint includes: The length of the Bowden cable released by the driving motor is determined according to the angle of the skeletal joint, the preset Bowden cable rotation radius at the skeletal joint and the preset motor release Bowden cable length calculation formula; wherein the preset motor release Bowden cable length calculation formula is: ； in, the length of the Bowden cable released for the drive motor; is the angle of the hip joint; A Bowden cable rotation radius preset at the hip joint; A Bowden cable rotation radius preset at the knee joint; A Bowden cable rotation radius preset at the ankle joint; The preset length margin.

5. A lower limb exoskeleton robot, characterized in that: The lower limb exoskeleton robot comprises: a driving motor, a Bowden cable, a hip joint support, a thigh support, a calf support, a foot support, and a back support; Wherein, the hip joint support is connected to the thigh support through the hip joint; the thigh support is connected to the calf support through the knee joint, and the calf support is connected to the foot support through the ankle joint; The drive motor is arranged on the hip joint support or the back support; a drive motor position sensor and a drive motor current sensor are arranged on the drive motor, the drive motor position sensor is used to measure the rotation angular velocity of the drive motor; the drive motor current sensor is used to measure the current of the drive motor; The first end of the Bowden cable is connected to the rotor of the driving motor, and the second end of the Bowden cable passes through the hip joint and the knee joint in sequence and ends at the ankle joint; the Bowden cable is used to drive the hip joint, the knee joint and the ankle joint to move simultaneously; The back support is arranged on the upper part of the hip joint support, and an industrial computer is arranged at the back support. The industrial computer is used to execute the lower limb exoskeleton robot control parameter determination method as described in any one of claims 1 to 4 above to determine the tension applied to the Bowden cable by the drive motor and the length of the Bowden cable released by the drive motor.

6. The lower limb exoskeleton robot according to claim 5, characterized in that: A hip joint angle sensor is provided on the hip joint, and the hip joint angle sensor is used to measure the angle and angular velocity of the hip joint; A knee joint angle sensor is provided on the knee joint, and the knee joint angle sensor is used to measure the angle and angular velocity of the knee joint; An ankle joint angle sensor is arranged on the ankle joint, and the ankle joint angle sensor is used to measure the angle and angular velocity of the ankle joint; A plantar pressure sensor is provided at the plantar support, and the plantar pressure sensor is used to measure the plantar pressure of the target object.

7. The lower limb exoskeleton robot according to claim 5, characterized in that: The lower limb exoskeleton robot also includes a limit block, which is arranged at the knee joint and is used to limit the extension angle of the knee joint.

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