A method, device and equipment for adaptive coordinated control of powered thigh prosthesis

Abstract

The present application belongs to the field of power prosthesis control, and specifically discloses a method, device and equipment for adaptive collaborative control of a power thigh prosthesis, including: obtaining examples of motion trajectories of healthy users crossing obstacles of different heights and / or different widths; when the prosthesis needs to cross an obstacle, the obstacle crossing process of the prosthesis is divided into the initial stage of obstacle crossing, the middle stage of obstacle crossing and the final stage of obstacle crossing according to the hip joint angle and angular acceleration of the residual limb; in the early stage of obstacle crossing, a knee joint trajectory example is selected and combined with the hip joint angle to determine the knee joint control angle of the prosthesis; in the middle stage of obstacle crossing and the final stage of obstacle crossing, two knee joint trajectory examples are selected for interpolation, and the knee joint control angle of the prosthesis is determined in combination with the hip joint angle, and the dynamic motion primitive algorithm is used to smoothly connect the knee joint trajectories of the latter part of the middle stage of obstacle crossing and the front part of the final stage of obstacle crossing, and the knee joint control angle of the final stage of obstacle crossing is updated. Through this application, adaptive collaborative control of a power thigh prosthesis is achieved to reduce the risk of falling.

Description

Technical Field

[0001] The present application belongs to the field of powered prosthesis control, and more specifically, to a method, device and equipment for adaptive collaborative control of a powered thigh prosthesis. Background Art

[0002] In the process of daily walking, in addition to flat roads, you may also encounter obstacles such as stones and roadblocks. Unlike rhythmic movements such as walking on flat ground, stairs, and slopes, the irregularity of human movement when crossing obstacles is significantly enhanced, which brings challenges to the human-machine-environment coordinated control of powered thigh prostheses. Although existing powered thigh prosthesis control methods can achieve obstacle crossing, they rarely show high adaptability to obstacles. At the same time, existing control methods make the movement of the prosthesis not correspond to the movement of the human body, and it is difficult for the human body to control the process of prosthetic obstacle crossing. This motion control method dominated by non-human intentions will lead to the incoordination of the overall movement of man and machine, increasing the risk of falling.

[0003] At the same time, the existing human intention recognition only detects the current human movement state, lacks the information exchange channel between the prosthesis and the environment, and is difficult to predict terrain and road conditions in advance. Therefore, sensors with environmental perception functions are also needed to form a human-machine-environment fusion loop to assist the powered thigh prosthesis in predicting the adjustment of the prosthesis's control parameters. Existing literature has used visual sensors to build a link between the prosthesis and the environment, which can accurately obtain terrain parameters and categories. Therefore, it is necessary to further explore the human-prosthesis-vision fusion powered thigh prosthesis obstacle crossing method to achieve highly adaptive control of obstacle crossing with the prosthesis following the coordinated movement of the human residual limb. Summary of the invention

[0004] In view of the defects of the prior art, the purpose of this application is to provide a method, device and equipment for adaptive coordinated control of a powered thigh prosthesis, aiming to solve the problem that the motion control of the existing powered thigh prosthesis cannot adapt to the height of obstacles, resulting in uncoordinated overall human-machine movement and the risk of falling.

[0005] To achieve the above objectives, in a first aspect, the present application provides an adaptive collaborative control method for a powered thigh prosthesis, the powered thigh prosthesis being used to connect to the thigh stump of a thigh amputee, the method comprising:

[0006] Obtaining motion trajectory examples of a healthy user crossing example obstacles of different heights; the motion trajectory examples include: knee joint trajectory examples; the knee joint trajectory examples refer to the functional relationship between the knee joint angle and the hip joint angle during the obstacle crossing process;

[0007] When the powered thigh prosthesis needs to assist a thigh amputee to cross an obstacle, if the angle of the hip joint of the thigh amputee from the time the prosthesis leaves the ground to the time the prosthesis leaves the ground is zero degrees, the knee joint control angle of the prosthesis is determined by referring to the example of the knee joint trajectory when the example obstacle height is moderate; the moderate indicates that the example obstacle height is between the highest example obstacle height and the lowest example obstacle height;

[0008] If the height of the obstacle that the thigh amputee actually wants to cross is greater than the preset height, when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle, two knee joint trajectory examples corresponding to two example obstacles adjacent to the height of the obstacle to be crossed are selected, and the knee joint control angle of the prosthesis is preliminarily determined in combination with the knee joint angle of the prosthesis when the hip joint angle of the thigh amputee is zero degrees; when the width of the obstacle to be crossed is greater than the width threshold, if the hip joint angle of the thigh amputee is greater than the maximum hip joint angle in the selected knee joint trajectory example, the knee joint control angle of the prosthesis is set to the knee joint angle value under the maximum hip joint angle in the knee joint trajectory example;

[0009] If the height of the obstacle that the thigh amputee actually has to cross is greater than the preset height, when the hip joint angle of the thigh amputee decreases from the maximum angle to the point where the prosthesis lands, the knee joint control angle of the prosthesis is preliminarily determined based on the two knee joint trajectory examples, and then combined with the maximum hip joint angle of the thigh amputee, the given reference trajectory is imitated and learned, and the preliminarily determined knee joint control angle is updated so that the knee joint control angle near the maximum hip joint angle of the thigh amputee is smooth and continuous; the reference trajectory includes: a knee joint trajectory at the maximum hip joint angle and another knee joint trajectory where the hip joint angle decreases from the maximum angle to the point where the prosthesis lands, and the two knee joint trajectories are smoothly connected.

[0010] It can be understood that the above-mentioned imitation learning is used to avoid the discontinuity of the prosthetic knee joint control angle near the maximum angle of the thigh amputee's hip joint due to the deviation between the maximum angle of the thigh amputee's hip joint and the maximum angle of the hip joint of the healthy user in the two selected knee joint trajectory examples.

[0011] It should be noted that the present application collects examples of motion trajectories of healthy users when overcoming obstacles and uses the examples of motion trajectories of healthy users as a reference for the motion control of a powered thigh prosthesis; and divides the obstacle overcoming process into three stages based on the user's hip joint angle, wherein the initial stage of obstacle overcoming has a lower decisiveness on whether the obstacle can be overcome, and the changes in the user's knee joint angles when facing obstacles of different heights are almost the same in the initial stage of obstacle overcoming. Therefore, in the initial stage of obstacle overcoming, the knee joint angle of the prosthesis can be directly controlled by referring to the knee joint trajectory example when the obstacle height is moderate, thereby simplifying the control algorithm.

[0012] Furthermore, the middle and final stages of obstacle crossing are both critical stages that determine whether the obstacle is crossed. The hip joint angle of 0 degrees in these two critical stages is a stage that both healthy users and thigh amputees have to go through; however, the maximum hip joint angle of thigh amputees when they actually cross obstacles is unpredictable and is not strictly consistent with the maximum hip joint angle of healthy users. Therefore, if the middle and final stages of obstacle crossing are taken as an obstacle crossing cycle and only the interpolation method is considered to control the knee joint angle, the control of the prosthesis will not be able to adapt to the actual hip joint angle of the amputee in real time. When the hip joint angle of the amputee deviates greatly from the hip joint angle of the healthy user corresponding to the selected trajectory example (especially near the maximum angle), the knee joint control trajectory may not be smoothly connected, resulting in the prosthesis being unable to cross obstacles and increasing the risk of falling for thigh amputees. Therefore, this application controls the middle and final stages of obstacle crossing separately, and learns from the reference trajectory to ensure that the trajectory of the prosthetic knee joint near the maximum hip joint angle of the amputee is smooth and continuous, thereby achieving human-machine adaptive collaborative control of the prosthesis and the amputee, improving human-machine coordination, and improving the reliability of the powered thigh prosthesis control algorithm, greatly reducing the risk of falling during the walking process of the amputee assisted by the powered thigh prosthesis.

[0013] In a possible implementation, the motion trajectory example further includes: an ankle joint trajectory example; the ankle joint trajectory example refers to a functional relationship between an ankle joint angle and a hip joint angle during an obstacle crossing process;

[0014] The method further comprises the following steps:

[0015] During the obstacle crossing process from when the prosthesis leaves the ground to when it lands on the ground, the ankle joint control angle of the prosthesis is determined by referring to the ankle joint trajectory example when the obstacle height is moderate.

[0016] Similarly, during the entire obstacle crossing cycle, the user's ankle joint angle changes relatively little when facing obstacles of different heights. Therefore, during the entire obstacle crossing cycle, the ankle joint trajectory example when the obstacle height is moderate can be used to directly control the prosthetic ankle joint angle to simplify the control algorithm.

[0017] In a possible implementation, obtaining a motion trajectory example of a healthy user crossing example obstacles of different heights includes:

[0018] Obtaining examples of motion trajectories of a healthy user crossing over different example obstacles composed of blocks of a preset height H, a preset width, and a preset length stacked in the height direction; when the height of the example obstacle is i*H, it corresponds to the i-th motion trajectory example;

[0019] When the actual height of the obstacle to be crossed is greater than the preset height, the preset height is used as the preset height. The above two examples of selecting knee joint trajectories include:

[0020] Determine the integer k obtained by dividing the actual obstacle height to be crossed by the preset height;

[0021] The knee joint trajectory examples under the kth motion trajectory example and the k+1th motion trajectory example are taken as two selected knee joint trajectory examples.

[0022] In one possible implementation, the method further includes: if the actual height of the obstacle to be crossed is not greater than the preset height, then when the hip joint angle of the thigh amputee increases from zero degrees to a maximum angle, and then decreases from the maximum angle to the point where the prosthesis falls to the ground, the hip joint angle of the thigh amputee is substituted into the first knee joint trajectory example to obtain the knee joint control angle of the prosthesis.

[0023] In a possible implementation, the obstacle crossing process from when the prosthesis leaves the ground to when the hip joint angle of the thigh amputee reaches zero degrees is set as the initial stage of obstacle crossing, the obstacle crossing process from when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle is set as the middle stage of obstacle crossing, and the obstacle crossing process from when the hip joint angle of the thigh amputee decreases from the maximum angle to when the prosthesis lands on the ground is set as the final stage of obstacle crossing;

[0024] In the middle of the obstacle crossing, two knee joint trajectory examples were selected, and the knee joint angle of the prosthesis was preliminarily determined when the hip joint angle of the thigh amputee was zero degrees. The control angle of the knee joint of the prosthesis was included:

[0025] Determine the remainder after dividing the actual height of the obstacle to be crossed by the preset height;

[0026] Based on the prosthetic knee joint angle at the end of the initial obstacle crossing, the two selected knee joint trajectory examples are interpolated in combination with the remainder to obtain a preliminarily determined prosthetic knee joint control angle;

[0027] At the end of the obstacle crossing, the knee joint control angle of the prosthesis is preliminarily determined based on the two knee joint trajectory examples, including:

[0028] The two selected knee joint trajectory examples are interpolated in combination with the remainder to preliminarily determine the knee joint control angle of the prosthesis.

[0029] In a specific example, let sw1 represent the initial stage of obstacle crossing, sw2 represent the middle stage of obstacle crossing, and sw3 represent the final stage of obstacle crossing; when the height of the obstacle to be crossed by the prosthesis is h, [] indicates the rounding symbol. When k>1, in the middle of the obstacle crossing, the hip angle of the thigh amputee One-to-one control angle of prosthetic knee joint for:

[0030]

[0031] in, It represents the prosthetic knee joint angle at the end of the initial obstacle crossing period; The hip angle of a thigh amputee Substitute the knee angle obtained from the kth knee trajectory example, The hip angle of a thigh amputee Substitute the knee angle obtained from the k+1th knee trajectory example; Represents the remainder.

[0032] When the height of the obstacle that the prosthesis needs to cross is h, when k>1, at the end of the obstacle crossing, the angle of the hip joint of the femoral amputee One-to-one control angle of prosthetic knee joint for:

[0033]

[0034] in, The hip angle of a thigh amputee Substitute the knee angle obtained from the kth knee trajectory example, The hip angle of a thigh amputee Substitute the knee angle obtained from the k+1th knee trajectory example.

[0035] In a possible implementation, the maximum angle of the hip joint of the thigh amputee is combined with imitation learning of the given reference trajectory to update the initially determined control angle of the prosthetic knee joint, including:

[0036] Determine the hip joint angle of the thigh amputee and the knee joint angle of the prosthesis corresponding to the straight line connecting the end point of the middle obstacle crossing and the start point of the end obstacle crossing;

[0037] Combined with the straight connecting segment and the knee joint trajectory corresponding to the initially determined prosthetic knee joint angle of the terminal obstacle crossing prosthesis, the dynamic motion primitive DMP algorithm is used to imitate the reference trajectory and learn to update the knee joint control angle of the terminal obstacle crossing prosthesis.

[0038] In a possible implementation, determining a knee joint control angle or an ankle joint control angle of a prosthesis with reference to an example knee joint trajectory example or an example ankle joint trajectory example when the obstacle height is moderate includes:

[0039] Determine the initial hip angle of the femoral amputee when the prosthesis leaves the ground;

[0040] The hip joint angle in the trajectory example when the example obstacle height is moderate is updated with reference to the initial hip joint angle, and substituted into the trajectory example to determine the corresponding prosthetic knee joint control angle or prosthetic ankle joint control angle.

[0041] In a second aspect, the present application provides an adaptive collaborative control device for a powered thigh prosthesis, wherein the powered thigh prosthesis is used to connect to the thigh stump of a thigh amputee, and the device comprises:

[0042] The trajectory example acquisition module is used to obtain the motion trajectory examples of a healthy user crossing example obstacles of different heights; the motion trajectory examples include: knee joint trajectory examples; the knee joint trajectory examples refer to the functional relationship between the knee joint angle and the hip joint angle during the obstacle crossing process;

[0043] The first obstacle crossing control module is used to determine the knee joint control angle of the prosthesis with reference to the example of knee joint trajectory when the example obstacle height is moderate when the powered thigh prosthesis needs to assist the thigh amputee to cross the obstacle, if the angle of the hip joint of the thigh amputee from the time the prosthesis leaves the ground to the time the prosthesis leaves the ground is zero degrees; the moderate indicates that the example obstacle height is between the highest example obstacle height and the lowest example obstacle height;

[0044] The second obstacle crossing control module is used for, if the height of the obstacle that the thigh amputee actually wants to cross is greater than the preset height, when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle, selecting two knee joint trajectory examples corresponding to two example obstacles that are adjacent to the height of the obstacle that the thigh amputee actually wants to cross, and preliminarily determining the knee joint control angle of the prosthesis in combination with the knee joint angle of the prosthesis when the hip joint angle of the thigh amputee is zero degrees; when the width of the obstacle that is actually to be crossed is greater than the width threshold, if the hip joint angle of the thigh amputee is greater than the maximum hip joint angle in the selected knee joint trajectory example, setting the knee joint control angle of the prosthesis to the knee joint angle value under the maximum hip joint angle in the knee joint trajectory example;

[0045] The third obstacle crossing control module is used for preliminarily determining the knee joint control angle of the prosthesis based on the two knee joint trajectory examples if the height of the obstacle that the thigh amputee actually needs to cross is greater than the preset height, when the hip joint angle of the thigh amputee decreases from the maximum angle to the point where the prosthesis lands, and then imitating and learning the given reference trajectory in combination with the maximum hip joint angle of the thigh amputee, and updating the preliminarily determined knee joint control angle so that the knee joint control angle near the maximum hip joint angle of the thigh amputee is smooth and continuous; the reference trajectory includes: a knee joint trajectory at the maximum hip joint angle and another knee joint trajectory where the hip joint angle decreases from the maximum angle to the point where the prosthesis lands, and the two knee joint trajectories are smoothly connected.

[0046] In a possible implementation, the trajectory example acquisition module acquires motion trajectory examples of a healthy user crossing example obstacles of different heights, including: acquiring motion trajectory examples of a healthy user crossing different example obstacles composed of a plurality of blocks of a preset height H, a preset width, and a preset length stacked in sequence in a height direction; when the height of the example obstacle is i*H, it corresponds to the i-th motion trajectory example;

[0047] When the actual height of the obstacle to be crossed is greater than the preset height, the second obstacle crossing control module selects two knee joint trajectory examples through the following steps: determining the integer k obtained by dividing the actual height of the obstacle to be crossed by the preset height; and taking the knee joint trajectory examples under the kth motion trajectory example and the k+1th motion trajectory example as the two selected knee joint trajectory examples.

[0048] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0049] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0050] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0051] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0052] In general, the above technical solutions conceived by the present application have at least the following beneficial effects compared with the prior art:

[0053] The present application provides a method, device and equipment for adaptive collaborative control of a powered thigh prosthesis, which divides the obstacle crossing stages according to the user's hip joint angle and angular acceleration. When a healthy user crosses an obstacle, the obstacle crossing strategy adopted by the user changes significantly in different stages of the hip joint angle change. Therefore, the present application fully considers the complex obstacle crossing process of healthy users, and based on this, divides the obstacle crossing stages of the prosthesis, which can adapt to the user's strategy changes at different obstacle crossing stages and improve the coordination between the user and the prosthesis.

[0054] Furthermore, the present application collects examples of motion trajectories of healthy users overcoming obstacles, and uses the examples of motion trajectories of healthy users as a reference for motion control of the powered thigh prosthesis to ensure the bionics of the prosthetic motion control; and divides the obstacle overcoming process into three stages according to the user's hip joint angle, controls the powered prosthesis obstacle overcoming process with reference to the examples of motion trajectories of healthy users, and combines the DMP algorithm to ensure trajectory smoothness, thereby achieving adaptive adjustment of prosthetic control to obstacle height and user status, improving the motion coordination between the user and the powered prosthesis, and greatly reducing the risk of falling during the process of users walking with the powered thigh prosthesis.

[0055] At the same time, compared with other obstacle crossing methods, the present application uses the amputee's hip joint angle, that is, the residual limb angle, as the direct movement intention, so that the prosthesis can perform adaptive obstacle crossing control according to the amputee's movement intention, that is, the amputee can control the prosthesis autonomously, which greatly improves the amputee's trust in the prosthesis and the safety performance of the prosthetic movement control. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 is a flow chart of the adaptive collaborative control method of a powered thigh prosthesis provided in an embodiment of the present application;

[0057] Figure 2 is a flow chart of a human-machine-environment collaborative control method for adaptive obstacle crossing height of a powered thigh prosthesis provided in an embodiment of the present application;

[0058] Figure 3 This is a schematic diagram of a powered thigh prosthesis overcoming obstacles provided by an embodiment of the present application;

[0059] Figure 4 It is a flowchart of the state and transition standard of the powered thigh prosthesis overcoming obstacles provided by the embodiment of the present application;

[0060] Figure 5 It is a schematic diagram of the division of each sub-stage of the swing phase of the powered thigh prosthesis overcoming obstacles provided by an embodiment of the present application;

[0061] Figure 6 is a schematic diagram of the trajectory of the knee joint of a powered thigh prosthesis obtained by fitting provided in an embodiment of the present application;

[0062] Figure 7 It is a structural diagram of an adaptive collaborative control device for a powered thigh prosthesis provided in an embodiment of the present application;

[0063] Figure 8 It is an architectural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0065] The term "and / or" in this article is a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The symbol " / " in this article indicates that the associated objects are in an or relationship, for example, A / B means A or B.

[0066] The terms "first" and "second" in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of the objects. For example, a first track segment and a second track segment are used to distinguish different tracks rather than to describe a specific order of the tracks.

[0067] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0068] In the description of the embodiments of the present application, unless otherwise specified, “plurality” means two or more than two. For example, “plurality” means two or more than two blocks.

[0069] Next, the technical solutions provided in the embodiments of the present application are introduced.

[0070] Figure 1 : is a flow chart of the adaptive collaborative control method of a powered thigh prosthesis provided in an embodiment of the present application; the powered thigh prosthesis is used to connect to the hip joint of a thigh amputee, such as Figure 1 As shown, the following steps are included:

[0071] Step S101, obtaining a motion trajectory example of a healthy user crossing example obstacles of different heights; the motion trajectory example includes: a knee joint trajectory example; the knee joint trajectory example refers to a functional relationship between a knee joint angle and a hip joint angle during an obstacle crossing process.

[0072] Among them, the heights of different example obstacles are different, and the widths can be the same or have little difference.

[0073] Optionally, obtaining examples of motion trajectories of a healthy user crossing example obstacles of different heights includes: obtaining examples of motion trajectories of a healthy user crossing different example obstacles composed of a plurality of blocks of a preset height H, a preset width, and a preset length stacked in sequence in a height direction; when the height of the example obstacle is i*H, it corresponds to the i-th example of motion trajectory;

[0074] When the actual height of the obstacle to be crossed is greater than the preset height, the preset height is used as the preset height. The above-mentioned selection of two knee joint trajectory examples includes: determining the integer k obtained by dividing the actual height of the obstacle to be crossed by the preset height; and taking the knee joint trajectory examples under the kth motion trajectory example and the k+1th motion trajectory example as the two selected knee joint trajectory examples.

[0075] In a specific embodiment, Figure 2 : is a flow chart of a human-machine-environment collaborative control method for adaptive obstacle crossing height of a powered thigh prosthesis provided in an embodiment of the present application; Figure 2 As shown in the figure, the teaching data collection of healthy users crossing obstacles is as follows: There is no kinematic data about human crossing obstacles in the current public data set, so it is necessary to collect the angle data of the human hip joint, knee joint, and ankle joint when crossing obstacles before controlling the dynamic thigh movement. Take a block of height H, width W, and length L as a unit, stack the blocks in sequence, and collect the kinematic data of healthy people crossing 1-N unit blocks, and obtain N kinematic data in total, where N can be an odd number.

[0076] The kinematic data include: a knee joint trajectory example and an ankle joint trajectory example; the trajectory refers to the functional relationship between the knee joint angle or the ankle joint angle and the corresponding hip joint angle.

[0077] like Figure 3 As shown, the powered thigh prosthesis is connected to the hip joint of the thigh amputee through a wearing receiving cavity, and the camera sensor is fixed on the receiving cavity. The height h of the obstacle in front and the distance D to the obstacle in front are obtained through the camera. Set the distance threshold D sw , if D ≥ D sw , the prosthesis maintains the flat ground walking mode. If D<D sw , the prosthesis enters obstacle crossing mode.

[0078] like Figure 4 As shown in FIG. 1 , the obstacle crossing mode of the powered thigh prosthesis includes three sub-stages: the initial stage of obstacle crossing, the middle stage of obstacle crossing and the final stage of obstacle crossing. Let sw1, sw2, sw3 represent the three sub-stages of obstacle crossing: swing phase 1, swing phase 2 and swing phase 3 respectively.

[0079] like Figure 5 The figure shows the schematic diagram of the division of each sub-phase of the swing phase of the powered thigh prosthesis overcoming obstacles; Figure 5As can be seen from the figure, the initial stage of obstacle crossing refers to the angle from the prosthetic toe leaving the ground to the hip joint angle θ th = 0; the mid-stage of obstacle crossing refers to the hip joint angle θ th >0 to hip joint angular acceleration When the hip joint angular acceleration is 0, the hip joint angle reaches its maximum value; the end of obstacle crossing refers to Until the heel of the prosthesis touches the ground. Figure 5 As shown, θ th An abbreviation for the hip joint angle.

[0080] Step S102, when the powered thigh prosthesis needs to assist a thigh amputee to cross an obstacle, if the angle of the hip joint of the thigh amputee from the time the prosthesis leaves the ground to the time the prosthesis leaves the ground is zero, the knee joint control angle of the prosthesis is determined by referring to the knee joint trajectory example when the obstacle height is moderate. The moderate height refers to the height between the highest example obstacle height and the lowest example obstacle height.

[0081] If the motion trajectory examples are sorted from low to high according to the example obstacle height, the motion trajectory example when the trajectory example sequence number is in the middle is selected as the motion trajectory example when the example obstacle height is moderate.

[0082] Specifically, the obstacle crossing process from the time the prosthesis leaves the ground to the time when the hip joint angle of the thigh amputee reaches zero degrees can be set as the early stage of obstacle crossing, the obstacle crossing process from the time when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle can be set as the middle stage of obstacle crossing, and the obstacle crossing process from the time when the hip joint angle of the thigh amputee decreases from the maximum angle to the end stage of obstacle crossing when the prosthesis lands on the ground.

[0083] Optionally, during the obstacle crossing process from when the prosthesis leaves the ground to when it lands on the ground, the ankle joint control angle of the prosthesis can be determined by referring to the example ankle joint trajectory when the obstacle height is moderate.

[0084] For example, determining a knee joint control angle or an ankle joint control angle of a prosthesis with reference to an example knee joint trajectory example or an example ankle joint trajectory example when the obstacle height is moderate includes:

[0085] Determine the initial hip angle of the femoral amputee when the prosthesis leaves the ground;

[0086] The hip joint angle in the trajectory example when the example obstacle height is moderate is updated with reference to the initial hip joint angle, and substituted into the trajectory example to determine the corresponding prosthetic knee joint control angle or prosthetic ankle joint control angle.

[0087] For example, when the toe of the prosthesis leaves the ground, the prosthesis enters the initial stage of obstacle crossing, and ends when the human hip joint angle reaches zero degrees. The trajectory of the prosthesis knee joint in this sub-stage is less affected by the height of the obstacle. The teaching data of the medium-height obstacle is selected as the knee joint trajectory of the prosthesis in the initial stage of obstacle crossing, that is, the knee joint trajectory of the (N+1) / 2 teaching group is selected. In the i-th teaching group of healthy people, the hip joint angle in swing phase 1 is expressed by the following relationship: Knee joint angle The corresponding relationship between them:

[0088]

[0089] in, Angle represents the hip joint angle in swing phase 1 in the i-th teaching group.

[0090] Then, when the amputee wearing the prosthesis actually crosses an obstacle with a height of h and enters the swing phase, the angle of the hip joint One-to-one correspondence between prosthetic knee joint angles It can be obtained from the following formula:

[0091]

[0092] in, Indicates the hip joint angle at the beginning of the actual obstacle crossing process. Indicates Hip joint angle at the beginning of obstacle crossing in the teaching group.

[0093] Step S103: if the height of the obstacle that the thigh amputee actually wants to cross is greater than the preset height, when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle, two knee joint trajectory examples corresponding to two example obstacles adjacent to the height of the obstacle to be crossed are selected, and the knee joint control angle of the prosthesis is preliminarily determined in combination with the knee joint angle of the prosthesis when the hip joint angle of the thigh amputee is zero degrees; when the width of the obstacle to be crossed is greater than the width threshold, if the hip joint angle of the thigh amputee is greater than the maximum hip joint angle in the selected knee joint trajectory example, the knee joint control angle of the prosthesis is set to the knee joint angle value under the maximum hip joint angle in the knee joint trajectory example.

[0094] For example, in the middle of the obstacle crossing, two knee joint trajectory examples are selected, and the knee joint angle of the prosthesis is preliminarily determined when the hip joint angle of the thigh amputee is zero degrees, including:

[0095] Determine the remainder after dividing the actual height of the obstacle to be crossed by the preset height;

[0096] Based on the prosthetic knee joint angle at the end of the initial obstacle crossing, the two selected knee joint trajectory examples are interpolated in combination with the remainder to obtain a preliminarily determined prosthetic knee joint control angle;

[0097] At the end of the obstacle crossing, the knee joint control angle of the prosthesis is preliminarily determined based on the two knee joint trajectory examples, including:

[0098] The two selected knee joint trajectory examples are interpolated in combination with the remainder to preliminarily determine the knee joint control angle of the prosthesis.

[0099] In a more specific embodiment, if the obstacle width w is detected to be less than or equal to the obstacle width W in the teaching experiment, sw , that is, w≤W sw , then the knee joint trajectory of swing phase 2 is planned according to the following algorithm steps:

[0100] When the human hip joint angle is greater than zero, the prosthesis enters the middle stage of obstacle crossing, and ends when the hip joint angular velocity of the thigh amputee is zero. In the healthy person's i-th teaching group, the following relationship is used to represent the hip joint angle in swing phase 2: Knee joint angle The corresponding relationship between them:

[0101]

[0102] Then, when the amputee wears the prosthesis and actually crosses an obstacle with a height of h, and enters the swing phase 2, the angle of the hip joint The one-to-one corresponding prosthetic knee joint angle can be calculated from the following formula:

[0103]

[0104] in, Indicates the knee joint angle at the end of the initial obstacle crossing process in the actual obstacle crossing process. The rounding symbol [] indicates taking the integer part of the decimal point value. The hip angle of a thigh amputee Substitute the knee angle obtained from the kth knee trajectory example, The hip angle of a thigh amputee Substitute the knee angle obtained from the k+1th knee trajectory example; Represents the remainder.

[0105] Furthermore, if the actual height of the obstacle to be crossed is not greater than the preset height, when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle and then decreases from the maximum angle to the point where the prosthesis falls to the ground, the hip joint angle of the thigh amputee is substituted into the first knee joint trajectory example to obtain the knee joint control angle of the prosthesis.

[0106] It can be understood that the above calculation is applicable to the case where k>1. If k≤1, then The one-to-one corresponding prosthetic knee joint angle can be calculated from the following formula:

[0107]

[0108] If the detected obstacle width is larger than the obstacle width in the teaching experiment, that is, w>W sw , then the knee joint trajectory of swing phase 2 is planned according to the following algorithm steps:

[0109] First, the prosthetic knee joint angle trajectory obtained in the previous step (i.e., formula (4)) is used as a reference, and the knee joint trajectory planned in combination with the threshold judgment condition is as follows:

[0110]

[0111] in, is the hip joint angle corresponding to the maximum knee joint angle in the prosthetic knee joint angle trajectory (i.e., formula (4)), is the hip joint angle of the thigh amputee when the hip joint angular acceleration is greater than or equal to zero, i.e. a≥0, is the hip joint angle when the hip joint angular velocity of the thigh amputee is zero.

[0112] Step S104, if the height of the obstacle that the thigh amputee actually needs to cross is greater than the preset height, when the hip joint angle of the thigh amputee decreases from the maximum angle to the point where the prosthesis lands, the knee joint control angle of the prosthesis is preliminarily determined based on the two knee joint trajectory examples, and then combined with the maximum hip joint angle of the thigh amputee, the given reference trajectory is imitated and learned, and the preliminarily determined knee joint control angle is updated, so that the knee joint control angle near the maximum hip joint angle of the thigh amputee is smooth and continuous; the reference trajectory includes: a knee joint trajectory near the maximum hip joint angle and another knee joint trajectory where the hip joint angle decreases from the maximum angle to the point where the prosthesis lands, and the two knee joint trajectories are smoothly connected.

[0113] For example, combining the maximum angle of the hip joint of a thigh amputee, imitating learning of a given reference trajectory, and updating the initially determined control angle of the prosthetic knee joint include:

[0114] Determine the hip joint angle of the thigh amputee and the knee joint angle of the prosthesis corresponding to the straight line connecting the end point of the middle obstacle crossing and the start point of the end obstacle crossing;

[0115] Combined with the straight connecting segment and the knee joint trajectory corresponding to the initially determined prosthetic knee joint angle of the terminal obstacle crossing prosthesis, the dynamic motion primitive DMP algorithm is used to imitate the reference trajectory and learn to update the knee joint control angle of the terminal obstacle crossing prosthesis.

[0116] In a more specific embodiment, when the human hip joint angular velocity is zero, the prosthesis enters the final stage of obstacle crossing, and ends when the prosthesis heel touches the ground. In the i-th teaching group of healthy people, the following relationship is used to express the corresponding relationship between the hip joint angle and the knee joint angle in the swing phase 3:

[0117]

[0118] Then, for an obstacle with a height of h, in the swing phase 3, the angle with the hip joint is The one-to-one corresponding prosthetic knee joint angle can be calculated from the following formula:

[0119]

[0120] in, The hip angle of a thigh amputee Substitute the knee angle obtained from the kth knee trajectory example, The hip angle of a thigh amputee Substitute the knee angle obtained from the k+1th knee trajectory example.

[0121] In the actual obstacle crossing process, the human body cannot accurately control the hip joint to swing to the maximum angle given by swing phase 2, resulting in discontinuity of the knee joint angles in swing phase 2 and swing phase 3. First, the end point of swing phase 2 in the actual obstacle crossing process is and the starting point of swing phase 3 obtained in step 3 By connecting the straight lines, we can get the knee joint angle of the straight line segment. for:

[0122]

[0123] in, Indicates the hip joint angle corresponding to the straight line segment.

[0124] In order to smoothly connect the knee joint trajectories of swing phase 2 and swing phase 3, the dynamic movement primitives (DMP) algorithm (public algorithm in literature) is used to imitate the reference trajectory, and the reference trajectory required in the algorithm is set as:

[0125]

[0126] Through the DMP algorithm to imitate the reference trajectory, the knee joint trajectory of the swing phase 3 can be obtained as follows:

[0127]

[0128] Step 4: Ankle joint trajectory planning during the swing phase of the prosthesis overcoming obstacles

[0129] The teaching data of medium-height obstacles are selected as the ankle joint trajectory of the prosthesis in the obstacle crossing stage, that is, the ankle joint trajectory of the (N+1) / 2th teaching group is selected. In the i-th teaching group of healthy people, the following relationship is used to represent the hip joint angle in the swing phase: i θ thigh Ankle joint angle i θ ankle The corresponding relationship between them:

[0130] i θ ankle = i f( i θ thigh ) (13)

[0131] Then, when the amputee wears the prosthesis and actually crosses an obstacle with a height of h, the angle of the hip joint h θ thigh One-to-one correspondence between prosthetic ankle joint angles h θ ankle It can be obtained from the following formula:

[0132]

[0133] In a specific example: three sets of teaching data were collected at obstacle heights of 26mm, 56mm, and 78mm. Taking the knee joint trajectory as an example, Figure 6 The first three trajectories in the legend are the hip joint angle-knee joint angle trajectories under three sets of obstacle heights. Figure 6 The corresponding fourth trajectory in the legend is the knee joint trajectory at the second set of heights fitted by the method using the teaching trajectory at the first set of heights and the third set of heights. It can be seen that the knee joint trajectory fitted by the method of the present application is relatively close to the teaching trajectory, which proves the effectiveness of the proposed method.

[0134] Figure 7 is a schematic diagram of the adaptive collaborative control device for a powered thigh prosthesis provided in an embodiment of the present application; Figure 7 As shown, including:

[0135] The trajectory example acquisition module 710 is used to acquire motion trajectory examples of a healthy user crossing example obstacles of different heights; the motion trajectory examples include: knee joint trajectory examples; the knee joint trajectory examples refer to the functional relationship between the knee joint angle and the hip joint angle during the obstacle crossing process;

[0136] The first obstacle control module 720 is used to determine the control angle of the knee joint of the prosthesis with reference to the example of the knee joint trajectory when the obstacle height is moderate when the powered thigh prosthesis needs to assist the thigh amputee to cross an obstacle, if the angle between the prosthesis leaving the ground and the hip joint of the thigh amputee is zero degrees;

[0137] The second obstacle crossing control module 730 is used for, if the height of the obstacle that the thigh amputee actually wants to cross is greater than the preset height, when the hip joint angle of the thigh amputee increases from zero degree to the maximum angle, selecting two knee joint trajectory examples corresponding to two example obstacles that are adjacent to the height of the obstacle that the thigh amputee actually wants to cross, and preliminarily determining the knee joint control angle of the prosthesis in combination with the knee joint angle of the prosthesis when the hip joint angle of the thigh amputee is zero degree; when the width of the obstacle that the thigh amputee actually wants to cross is greater than the width threshold, if the hip joint angle of the thigh amputee is greater than the maximum hip joint angle in the selected knee joint trajectory example, setting the knee joint control angle of the prosthesis to the knee joint angle value under the maximum hip joint angle in the knee joint trajectory example;

[0138] The third obstacle control module 740 is used to preliminarily determine the knee joint control angle of the prosthesis based on the two knee joint trajectory examples if the height of the obstacle that the thigh amputee actually needs to cross is greater than the preset height, when the hip joint angle of the thigh amputee decreases from the maximum angle to the point where the prosthesis lands, and then imitate and learn the given reference trajectory in combination with the maximum hip joint angle of the thigh amputee, and update the preliminarily determined knee joint control angle so that the knee joint control angle near the maximum hip joint angle of the thigh amputee is smooth and continuous; the reference trajectory includes: a knee joint trajectory near the maximum hip joint angle and another knee joint trajectory where the hip joint angle decreases from the maximum angle to the point where the prosthesis lands, and the two knee joint trajectories are smoothly connected.

[0139] In a possible implementation, the trajectory example acquisition module 710 acquires motion trajectory examples of a healthy user crossing example obstacles of different heights, including: acquiring motion trajectory examples of a healthy user crossing different example obstacles composed of a plurality of blocks of a preset height H, a preset width, and a preset length stacked in sequence in the height direction; when the height of the example obstacle is i*H, it corresponds to the i-th motion trajectory example;

[0140] When the actual height of the obstacle to be crossed is greater than the preset height, the second obstacle crossing control module 730 selects two knee joint trajectory examples through the following steps: determining the integer k obtained by dividing the actual height of the obstacle to be crossed by the preset height; and taking the knee joint trajectory examples under the kth motion trajectory example and the k+1th motion trajectory example as the two selected knee joint trajectory examples.

[0141] It should be understood that the above-mentioned device is used to execute the method in the above-mentioned embodiment. The implementation principle and technical effect of the corresponding program module in the device are similar to those described in the above-mentioned method. The working process of the device can refer to the corresponding process in the above-mentioned method, which will not be repeated here.

[0142] Based on the method in the above embodiment, the embodiment of the present application provides an electronic device, such as Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the method in the above embodiment.

[0143] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of 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 application.

[0144] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0145] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0146] It is understandable that the processor in the embodiment of the present application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0147] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0148] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0149] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0150] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for adaptive collaborative control of a powered thigh prosthesis, wherein the powered thigh prosthesis is used to connect to the thigh stump of a thigh amputee, characterized in that the method include: Get healthy users across multiple preset heights H , preset width and preset length blocks are stacked in the height direction to form different example obstacles; when the example obstacle height is When i The motion trajectory examples include: a knee joint trajectory example; the knee joint trajectory example refers to the functional relationship between the knee joint angle and the hip joint angle during the obstacle crossing process; When the powered thigh prosthesis needs to assist a thigh amputee to cross an obstacle, if the angle of the hip joint of the thigh amputee from the time the prosthesis leaves the ground to the time the prosthesis leaves the ground is zero degrees, the knee joint control angle of the prosthesis is determined by referring to the example of the knee joint trajectory when the obstacle height is moderate; the moderate height refers to the height between the highest example obstacle height and the lowest example obstacle height; If the height of the obstacle that the thigh amputee actually wants to cross is greater than the preset height, when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle, two knee joint trajectory examples corresponding to two example obstacles adjacent to the height of the obstacle to be crossed are selected, and the knee joint control angle of the prosthesis is preliminarily determined in combination with the knee joint angle of the prosthesis when the hip joint angle of the thigh amputee is zero degrees; when the width of the obstacle to be crossed is greater than the width threshold, if the hip joint angle of the thigh amputee is greater than the maximum hip joint angle in the selected knee joint trajectory example, the knee joint control angle of the prosthesis is set to the knee joint angle value under the maximum hip joint angle in the knee joint trajectory example; when the height of the obstacle to be crossed is greater than the preset height, two knee joint trajectory examples are selected, including: determining the integer after dividing the actual height of the obstacle to be crossed by the preset height k ; k Example of motion trajectory and k +The knee joint trajectory example under 1 motion trajectory example is used as the two selected knee joint trajectory examples; If the height of the obstacle that the thigh amputee actually needs to cross is greater than the preset height, when the hip joint angle of the thigh amputee decreases from the maximum angle to the point where the prosthesis lands, the knee joint control angle of the prosthesis is preliminarily determined based on the two knee joint trajectory examples, and then combined with the maximum hip joint angle of the thigh amputee, the given reference trajectory is imitated and learned to update the preliminarily determined knee joint control angle; the reference trajectory includes: a knee joint trajectory at the maximum hip joint angle and another knee joint trajectory where the hip joint angle decreases from the maximum angle to the point where the prosthesis lands, and the two knee joint trajectories are smoothly connected; The obstacle crossing process from when the prosthesis leaves the ground to when the hip joint angle of the thigh amputee is zero degrees is set as the initial stage of obstacle crossing, the obstacle crossing process from when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle is set as the middle stage of obstacle crossing, and the hip joint angle of the thigh amputee decreases from the maximum angle to the end stage of obstacle crossing of the prosthesis landing device; in the middle stage of obstacle crossing, two knee joint trajectory examples are selected, and the knee joint control angle of the prosthesis is preliminarily determined in combination with the knee joint angle of the prosthesis when the hip joint angle of the thigh amputee is zero degrees, including: determining the remainder after dividing the actual height of the obstacle to be crossed by the preset height; based on the knee joint angle of the prosthesis at the end of the initial stage of obstacle crossing, the two selected knee joint trajectory examples are interpolated in combination with the remainder to obtain the preliminarily determined knee joint control angle of the prosthesis; at the end of obstacle crossing, the knee joint control angle of the prosthesis is preliminarily determined based on the two knee joint trajectory examples, including: preliminarily determining the knee joint control angle of the prosthesis by interpolating the two selected knee joint trajectory examples in combination with the remainder.

2. The method according to claim 1, characterized in that The motion trajectory example also includes: an ankle joint trajectory example; the ankle joint trajectory example refers to the functional relationship between the ankle joint angle and the hip joint angle during the obstacle crossing process; The method further comprises: During the obstacle crossing process from when the prosthesis leaves the ground to when it lands on the ground, the ankle joint control angle of the prosthesis is determined by referring to the ankle joint trajectory example when the obstacle height is moderate.

3. The method according to claim 1, characterized in that Also includes: If the actual height of the obstacle to be crossed is not greater than the preset height, when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle, and then decreases from the maximum angle to the time when the prosthesis falls to the ground, the hip joint angle of the thigh amputee is substituted into the first knee joint trajectory example to obtain the knee joint control angle of the prosthesis.

4. The method according to claim 1, characterized in that Combined with the maximum angle of the hip joint of the thigh amputee, the given reference trajectory is imitated and learned to update the initially determined control angle of the prosthetic knee joint, including: Determine the hip joint angle of the thigh amputee and the knee joint angle of the prosthesis corresponding to the straight line connecting the end point of the middle obstacle crossing and the start point of the end obstacle crossing; Combined with the straight connecting segment and the knee joint trajectory corresponding to the initially determined prosthetic knee joint angle at the end of obstacle crossing, the dynamic motion primitive DMP algorithm is used to imitate the reference trajectory and learn to update the knee joint control angle of the prosthesis at the end of obstacle crossing.

5. The method according to claim 1 or 2, characterized in that: Determine the knee joint control angle or ankle joint control angle of the prosthesis by referring to the knee joint trajectory example or ankle joint trajectory example when the obstacle height is moderate, including: Determine the initial hip angle of the femoral amputee when the prosthesis leaves the ground; The hip joint angle in the trajectory example when the obstacle height is moderate is updated with reference to the initial hip joint angle, and is substituted into the trajectory example to determine the corresponding prosthetic knee joint control angle or prosthetic ankle joint control angle.

6. An adaptive cooperative control device for a powered thigh prosthesis, the powered thigh prosthesis being used to connect to the thigh stump of a thigh amputee, characterized in that: The device includes: Trajectory example acquisition module, used to obtain the trajectory of healthy users crossing multiple preset heights H , preset width and preset length blocks are stacked in the height direction to form different example obstacles; when the example obstacle height is When i The motion trajectory examples include: a knee joint trajectory example; the knee joint trajectory example refers to the functional relationship between the knee joint angle and the hip joint angle during the obstacle crossing process; The first obstacle control module is used to determine the control angle of the knee joint of the prosthesis with reference to the example of knee joint trajectory when the height of the obstacle is moderate when the powered thigh prosthesis needs to assist the thigh amputee to cross the obstacle, if the angle of the hip joint of the thigh amputee from the time when the prosthesis leaves the ground is zero degrees; the moderate height refers to the height between the highest example obstacle height and the lowest example obstacle height; The second obstacle crossing control module is used for, if the height of the obstacle that the thigh amputee actually wants to cross is greater than the preset height, when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle, selecting two knee joint trajectory examples corresponding to two example obstacles adjacent to the height of the obstacle to be crossed, and preliminarily determining the knee joint control angle of the prosthesis in combination with the knee joint angle of the prosthesis when the hip joint angle of the thigh amputee is zero degrees; when the width of the obstacle to be crossed is greater than the width threshold, if the hip joint angle of the thigh amputee is greater than the maximum hip joint angle in the selected knee joint trajectory example, setting the knee joint control angle of the prosthesis to the knee joint angle value under the maximum hip joint angle in the knee joint trajectory example; when the height of the obstacle to be crossed is greater than the preset height, selecting two knee joint trajectory examples, including: determining the integer after dividing the height of the obstacle to be crossed by the preset height k ; k Example of motion trajectory and k +The knee joint trajectory example under 1 motion trajectory example is used as the two selected knee joint trajectory examples; A third obstacle crossing control module is used for preliminarily determining the knee joint control angle of the prosthesis based on the two knee joint trajectory examples if the height of the obstacle that the thigh amputee actually wants to cross is greater than the preset height, when the hip joint angle of the thigh amputee decreases from the maximum angle to the point where the prosthesis lands, and then imitating and learning a given reference trajectory in combination with the maximum hip joint angle of the thigh amputee, and updating the preliminarily determined knee joint control angle; the reference trajectory includes: a knee joint trajectory at the maximum hip joint angle and another knee joint trajectory where the hip joint angle decreases from the maximum angle to the point where the prosthesis lands, and the two knee joint trajectories are smoothly connected; The obstacle crossing process from the time when the prosthesis leaves the ground to the time when the hip joint angle of the thigh amputee is zero degrees is set as the initial stage of obstacle crossing, the obstacle crossing process from the time when the hip joint angle of the thigh amputee increases from zero degrees to the maximum angle is set as the middle stage of obstacle crossing, and the hip joint angle of the thigh amputee decreases from the maximum angle to the end stage of obstacle crossing of the prosthesis landing device; in the middle stage of obstacle crossing, the second obstacle crossing control module determines the remainder after dividing the actual obstacle height to be crossed by the preset height, and on the basis of the prosthetic knee joint angle at the end of the initial stage of obstacle crossing, the two selected knee joint trajectory examples are interpolated in combination with the remainder to obtain a preliminarily determined prosthetic knee joint control angle; at the end of obstacle crossing, the third obstacle crossing control module preliminarily determines the prosthetic knee joint control angle by interpolating the two selected knee joint trajectory examples in combination with the remainder.

7. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method according to any one of claims 1 to 5.

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