Flexible hip joint walking power assisting device control method

Abstract

The invention relates to the technical field of walking assistance assisting devices, in particular to a control method of an assisting device for walking assistance of a flexible hip joint. The tightening states of the left front side, the right front side, the flexible belt and the Bowden cables on the left rear side and the right rear side of the power assisting side of each side leg are judged, coordinated control over tightening and releasing of the Bowden cables or the flexible belts is further achieved, and the technical problem that in the prior art, buckling and stretching of hip joints cannot be controlled separately is solved; it is guaranteed that the Bowden cable or the flexible belt cannot hinder movement of the human body in the non-power-assisting stage, then the auxiliary device can provide effective assistance in the hip joint buckling and stretching stage of a wearer, the metabolic quantity of the wearer is reduced, and power can be provided for the wearer in the hip joint buckling and stretching stage.

Description

Technical Field

[0001] The present invention relates to the technical field of walking assistance devices, and in particular to a control method for a flexible hip joint walking assistance device. Background Art

[0002] Walking assist devices are technical devices designed to assist humans in walking or enhance walking ability. They are usually designed as wearable robotic systems. These devices can help reduce the user's energy consumption, improve walking efficiency, support people with limited mobility or perform heavy physical labor. In recent years, walking assist technology has made significant progress, especially in the fields of military, medical rehabilitation and industrial applications. For example, an assisted walking device "boot" developed by the Chinese Academy of Sciences can help users walk faster and more efficiently in the real world. This study demonstrates a new design method for wearable robots and emphasizes the broad application prospects of walking assist devices in daily life.

[0003] In recent years, researchers have conducted in-depth research on flexible lower limb assist devices, assist phase recognition, and human motion pattern recognition. The existing control methods cannot match the existing flexible hip joint walking assist devices well, and the existing control methods cannot achieve separate control of hip joint flexion and extension.

[0004] In summary, the present invention designs a control method for an auxiliary device for assisting walking with a flexible hip joint, so that the auxiliary device can provide effective assistance during the flexion and extension stages of the wearer's hip joint, reduce the wearer's metabolism, and provide assistance to the wearer during the flexion and extension stages of the hip joint. It has a positive effect on walking, improving gait, and preventing falls for the elderly with weak lower limb muscles. Summary of the invention

[0005] To this end, the present invention provides a method for controlling an auxiliary device for assisting walking with a flexible hip joint, so as to overcome the problems in the prior art that the existing auxiliary device for assisting walking with a flexible hip joint cannot be well matched and that the flexion and extension of the hip joint cannot be controlled separately.

[0006] To achieve the above object, the present invention provides a method for controlling a flexible hip joint walking assistance device, which is characterized by comprising:

[0007] Collect walking state data of the human body during walking, including the angle, angular velocity and angular acceleration of the left and right knee joints of the human body;

[0008] The walking state data is used as a sample and standardized, and the standardized sample is input into a walking state identifier to identify the walking state of a human body;

[0009] Based on the recognized walking state of the human body, it is determined whether to assist walking, wherein:

[0010] If the recognition result is walking on flat ground, the standardized sample is input into the power phase identifier to identify the power phases of the bilateral legs, wherein the recognition result of the power phase includes the hip flexion phase and the hip extension phase;

[0011] Determining the assisting side of each leg based on the recognition result of the assisting phase, wherein the assisting side includes the front side and the back side of the human body;

[0012] Based on the determined assisting side, the tightening state of the left and right front flexible belts and the tightening state of the left and right rear Bowden cables are determined, wherein:

[0013] When determining the tightening state, the tightening input current of the drum motor on the power-assisting side is calculated, and the tightening of the flexible belt / Bowden cable is controlled based on the tightening input current of the drum motor;

[0014] When the non-tightened state is determined, the relaxation input current of the non-assistance-side drum motor is calculated, and the relaxation of the flexible belt / Bowden cable is controlled based on the relaxation input current of the drum motor.

[0015] Furthermore, when calculating the tightening input current of the assisting side reel motor, it includes:

[0016] Obtain the expected speed, actual speed, and expected equivalent torque at the hip joint of the power-assisted side reel motor;

[0017] The tightening input current of the power-assisted side reel motor is calculated according to the expected rotation speed of the power-assisted side reel motor, the actual rotation speed and the expected equivalent torque at the hip joint.

[0018] Furthermore, the calculation of the tightening input current includes:

[0019] A speed deviation is obtained according to the expected speed of the power-assisted side reel motor and the actual speed, and a speed controller converts the speed deviation into a first current through PD control;

[0020] The feedforward current is obtained according to the expected equivalent torque at the hip joint and the expected rotation speed of the power-assisted side reel motor.

[0021] Further, the tightening of the flexible belt / Bowden cable is controlled based on the feedforward current, including:

[0022] The feed-forward current is added to the first current to obtain a tightening input current of the power-assisted side drum motor, and the tightening of the flexible belt / Bowden cable is controlled based on the tightening input current of the power-assisted side drum motor.

[0023] Furthermore, the relaxation input current of the drum motor is calculated, including:

[0024] Obtain the expected rotor angle and actual rotor angle of the non-power-assisted side reel motor;

[0025] The relaxed input current of the non-assisted side drum motor is calculated based on the desired rotor angle and the actual rotor angle of the non-assisted side drum motor.

[0026] Furthermore, the calculation of the relaxation input current of the drum motor includes:

[0027] The rotor position deviation is calculated based on the expected rotor angle and the actual rotor angle of the non-assisted side drum motor;

[0028] The linear anti-disturbance controller converts the rotor position deviation into a relaxation input current of the reel motor on the non-power-assisted side, and then controls the driving gear of the left front drive unit of the reel motor on the non-power-assisted side.

[0029] Furthermore, the feedforward current I is determined by the following formula:

[0030]

[0031] Where ζ is the friction correction coefficient, T d is the expected equivalent moment at the hip joint, R i is the left front drive unit at time i, the reel radius, Z1 is the number of teeth of the driving gear of the left front drive unit, Z2 is the number of teeth of the driven gear of the left front drive unit, K M is the torque constant of the drum motor of the left front drive unit, L1 is the length of the human thigh, J0 is the rotor moment of inertia of the drum motor of the left front drive unit, J1 is the moment of inertia of the driving gear of the left front drive unit, J2 is the moment of inertia of the driven gear of the left front drive unit, is the acceleration of the drum motor of the left front drive unit, B is the viscous friction coefficient of the drum motor of the left front drive unit, and ω is the expected rotation speed of the drum motor of the left front drive unit.

[0032] Furthermore, the reel radius of the left front driving unit at time i is expressed as:

[0033]

[0034] Among them, R i-1 is the radius of the drum at time i-1, h is the thickness of the flexible belt, ω1 is the actual speed of the drum motor, and t is the time.

[0035] Furthermore, the above-mentioned flexible hip joint walking assistance device control method is implemented by the following control system, and the control system includes:

[0036] Data acquisition module 1, which includes a 9-channel IMU inertial sensor to collect walking status data, including the angle, angular velocity and angular acceleration of the human knee joint;

[0037] A top-level perception module, which is connected to the data acquisition module 1, and includes a walking state identifier for identifying walking state data to obtain the walking state of a human body and a power phase identifier for judging the flexion or extension phase of the hip joint based on the identified walking state of the human body, wherein the power phase identifier is also used to identify the power side of bilateral retreat;

[0038] A load cell for detecting the tension of the flexible belt / Bowden cable;

[0039] The second data acquisition module is used to collect the expected speed, actual speed, expected equivalent torque at the hip joint, expected rotor angle and actual rotor angle of the non-assisted side drum motor, and transmit the data to the data processing module;

[0040] a data processing module connected to the second data acquisition module, for calculating a feedforward current of the power-assisted side drum motor according to the expected speed of the power-assisted side drum motor, the actual speed and the expected equivalent torque at the hip joint, and calculating a tightening input current of the power-assisted side drum motor based on the feedforward current;

[0041] A linear anti-disturbance controller, connected to the second data acquisition module, for calculating a relaxation input current of the non-assisted side drum motor based on an expected rotor angle and an actual rotor angle of the non-assisted side drum motor, and assisting the flexion and extension of the hip joint through the relaxation input current of the non-assisted side drum motor;

[0042] The bottom control module is composed of an admittance controller, a speed controller, a motor feedforward model, and a motor speed detection module, and is connected to the data processing module and the linear anti-disturbance control module to control the tightening of the power-assisted side drum motor based on the tightening input current of the power-assisted side drum motor, and to control the relaxation of the non-assisted side drum motor based on the relaxation input current of the non-assisted side drum motor.

[0043] Furthermore, the auxiliary device control method adopts a power assist device, comprising:

[0044] A front-side assist module, comprising left and right front-side flexible belts and a front-side drive unit, wherein the front-side drive unit comprises left and right front-side drum motors;

[0045] The rear side assist module comprises left and right rear side Bowden cables and a rear side drive unit, wherein the rear side drive unit comprises left and right rear side drum motors.

[0046] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides a novel method for controlling an auxiliary device for flexible hip joint walking assistance. In order to achieve precise assistance to hip joint flexion and extension, the auxiliary device is controlled by means of double-layer sensing technology. By collecting knee joint data, the walking state and assistance phase are accurately identified according to the knee joint data, thereby determining the assistance and non-assistance stages of the exoskeleton, thereby overcoming the shortcoming of high error rate of traditional detection methods based on single features and thresholds.

[0047] Furthermore, since the present invention has different states of the Bowden cable or flexible belt in the power-assisted and non-power-assisted stages, a dual-mode switching control strategy is used to achieve coordinated control of the tightening and releasing of the Bowden cable or flexible belt. That is, in the power-assisted stage, an equivalent torque control strategy is used to tighten the Bowden cable or flexible belt to generate tension, and in the non-power-assisted stage, a linear anti-disturbance position control is used to relax the Bowden cable or flexible belt, thereby ensuring that the Bowden cable or flexible belt does not hinder human movement in the non-power-assisted stage, thereby enabling the assistive device to provide effective assistance in both the flexion and extension stages of the wearer's hip joint, thereby reducing the wearer's metabolic rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a control flow chart of the power-assisting stage of an embodiment of the present invention;

[0049] Figure 2 This is a control flow chart of the non-assistance stage of an embodiment of the present invention;

[0050] Figure 3 This is a flow chart of a method for controlling an auxiliary device for assisting walking with a flexible hip joint according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0053] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0054] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] See also Figures 1 to 3 As shown, Figure 1 This is a control flow chart of the power-assisting stage of an embodiment of the present invention; Figure 2 This is a control flow chart of the non-assistance stage of an embodiment of the present invention; Figure 3 This is a flow chart of a method for controlling an auxiliary device for assisting walking with a flexible hip joint according to an embodiment of the present invention.

[0056] To achieve the above-mentioned purpose, an embodiment of the present invention provides a method for controlling an auxiliary device for assisting walking with a flexible hip joint, comprising:

[0057] Step S1, collecting walking state data of a human body during walking, including the angle, angular velocity and angular acceleration of the left and right knee joints of the human body;

[0058] Step S2, taking the walking state data as samples and performing standardization processing, inputting the standardized samples into a walking state identifier to identify the walking state of the human body;

[0059] In this embodiment, during the walking process of a human body, the IMU inertial sensors of the two data acquisition modules are used to collect the angle, angular velocity and angular acceleration of the knee joint. Each IMU inertial sensor includes 9 channels. A total of 18 raw data collected by the two IMU inertial sensors are used as a sample and standardized.

[0060] The standardization process is:

[0061]

[0062] Among them, x represents the data before standardization, and x' represents the data after standardization. represents the mean value, σ represents the standard deviation;

[0063] Step S3, judging whether to assist walking based on the identified walking state of the human body, wherein:

[0064] If the recognition result is walking on flat ground, the standardized sample is input into the power phase identifier to identify the power phases of the bilateral legs, wherein the recognition result of the power phase includes the hip flexion phase and the hip extension phase;

[0065] Step S4, determining the assisting side of each leg based on the recognition result of the assisting phase, wherein the assisting side includes the front side and the back side of the human body;

[0066] Step S5, based on the determined assisting side, determining the tightening / untightening state of the left and right front flexible belts and the tightening / untightening state of the left and right rear Bowden cables, wherein:

[0067] When determining the tightening state, the tightening input current of the drum motor on the power-assisting side is calculated, and the tightening of the flexible belt / Bowden cable is controlled based on the tightening input current of the drum motor;

[0068] When the non-tightened state is determined, the relaxation input current of the non-assistance-side drum motor is calculated, and the relaxation of the flexible belt / Bowden cable is controlled based on the relaxation input current of the drum motor.

[0069] Specifically, in step S5, if it is determined to be in the tightening state, the tightening input current of the assisting side reel motor is calculated, including:

[0070] Step S51, obtaining the expected speed, actual speed, and expected equivalent torque at the hip joint of the power-assisted side reel motor;

[0071] Step S52, calculating the tightening input current of the power-assisted side reel motor according to the expected rotation speed of the power-assisted side reel motor, the actual rotation speed and the expected equivalent torque at the hip joint.

[0072] Specifically, in step S52, the calculation of the tightening input current includes:

[0073] Step S521, obtaining a speed deviation according to the expected speed of the power-assisted reel motor and the actual speed, and converting the speed deviation into a first current through PD control by a speed controller;

[0074] Step S522, obtaining the feedforward current according to the expected equivalent torque at the hip joint and the expected speed of the power-assisted reel motor;

[0075] Step S523: Add the feedforward current to the first current to obtain a tightening input current of the power-assisted side drum motor, and control the tightening of the flexible belt / Bowden cable based on the tightening input current of the power-assisted side drum motor.

[0076] Specifically, in step S5, if it is determined to be in a non-tightening state, the calculation of the relaxation input current of the drum motor includes:

[0077] Step S51', obtaining the expected rotor angle and actual rotor angle of the non-power-assisted side reel motor;

[0078] Step S52 ′: calculating the relaxation input current of the non-assisted side drum motor based on the desired rotor angle and the actual rotor angle of the non-assisted side drum motor.

[0079] Specifically, in step S52', the calculation of the relaxation input current of the drum motor includes:

[0080] Step S521', calculating the rotor position deviation based on the expected rotor angle and the actual rotor angle of the non-power-assisted side reel motor;

[0081] Step S522 ′: the linear active disturbance rejection controller converts the rotor position deviation into a relaxation input current of the non-power-assisted drum motor, and controls the relaxation of the flexible belt / Bowden cable based on the relaxation input current of the non-power-assisted drum motor.

[0082] In this embodiment, the specific process of calculating the feedforward current is:

[0083] Assuming that the tension of the left front flexible belt is F, and the angle between the left front flexible belt and the human thigh is α, the human-machine interaction force F1 generated by the left front flexible belt is:

[0084] F1=Fs inα (2);

[0085] The actual equivalent moment T generated by the human-machine interaction force at the hip joint r for:

[0086] T r =F1L1 (3),

[0087] Wherein, L1 is the length of the human thigh;

[0088] Equivalent moment deviation T e =T e =T d -T r (4);

[0089] Calculate the load torque T of the drum motor based on the tension of the flexible belt L for:

[0090]

[0091] Among them, R i-1 is the radius of the drum at time i-1, h is the thickness of the flexible belt, ω1 is the actual speed of the drum motor, and t is the time.

[0092] The motion equation of the drum motor is:

[0093] Where, T is the electromagnetic torque of the drum motor, is the acceleration of the drum motor, B is the viscous friction coefficient of the drum motor, J=J0+J1+J2 is the load-converted moment of inertia of the drum motor, J0 is the rotor moment of inertia of the drum motor, J1 is the moment of inertia of the driving gear, and J2 is the moment of inertia of the driven gear.

[0094] By the expected equivalent moment T d Calculate the expected human-computer interaction force F h for:

[0095] Substituting equation (8) into equation (5), we can get the load torque T of the drum motor: L for:

[0096]

[0097] The relationship between the electromagnetic torque of the drum motor and the winding current is:

[0098] T=K M I(10); where I is the winding current of the drum motor, K M is the torque constant of the drum motor;

[0099] Substituting the desired speed ω of the drum motor into equation (7) and connecting equations (7) to (10) in parallel, we can obtain the winding current of the drum motor, i.e., the feedforward current I:

[0100]

[0101] Where ζ is the friction correction coefficient, T d is the expected equivalent moment at the hip joint, R i is the left front drive unit at time i, the reel radius, Z1 is the number of teeth of the driving gear of the left front drive unit, Z2 is the number of teeth of the driven gear of the left front drive unit, K M is the torque constant of the drum motor of the left front drive unit, L1 is the length of the human thigh, J0 is the rotor moment of inertia of the drum motor of the left front drive unit, J1 is the moment of inertia of the driving gear of the left front drive unit, J2 is the moment of inertia of the driven gear of the left front drive unit, is the acceleration of the drum motor of the left front drive unit, B is the viscous friction coefficient of the drum motor of the left front drive unit, and ω is the expected rotation speed of the drum motor of the left front drive unit.

[0102] Specifically, in the non-assisted stage of the left front flexible belt, a linear anti-disturbance control strategy is adopted, which is determined by the desired rotor angle θ of the drum motor. i and the actual rotor angle θ, we get the rotor position deviation Δθ,

[0103] Δθ=θ i-θ; The linear anti-disturbance controller obtains the input current of the drum motor according to the rotor position deviation to achieve unimpeded release of the left front flexible belt, θ i Depends on the contraction amount of the left front flexible band at the previous moment;

[0104] The rotor position deviation is calculated from the expected rotor angle and the actual rotor angle of the drum motor obtained by the data acquisition module.

[0105] Specifically, preferably, the above-mentioned flexible hip joint walking assistance device control method is implemented by the following control system, and the control system includes:

[0106] Data acquisition module 1, which includes a 9-channel IMU inertial sensor to collect walking status data, including the angle, angular velocity and angular acceleration of the human knee joint;

[0107] A top-level perception module, which is connected to the data acquisition module 1, and includes a walking state identifier for identifying walking state data to obtain the walking state of a human body and a power phase identifier for judging the flexion or extension phase of the hip joint based on the identified walking state of the human body, wherein the power phase identifier is also used to identify the power side of bilateral retreat;

[0108] A load cell for detecting the tension of the flexible belt / Bowden cable;

[0109] The second data acquisition module is used to collect the expected speed, actual speed, expected equivalent torque at the hip joint, expected rotor angle and actual rotor angle of the non-assisted side drum motor, and transmit the data to the data processing module;

[0110] a data processing module connected to the second data acquisition module, for calculating a feedforward current of the power-assisted side drum motor according to the expected speed of the power-assisted side drum motor, the actual speed and the expected equivalent torque at the hip joint, and calculating a tightening input current of the power-assisted side drum motor based on the feedforward current;

[0111] A linear anti-disturbance controller, connected to the second data acquisition module, for calculating a relaxation input current of the non-assisted side drum motor based on an expected rotor angle and an actual rotor angle of the non-assisted side drum motor, and assisting the flexion and extension of the hip joint through the relaxation input current of the non-assisted side drum motor;

[0112] A bottom control module, which is composed of an admittance controller, a speed controller, a motor feedforward model, and a motor speed detection module, and is connected to the data processing module and the linear anti-disturbance control module, and is used to control the tightening of the boost side reel motor based on the tightening input current of the boost side reel motor, and to control the loosening of the non-boost side reel motor based on the loosening input current of the non-boost side reel motor;

[0113] It can be understood that the above-mentioned walking state identifier and power-assisted phase identifier are both trained neural network models. The walking state identifier can identify states such as standing, walking, turning counterclockwise, turning clockwise, turning counterclockwise and turning clockwise in a flat environment; there are two power-assisted phase identifiers, one for each leg.

[0114] Specifically, the auxiliary device control method adopts a power assist device, including:

[0115] A front-side assist module, comprising left and right front-side flexible belts and a front-side drive unit, wherein the front-side drive unit comprises left and right front-side drum motors;

[0116] The rear side assist module comprises left and right rear side Bowden cables and a rear side drive unit, wherein the rear side drive unit comprises left and right rear side drum motors.

[0117] Any matters not described in the present invention are applicable to the prior art.

[0118] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for controlling a flexible hip joint walking assistance device, characterized in that: include: Collect walking state data of the human body during walking, including the angle, angular velocity and angular acceleration of the left and right knee joints of the human body; The walking state data is used as a sample and standardized, and the standardized sample is input into a walking state identifier to identify the walking state of a human body; Based on the recognized walking state of the human body, it is determined whether to assist walking, wherein: If the recognition result is walking on flat ground, the standardized sample is input into the power phase identifier to identify the power phases of the bilateral legs, wherein the recognition result of the power phase includes the hip flexion phase and the hip extension phase; Determining the assisting side of each leg based on the recognition result of the assisting phase, wherein the assisting side includes the front side and the back side of the human body; Based on the determined assisting side, the tightening state of the left and right front flexible belts and the tightening state of the left and right rear Bowden cables are determined, wherein: When determining the tightening state, the tightening input current of the drum motor on the power-assisting side is calculated, and the tightening of the flexible belt / Bowden cable is controlled based on the tightening input current of the drum motor; When the non-tightened state is determined, the relaxation input current of the non-assistance-side drum motor is calculated, and the relaxation of the flexible belt / Bowden cable is controlled based on the relaxation input current of the drum motor.

2. The method for controlling the auxiliary device for assisting walking with a flexible hip joint according to claim 1, characterized in that: When calculating the tightening input current of the power-assisted side reel motor, include: Obtain the expected speed, actual speed, and expected equivalent torque at the hip joint of the power-assisted side reel motor; The tightening input current of the power-assisted side reel motor is calculated according to the expected rotation speed of the power-assisted side reel motor, the actual rotation speed and the expected equivalent torque at the hip joint.

3. The method for controlling the auxiliary device for assisting walking with a flexible hip joint according to claim 2, characterized in that: The calculation of the tightening input current includes: A speed deviation is obtained according to the expected speed of the power-assisted side reel motor and the actual speed, and a speed controller converts the speed deviation into a first current through PD control; The feedforward current is obtained according to the expected equivalent torque at the hip joint and the expected rotation speed of the power-assisted side reel motor.

4. The method for controlling the auxiliary device for assisting walking with a flexible hip joint according to claim 3, characterized in that: Control of the tightening of the flexible belt / Bowden cable based on a feed-forward current, including: The feed-forward current is added to the first current to obtain a tightening input current of the power-assisted side drum motor, and the tightening of the flexible belt / Bowden cable is controlled based on the tightening input current of the power-assisted side drum motor.

5. The method for controlling a flexible hip joint walking assistance device according to claim 1, characterized in that: Calculate the unstuck input current of the non-assisted drum motor, including: Obtain the expected rotor angle and actual rotor angle of the non-power-assisted side reel motor; The relaxed input current of the non-assisted side drum motor is calculated based on the desired rotor angle and the actual rotor angle of the non-assisted side drum motor.

6. The method for controlling the auxiliary device for assisting walking with a flexible hip joint according to claim 5, characterized in that: The calculation of the relaxation input current of the non-power-assisted side drum motor includes: The rotor position deviation is calculated based on the expected rotor angle and the actual rotor angle of the non-assisted side drum motor; The linear anti-disturbance controller converts the rotor position deviation into a relaxation input current of the non-power-assisted reel motor, and then controls the driving gear of the left front drive unit of the non-power-assisted reel motor.

7. The method for controlling the auxiliary device for assisting walking with a flexible hip joint according to claim 3, characterized in that: The feedforward current I is determined by the following formula: Where ζ is the friction correction coefficient, T d is the expected equivalent moment at the hip joint, R i is the left front drive unit at time i, the reel radius, Z1 is the number of teeth of the driving gear of the left front drive unit, Z2 is the number of teeth of the driven gear of the left front drive unit, K M is the torque constant of the drum motor of the left front drive unit, L1 is the length of the human thigh, J0 is the rotor moment of inertia of the drum motor of the left front drive unit, J1 is the moment of inertia of the driving gear of the left front drive unit, J2 is the moment of inertia of the driven gear of the left front drive unit, is the acceleration of the drum motor of the left front drive unit, B is the viscous friction coefficient of the drum motor of the left front drive unit, and ω is the expected rotation speed of the drum motor of the left front drive unit.

8. The method for controlling the auxiliary device for assisting walking with a flexible hip joint according to claim 7, characterized in that: The reel radius of the left front drive unit at time i is expressed as: Among them, R i-1 is the radius of the drum at time i-1, h is the thickness of the flexible belt, ω1 is the actual speed of the drum motor, and t is the time.

9. The method for controlling a flexible hip joint walking assistance device according to claim 1, characterized in that: The auxiliary device control method adopts a control device, including: Data acquisition module 1, which includes a 9-channel IMU inertial sensor to collect walking status data, including the angle, angular velocity and angular acceleration of the human knee joint; A top-level perception module, which is connected to the data acquisition module 1, and includes a walking state identifier for identifying walking state data to obtain the walking state of a human body and a power phase identifier for judging the flexion or extension phase of the hip joint based on the identified walking state of the human body, wherein the power phase identifier is also used to identify the power side of bilateral retreat; A load cell for detecting the tension of the flexible belt / Bowden cable; The second data acquisition module is used to collect the expected speed, actual speed, expected equivalent torque at the hip joint, expected rotor angle and actual rotor angle of the non-assisted side drum motor, and transmit the data to the data processing module; a data processing module connected to the second data acquisition module, for calculating a feedforward current of the power-assisted side drum motor according to the expected speed of the power-assisted side drum motor, the actual speed and the expected equivalent torque at the hip joint, and calculating a tightening input current of the power-assisted side drum motor based on the feedforward current; A linear anti-disturbance controller, connected to the second data acquisition module, for calculating a relaxation input current of the non-assisted side drum motor based on an expected rotor angle and an actual rotor angle of the non-assisted side drum motor, and assisting the flexion and extension of the hip joint through the relaxation input current of the non-assisted side drum motor; The bottom control module is composed of an admittance controller, a speed controller, a motor feedforward model, and a motor speed detection module. It is connected to the data processing module and the linear anti-disturbance control module to control the tightening of the power-assisted side drum motor based on the tightening input current of the power-assisted side drum motor, and to control the relaxation of the non-assisted side drum motor based on the relaxation input current of the non-assisted side drum motor.

10. The method for controlling a flexible hip joint walking assistance device according to claim 1, characterized in that: The auxiliary device control method adopts a power assist device, comprising: A front-side assist module, comprising left and right front-side flexible belts and a front-side drive unit, wherein the front-side drive unit comprises left and right front-side drum motors; The rear side assist module comprises left and right rear side Bowden cables and a rear side drive unit, wherein the rear side drive unit comprises left and right rear side drum motors.

Images