Exoskeleton module and use method

Abstract

The invention relates to the technical field of exoskeleton modules, and discloses an exoskeleton module and a use method, the exoskeleton module comprises an exoskeleton module body, a sensor group, a battery module, a driving assembly and a control module; the control module comprises an acquisition unit, a judgment unit and a processing unit; the acquisition unit is configured to acquire the assistance torque generated by the detachable balancing weight in real time, establish an assistance torque set according to the assistance torque, and calculate the change rate of the assistance torque according to the assistance torque set; the judgment unit is configured to compare the change rate with a change rate threshold value and judge whether the number of the detachable balancing weights is adjusted or not according to a comparison result; and the processing unit adjusts the number of the detachable balancing weights according to the heart rate data. The exercise efficiency of the user can be improved based on a heart rate adjusting mechanism, exercise injuries can be prevented to a certain extent, and it is ensured that the user does exercise within a safe range.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton modules, and in particular to an exoskeleton module and a method of using the same. Background Art

[0002] An exoskeleton module is a wearable mechanical device designed to enhance or assist the body's movement and strength. It is usually composed of multiple independent modules that can be combined and configured according to specific needs to adapt to different application scenarios. Exoskeleton modules are widely used in medical rehabilitation, industrial operations, military protection, and daily life assistance.

[0003] Traditional exoskeleton modules often lack sufficient intelligent adjustment mechanisms and cannot be adjusted according to the user's actual movement status and physiological reactions, which limits their performance and comfort in actual applications. Summary of the invention

[0004] In view of this, the present invention proposes an exoskeleton module and a method of use, aiming to solve the problem that the current technology lacks sufficient intelligent adjustment mechanism and cannot be adjusted according to the user's actual movement state and physiological response.

[0005] In one aspect, the present invention provides an exoskeleton module, comprising:

[0006] An exoskeleton module body, a sensor group, a battery module, a drive assembly and a control module, wherein the sensor group, the battery module, the drive assembly and the control module are arranged inside the exoskeleton module body; the sensor group includes a posture sensor, a force sensor and a heart rate sensor; the battery module includes a plurality of battery cells, and the battery cells are connected in series or in parallel; the drive assembly includes a drive motor, a connecting rod and a detachable counterweight, wherein the output end of the drive motor is vertically connected to one end of the connecting rod, the detachable counterweight is connected to the other end of the connecting rod, and the drive motor can drive the detachable counterweight to perform non-uniform circular motion through the connecting rod; the control module includes a collection unit, a judgment unit and a processing unit;

[0007] The acquisition unit is configured to acquire the assist torque generated by the detachable counterweight in real time, establish an assist torque set according to the assist torque, and calculate the rate of change of the assist torque according to the assist torque set;

[0008] The judging unit is configured to compare the change rate with a change rate threshold, and judge whether to adjust the number of the detachable counterweight blocks according to the comparison result:

[0009] When it is determined that the number of the detachable counterweight blocks is to be adjusted, the judgment unit controls the acquisition unit to acquire the posture angle and movement speed of the user, and establishes a posture angle data set and a movement speed data set according to the posture angle and the movement speed, respectively; fuses the posture angle data set and the movement speed data set to obtain a fused data set; calculates the similarity between the fused data set and the motion pattern template, compares the similarity with a similarity threshold, and adjusts the number of the detachable counterweight blocks according to the comparison result;

[0010] The processing unit is configured to control the collecting unit to collect the heart rate data of the user when the similarity is less than the similarity threshold, and adjust the number of the detachable counterweight blocks according to the heart rate data.

[0011] Further, a power assist torque set is established according to the power assist torque, and when the rate of change of the power assist torque is calculated according to the power assist torque set, it includes:

[0012] The collected assist torque is recorded in sequence according to time;

[0013] Filtering the assist torque in the assist torque concentration to remove noise and abnormal values;

[0014] The time derivative of the assist torque is calculated by numerical differentiation method to obtain the change rate.

[0015] Furthermore, the change rate is compared with a change rate threshold, and judging whether to adjust the number of the detachable counterweight blocks according to the comparison result includes:

[0016] When the change rate is less than or equal to the change rate threshold, the judgment unit determines not to adjust the number of the detachable counterweight blocks;

[0017] When the change rate is greater than the change rate threshold, the judgment unit determines to adjust the number of the detachable counterweight blocks.

[0018] Further, the posture angle data set and the motion speed data set are fused to obtain a fused data set, including:

[0019] Extracting attitude feature data from the attitude angle data set, wherein the attitude feature data includes a pitch angle, a roll angle, and a heading angle;

[0020] Extracting motion feature data from the motion speed data set, wherein the motion feature data includes linear velocity and angular velocity;

[0021] The Kalman filter algorithm is used to fuse the posture feature data and the motion feature data to obtain the fused data set.

[0022] Furthermore, the motion pattern templates include a walking pattern template, a running pattern template and a climbing pattern template.

[0023] Furthermore, when calculating the similarity between the fused data set and the motion pattern template, it includes:

[0024] The similarity is obtained by the following formula:

[0025]

[0026] Where Di represents the similarity, Fi represents the i-th eigenvalue in the fused data set, T i,j Represents the j-th eigenvalue of the motion pattern template of different types.

[0027] Furthermore, comparing the similarity with a similarity threshold and adjusting the number of the detachable counterweight blocks according to the comparison result includes:

[0028] When the similarity is greater than or equal to the similarity threshold, the processing unit controls the collecting unit to collect historical data, and adjusts the number of the detachable counterweight blocks according to the historical data;

[0029] When the similarity is less than the similarity threshold, the processing unit controls the collecting unit to collect the heart rate data of the user, and adjusts the number of the detachable weight blocks according to the heart rate data.

[0030] Furthermore, the historical data includes

[0031] The user's historical assist torque data, historical posture angle data and historical movement speed data in different movement modes.

[0032] Further, when the similarity is less than the similarity threshold, the processing unit controls the collecting unit to collect the heart rate data of the user, and adjusts the number of the detachable weight blocks according to the heart rate data, including:

[0033] Determine a heart rate state according to the heart rate data; the heart rate state includes a high heart rate, a low heart rate and a normal heart rate;

[0034] Presetting the adjustment quantity of the detachable counterweight block each time;

[0035] Calculate the difference between the heart rate data and the standard heart rate, and adjust the number of the detachable weight blocks according to the difference:

[0036] When the heart rate state is a high heart rate, the number of the detachable counterweight blocks is reduced according to the difference, and the difference is multiplied by the adjustment number to obtain the reduced number of the detachable counterweight blocks;

[0037] When the heart rate state is a low heart rate, the number of the detachable counterweight blocks is increased according to the difference, and the difference is multiplied by the adjustment number to obtain the increased number of detachable counterweight blocks;

[0038] When the heart rate state is a normal heart rate, the number of the detachable counterweight blocks is not adjusted.

[0039] Compared with the prior art, the beneficial effect of the present invention is that the exoskeleton module provided by the present invention can better adapt to the physiological changes of the user and provide more humane assistance support by monitoring the heart rate data in real time and making dynamic adjustments. This heart rate-based adjustment mechanism can not only improve the user's exercise efficiency, but also prevent sports injuries to a certain extent, ensuring that the user exercises within a safe range. By continuously optimizing the number of counterweights, the exoskeleton module can provide users with a more comfortable and efficient wearing experience, further promoting the application of wearable devices in the fields of sports and rehabilitation.

[0040] In another aspect, the present invention also provides a method for using an exoskeleton module, comprising the following steps:

[0041] S100: collecting the assist torque generated by the detachable counterweight in real time, establishing an assist torque set according to the assist torque, and calculating the change rate of the assist torque according to the assist torque set;

[0042] S200: Compare the change rate with a change rate threshold, and determine whether to adjust the number of detachable counterweights according to the comparison result:

[0043] S300: When it is determined that the number of the detachable counterweight blocks is to be adjusted, the judgment unit controls the acquisition unit to acquire the posture angle and movement speed of the user, and respectively establishes a posture angle data set and a movement speed data set according to the posture angle and the movement speed; fuses the posture angle data set and the movement speed data set to obtain a fused data set; calculates the similarity between the fused data set and the motion pattern template, compares the similarity with a similarity threshold, and adjusts the number of the detachable counterweight blocks according to the comparison result;

[0044] S400: When the similarity is less than the similarity threshold, controlling the acquisition unit to acquire the heart rate data of the user, and adjusting the number of the detachable weight blocks according to the heart rate data.

[0045] It is understandable that the above-mentioned exoskeleton modules and methods of use have the same beneficial effects and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0047] Figure 1 A schematic diagram of the overall structure of an exoskeleton module provided by an embodiment of the present invention;

[0048] Figure 2 A flowchart of a method for using an exoskeleton module provided in an embodiment of the present invention.

[0049] In the figure: 100, exoskeleton module body; 110, sensor group; 120, battery module; 130, drive assembly; 131, connecting rod; 132, detachable counterweight block; 140, control module. DETAILED DESCRIPTION

[0050] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0051] See also Figure 1 As shown, in some embodiments of the present application, this embodiment provides an exoskeleton module, including:

[0052] The exoskeleton module body 100, the sensor group 110, the battery module 120, the drive assembly 130 and the control module 140 are arranged inside the exoskeleton module body 100; the sensor group 110 includes a posture sensor, a force sensor and a heart rate sensor; the battery module 120 includes a plurality of battery cells, and the battery cells are connected in series or in parallel; the drive assembly 130 includes a drive motor, a connecting rod 131 and a detachable counterweight 132, the output end of the drive motor is vertically connected to one end of the connecting rod 131, and the detachable counterweight 132 is connected to the other end of the connecting rod 131, and the drive motor can drive the detachable counterweight 132 to perform non-uniform circular motion through the connecting rod 131; the control module 140 includes a collection unit, a judgment unit, and a processing unit;

[0053] A collection unit, configured to collect the assist torque generated by the detachable counterweight block 132 in real time, establish an assist torque set according to the assist torque, and calculate the rate of change of the assist torque according to the assist torque set;

[0054] The judgment unit is configured to compare the change rate with the change rate threshold, and judge whether to adjust the number of the detachable counterweight blocks 132 according to the comparison result:

[0055] When it is determined that the number of detachable counterweights 132 is to be adjusted, the judgment unit controls the acquisition unit to acquire the user's posture angle and movement speed, and establishes a posture angle data set and a movement speed data set according to the posture angle and the movement speed, respectively; the posture angle data set and the movement speed data set are fused to obtain a fused data set; the similarity between the fused data set and the movement pattern template is calculated, the similarity is compared with the similarity threshold, and the number of detachable counterweights 132 is adjusted according to the comparison result;

[0056] The processing unit is configured to control the collecting unit to collect the user's heart rate data when the similarity is less than a similarity threshold, and adjust the number of the detachable weight blocks 132 according to the heart rate data.

[0057] It can be seen that in some embodiments of the present invention, the exoskeleton module includes an exoskeleton module body 100, a sensor group 110, a battery module 120, a drive component 130 and a control module 140. The exoskeleton module body 100 is the basic structure of the entire exoskeleton module, which is used to carry other components and provide support; the sensor group 110 is used to monitor the user's physiological and motion state in real time, including key parameters such as posture, strength and heart rate; the battery module 120 provides a continuous energy supply for the exoskeleton module to ensure long-term operation; the drive component 130 uses a motor and a counterweight block to assist the exoskeleton module and improve the wearer's motion efficiency.

[0058] It can be seen that the acquisition unit is used to collect the power torque generated by the user when wearing the exoskeleton module in real time. These data are crucial for optimizing the performance of the exoskeleton module; the role of the judgment unit is to make intelligent decisions based on the collected data and preset thresholds to ensure that the exoskeleton module can provide appropriate power in different motion modes; the processing unit is used to further adjust the number of counterweights based on the user's physiological data, such as heart rate. For example, if the user's heart rate is too high, it indicates that the user may be in a state of fatigue. At this time, the processing unit will reduce the number of counterweights to reduce the burden on the user. Conversely, if the user's heart rate is low and the posture angle and movement speed data indicate that the user can withstand greater power, the processing unit will increase the number of counterweights to improve exercise efficiency.

[0059] Specifically, a power assist torque set is established according to the power assist torque, and the rate of change of the power assist torque is calculated according to the power assist torque set, including:

[0060] The collected assist torque is recorded in sequence according to time;

[0061] Filter the concentrated assist torque to remove noise and abnormal values;

[0062] The time derivative of the assist torque is calculated by numerical differentiation method to obtain the rate of change.

[0063] It can be seen that recording the collected assist torque in chronological order can ensure the continuity and integrity of the data, which is convenient for subsequent analysis and processing; filtering processing can effectively improve the data quality and ensure that the calculation results of the change rate are more accurate and reliable; the numerical differentiation method can accurately calculate the change rate according to the change trend of the assist torque over time, thereby providing important decision-making basis for the judgment unit.

[0064] Specifically, the change rate is compared with the change rate threshold, and judging whether to adjust the number of the detachable counterweight blocks 132 according to the comparison result includes:

[0065] When the change rate is less than or equal to the change rate threshold, the judgment unit determines not to adjust the number of the detachable counterweight blocks 132;

[0066] When the change rate is greater than the change rate threshold, the determination unit determines to adjust the number of the detachable weights 132 .

[0067] It can be seen that when the rate of change exceeds the threshold, it indicates that the user may be experiencing strenuous exercise or needs additional assistance, and the judgment unit will start the adjustment procedure. The specific adjustment process includes: First, the control unit will collect the user's posture angle and movement speed, which are crucial for understanding the user's movement state. The fusion of the posture angle data set and the movement speed data set can provide a more comprehensive movement pattern analysis, thereby more accurately judging the user's current movement needs.

[0068] Specifically, the attitude angle dataset and the motion speed dataset are fused to obtain a fused dataset, including:

[0069] Extracting attitude feature data from an attitude angle data set, the attitude feature data including a pitch angle, a roll angle, and a heading angle;

[0070] Extracting motion feature data from the motion speed data set, where the motion feature data includes linear velocity and angular velocity;

[0071] The Kalman filter algorithm is used to fuse the posture feature data and motion feature data to obtain a fused data set.

[0072] Specifically, the motion mode templates include a walking mode template, a running mode template, and a climbing mode template.

[0073] It can be seen that the fused data set processed by the Kalman filter algorithm can effectively reduce noise and errors and improve the accuracy of the data. The similarity calculation between the fused data set and the motion pattern template is achieved by comparing the feature differences between the two.

[0074] Specifically, when calculating the similarity between the fused dataset and the motion pattern template, it includes:

[0075] The similarity is obtained by the following formula:

[0076]

[0077] Among them, Di represents the similarity, Fi represents the i-th eigenvalue in the fused data set, and T i,j Represents the j-th eigenvalue of different types of motion pattern templates.

[0078] Specifically, the similarity is compared with the similarity threshold, and the number of the detachable counterweight blocks 132 is adjusted according to the comparison result, including:

[0079] When the similarity is greater than or equal to the similarity threshold, the processing unit controls the collection unit to collect historical data, and adjusts the number of detachable counterweight blocks 132 according to the historical data;

[0080] When the similarity is less than the similarity threshold, the processing unit controls the collecting unit to collect the user's heart rate data, and adjusts the number of the detachable weight blocks 132 according to the heart rate data.

[0081] Specifically, the historical data includes the user's historical assist torque data, historical posture angle data, and historical movement speed data in different movement modes.

[0082] It can be seen that the collection and analysis of historical data is crucial to optimizing the performance of the exoskeleton module. By analyzing the user's historical power torque data, historical posture angle data, and historical movement speed data in different movement modes, the user's movement habits and needs can be understood more accurately. For example, if historical data shows that the user often needs additional power in a specific movement mode, the processing unit can adjust the number of counterweights accordingly to provide more appropriate power.

[0083] Specifically, when the similarity is less than the similarity threshold, the processing unit controls the collection unit to collect the user's heart rate data, and adjusts the number of the detachable weight blocks 132 according to the heart rate data, including:

[0084] Determine the heart rate state according to the heart rate data; the heart rate state includes high heart rate, low heart rate and normal heart rate;

[0085] The adjustment quantity of the detachable counterweight block 132 each time is preset;

[0086] The difference between the heart rate data and the standard heart rate is calculated, and the number of the detachable weight blocks 132 is adjusted according to the difference:

[0087] When the heart rate state is high, the number of detachable weight blocks 132 is reduced according to the difference, and the difference is multiplied by the adjustment number to obtain the reduced number of detachable weight blocks 132;

[0088] When the heart rate state is low, the number of detachable weight blocks 132 is increased according to the difference, and the difference is multiplied by the adjustment number to obtain the increased number of detachable weight blocks 132;

[0089] When the heart rate state is a normal heart rate, the number of the detachable weight blocks 132 is not adjusted.

[0090] It can be seen that the method of adjusting the number of counterweights through heart rate data can meet the user's physiological needs in a more personalized way. As an important indicator reflecting the user's physical condition, changes in heart rate can directly indicate the user's current exercise intensity and fatigue level. When the user's heart rate is in a high heart rate state, it indicates that the user may be experiencing high-intensity exercise or physical fatigue. At this time, reducing the number of counterweights can reduce the user's burden and avoid overwork. On the contrary, when the user's heart rate is in a low heart rate state, it may mean that the user's exercise intensity is low. At this time, increasing the number of counterweights can provide more assistance and help users complete exercise tasks more effectively. When the heart rate is within the normal range, keeping the number of counterweights unchanged can maintain the user's current exercise state and level of assistance.

[0091] It is understandable that by real-time monitoring of heart rate data and dynamic adjustment, the exoskeleton module can better adapt to the user's physiological changes and provide more humane support. This heart rate-based adjustment mechanism can not only improve the user's exercise efficiency, but also prevent sports injuries to a certain extent, ensuring that the user exercises within a safe range. By continuously optimizing the number of counterweights, the exoskeleton module can provide users with a more comfortable and efficient wearing experience, further promoting the application of wearable devices in the fields of sports and rehabilitation.

[0092] See also Figure 2 As shown, in some embodiments of the present application, this embodiment provides a method for using an exoskeleton module, comprising the following steps:

[0093] S100: collecting the assist torque generated by the detachable counterweight in real time, establishing an assist torque set according to the assist torque, and calculating the change rate of the assist torque according to the assist torque set;

[0094] S200: Compare the change rate with a change rate threshold, and determine whether to adjust the number of detachable counterweights according to the comparison result:

[0095] S300: When it is determined that the number of the detachable counterweight blocks is to be adjusted, the judgment unit controls the acquisition unit to acquire the posture angle and movement speed of the user, and respectively establishes a posture angle data set and a movement speed data set according to the posture angle and the movement speed; fuses the posture angle data set and the movement speed data set to obtain a fused data set; calculates the similarity between the fused data set and the motion pattern template, compares the similarity with a similarity threshold, and adjusts the number of the detachable counterweight blocks according to the comparison result;

[0096] S400: When the similarity is less than the similarity threshold, controlling the acquisition unit to acquire the heart rate data of the user, and adjusting the number of the detachable weight blocks according to the heart rate data.

[0097] It can be seen that by real-time monitoring of heart rate data and dynamic adjustment, the exoskeleton module can better adapt to the user's physiological changes and provide more humane support. This heart rate-based adjustment mechanism can not only improve the user's exercise efficiency, but also prevent sports injuries to a certain extent, ensuring that users exercise within a safe range. By continuously optimizing the number of counterweights, the exoskeleton module can provide users with a more comfortable and efficient wearing experience, further promoting the application of wearable devices in the fields of sports and rehabilitation.

[0098] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0099] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1The steps for the functions specified in one or more boxes.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An exoskeleton module, characterized in that: include: An exoskeleton module body, a sensor group, a battery module, a drive assembly and a control module, wherein the sensor group, the battery module, the drive assembly and the control module are arranged inside the exoskeleton module body; the sensor group includes a posture sensor, a force sensor and a heart rate sensor; the battery module includes a plurality of battery cells, and the battery cells are connected in series or in parallel; the drive assembly includes a drive motor, a connecting rod and a detachable counterweight, wherein the output end of the drive motor is vertically connected to one end of the connecting rod, the detachable counterweight is connected to the other end of the connecting rod, and the drive motor can drive the detachable counterweight to perform non-uniform circular motion through the connecting rod; the control module includes a collection unit, a judgment unit and a processing unit; The acquisition unit is configured to acquire the assist torque generated by the detachable counterweight in real time, establish an assist torque set according to the assist torque, and calculate the rate of change of the assist torque according to the assist torque set; The judging unit is configured to compare the change rate with a change rate threshold, and judge whether to adjust the number of the detachable counterweight blocks according to the comparison result: When it is determined that the number of the detachable counterweight blocks is to be adjusted, the judgment unit controls the acquisition unit to acquire the posture angle and movement speed of the user, and establishes a posture angle data set and a movement speed data set according to the posture angle and the movement speed, respectively; fuses the posture angle data set and the movement speed data set to obtain a fused data set; calculates the similarity between the fused data set and the motion pattern template, compares the similarity with a similarity threshold, and adjusts the number of the detachable counterweight blocks according to the comparison result; The processing unit is configured to control the collecting unit to collect the heart rate data of the user when the similarity is less than the similarity threshold, and adjust the number of the detachable counterweight blocks according to the heart rate data.

2. The exoskeleton module according to claim 1, characterized in that: Establishing a power-assisting torque set according to the power-assisting torque, and calculating the rate of change of the power-assisting torque according to the power-assisting torque set, comprising: The collected assist torque is recorded in sequence according to time; Filtering the assist torque in the assist torque concentration to remove noise and abnormal values; The time derivative of the assist torque is calculated by numerical differentiation method to obtain the change rate.

3. The exoskeleton module according to claim 2, characterized in that: The change rate is compared with the change rate threshold, and judging whether to adjust the number of the detachable counterweight blocks according to the comparison result, including: When the change rate is less than or equal to the change rate threshold, the judgment unit determines not to adjust the number of the detachable counterweight blocks; When the change rate is greater than the change rate threshold, the judgment unit determines to adjust the number of the detachable counterweight blocks.

4. The exoskeleton module according to claim 3, characterized in that: The posture angle data set and the motion speed data set are fused to obtain a fused data set, including: Extracting attitude feature data from the attitude angle data set, wherein the attitude feature data includes a pitch angle, a roll angle, and a heading angle; Extracting motion feature data from the motion speed data set, wherein the motion feature data includes linear velocity and angular velocity; The Kalman filter algorithm is used to fuse the posture feature data and the motion feature data to obtain the fused data set.

5. The exoskeleton module according to claim 4, characterized in that: The motion pattern templates include a walking pattern template, a running pattern template and a climbing pattern template.

6. The exoskeleton module according to claim 5, characterized in that: When calculating the similarity between the fused data set and the motion pattern template, it includes: The similarity is obtained by the following formula: Where Di represents the similarity, Fi represents the i-th eigenvalue in the fused data set, T i,j Represents the j-th eigenvalue of the motion pattern template of different types.

7. The exoskeleton module according to claim 6, characterized in that: The similarity is compared with a similarity threshold, and the number of the detachable counterweight blocks is adjusted according to the comparison result, including: When the similarity is greater than or equal to the similarity threshold, the processing unit controls the collecting unit to collect historical data, and adjusts the number of the detachable counterweight blocks according to the historical data; When the similarity is less than the similarity threshold, the processing unit controls the collecting unit to collect the heart rate data of the user, and adjusts the number of the detachable weight blocks according to the heart rate data.

8. The exoskeleton module according to claim 7, characterized in that: The historical data includes historical assist torque data, historical posture angle data and historical movement speed data of the user in different movement modes.

9. The exoskeleton module according to claim 7, characterized in that: When the similarity is less than the similarity threshold, the processing unit controls the collecting unit to collect the heart rate data of the user, and adjusts the number of the detachable weight blocks according to the heart rate data, including: Determine a heart rate state according to the heart rate data; the heart rate state includes a high heart rate, a low heart rate and a normal heart rate; Presetting the adjustment quantity of the detachable counterweight block each time; Calculate the difference between the heart rate data and the standard heart rate, and adjust the number of the detachable weight blocks according to the difference: When the heart rate state is a high heart rate, the number of the detachable counterweight blocks is reduced according to the difference, and the difference is multiplied by the adjustment number to obtain the reduced number of the detachable counterweight blocks; When the heart rate state is a low heart rate, the number of the detachable counterweight blocks is increased according to the difference, and the difference is multiplied by the adjustment number to obtain the increased number of detachable counterweight blocks; When the heart rate state is a normal heart rate, the number of the detachable counterweight blocks is not adjusted.

10. A method for using an exoskeleton module, applied to the exoskeleton module according to any one of claims 1 to 9, characterized in that: include: collecting the assist torque generated by the detachable counterweight in real time, establishing an assist torque set according to the assist torque, and calculating the rate of change of the assist torque according to the assist torque set; The change rate is compared with a change rate threshold, and whether to adjust the number of the detachable counterweight blocks is determined according to the comparison result: When it is determined that the number of the detachable counterweight blocks is to be adjusted, the judgment unit controls the acquisition unit to acquire the posture angle and movement speed of the user, and establishes a posture angle data set and a movement speed data set according to the posture angle and the movement speed, respectively; fuses the posture angle data set and the movement speed data set to obtain a fused data set; calculates the similarity between the fused data set and the motion pattern template, compares the similarity with a similarity threshold, and adjusts the number of the detachable counterweight blocks according to the comparison result; When the similarity is less than the similarity threshold, the collecting unit is controlled to collect the heart rate data of the user, and the number of the detachable counterweight blocks is adjusted according to the heart rate data.

Images