Exoskeleton control method and system and exoskeleton system

Abstract

The invention relates to an exoskeleton control method and system and an exoskeleton system. The exoskeleton control method comprises the steps that hip joint angle sensor information is obtained, and hip joint angle information is obtained; according to the hip joint angle information, an exoskeleton movement mode is judged; if the exoskeleton motion mode is a static mode, comparing the hip joint angle information with a preset angle information threshold value, and judging an exoskeleton motion state sequence number corresponding to the static mode; if the exoskeleton movement mode is a periodic movement mode, an exoskeleton movement state sequence number corresponding to the periodic movement mode is judged according to the hip joint angle information; judging whether the exoskeleton motion state sequence number accords with a preset assisting gait phase or not, and if yes, generating an exoskeleton torque control instruction according to the exoskeleton motion state sequence number; the system has the advantages that the exoskeleton control accuracy is improved, the system complexity is reduced, and wearing is convenient.

Description

Technical Field

[0001] The present disclosure relates to the field of exoskeleton control, and in particular to an exoskeleton control method, system and exoskeleton system. Background Art

[0002] With the development of the industrial age, lower limb exoskeletons are widely used in many fields such as military, industry, rescue and medical care, etc., which can reduce the physical exertion of workers, prevent overwork, improve work efficiency, and help patients perform rehabilitation exercises or normal actions.

[0003] In the process of motion control of lower limb exoskeleton, real-time and reliable motion pattern recognition and the generation of power-assisted trajectory are two very important parts. Existing lower limb exoskeletons mainly rely on plantar pressure sensors in the process of motion pattern recognition. By detecting the changes in plantar pressure during human movement, the motion pattern is identified through threshold comparison. The determination of thresholds requires a lot of experiments, and has poor adaptability to different users. The plantar pressure signal is unstable, resulting in low accuracy in motion pattern recognition. In addition, the use of plantar pressure sensors requires additional pressure sensors to be set on the soles of the feet, making the exoskeleton system more complex and not easy to wear. Summary of the invention

[0004] Based on this, the purpose of the present disclosure is to provide an exoskeleton control method, system and an exoskeleton system, which have the advantages of improving the accuracy of exoskeleton control, reducing system complexity and facilitating wear.

[0005] The present disclosure provides an exoskeleton control method, comprising the following steps:

[0006] Obtain hip joint angle sensor information, obtain hip joint angle information;

[0007] Determining an exoskeleton motion mode according to the hip joint angle information;

[0008] If the exoskeleton motion mode is a static mode, comparing the hip joint angle information with a preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode;

[0009] If the exoskeleton motion mode is a periodic motion mode, determining the exoskeleton motion state sequence number corresponding to the periodic motion mode according to the hip joint angle information;

[0010] Determine whether the exoskeleton motion state sequence number matches a preset power-assisted gait phase; if so, generate an exoskeleton torque control instruction according to the exoskeleton motion state sequence number.

[0011] The present disclosure also provides an exoskeleton system, comprising an exoskeleton and a hip joint angle sensor, a motion controller and an exoskeleton driving device arranged on the exoskeleton;

[0012] The hip joint angle sensor is connected to the input end of the motion controller, and the exoskeleton driving device is connected to the output end of the motion controller;

[0013] The hip joint angle sensor collects and sends hip joint angle sensor information to the motion controller, and the motion controller is used to execute the above-mentioned exoskeleton control method. The motion controller outputs exoskeleton torque control instructions to the exoskeleton drive device to drive the exoskeleton to move.

[0014] The present disclosure also provides a lower limb exoskeleton control system, comprising:

[0015] A signal preprocessing module is used to obtain hip joint angle sensor information and obtain hip joint angle information;

[0016] A signal determination module, used to determine the exoskeleton movement mode according to the hip joint angle information;

[0017] A motion mode recognition module, for comparing the hip joint angle information with a preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode if the exoskeleton motion mode is a static mode; and for determining the exoskeleton motion state sequence number corresponding to the cyclic motion mode based on the hip joint angle information if the exoskeleton motion mode is a cyclic motion mode;

[0018] The control instruction generation module is used to determine whether the exoskeleton motion state sequence number conforms to the preset power-assisted gait phase, and if so, to generate an exoskeleton torque control instruction according to the exoskeleton motion state sequence number.

[0019] The present disclosure also provides a computer device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the exoskeleton control method as described above when executing the computer program.

[0020] The present disclosure also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the exoskeleton control method as described above are implemented.

[0021] The exoskeleton control method disclosed in the present invention obtains the hip joint angle by obtaining the hip joint angle sensor information, and divides the exoskeleton motion mode into a static mode and a periodic motion mode according to the hip joint angle information, and adopts different judgment methods for the static mode and the periodic motion mode respectively, obtains the corresponding exoskeleton motion state serial number, and finally compares the exoskeleton motion state serial number with the preset power-assisted gait phase. When the two match, an exoskeleton torque control instruction is generated according to the exoskeleton motion state serial number. The exoskeleton control method disclosed in the present invention improves the accuracy of exoskeleton motion state judgment, reduces system complexity, and reduces system cost.

[0022] For better understanding and implementation, the present disclosure is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flowchart of the steps of an exoskeleton control method in an embodiment of the present disclosure;

[0024] Figure 2 A flowchart of the steps for obtaining the exoskeleton motion mode in an embodiment of the present disclosure;

[0025] Figure 3 A flowchart of the steps for determining the exoskeleton motion state sequence number corresponding to the static mode in the embodiment of the present disclosure;

[0026] Figure 4 A flowchart of the steps of determining the exoskeleton motion state sequence number corresponding to the periodic motion pattern in one embodiment of the present disclosure;

[0027] Figure 5 A flowchart of the steps of determining the exoskeleton motion state sequence number corresponding to the periodic motion pattern in another embodiment of the present disclosure;

[0028] Figure 6 A flowchart of the steps of obtaining the exoskeleton motion state sequence number corresponding to the periodic motion mode according to the event number and the current motion state in an embodiment of the present disclosure;

[0029] Figure 7 A flowchart of the steps for verifying the exoskeleton motion state sequence number in the embodiment of the present disclosure;

[0030] Figure 8 is a schematic diagram of the structure of the exoskeleton system described in an embodiment of the present disclosure;

[0031] Fig. 9 is a schematic diagram of the structure of the lower limb exoskeleton control system described in the embodiment of the present disclosure;

[0032] Fig.10 Schematic diagram of a computer device for the exoskeleton control method in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0034] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0035] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" / "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0036] See also Figure 1 , Figure 1 The figure is a flowchart of the steps of an exoskeleton control method in an embodiment of the present disclosure.

[0037] An exoskeleton control method comprises the following steps:

[0038] S101, obtaining hip joint angle sensor information, obtaining hip joint angle information;

[0039] S102, determining an exoskeleton motion mode according to the hip joint angle information;

[0040] S103, if the exoskeleton motion mode is a static mode, comparing the hip joint angle information with a preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode;

[0041] S104, if the exoskeleton motion mode is a periodic motion mode, determining the exoskeleton motion state sequence number corresponding to the periodic motion mode according to the hip joint angle information;

[0042] S105, determining whether the exoskeleton motion state sequence number conforms to a preset power-assisted gait phase, and if so, generating an exoskeleton torque control instruction according to the exoskeleton motion state sequence number.

[0043] The exoskeleton control method disclosed in the present invention obtains the hip joint angle by obtaining the hip joint angle sensor information, and divides the exoskeleton motion mode into a static mode and a periodic motion mode according to the hip joint angle information, and adopts different judgment methods for the static mode and the periodic motion mode respectively, obtains the corresponding exoskeleton motion state serial number, and finally compares the exoskeleton motion state serial number with the preset power-assisted gait phase. When the two match, an exoskeleton torque control instruction is generated according to the exoskeleton motion state serial number. The exoskeleton control method disclosed in the present invention improves the accuracy of exoskeleton motion state judgment, reduces system complexity, and reduces system cost.

[0044] For step S101, obtain hip joint angle sensor information, obtain hip joint angle information;

[0045] Wherein, the hip joint angle sensor is a sensor arranged on the exoskeleton for obtaining the hip joint angle. In one embodiment, the hip joint angle sensor includes a hip joint encoder. Of course, the hip joint angle sensor can also be a rotary potentiometer. The hip joint angle sensor information includes a hip joint angle change curve, etc.

[0046] The hip joint angle information is the hip joint angle and / or angular velocity information obtained by analyzing the hip joint angle sensor information. In one embodiment, the hip joint angle information includes the left leg hip joint angle, the right leg hip joint angle, the left leg hip joint angular velocity, and the right leg hip joint angular velocity. In other embodiments, the hip joint angle information may also include the maximum forward amplitude and the maximum reverse amplitude of the left and right leg hip joints.

[0047] In this embodiment, the collected hip joint angle sensor information is preprocessed to obtain hip joint angle information for determining the motion state of the exoskeleton.

[0048] In one embodiment, the hip joint angle sensor signal is low-pass filtered and the hip joint angle in the hip joint angle sensor is differentiated to obtain the hip joint angular velocity, including the left leg hip joint angular velocity and the right leg hip joint angular velocity.

[0049] In the present disclosure, the method of obtaining the hip joint angle information based on the hip joint angle sensor signal not only includes the method described in the above embodiment, but other methods for obtaining the hip joint angle information based on the hip joint angle sensor signal can also be applied to the scheme in the present disclosure.

[0050] In step S102, the exoskeleton movement mode is determined according to the hip joint angle information;

[0051] The exoskeleton motion mode is an exoskeleton working mode corresponding to the motion state of the exoskeleton user. In this embodiment, the exoskeleton motion mode includes a static mode and a periodic motion mode.

[0052] In the disclosed embodiment, in order to more accurately identify human motion, the exoskeleton motion mode is divided into a static mode and a periodic motion mode, and different recognition methods are selected for different motion modes to improve the accuracy of exoskeleton human motion recognition, so that the exoskeleton can obtain accurate assistance plans to assist human motion.

[0053] See also Figure 2 , Figure 2 The flowchart of the steps of obtaining the exoskeleton motion mode in the embodiment of the present disclosure is as follows. In one embodiment, judging the exoskeleton motion mode according to the hip joint angle information includes the following steps:

[0054] S201, obtaining the hip joint angle in the hip joint angle information, and calculating the hip joint angle change amplitude;

[0055] S202, if the hip joint angle change amplitude is lower than a preset angle amplitude, the exoskeleton movement mode is a static mode;

[0056] S203: If the hip joint angle variation amplitude is not less than the preset angle amplitude, the exoskeleton motion mode is a periodic motion mode.

[0057] For steps S201 to S203, the hip joint angle variation amplitude is a value representing the hip joint angle variation amplitude. In one embodiment, the hip joint angle variation amplitude = the maximum value of the hip joint angles - the minimum value of the hip joint angles. The preset angle amplitude is a threshold value set in advance for determining the motion mode. In one embodiment, the preset angle amplitude can be set to an angle value close to 0. In other embodiments, the preset angle amplitude can also be set to a smaller value, for example, the preset angle amplitude is set to 5.

[0058] In this embodiment, when the hip joint angle change amplitude is not lower than the preset angle amplitude, the hip joint starts to move, and the exoskeleton movement mode is a periodic movement mode. When the hip joint angle change amplitude is lower than the preset angle amplitude, the hip joint remains stationary without movement, and the exoskeleton movement mode is a stationary mode.

[0059] It should be noted that, in the present disclosure, judging the exoskeleton motion mode according to the hip joint angle information is not limited to the format described in the above embodiment, and other methods that can judge whether the exoskeleton motion mode is a static mode or a periodic motion mode according to the hip joint angle information can be applied to the present disclosure. For example, a hip joint angle curve is obtained according to the hip joint angle information, and when the hip joint angle curve is consistent with the static preset curve change, the exoskeleton motion mode is judged to be a static mode, and when the hip joint angle curve is consistent with the periodic motion preset curve change, the exoskeleton motion mode is judged to be a periodic motion mode; or, a hip joint angular velocity is obtained according to the hip joint angle information, and it is judged whether the hip joint angular velocity exceeds a preset angular velocity threshold value. If it exceeds, the exoskeleton motion mode is a periodic motion mode, otherwise the exoskeleton motion mode is a static mode.

[0060] In step S103, if the exoskeleton motion mode is a static mode, the hip joint angle information is compared with a preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode;

[0061] Among them, the hip joint angle information includes the left leg hip joint angle, the right leg hip joint angle, the left leg hip joint angular velocity and the right leg hip joint angular velocity. The angle information threshold is a threshold set in advance for judging the hip joint angle information. Corresponding angle information thresholds are set for different hip joint angle information. In this embodiment, the angle information threshold includes an angle threshold and an angular velocity threshold. The angle threshold corresponds to the left leg hip joint angle or the right leg hip joint angle, and the angular velocity threshold corresponds to the left leg hip joint angular velocity or the right leg hip joint angular velocity.

[0062] The exoskeleton motion state sequence number is a sequence number corresponding to the exoskeleton motion state obtained according to the hip joint angle information and the angle information threshold. For example, if the exoskeleton motion state is standing upright with both legs, the corresponding exoskeleton motion state sequence number is 1. When the sequence number is 1, it can be determined that the exoskeleton is in a state of standing upright with both legs. In this embodiment, the exoskeleton motion state is divided into different motion states, and each motion state corresponds to a unique exoskeleton motion state sequence number.

[0063] See also Figure 3 , Figure 3 The flowchart of the steps for determining the exoskeleton motion state sequence number corresponding to the static mode in the embodiment of the present disclosure is as follows. In one embodiment, the hip joint angle information is compared with a preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode, which at least includes the following steps:

[0064] S301, if the left leg hip joint angle and the right leg hip joint angle are both less than the angle threshold and the left leg hip joint angular velocity and the right leg hip joint angular velocity are both less than the angular velocity threshold, then the static mode is the first static mode, and the exoskeleton motion state sequence number corresponding to the first static mode is obtained;

[0065] S302: If the left leg hip joint angle is not less than the angle threshold, the right leg hip joint angle is less than the angle threshold, and the left leg hip joint angular velocity and the right leg hip joint angular velocity are both less than the angular velocity threshold, then the static mode is the second static mode, and the exoskeleton motion state sequence number corresponding to the second static mode is obtained;

[0066] S303, if the left leg hip joint angle is less than the angle threshold, the right leg hip joint angle is not less than the angle threshold, and the left leg hip joint angular velocity and the right leg hip joint angular velocity are both less than the angular velocity threshold, then the still mode is the third still mode, and the exoskeleton motion state sequence number corresponding to the third still mode is obtained.

[0067] For steps S301 to S303, the first static mode is a state of both legs standing upright, the second static mode is a standing mode with the left leg in front and the right leg behind, and the third static mode is a standing mode with the left leg behind and the right leg in front.

[0068] In this embodiment, by comparing the left and right leg hip joint angles and angular velocities in the static mode with the corresponding angle thresholds and angular velocity thresholds, it is determined which standing mode the exoskeleton is in. According to the specific standing mode of the exoskeleton, the switching of the motion state can be more accurately judged, the generation of some erroneous assistance can be eliminated, and the accuracy of motion state judgment can be improved. For example, when in the standing mode with the left leg in front and the right leg behind, when switching to the walking state, it will only switch to the motion state of the right leg stepping, and it is impossible to switch to the motion state of the left leg stepping.

[0069] It should be noted that in the present disclosure, the comparison of the hip joint angle information with the preset angle information threshold to determine the exoskeleton motion state number corresponding to the static mode includes the determination scheme described in the above-mentioned embodiment, but is not limited to the scheme described in the above-mentioned embodiment. Other methods for determining the exoskeleton motion state number corresponding to the static mode based on the comparison of the hip joint angle information with the preset angle information threshold can also be applied to the present disclosure, for example, the determination of different standing modes in the static mode, such as standing with the left leg upright in front and the right leg bent behind, standing with the left leg bent in front and the right leg bent behind, as well as static states such as squatting and sitting down.

[0070] In this embodiment, when the exoskeleton motion mode is the static mode, the hip joint angle information is compared with a preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode. By dividing the static mode into different motion states for determination, the accuracy of motion state determination is further improved, eliminating the possibility of incorrect assistance.

[0071] In step S104, if the exoskeleton motion mode is a periodic motion mode, the exoskeleton motion state sequence number corresponding to the periodic motion mode is determined according to the hip joint angle information;

[0072] See also Figure 4 , Figure 4 The present invention discloses a flowchart of the steps of determining the exoskeleton motion state sequence number corresponding to the periodic motion pattern in one embodiment. In one embodiment, according to the hip joint angle information, determining the exoskeleton motion state sequence number corresponding to the periodic motion pattern includes the following steps:

[0073] S401, acquiring inertial sensor information, and calculating Euler angles according to the inertial sensor information;

[0074] S402, calculating the variation amplitude of the hip joint angle information and the Euler angle;

[0075] S403, comparing the hip joint angle information and the maximum change amplitude of the Euler angle with the corresponding preset judgment threshold, and obtaining the exoskeleton motion state sequence number corresponding to the periodic motion pattern according to the comparison result.

[0076] In step S401, inertial sensor information is obtained, and Euler angles are calculated according to the inertial sensor information;

[0077] Wherein, the inertial sensor is a sensor used to detect and measure acceleration and rotational motion. In one embodiment, the inertial sensor includes an IMU sensor. In other embodiments, the inertial sensor may also include an accelerometer or an angular velocity sensor. The inertial sensor is arranged on the exoskeleton. In one embodiment, the inertial sensor is arranged at a position corresponding to the back of the human body in the exoskeleton. In other embodiments, the inertial sensor may also be arranged at a position corresponding to the abdomen of the human body in the exoskeleton. In this embodiment, the inertial sensor information is obtained through the inertial sensor, and the exoskeleton posture is solved according to the inertial sensor information to obtain the Euler angle.

[0078] In this embodiment, the Euler angles are used to assist in determining the exoskeleton motion state. For example, the exoskeleton motion state corresponding to the motion events of going upstairs, going downstairs, uphill, downhill and turning is determined based on the Euler angles.

[0079] For steps S402 to S403, the preset judgment threshold is a numerical value set in advance for judging the sequence number of the exoskeleton motion state. In the present embodiment, corresponding preset judgment thresholds are set for different hip joint angle information and Euler angles. The comparison result is the comparison result between the preset judgment threshold and the change amplitude. In one embodiment, the comparison result includes that the preset judgment is greater than the change amplitude or the preset judgment threshold is not greater than the change amplitude. In the present embodiment, after obtaining the Euler angle, the change amplitude of the hip joint angle information and the Euler angle is calculated, including calculating the change amplitude of the left leg hip joint angle, the right leg hip joint angle, the left leg hip joint angular velocity, the right leg hip joint angular velocity and the respective change amplitudes of the Euler angle.

[0080] In this embodiment, when determining the exoskeleton motion state number corresponding to the periodic motion pattern, the hip joint angle information and the maximum change amplitude of the Euler angle are obtained and compared with the corresponding preset judgment threshold, and the comparison result is obtained to determine the exoskeleton motion state number.

[0081] In other embodiments, when obtaining the exoskeleton motion state number corresponding to the periodic motion pattern, the hip joint angle information and multiple data in the Euler angle can be compared with corresponding judgment thresholds to judge the exoskeleton motion state number corresponding to the periodic motion pattern. For example, based on the comparison of the hip joint angle information with the corresponding judgment threshold, the motion state is obtained as left leg stepping, and the Euler angle is compared with the corresponding judgment threshold to obtain the motion state as climbing stairs, then the exoskeleton motion state number corresponding to left leg stepping of climbing stairs is obtained.

[0082] See also Figure 5 , Figure 5 This is a flowchart of the steps of determining the exoskeleton motion state sequence number corresponding to the periodic motion pattern in another embodiment of the present disclosure. In one embodiment, according to the hip joint angle information, determining the exoskeleton motion state sequence number corresponding to the periodic motion pattern includes the following steps:

[0083] S501, calculating the average values ​​of the left leg hip joint angle and the right leg hip joint angle according to the hip joint angle information, and obtaining the left hip joint angular velocity, the right hip joint angular velocity, and the maximum positive amplitude and the maximum negative amplitude of the hip joint angle;

[0084] S502, determining the average values ​​of the left leg hip joint angle and the right leg hip joint angle, the left hip joint angular velocity, the right hip joint angular velocity, and the maximum positive amplitude and the maximum negative amplitude of the hip joint angle using a preset motion event recognition model to obtain an event number corresponding to the periodic motion pattern;

[0085] S503, acquiring a current motion state according to the hip joint angle information;

[0086] S504: Acquire the exoskeleton motion state sequence number corresponding to the periodic motion pattern according to the event number and the current motion state.

[0087] For steps S501 to S502, the average values ​​of the left leg hip joint angle and the right leg hip joint angle are calculated based on the left leg hip joint angle and the right leg hip joint angle. For example, the average value of the left leg hip joint angle and the right leg hip joint angle = (left leg hip joint angle + right leg hip joint angle) / 2. The maximum positive amplitude and the maximum negative amplitude of the hip joint angle include the maximum value that the hip joint can reach in the positive swing and the maximum value that the hip joint can reach in the reverse swing. In one embodiment, the forward step is set as the positive direction, then the maximum positive amplitude of the hip joint angle is the maximum angle that the hip joint can rotate when stepping forward, and the maximum negative amplitude of the hip joint angle is the maximum angle that the hip joint can rotate when stepping backward. In other embodiments, the forward step can also be set as the negative direction. Those skilled in the art can set the positive and negative directions according to actual needs, so as to obtain the maximum positive amplitude and the maximum negative amplitude of the hip joint angle according to the set direction and the hip joint angle information.

[0088] The motion event recognition model is a model for recognizing motion patterns constructed according to a motion pattern classification algorithm. In one embodiment, the motion pattern classification algorithm includes a support vector machine algorithm or a fuzzy logic method.

[0089] In one embodiment, the motion event recognition algorithm constructs a motion event recognition model based on a support vector machine algorithm or a fuzzy logic method, and then collects data from healthy people who are not wearing an exoskeleton in different motion states to train the motion event recognition model to obtain the motion event recognition model.

[0090] The event number includes the changes corresponding to each motion mode in the periodic motion mode. For example, the event number 2 represents medium-speed walking on flat ground, the event number 3 represents fast walking on flat ground, the event number 4 represents running on flat ground, the event number 5 represents uphill, the event number 6 represents downhill, the event number 7 represents going upstairs, and the event number 8 represents going downstairs.

[0091] In this embodiment, by obtaining the average values ​​of the left leg hip joint angle and the right leg hip joint angle, the left hip joint angular velocity, the right hip joint angular velocity, and the maximum positive amplitude and the maximum negative amplitude of the hip joint angle based on the hip joint angle information, a pre-trained motion event recognition model is used to identify and obtain the event number, and the event number is used to improve the accuracy of the exoskeleton motion state sequence number judgment and the accuracy of the exoskeleton power assistance.

[0092] In step S503, the current motion state is obtained according to the hip joint angle information;

[0093] The motion state is the motion being performed by the exoskeleton user. In one embodiment, the motion state includes a left leg stepping and a right leg stepping;

[0094] In this embodiment, the current motion state is obtained according to the hip joint angle information, and the current motion state is combined with the event number for analysis to obtain the corresponding exoskeleton motion state sequence number.

[0095] In step S504, according to the event number and the current motion state, the exoskeleton motion state sequence number corresponding to the periodic motion mode is obtained;

[0096] See also Figure 6 , Figure 6 The present invention is a flowchart of the steps of obtaining the exoskeleton motion state sequence number corresponding to the periodic motion mode according to the event number and the current motion state in an embodiment of the present invention. In one embodiment, obtaining the exoskeleton motion state sequence number corresponding to the periodic motion mode according to the event number and the current motion state comprises at least the following steps:

[0097] S601, if the event number corresponds to a stair climbing event, and the current motion state is a left-leg step, obtain an exoskeleton motion state sequence number corresponding to the left-leg step for stair climbing;

[0098] S602: If the event number corresponds to a flat ground fast walking event and the current motion state is a right leg stepping, obtain an exoskeleton motion state sequence number corresponding to the flat ground fast walking right leg stepping;

[0099] S603: If the event number corresponds to a downhill event and the current motion state is right leg stepping, obtain the exoskeleton motion state sequence number corresponding to the downhill right leg stepping.

[0100] For steps S601 to S603, after obtaining the event number and the current motion state, the event number and the current motion state are combined to determine the exoskeleton motion state sequence number. For example, when the event number corresponds to a going upstairs event, if the current motion state is a left leg stepping, the exoskeleton motion state sequence number corresponding to the left leg stepping upstairs is obtained, and if the current motion state is a right leg stepping, the exoskeleton motion state sequence number corresponding to the right leg stepping upstairs is obtained; when the event number corresponds to a level ground fast walking event, if the current motion state is a left leg stepping, the exoskeleton motion state sequence number corresponding to the left leg stepping for fast walking on the level ground is obtained, and if the current motion state is a right leg stepping, the exoskeleton motion state sequence number corresponding to the right leg stepping for fast walking on the level ground is obtained; when the event number corresponds to a downhill event, if the current motion state is a left leg stepping, the exoskeleton motion state sequence number corresponding to the left leg stepping downhill is obtained, and if the current motion state is a right leg stepping, the exoskeleton motion state sequence number corresponding to the right leg stepping downhill is obtained.

[0101] It should be noted that in this embodiment, obtaining the exoskeleton motion state number corresponding to the periodic motion pattern based on the event number and the current motion state is not limited to the judgment scheme described in the above embodiment, and other judgment methods for obtaining the exoskeleton motion state number corresponding to the periodic motion pattern based on the event number and the current motion state obtained according to the human walking movement can be applied to the scheme in this embodiment.

[0102] In step S105, it is determined whether the exoskeleton motion state sequence number conforms to a preset power-assisted gait phase. If so, an exoskeleton torque control instruction is generated according to the exoskeleton motion state sequence number.

[0103] Among them, the preset assisted gait phase is a gait phase that is set in advance and requires exoskeleton assistance, such as the gait phase when the right leg starts to step, the left leg starts to step, etc. In this embodiment, the exoskeleton torque control instruction can only be generated when the exoskeleton motion state sequence number meets the preset assisted gait phase, avoiding the occurrence of erroneous assistance in static mode or when no assistance is required.

[0104] In one embodiment, generating an exoskeleton torque control instruction according to the exoskeleton motion state sequence number comprises the following steps:

[0105] Generating an exoskeleton torque curve according to the exoskeleton motion state sequence number;

[0106] An exoskeleton torque control instruction is generated according to the exoskeleton torque curve.

[0107] The exoskeleton torque curve is a torque curve established based on the motion parameters obtained by calculating the hip joint angle information. In this embodiment, corresponding exoskeleton torque motion curves are established for different exoskeleton motion states. The exoskeleton motion state sequence number and the exoskeleton torque curve are in a one-to-one correspondence.

[0108] In this embodiment, when the exoskeleton movement state meets the preset power-assisted gait phase, a corresponding exoskeleton power-assisted curve is generated. According to the exoskeleton power-assisted curve, the exoskeleton torque control instruction is generated in real time to drive the exoskeleton to complete the power-assisted operation.

[0109] See also Figure 7 , Figure 7 The following is a flowchart of the steps for verifying the exoskeleton motion state serial number in the embodiment of the present disclosure. In one embodiment, after obtaining the exoskeleton motion state serial number, the following steps are also included:

[0110] S701, obtaining a first exoskeleton motion state sequence number and a second exoskeleton motion state sequence number;

[0111] S702, determining whether the current exoskeleton motion state sequence number is the same as the first exoskeleton motion state sequence number, if they are the same, the motion state remains unchanged;

[0112] S703, if different, determining whether the first exoskeleton state serial number is the same as the second exoskeleton state serial number, and if they are the same, outputting the current exoskeleton motion state serial number;

[0113] S704: If they are different, determine whether the second exoskeleton motion state sequence number is the same as the current exoskeleton motion state sequence number; if they are the same, the motion state remains unchanged; otherwise, output a state transfer error command.

[0114] Regarding steps S701 to S704, the first exoskeleton motion state serial number is the exoskeleton motion state serial number outputted last time, and the second exoskeleton motion state serial number is the exoskeleton motion state serial numbers outputted twice before.

[0115] In this embodiment, by comparing the exoskeleton motion state numbers output three times in succession, the current exoskeleton motion state number is output only when the current exoskeleton motion state number is different from the first motion state number and the first exoskeleton motion state number is the same as the second motion state number, thereby further eliminating the interference of incorrect operation, improving the accuracy of exoskeleton motion number judgment, and reducing the probability of incorrect exoskeleton assistance.

[0116] The exoskeleton control method disclosed in the present invention obtains hip joint angle information by acquiring hip joint sensor information, and then divides the exoskeleton motion mode into a static mode and a periodic motion mode according to the hip joint angle information; when the exoskeleton motion mode is the static mode, the hip joint angle information is compared with the angle threshold information to obtain the exoskeleton motion state number corresponding to the static mode; when the exoskeleton motion mode is the periodic motion mode, the exoskeleton motion state number is judged according to the hip joint angle information by adopting a threshold judgment and / or motion event recognition model; after obtaining the exoskeleton motion state number, the exoskeleton motion state number is compared with the exoskeleton motion state numbers outputted twice before to determine whether to output the exoskeleton motion state number; and finally, it is determined whether the exoskeleton motion state number is consistent with a preset power-assisted gait phase; if so, an exoskeleton torque control instruction is generated.

[0117] The exoskeleton lower limb control method disclosed in the present invention improves the accuracy of the exoskeleton motion state sequence number judgment, can complete the real-time reliable judgment and real-time power-assistance control scheme, and performs denoising on the output exoskeleton motion state sequence number to eliminate the interference of misoperation. Furthermore, the present invention uses hip joint angle information as the basis for judging the exoskeleton motion state sequence number, which reduces the complexity of the system, improves the wearability of the device, and reduces the system cost.

[0118] See also Figure 8 , Figure 8 Schematic diagram of the structure of the exoskeleton system described in the embodiment of the present disclosure.

[0119] The present disclosure also provides an exoskeleton system, an exoskeleton system comprising an exoskeleton 10 and a hip joint angle sensor 11, a motion controller 12 and an exoskeleton driving device 13 arranged on the exoskeleton;

[0120] The hip joint angle sensor is connected to the input end of the motion controller, and the exoskeleton driving device is connected to the output end of the motion controller;

[0121] The hip joint angle sensor collects and sends hip joint angle sensor information to the motion controller, and the motion controller is used to execute the exoskeleton control method described in the above embodiment. The motion controller outputs exoskeleton torque control instructions to the exoskeleton drive device to drive the exoskeleton to move.

[0122] In one embodiment, the hip joint angle sensor is disposed in the exoskeleton at a position corresponding to the human hip joint, and is used to obtain angle change data of the hip joint as the human body moves.

[0123] In one embodiment, the exoskeleton system further includes an inertial sensor;

[0124] The inertial sensor is connected to the motion controller, and the inertial sensor sends an inertial sensor signal to the motion controller. In one embodiment, the inertial sensor is arranged at a position in the exoskeleton corresponding to the back of the human body. In other embodiments, the inertial sensor can also be arranged at a position in the exoskeleton corresponding to the abdomen of the human body.

[0125] See also Fig. 9 , Fig. 9 Schematic diagram of the structure of the lower limb exoskeleton control system described in the embodiment of the present disclosure.

[0126] The present disclosure also provides a lower limb exoskeleton control system, comprising:

[0127] A signal acquisition module 21 is used to acquire hip joint angle sensor information and obtain hip joint angle information;

[0128] A signal determination module 22, used for determining an exoskeleton motion mode according to the hip joint angle information;

[0129] The motion mode recognition module 23 is used to compare the hip joint angle information with a preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode if the exoskeleton motion mode is a static mode; if the exoskeleton motion mode is a periodic motion mode, determine the exoskeleton motion state sequence number corresponding to the periodic motion mode according to the hip joint angle information;

[0130] The control instruction generation module 24 is used to determine whether the exoskeleton motion state sequence number conforms to the preset power-assisted gait phase, and if so, to generate an exoskeleton torque control instruction according to the exoskeleton motion state sequence number.

[0131] It should be noted that the lower limb exoskeleton control system provided in the above embodiment only uses the division of the above functional modules as an example when executing the exoskeleton control method. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The lower limb exoskeleton control system provided in the above embodiment is used to execute the exoskeleton control method described in the above embodiment, and its operation method and principle are the same as the exoskeleton control method recorded above, that is, the lower limb exoskeleton control system provided in the above embodiment and the exoskeleton control method belong to the same concept, and its implementation process is detailed in the above method embodiment, which will not be repeated here.

[0132] See also Fig.10 , Fig.10FIG. 1 is a schematic diagram of a computer device for the exoskeleton control method in an embodiment of the present disclosure. Fig.10 As shown, the computer device 31 includes: a control device 311, a memory 312, and a computer program 313 stored in the memory 312 and executable on the control device 311, for example: a lower limb exoskeleton control program; the control device 311 executing the computer program 313 can implement the exoskeleton control method described in the above embodiment.

[0133] Wherein, the control device 311 includes a processor, and the processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts in the computer device 31, and executes various functions and processes data of the computer device 31 by running or executing instructions, programs, code sets or instruction sets stored in the memory 312, and calling the data in the memory 312. Optionally, the processor can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the touch display; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor, but implemented by a single chip.

[0134] Among them, the memory 312 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 312 includes a non-transitory computer-readable storage medium. The memory 312 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 312 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch instructions, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 312 may also be optionally at least one storage device located away from the aforementioned processor.

[0135] The embodiments of the present disclosure also provide a computer-readable storage medium, which can store multiple instructions. The instructions are suitable for a control device to load and execute the method steps of the above embodiments. The specific execution process can be found in the specific description of the above embodiments, which will not be repeated here.

[0136] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the disclosed patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure.

Claims

1. An exoskeleton control method, characterized in that: The following steps are involved: Obtain hip joint angle sensor information, obtain hip joint angle information; Determining an exoskeleton motion mode according to the hip joint angle information; If the exoskeleton motion mode is a static mode, comparing the hip joint angle information with a preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode; If the exoskeleton motion mode is a periodic motion mode, determining the exoskeleton motion state sequence number corresponding to the periodic motion mode according to the hip joint angle information; Determine whether the exoskeleton motion state sequence number matches a preset power-assisted gait phase; if so, generate an exoskeleton torque control instruction according to the exoskeleton motion state sequence number.

2. The exoskeleton control method according to claim 1, characterized in that: Determining the exoskeleton motion mode according to the hip joint angle information comprises the following steps: Obtaining the hip joint angle in the hip joint angle information, and calculating the amplitude of the hip joint angle change; If the hip joint angle change amplitude is lower than the preset angle amplitude, the exoskeleton movement mode is the static mode; If the hip joint angle variation amplitude is not less than the preset angle amplitude, the exoskeleton motion mode is a periodic motion mode.

3. The exoskeleton control method according to claim 1, characterized in that: The hip joint angle information includes a left leg hip joint angle, a right leg hip joint angle, a left leg hip joint angular velocity, and a right leg hip joint angular velocity; the angle information threshold includes an angle threshold and an angular velocity threshold; and the step of comparing the hip joint angle information with a preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode includes the following steps: If the left leg hip joint angle and the right leg hip joint angle are both smaller than the angle threshold and the left leg hip joint angular velocity and the right leg hip joint angular velocity are both smaller than the angular velocity threshold, then the static mode is the first static mode, and the exoskeleton motion state sequence number corresponding to the first static mode is obtained; If the left leg hip joint angle is not less than the angle threshold, the right leg hip joint angle is less than the angle threshold, and the left leg hip joint angular velocity and the right leg hip joint angular velocity are both less than the angular velocity threshold, then the static mode is the second static mode, and the exoskeleton motion state sequence number corresponding to the second static mode is obtained; If the left leg hip joint angle is less than the angle threshold, the right leg hip joint angle is not less than the angle threshold, and the left leg hip joint angular velocity and the right leg hip joint angular velocity are both less than the angular velocity threshold, then the still mode is the third still mode, and the exoskeleton motion state sequence number corresponding to the third still mode is obtained.

4. The exoskeleton control method according to claim 1, characterized in that: According to the hip joint angle information, determining the exoskeleton motion state sequence number corresponding to the periodic motion mode comprises the following steps: Acquire inertial sensor information, and calculate Euler angles according to the inertial sensor information; Calculating the hip joint angle information and the variation amplitude of the Euler angle; The hip joint angle information and the maximum variation amplitude of the Euler angle are compared with the corresponding preset judgment threshold, and the exoskeleton motion state sequence number corresponding to the periodic motion mode is obtained according to the comparison result.

5. The exoskeleton control method according to claim 1, characterized in that: According to the hip joint angle information, determining the exoskeleton motion state sequence number corresponding to the periodic motion mode comprises the following steps: According to the hip joint angle information, the average values ​​of the left leg hip joint angle and the right leg hip joint angle are calculated to obtain the left hip joint angular velocity, the right hip joint angular velocity, and the maximum positive amplitude and the maximum negative amplitude of the hip joint angle; The average values ​​of the left leg hip joint angle and the right leg hip joint angle, the left hip joint angular velocity, the right hip joint angular velocity, and the maximum positive amplitude and the maximum negative amplitude of the hip joint angle are judged by a preset motion event recognition model to obtain an event number corresponding to the periodic motion pattern; Acquiring a current motion state according to the hip joint angle information; According to the event number and the current motion state, the exoskeleton motion state sequence number corresponding to the periodic motion pattern is obtained.

6. The exoskeleton control method according to claim 5, characterized in that: According to the event number and the current motion state, obtaining the exoskeleton motion state sequence number corresponding to the periodic motion mode at least comprises the following steps: If the event number corresponds to a stair climbing event, and the current motion state is a left-leg step, the exoskeleton motion state sequence number corresponding to the left-leg step of going upstairs is obtained; If the event number corresponds to a flat ground fast walking event, and the current motion state is a right leg stepping, obtaining an exoskeleton motion state sequence number corresponding to the flat ground fast walking right leg stepping; If the event number corresponds to a downhill event, and the current motion state is a right leg step, the exoskeleton motion state sequence number corresponding to the downhill right leg step is obtained.

7. The exoskeleton control method according to claim 1, characterized in that: Generating an exoskeleton torque control instruction according to the exoskeleton motion state sequence number includes the following steps: Generating an exoskeleton torque curve according to the exoskeleton motion state sequence number; An exoskeleton torque control instruction is generated according to the exoskeleton torque curve.

8. The exoskeleton control method according to any one of claims 1 to 7, characterized in that: After obtaining the exoskeleton motion state serial number, the following steps are also included: Obtaining a first exoskeleton motion state sequence number and a second exoskeleton motion state sequence number, wherein the first exoskeleton motion state sequence number is the exoskeleton motion state sequence number outputted last time, and the second exoskeleton motion state sequence number is the exoskeleton motion state sequence numbers outputted twice before; Determine whether the current exoskeleton motion state sequence number is the same as the first exoskeleton motion state sequence number, if the same, the motion state remains unchanged; If they are different, determining whether the first exoskeleton state serial number is the same as the second exoskeleton state serial number, and if they are the same, outputting the current exoskeleton motion state serial number; If they are different, it is determined whether the second exoskeleton motion state sequence number is the same as the current exoskeleton motion state sequence number. If they are the same, the motion state remains unchanged. Otherwise, a state transfer error command is output.

9. An exoskeleton system, characterized in that: It includes an exoskeleton, a hip joint angle sensor, a motion controller and an exoskeleton driving device arranged on the exoskeleton; The hip joint angle sensor is connected to the input end of the motion controller, and the exoskeleton driving device is connected to the output end of the motion controller; The hip joint angle sensor collects and sends hip joint angle sensor information to the motion controller, and the motion controller is used to execute the exoskeleton control method described in any one of claims 1 to 8. The motion controller outputs exoskeleton torque control instructions to the exoskeleton drive device to drive the exoskeleton to move.

10. An exoskeleton system according to claim 9, characterized in that: Also included are inertial sensors; The inertial sensor is connected to the motion controller, and the inertial sensor sends an inertial sensor signal to the motion controller.

11. A lower limb exoskeleton control system, characterized in that: include: A signal preprocessing module is used to obtain hip joint angle sensor information and obtain hip joint angle information; A signal determination module, used to determine the exoskeleton movement mode according to the hip joint angle information; A motion mode recognition module, for comparing the hip joint angle information with a preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode if the exoskeleton motion mode is a static mode; and for determining the exoskeleton motion state sequence number corresponding to the cyclic motion mode based on the hip joint angle information if the exoskeleton motion mode is a cyclic motion mode; The control instruction generation module is used to determine whether the exoskeleton motion state sequence number conforms to the preset power-assisted gait phase, and if so, to generate an exoskeleton torque control instruction according to the exoskeleton motion state sequence number.

12. A computer device comprising: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the exoskeleton control method according to any one of claims 1 to 8 are implemented.

13. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the exoskeleton control method according to any one of claims 1 to 8 are implemented.

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