Exoskeleton control method, system, and exoskeleton system

Abstract

The present disclosure relates to an exoskeleton control method, system and exoskeleton system. The exoskeleton control method comprises: acquiring hip joint angle sensor information, and acquiring 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 value to determine an exoskeleton motion state sequence number corresponding to the static mode; if the exoskeleton motion mode is a periodic motion mode, determining an exoskeleton motion state sequence number corresponding to the periodic motion mode according to the hip joint angle information; determining whether the exoskeleton motion state sequence number meets a preset assistance gait phase, and if yes, generating an exoskeleton torque control instruction according to the exoskeleton motion state sequence number; the method has the advantages of improving the accuracy of exoskeleton control, reducing system complexity and facilitating wearing.

Description

TECHNICAL FIELD

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

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

[0003] In the motion control process of the lower limb exoskeleton, real-time and reliable motion pattern recognition and generation of assistive trajectory are two very important parts. The existing lower limb exoskeleton mainly relies on plantar pressure sensors in the motion pattern recognition process, and recognizes the motion pattern by detecting the change of plantar pressure in the human motion process and judging by threshold comparison. Threshold determination requires a large number of experiments, and has poor adaptability to different users. Moreover, the plantar pressure signal is unstable, resulting in low accuracy of motion pattern recognition. In addition, the use of plantar pressure sensors requires additional plantar pressure sensors, making the exoskeleton system more complex and not easy to wear. SUMMARY

[0004] Therefore, the purpose of the present disclosure is to provide an exoskeleton control method, system and an exoskeleton system, which has the advantages of improving the accuracy of exoskeleton control, reducing system complexity and facilitating wearing.

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

[0006] Obtaining hip joint angle sensor information to obtain hip joint angle information;

[0007] According to the hip joint angle information, the exoskeleton motion pattern is determined;

[0008] If the exoskeleton motion pattern 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;

[0009] If the exoskeleton motion pattern is a periodic motion pattern, the hip joint angle information is used to determine the exoskeleton motion state sequence number corresponding to the periodic motion pattern;

[0010] It is determined whether the exoskeleton motion state sequence number meets a preset assistive gait phase. If it meets, an exoskeleton torque control instruction is generated according to the exoskeleton motion state sequence number.

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

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

[0013] The hip joint angle sensor collects and sends hip joint angle sensor information to the motion controller, the motion controller is used for executing the exoskeleton control method, and the motion controller outputs an exoskeleton torque control instruction to the exoskeleton driving device to drive the exoskeleton to move.

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

[0015] A signal preprocessing module is configured to acquire hip joint angle sensor information and hip joint angle information.

[0016] A signal judgment module is configured to judge an exoskeleton motion mode according to the hip joint angle information.

[0017] A motion mode recognition module is configured to compare the hip joint angle information with a preset angle information threshold to judge an exoskeleton motion state sequence number corresponding to a static mode if the exoskeleton motion mode is the static mode, and to judge an exoskeleton motion state sequence number corresponding to a periodic motion mode according to the hip joint angle information if the exoskeleton motion mode is the periodic motion mode.

[0018] A control instruction generation module is configured to judge whether the exoskeleton motion state sequence number conforms to a preset assistance gait phase, and to generate an exoskeleton torque control instruction according to the exoskeleton motion state sequence number if the exoskeleton motion state sequence number conforms to the preset assistance gait phase.

[0019] The 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 executes the computer program to implement the steps of the exoskeleton control method.

[0020] The disclosure also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the exoskeleton control method.

[0021] The exoskeleton control method in the present disclosure, by acquiring hip joint angle sensor information, acquiring hip joint angle, according to the hip joint angle information, dividing the exoskeleton movement mode into static mode and periodic movement mode, taking different judgment methods for static mode and periodic movement mode respectively, acquiring the corresponding exoskeleton movement state serial number, finally comparing the exoskeleton movement state serial number with the preset assistive gait phase, when the two are consistent, generating exoskeleton torque control instruction according to the exoskeleton movement state serial number. The exoskeleton control method in the present disclosure improves the accuracy of exoskeleton movement state judgment, reduces the system complexity, and reduces the system cost.

[0022] In order to better understand and implement, the present disclosure is described in detail below in conjunction with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The step flow chart of an exoskeleton control method in an embodiment of the present disclosure is shown in the figure.

[0024] Figure 2 The step flow chart of acquiring the exoskeleton movement mode in an embodiment of the present disclosure is shown in the figure.

[0025] Figure 3 The step flow chart of judging the exoskeleton movement state serial number corresponding to the static mode in an embodiment of the present disclosure is shown in the figure.

[0026] Figure 4 The step flow chart of judging the exoskeleton movement state serial number corresponding to the periodic movement mode in an embodiment of the present disclosure is shown in the figure.

[0027] Figure 5 The step flow chart of judging the exoskeleton movement state serial number corresponding to the periodic movement mode in another embodiment of the present disclosure is shown in the figure.

[0028] Figure 6 The step flow chart of acquiring the exoskeleton movement state serial number corresponding to the periodic movement mode according to the event number and the current movement state in an embodiment of the present disclosure is shown in the figure.

[0029] Figure 7 The step flow chart of verifying the exoskeleton movement state serial number in an embodiment of the present disclosure is shown in the figure.

[0030] Figure 8 The structure schematic diagram of the exoskeleton system in an embodiment of the present disclosure is shown in the figure.

[0031] Figure 9 The structure schematic diagram of the lower limb exoskeleton control system in an embodiment of the present disclosure is shown in the figure.

[0032] Figure 10 The computer device schematic diagram of the exoskeleton control method in an embodiment of the present disclosure is shown in the figure. Detailed Implementation

[0033] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

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

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

[0036] Please see Figure 1 , Figure 1 This is a flowchart illustrating the steps of an exoskeleton control method according to an embodiment of the present disclosure.

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

[0038] S101, Obtain hip joint angle sensor information, obtain hip joint angle information;

[0039] S102, Determine the exoskeleton movement pattern based on the hip joint angle information;

[0040] S103, if the exoskeleton movement mode is a stationary mode, then the hip joint angle information is compared with a preset angle information threshold to determine the exoskeleton movement state number corresponding to the stationary mode.

[0041] S104, if the exoskeleton movement mode is a periodic movement mode, then determine the exoskeleton movement state number corresponding to the periodic movement mode based on the hip joint angle information.

[0042] S105, determine whether the exoskeleton motion state sequence number is consistent with the preset assistance gait phase, if consistent, generate an exoskeleton torque control instruction according to the exoskeleton motion state sequence number.

[0043] The exoskeleton control method in the present disclosure, by acquiring hip joint angle sensor information, acquiring hip joint angle, according to the hip joint angle information, dividing the exoskeleton motion mode into static mode and periodic motion mode, taking different judgment methods for static mode and periodic motion mode respectively, acquiring the corresponding exoskeleton motion state sequence number, finally comparing the exoskeleton motion state sequence number with the preset assistance gait phase, when the two are consistent, generating an exoskeleton torque control instruction according to the exoskeleton motion state sequence number. The exoskeleton control method in the present disclosure improves the accuracy of exoskeleton motion state judgment, reduces system complexity and reduces system cost.

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

[0045] The hip joint angle sensor is a sensor arranged on the exoskeleton for acquiring the hip joint angle. In an 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 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 and processing the hip joint angle sensor information. In an embodiment, the hip joint angle information includes left leg hip joint angle, right leg hip joint angle, left leg hip joint angular velocity and right leg hip joint angular velocity. In other embodiments, the hip joint angle information can also include left and right leg hip joint positive maximum amplitude and reverse maximum amplitude.

[0047] In the present embodiment, the hip joint angle information is obtained by preprocessing the collected hip joint angle sensor information, which is used for exoskeleton motion state judgment.

[0048] In an embodiment, the hip joint angular velocity, including left leg hip joint angular velocity and right leg hip joint angular velocity, is obtained by low-pass filtering the hip joint angle sensor signal and differentiating the hip joint angle in the hip joint angle sensor.

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

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

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

[0052] In the embodiment, in order to more accurately identify human movement, the exoskeleton movement mode is divided into a static mode and a periodic movement mode, different identification methods are selected for different movement modes, the accuracy of exoskeleton human movement identification is improved, and an accurate assistance scheme is obtained for human movement assistance.

[0053] Please refer to Figure 2 , Figure 2 The step flow chart for obtaining the exoskeleton movement mode in the embodiment is shown in the figure. In one embodiment, the exoskeleton movement mode is determined according to the hip joint angle information, including the following steps:

[0054] S201, the hip joint angle in the hip joint angle information is obtained, and the hip joint angle change amplitude is calculated;

[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 change amplitude is not lower than the preset angle amplitude, the exoskeleton movement mode is a periodic movement mode.

[0057] For steps S201-S203, the hip joint angle change amplitude is a value representing the hip joint angle change amplitude. In one embodiment, the hip joint angle change amplitude = the maximum value in the hip joint angle - the minimum value in the hip joint angle. The preset angle amplitude is a threshold value for determining the movement 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 small value, for example, the preset angle amplitude is set to 5.

[0058] In the 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 in a static state without movement, and the exoskeleton movement mode is a static mode.

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

[0060] For step S103, if the exoskeleton movement mode is static mode, the hip joint angle information and the preset angle information threshold are compared to determine the exoskeleton movement state sequence number corresponding to the static mode.

[0061] Wherein, the hip joint angle information includes left leg hip joint angle, right leg hip joint angle, left leg hip joint angular velocity and right leg hip joint angular velocity, the angle information threshold is a threshold value set in advance for judging the hip joint angle information. Different hip joint angle information has corresponding angle information threshold. In this embodiment, the angle information threshold includes angle threshold and angular velocity threshold, wherein 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 movement state sequence number is the sequence number corresponding to the exoskeleton movement state obtained according to the hip joint angle information and the angle information threshold. For example, the exoskeleton movement state is double leg standing, and its corresponding exoskeleton movement state sequence number is 1. When the sequence number is 1, it can be judged that the exoskeleton is in the state of double leg standing. In this embodiment, the exoskeleton movement state is divided into different movement states, and each movement state corresponds to a unique exoskeleton movement state sequence number.

[0063] Please refer to Figure 3 , Figure 3 The flow chart for judging the exoskeleton movement state sequence number corresponding to the static mode in the embodiment of the disclosure. In one embodiment, the hip joint angle information and the preset angle information threshold are compared to determine the exoskeleton movement state sequence number corresponding to the static mode, which includes at least 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 value and the left leg hip joint angular velocity and the right leg hip joint angular velocity are both less than the angular velocity threshold value, the static mode is a 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 value, the right leg hip joint angle is less than the angle threshold value, and the left leg hip joint angular velocity and the right leg hip joint angular velocity are both less than the angular velocity threshold value, the static mode is a 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 value, the right leg hip joint angle is not less than the angle threshold value, and the left leg hip joint angular velocity and the right leg hip joint angular velocity are both less than the angular velocity threshold value, the static mode is a third static mode, and the exoskeleton motion state sequence number corresponding to the third static mode is obtained.

[0067] For steps S301-S303, the first static mode is a double-leg standing state, the second static mode is a left-leg-in-front right-leg-in-back standing mode, and the third static mode is a left-leg-in-back right-leg-in-front standing mode.

[0068] In the embodiment, by comparing the left and right leg hip joint angles and angular velocities in the static mode with the corresponding angle threshold value and angular velocity threshold value, it is determined in which standing mode the exoskeleton is, and according to the specific standing mode of the exoskeleton, the switching of the motion state can be more accurately judged, the generation of part of the false assistance is excluded, and the accuracy of the motion state judgment is improved. For example, when in the left-leg-in-front right-leg-in-back standing mode, the walking state is switched, only the right-leg-striding motion state is switched, and the left-leg-striding motion state is not switched.

[0069] It should be noted that in the present disclosure, the hip joint angle information is compared with the preset angle information threshold value to determine the exoskeleton motion state sequence number corresponding to the static mode, which includes the determination scheme described in the above embodiments, but is not limited to the scheme described in the above embodiments. Other methods of comparing the hip joint angle information with the preset angle information threshold value to determine the exoskeleton motion state sequence number corresponding to the static mode can also be applied to the present disclosure, for example, the determination of different standing modes such as left-leg-in-front right-leg-in-back standing, left-leg-in-front right-leg-in-back standing, and the determination of static states such as squatting and sitting.

[0070] In the embodiment, when the exoskeleton motion mode is the static mode, the exoskeleton motion state serial number corresponding to the static mode is determined by comparing the hip joint angle information with the preset angle information threshold. The static mode is divided into different motion states for determination, which further improves the accuracy of motion state determination and eliminates the possibility of causing false assistance.

[0071] For step S104, if the exoskeleton motion mode is the periodic motion mode, the exoskeleton motion state serial number corresponding to the periodic motion mode is determined according to the hip joint angle information.

[0072] Referring to Figure 4 , Figure 4 is a flowchart of the step of determining the exoskeleton motion state serial number corresponding to the periodic motion mode in an embodiment of the present disclosure. In an embodiment, the exoskeleton motion state serial number corresponding to the periodic motion mode is determined according to the hip joint angle information, including the following steps:

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

[0074] S402, calculating the change amplitudes of the hip joint angle information and the Euler angles;

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

[0076] For step S401, obtaining inertial sensor information, and calculating Euler angles according to the inertial sensor information;

[0077] The inertial sensor is a sensor for detecting and measuring acceleration and rotational motion. In an embodiment, the inertial sensor includes an IMU sensor, and in other embodiments, the inertial sensor can also include an accelerometer or an angular velocity sensor. The inertial sensor is arranged on the exoskeleton. In an 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 can also be arranged at a position corresponding to the abdomen of the human body in the exoskeleton. In the embodiment, the inertial sensor information is obtained by the inertial sensor, and the exoskeleton posture is calculated according to the inertial sensor information to obtain the Euler angles.

[0078] In the 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, going uphill, going downhill, and turning is determined according to the Euler angles.

[0079] For steps S402-S403, the preset judgment threshold is a value set in advance to judge the exoskeleton motion state sequence number. In this embodiment, corresponding preset judgment thresholds are set for different hip joint angle information and Euler angles. The comparison result is the comparison result of the preset judgment threshold and the change amplitude. In an embodiment, the comparison result includes the preset judgment being greater than the change amplitude or the preset judgment threshold not being greater than the change amplitude. In this embodiment, after the Euler angle is obtained, the change amplitudes of the hip joint angle information and the Euler angle are calculated, including the change amplitudes 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 Euler angle.

[0080] In this embodiment, when judging the exoskeleton motion state sequence number corresponding to the periodic motion mode, the maximum change amplitude in the hip joint angle information and the Euler angle is compared with the corresponding preset judgment threshold to obtain the comparison result to judge the exoskeleton motion state sequence number.

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

[0082] Please refer to Figure 5 , Figure 5 The step flow chart for judging the exoskeleton motion state sequence number corresponding to the periodic motion mode in another embodiment of the present disclosure. In an embodiment, the exoskeleton motion state sequence number corresponding to the periodic motion mode is judged according to the hip joint angle information, including the following steps:

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

[0084] S502, judging the average value 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 positive maximum amplitude and the negative maximum amplitude of the hip joint angle with a preset motion event recognition model to obtain the event number corresponding to the periodic motion mode;

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

[0086] S504, acquiring an exoskeleton motion state sequence number corresponding to the periodic motion mode according to the event number and the current motion state.

[0087] For steps S501-S502, wherein the average value of the left leg hip joint angle and the right leg hip joint angle is calculated and acquired according to 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 positive maximum amplitude of the hip joint angle and the negative maximum 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 positive, and the positive maximum amplitude of the hip joint angle is the maximum angle that the hip joint can rotate when the forward step is taken, and the negative maximum amplitude of the hip joint angle is the maximum angle that the hip joint can rotate when the backward step is taken. In other embodiments, the forward step can also be set as negative, and a person skilled in the art can set the positive and negative directions according to actual needs, so as to acquire the positive maximum amplitude of the hip joint angle and the negative maximum 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 modes constructed according to a motion mode classification algorithm. In one embodiment, the motion mode 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 according to a support vector machine algorithm or a fuzzy logic method, then collects data of healthy people without wearing exoskeletons in different motion states to train the motion event recognition model, and acquires the motion event recognition model.

[0090] The event number includes changes corresponding to each motion mode in the periodic motion mode, for example, the event number 2 represents walking at medium speed on flat ground, the event number 3 represents walking fast 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 the embodiment, the average 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 positive maximum amplitude and the negative maximum amplitude of the hip joint angle are obtained according to the hip joint angle information, the event number is obtained by using the pre-trained motion event recognition model, the event number is used to improve the accuracy of the exoskeleton motion state sequence number determination, and the accuracy of the exoskeleton assistance is improved.

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

[0093] The motion state is a motion that is being performed by the exoskeleton user, and in an embodiment, the motion state includes left leg stepping and right leg stepping.

[0094] In the embodiment, the current motion state is obtained according to the hip joint angle information, and the corresponding exoskeleton motion state sequence number is obtained by combining the current motion state with the event number.

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

[0096] Please refer to Figure 6 , Figure 6 The flowchart of the step 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 the embodiment of the present disclosure. In an embodiment, the exoskeleton motion state sequence number corresponding to the periodic motion mode is obtained according to the event number and the current motion state, and at least includes the following steps:

[0097] S601, if the event number corresponds to an upstairs event and the current motion state is left leg stepping, the exoskeleton motion state sequence number corresponding to upstairs left leg stepping is obtained.

[0098] S602, if the event number corresponds to a fast walking on flat ground event and the current motion state is right leg stepping, the exoskeleton motion state sequence number corresponding to fast walking on flat ground right leg stepping is obtained.

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

[0100] For steps S601-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 an upstairs event, if the current motion state is left leg stepping, the exoskeleton motion state sequence number corresponding to left leg stepping in upstairs is obtained; if the current motion state is right leg stepping, the exoskeleton motion state sequence number corresponding to right leg stepping in upstairs is obtained. When the event number corresponds to a fast walking on flat ground event, if the current motion state is left leg stepping, the exoskeleton motion state sequence number corresponding to left leg stepping in fast walking on flat ground is obtained; if the current motion state is right leg stepping, the exoskeleton motion state sequence number corresponding to right leg stepping in fast walking on flat ground is obtained. When the event number corresponds to a downhill event, if the current motion state is left leg stepping, the exoskeleton motion state sequence number corresponding to left leg stepping in downhill is obtained; if the current motion state is right leg stepping, the exoskeleton motion state sequence number corresponding to right leg stepping in downhill is obtained.

[0101] It should be noted that, in the embodiment, the exoskeleton motion state sequence number corresponding to the periodic motion mode is obtained according to the event number and the current motion state, which is not limited to the determination scheme described in the above embodiment. Other determination methods for obtaining the exoskeleton motion state sequence number corresponding to the periodic motion mode according to the event number and the current motion state obtained from human walking motion can also be applied to the scheme in the embodiment.

[0102] For step S105, it is determined whether the exoskeleton motion state sequence number meets a preset assistance gait phase. If yes, an exoskeleton torque control instruction is generated according to the exoskeleton motion state sequence number.

[0103] The preset assistance gait phase is a gait phase that needs exoskeleton assistance, such as right leg starting to step, left leg starting to step, etc. In the embodiment, the exoskeleton torque control instruction is generated only when the exoskeleton motion state sequence number meets the preset assistance gait phase, so that the error assistance in the static mode or the case without assistance is avoided.

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

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

[0106] Generating an exoskeleton torque control instruction according to the exoskeleton torque curve.

[0107] The exoskeleton torque curve is a torque curve established according to a motion parameter calculated based on the hip joint angle information. In this embodiment, a corresponding exoskeleton torque motion curve is established for different exoskeleton motion states. The exoskeleton motion state sequence number and the exoskeleton torque curve have a one-to-one correspondence.

[0108] In this embodiment, when the exoskeleton motion state meets a preset assistance gait phase, a corresponding exoskeleton assistance curve is generated, the exoskeleton torque control instruction is generated in real time according to the exoskeleton assistance curve, and the exoskeleton is driven to complete assistance.

[0109] Please refer to Figure 7 , Figure 7 This is a step flowchart for verifying the exoskeleton motion state sequence number in the embodiment of the present disclosure. In one embodiment, after the exoskeleton motion state sequence number is obtained, the following steps are further included.

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

[0111] S702, it is judged whether the current exoskeleton motion state sequence number is same as the first exoskeleton motion state sequence number. If yes, the motion state is unchanged.

[0112] S703, if not, it is judged whether the first exoskeleton motion state sequence number is same as the second exoskeleton motion state sequence number. If yes, the current exoskeleton motion state sequence number is outputted.

[0113] S704, if not, it is judged whether the second exoskeleton motion state sequence number is same as the current exoskeleton motion state sequence number. If yes, the motion state is unchanged. Otherwise, a command of state transition error is outputted.

[0114] For steps S701-S704, the first exoskeleton motion state sequence number is a previous output exoskeleton motion state sequence number, and the second exoskeleton motion state sequence number is a previous two output exoskeleton motion state sequence number.

[0115] In this embodiment, by comparing the three consecutive output exoskeleton motion state sequence numbers, only when the current exoskeleton motion state sequence number is different from the first exoskeleton motion state sequence number and the first exoskeleton motion state sequence number is same as the second motion state sequence number, the current exoskeleton motion state sequence number is outputted. This further eliminates the interference of misoperation, improves the accuracy of exoskeleton motion sequence number judgment, and reduces the probability of exoskeleton error assistance.

[0116] The exoskeleton control method in the present disclosure, by acquiring hip joint sensor information, acquiring hip joint angle information, and then according to the hip joint angle information, dividing the exoskeleton movement mode into a static mode and a periodic movement mode, when the exoskeleton movement mode is the static mode, comparing the hip joint angle information with the angle threshold information, acquiring the corresponding exoskeleton movement state sequence number in the static mode, when the exoskeleton movement mode is the periodic movement mode, by adopting the threshold judgment and / or movement event recognition model, judging the exoskeleton movement state sequence number according to the hip joint angle information, after acquiring the exoskeleton movement state sequence number, comparing the exoskeleton movement state sequence number with the exoskeleton movement state sequence numbers output in the previous two times, judging whether to output the exoskeleton movement state sequence number, and finally judging whether the exoskeleton movement state sequence number is consistent with a preset assistive gait phase, if consistent, generating an exoskeleton torque control instruction.

[0117] The exoskeleton lower limb control method in the present disclosure improves the accuracy of exoskeleton movement state sequence number judgment, can complete real-time reliable discrimination and real-time assistive control scheme, and performs denoising processing on the output exoskeleton movement state sequence number to exclude the interference of misoperation. Further, in the present disclosure, the hip joint angle information is used as the basis for judging the exoskeleton movement state sequence number, which reduces the complexity of the system, improves the wearability of the device, and reduces the system cost.

[0118] Please refer to Figure 8 , Figure 8 for the structural schematic diagram of the exoskeleton system in the embodiment of the present disclosure.

[0119] The present disclosure also provides an exoskeleton system, which comprises an exoskeleton 10 and a hip joint angle sensor 11, a movement 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 movement controller, and the exoskeleton driving device is connected to the output end of the movement controller.

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

[0122] In one embodiment, the hip joint angle sensor is arranged at a position corresponding to the human hip joint in the exoskeleton, and is used to acquire the angle change data of the hip joint with the movement of the human body.

[0123] In one embodiment, the exoskeleton system further comprises 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 corresponding to the back of the human body in the exoskeleton. In other embodiments, the inertial sensor can also be arranged at a position corresponding to the abdomen of the human body in the exoskeleton.

[0125] Please refer to Figure 9 , Figure 9 The structure diagram of the lower limb exoskeleton control system in the embodiments of the present disclosure is shown.

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

[0127] The signal acquisition module 21 is configured to acquire hip joint angle sensor information and acquire hip joint angle information.

[0128] The signal judgment module 22 is configured to judge an exoskeleton motion mode according to the hip joint angle information.

[0129] The motion mode recognition module 23 is configured to compare the hip joint angle information with a preset angle information threshold value if the exoskeleton motion mode is a static mode, and judge an exoskeleton motion state sequence number corresponding to the static mode; and if the exoskeleton motion mode is a periodic motion mode, judge an 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 configured to judge whether the exoskeleton motion state sequence number conforms to a preset assistive gait phase, and if so, 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 embodiments is used to execute the exoskeleton control method, and only the division of the above functional modules is used as an example in the actual application. The above functions can be completed by different functional modules according to needs, 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 embodiments is used to execute the exoskeleton control method described in the above embodiments, and the running method and principle are the same as those of the exoskeleton control method described above, that is, the lower limb exoskeleton control system and the exoskeleton control method provided in the above embodiments belong to the same concept, and the implementation process is described in detail in the above method embodiments, which will not be described here.

[0132] Please refer to Figure 10 , Figure 10This is a schematic diagram of a computer device used in the exoskeleton control method according to an embodiment of this disclosure. Figure 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, such as a lower limb exoskeleton control program; the control device 311 executes the computer program 313 to implement the exoskeleton control method described in the above embodiments.

[0133] The control device 311 includes a processor, which may include one or more processing cores. The processor connects to various parts within the computer device 31 using various interfaces and lines. It executes various functions of the computer device 31 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 312, and by calling data from memory 312. Optionally, the processor can be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor can integrate one or more of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required to be displayed on the touch screen; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the processor.

[0134] The memory 312 can include a random access memory (RAM) and a read-only memory (ROM). 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 can include a program storage area and a data storage area, where the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as touch instructions, etc.), instructions for implementing the above various method embodiments, etc., and the data storage area can store data involved in the above various method embodiments, etc. The memory 312 can also be at least one storage device located away from the aforementioned processor.

[0135] The embodiments of the present disclosure further provide a computer readable storage medium, which can store a plurality of instructions. The instructions are suitable for being loaded and executed by a control device to perform the method steps of the above embodiments. The specific execution process can refer to the specific description of the above embodiments, which will not be described here.

[0136] The above embodiments only express several implementation manners of the present disclosure, which are described in a more specific and detailed manner. However, it should not be understood as a limitation on the disclosed patent scope. It should be noted that, for those skilled in the art, without departing from the concept of the present disclosure, several modifications and improvements can be made, which are all within the protection scope of the present disclosure.

Claims

1. An exoskeleton control method, characterized in that, Includes the following steps: Obtain hip joint angle sensor information to acquire hip joint angle information; Based on the hip joint angle information, determine the exoskeleton movement pattern; If the exoskeleton movement mode is a stationary mode, the hip joint angle information is compared with a preset angle information threshold to determine the exoskeleton movement state number corresponding to the stationary mode. If the exoskeleton movement mode is a periodic movement mode, then the exoskeleton movement state number corresponding to the periodic movement mode is determined based on the hip joint angle information. The process, after obtaining the exoskeleton motion state sequence number, further includes the following steps: 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 previously output exoskeleton motion state sequence number, and the second exoskeleton motion state sequence number is the exoskeleton motion state sequence number output in the previous two steps; 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; if they are different, determining whether the first exoskeleton motion state sequence number is the same as the second exoskeleton motion state sequence number; if they are the same, the current exoskeleton motion state sequence number is output; if they are different, determining 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, an error state transition command is output. Determine whether the exoskeleton motion state sequence number matches the preset assisted gait phase. If it does, generate an exoskeleton torque control command based on the exoskeleton motion state sequence number.

2. The exoskeleton control method according to claim 1, characterized in that, The step of determining the exoskeleton movement pattern based on the hip joint angle information includes the following steps: Obtain the hip joint angle from the hip joint angle information and calculate the amplitude of the hip joint angle change; If the amplitude of the hip joint angle change is lower than the preset angle amplitude, then the exoskeleton movement mode is a stationary mode; If the amplitude of the hip joint angle change is not lower than the preset angle amplitude, then the exoskeleton movement mode is a periodic movement mode.

3. The exoskeleton control method according to claim 1, characterized in that, 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 includes an angle threshold and an angular velocity threshold. The step of comparing the hip joint angle information with the preset angle information threshold to determine the exoskeleton motion state sequence number corresponding to the static mode includes the following steps: If the angle of the left hip joint and the angle of the right hip joint are both less than the angle threshold and the angular velocity of the left hip joint and the angular velocity of the right hip joint 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. 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 static mode is the third static mode, and the exoskeleton motion state sequence number corresponding to the third static mode is obtained.

4. The exoskeleton control method according to claim 1, characterized in that, Based on the hip joint angle information, the exoskeleton motion state sequence number corresponding to the periodic motion pattern is determined, including the following steps: Acquire inertial sensor information and calculate Euler angles based on the inertial sensor information; Calculate the hip joint angle information and the magnitude of the Euler angle change; The maximum change amplitude of the hip joint angle information and Euler angle is compared with the corresponding preset judgment threshold, and the exoskeleton motion state sequence number corresponding to the periodic motion mode is obtained based on the comparison result.

5. The exoskeleton control method according to claim 1, characterized in that, Based on the hip joint angle information, the exoskeleton motion state sequence number corresponding to the periodic motion pattern is determined, including the following steps: Based on the hip joint angle information, calculate the average value of the left and right hip joint angles, and obtain the left hip joint angular velocity, right hip joint angular velocity, and the maximum positive and negative amplitude of the hip joint angle. The average values ​​of the left and right hip joint angles, the left and right hip joint angular velocities, and the maximum positive and negative amplitudes of the hip joint angles are determined using a preset motion event recognition model to obtain the event number corresponding to the periodic motion pattern. Based on the hip joint angle information, the current motion state is obtained; Based on the event number and the current motion state, obtain the exoskeleton motion state sequence number corresponding to the periodic motion mode.

6. The exoskeleton control method according to claim 5, characterized in that, Obtaining the exoskeleton motion state sequence number corresponding to the periodic motion pattern based on the event number and the current motion state includes at least the following steps: If the event number corresponds to the upstairs event, and the current motion state is stepping with the left leg, obtain the exoskeleton motion state sequence number corresponding to stepping with the left leg upstairs. If the event number corresponds to the flat ground fast walking event, and the current movement state is the right leg stepping, obtain the exoskeleton movement state sequence number corresponding to the right leg stepping in flat ground fast walking; If the event number corresponds to a downhill event, and the current motion state is a right leg step, obtain the exoskeleton motion state sequence number corresponding to the downhill right leg step.

7. The exoskeleton control method according to claim 1, characterized in that, Based on the exoskeleton motion state sequence number, generate exoskeleton torque control commands, including the following steps: Generate an exoskeleton torque curve based on the exoskeleton motion state sequence number; Based on the exoskeleton torque curve, generate exoskeleton torque control commands.

8. An exoskeleton system, characterized in that, The device includes an exoskeleton and a hip joint angle sensor, a motion controller, and an exoskeleton drive device mounted on the exoskeleton. The hip joint angle sensor is connected to the input terminal of the motion controller, and the exoskeleton drive device is connected to the output terminal of the motion controller. The hip joint angle sensor collects and sends hip joint angle sensor information to the motion controller. The motion controller is used to execute the exoskeleton control method according to any one of claims 1 to 7. The motion controller outputs exoskeleton torque control commands to the exoskeleton drive device to drive the exoskeleton to move.

9. An exoskeleton system according to claim 8, characterized in that, It also includes inertial sensors; The inertial sensor is connected to the motion controller, and the inertial sensor sends inertial sensor signals to the motion controller.

10. A lower limb exoskeleton control system, characterized in that, include: The signal preprocessing module is used to acquire hip joint angle sensor information and obtain hip joint angle information. The signal determination module is used to determine the exoskeleton movement pattern based on the hip joint angle information. The motion pattern recognition module is used to, if the exoskeleton motion pattern is a stationary mode, compare the hip joint angle information with a preset angle information threshold to determine the exoskeleton motion state number corresponding to the stationary mode; if the exoskeleton motion pattern is a periodic motion pattern, determine the exoskeleton motion state number corresponding to the periodic motion pattern based on the hip joint angle information. After obtaining the exoskeleton motion state number, the module further includes the following steps: obtaining a first exoskeleton motion state number and a second exoskeleton motion state number, wherein the first exoskeleton motion state number is the previously output exoskeleton motion state. The sequence number is the second exoskeleton motion state sequence number, which is the sequence number of the exoskeleton motion state output in the previous two steps. It is then determined 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. If they are different, it is then determined whether the first exoskeleton motion state sequence number is the same as the second exoskeleton motion state sequence number. If they are the same, the current exoskeleton motion state sequence number is output. If they are different, it is then 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 command indicating a state transition error is output. The control command generation module is used to determine whether the exoskeleton motion state sequence number matches the preset assisted gait phase. If it matches, the module generates an exoskeleton torque control command based on the exoskeleton motion state sequence number.

11. A computer device, comprising: A processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the steps of the exoskeleton control method as described in any one of claims 1 to 7.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, it implements the steps of the exoskeleton control method as described in any one of claims 1 to 7.

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