An adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system

Abstract

The present invention relates to the technical field of power-assisted robots, and in particular to an adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system, including a waist support device, a leg support device, a foot support device, a hydraulic power-assisted component, a posture sensor, a lower limb force sensor, a wearable electromyography sensor, a step acquisition module and a data analysis module. The system can intelligently adjust the output power of the hydraulic power-assisted component according to the movement posture of the exoskeleton, the pressure data of the foot support device and the muscle state of the wearing target, so as to provide appropriate walking assistance and load-bearing support. By real-time monitoring of the step frequency and muscle fatigue degree, the system can also perform secondary adjustment and fatigue alarm. The present invention gradually adjusts the output power of the exoskeleton power-assisted during the handling process by comparing the weight of the wearing target and the weight of the object to be moved, so that the assistance provided by the exoskeleton robot when the wearing target is carrying the object is effectively matched with the weight of the object to be moved.

Description

Technical Field

[0001] The present invention relates to the technical field of power-assisted robots, and in particular to an adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system. Background Art

[0002] The human exoskeleton power-assisted robot originated from the conception and development of the Hardman power-assisted robot in the United States in 1966. Today, it is still in the research and development stage. The energy supply device, the control system and the force transmission device that highly meet the requirements of human agility and accuracy need to be invested in research and development and experimental attempts. As of February 2023, the exoskeletons on the market are mainly divided into two categories. One is the human enhancement exoskeleton for specific joint assistance. This exoskeleton is mainly used to increase human strength and expand the upper limit of ability; the other is the rehabilitation exoskeleton, which is mainly used in the field of medical rehabilitation, such as assisting paralyzed patients to walk.

[0003] Chinese Patent Publication No.: CN112405504A discloses an exoskeleton robot lower limb component and a control device; the control device includes: a standard gait module, a time module, a first hydraulic control module and a second hydraulic control module; the standard gait module is used to obtain a standard gait curve in a fixed gait mode; the time module is used to obtain the user's force direction and the user's movement interval time through a force sensor in a gait approach mode; the first hydraulic control module is used to control the exoskeleton robot to maintain the gait approach mode for movement if the movement interval time is less than a first preset time; the second hydraulic control module is used to switch the gait approach mode to the fixed gait mode if the movement interval time is greater than or equal to the first preset time.

[0004] It can be seen that the prior art has the following problems: during the working process of the exoskeleton, due to the lack of a method to gradually adjust the output power of the exoskeleton assistance during the transportation process based on the comparison result between the weight of the worn target and the weight of the object to be moved, the assistance provided by the exoskeleton robot when the worn target is carrying the object cannot effectively match the weight of the object to be moved. Summary of the invention

[0005] To this end, the present invention provides an adaptively controlled lower limb hydraulically assisted exoskeleton robot system to overcome the problem in the prior art of lacking a method for gradually adjusting the exoskeleton assistance output power during the carrying process based on the comparison result between the weight of the worn target and the weight of the object to be moved, resulting in the assistance provided by the exoskeleton robot when the worn target is carrying the object being unable to effectively match the weight of the object to be moved.

[0006] To achieve the above object, the present invention provides an adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system, comprising:

[0007] The leg support device comprises a plurality of sub-support frames, any of which comprises a transfer transmission mechanism;

[0008] A foot support device, which is connected to the leg support device through an ankle transmission mechanism, and a lower limb force sensor for collecting pressure data borne by the foot support device is provided in the foot support device;

[0009] A hydraulic booster assembly, which is respectively arranged in the intermediate transmission mechanism and the ankle transmission mechanism;

[0010] The step acquisition module can acquire the step length data and the step duration data;

[0011] A waist support device, which is arranged on the upper part of the lower limb exoskeleton, comprises a plurality of waist supports and an annular support frame connected to the waist supports;

[0012] A data storage module, used to store data collected by each sensor and preset related data;

[0013] A hydraulic control module, used to control the output power of the hydraulic booster assembly;

[0014] An alarm module, used to alarm muscle fatigue status;

[0015] The data analysis module can determine the walking assistance value according to the movement posture of the exoskeleton robot; determine the output power level of the hydraulic assistance component according to the comparison result between the pressure data collected by the lower limb force sensor and the preset pressure ratio interval, and determine whether to adjust the output power for the second time according to the data collected by the step acquisition module;

[0016] The posture sensor collects the motion posture data of the exoskeleton robot, and the data analysis module analyzes the motion posture data of the exoskeleton robot to obtain the motion posture of the lower limb exoskeleton, wherein the motion posture includes a walking motion posture and a load-bearing motion posture; the walking motion posture is a motion posture in which the average pressure borne by the foot support device is within a preset pressure range during normal walking; the load-bearing motion posture is a motion posture in which the average pressure borne by the foot support device exceeds a preset pressure range during normal walking; the preset pressure range is the pressure range of the exoskeleton robot during normal walking;

[0017] When the exoskeleton robot is in a walking posture, the data analysis module determines the walking assistance value of the lower limb hydraulic assistance component according to the basic pressure data collected by the lower limb force sensor; the walking assistance value is positively correlated with the basic pressure data; the basic pressure data is the average pressure data borne by the foot support device during normal walking;

[0018] The data analysis module compares the load-bearing pressure data with the basic pressure data to obtain a pressure difference, the hydraulic control module determines a first pressure ratio value according to a ratio of the pressure difference value to the target weight value, compares the first pressure ratio value with a preset pressure ratio interval to obtain a ratio interval comparison result, and determines the output power level of the hydraulic booster component according to the ratio interval comparison result;

[0019] Among them, the preset pressure ratio interval includes a low pressure ratio interval, a medium pressure ratio interval and a high pressure ratio interval.

[0020] Further, the data analysis module determines that the first pressure ratio value is in the low pressure ratio interval, and the hydraulic control module controls the output power of the hydraulic booster component to be adjusted to the first-level output power, and determines the first-level output power of the hydraulic booster component according to the difference between the weight of the worn target and the weight of the object to be moved;

[0021] The low pressure ratio interval is a ratio interval of the weight of the object to be moved to the weight of the worn target that is greater than zero and less than or equal to half the weight of the worn target.

[0022] Further, the data analysis module determines that the first pressure ratio value is in the middle pressure ratio interval, and the hydraulic control module controls the output power of the hydraulic booster assembly to be the secondary output power, and determines the secondary output power of the hydraulic booster assembly according to the difference between the weight of the worn target and the weight of the object to be moved;

[0023] Among them, the medium pressure ratio interval is a ratio interval of the weight of the object to be moved that is greater than half of the wearing target weight and less than or equal to the wearing target weight to the wearing target weight value.

[0024] Further, the data analysis module determines that the first pressure ratio value is in the high pressure ratio interval, and the hydraulic control module controls the output power of the hydraulic booster assembly to be the third-level output power, and determines the third-level output power of the hydraulic booster assembly according to the difference between the weight of the object to be moved and the target weight of the wearer;

[0025] The high pressure ratio interval is a ratio interval of the weight of the object to be moved that is greater than the weight of the worn target to the weight of the worn target.

[0026] Furthermore, the data analysis module obtains the actual step frequency according to the step length data and the step duration data.

[0027] Further, the data analysis module compares the actual step frequency and the load-bearing step frequency to obtain a step frequency comparison result, and determines whether to adjust the output power of the hydraulic power assist component for the second time according to the step frequency comparison result;

[0028] The load-bearing step frequency is the step frequency of the exoskeleton robot when performing a load-bearing movement posture.

[0029] Further, the wearable electromyography sensor detects the contraction state of the leg muscles, and the data analysis module determines whether to issue a fatigue alarm according to the contraction state of the leg muscles;

[0030] Among them, the muscle contraction state includes muscle contraction frequency and muscle contraction intensity.

[0031] Compared with the prior art, the beneficial effect of the present invention is that by real-time monitoring of the pressure during walking and ensuring that the exoskeleton provides appropriate assistance, it can help the wearer walk more easily and reduce physical exertion. In load-bearing movement postures, the exoskeleton can provide additional support to prevent the wearer from losing balance when carrying or bending. The pressure range preset according to the weight, height and gait parameters of the wearer enables the exoskeleton robot to provide more personalized assistance. By monitoring pressure changes, the exoskeleton can adjust the assistance in time when the wearer's movements exceed the safe range to reduce the risk of injury. In industries such as industry or construction, the exoskeleton can help workers bear the pressure of heavy objects, reduce labor intensity, and prevent occupational diseases. The device can adapt to different walking environments and task requirements, and can provide corresponding support whether it is a flat road or complex terrain.

[0032] Furthermore, by real-time monitoring and adjusting the walking assistance value, the exoskeleton robot can provide adaptive assistance according to the specific needs of the wearer and improve walking efficiency. The dynamic adjustment of the assistance value helps to reduce the physical exertion of the wearer when walking and improves overall comfort. The exoskeleton robot provides assistance at the appropriate time, which helps to reduce the energy consumption of the wearer when walking. By monitoring and adjusting the assistance, the exoskeleton robot can help the wearer maintain a stable walking posture and reduce the risk of falling. Appropriate assistance can reduce the burden on the wearer's lower limb joints, especially for users who do heavy physical labor, and help protect and restore joint health. The lower limb exoskeleton robot can provide effective walking assistance for the wearer, improve the quality of life, and play an important role in rehabilitation, military, industry and other fields.

[0033] Furthermore, the exoskeleton robot can adjust the output power according to the weight difference between the wearer and the object, providing personalized auxiliary force, making the power-assisting component more suitable for the needs of different wearers. By adjusting the output power through a negative correlation, unnecessary energy consumption is avoided and the energy efficiency of the hydraulic power-assisting component is improved. Providing appropriate assistance in the low-pressure ratio range reduces the burden on the wearer and the labor intensity, thereby improving work safety and comfort. Real-time monitoring of the load-bearing status and dynamic adjustment of the output power enable the power-assisting component to adapt to different working environments and task requirements. By reducing the force that the wearer needs to exert, the system helps reduce muscle fatigue caused by long-term work.

[0034] Furthermore, by setting the output power to level two, the system provides moderate assistance to the wearable target, which helps provide necessary support within the range that the wearable target can bear while avoiding excessive assistance. In the medium pressure ratio range, appropriate assistance can significantly improve the work efficiency of the wearable target, especially when carrying objects of medium weight. By reducing the force that the wearable target needs to exert, the exoskeleton robot helps reduce the physical exertion of the wearable target, thereby extending the working time and reducing the number of rest times. The adjustment of the system helps to protect the muscles and joints of the wearable target and avoid injuries caused by excessive weight. Adjusting the output power according to the difference between the weight of the wearable target and the weight of the object to be moved helps to optimize energy use and reduce unnecessary energy consumption.

[0035] Furthermore, in the high pressure ratio range, higher output power is provided to ensure that the wearable target can easily carry heavy objects, especially when the weight of the object to be moved is much greater than the weight of the wearable target. By providing sufficient assistance, the risk of physical injury caused by carrying heavy objects is reduced, and the muscle and bone health of the wearable target is protected. When carrying heavy objects, higher output power can significantly improve work efficiency and shorten the time required to complete the task. The exoskeleton robot can dynamically adjust the output power according to the positive correlation between the weight of the object to be moved and the weight of the wearable target to adapt to different working environments and task requirements.

[0036] Furthermore, by simultaneously collecting stride length and stride duration data, the actual stride frequency of the wearer can be calculated more accurately, thereby providing reliable data support for subsequent assistance adjustments. According to the actual stride frequency of the wearer, the lower limb exoskeleton robot can provide more personalized assistance to adapt to the walking habits and rhythms of different wearers. By real-time monitoring and calculating stride frequency, the lower limb exoskeleton robot can help the wearer maintain or adjust to the optimal walking rhythm, thereby improving walking efficiency. Accurate stride frequency measurement and adjustment help improve the user experience of the exoskeleton device and make the assistance more natural and comfortable.

[0037] Furthermore, the system can dynamically adjust the level of assistance based on the comparison results of the actual step frequency of the wearing target and the standard load-bearing step frequency, ensuring that appropriate assistance can be provided in different walking conditions. When the load-bearing step frequency is within the actual step frequency fluctuation range, the system does not need to adjust the output power, thereby avoiding unnecessary energy consumption. When the load-bearing step frequency is lower than the minimum value of the actual step frequency fluctuation range, reducing the output power can prevent excessive assistance, reduce the burden on the wearing target, and improve safety. When the load-bearing step frequency is higher than the maximum value of the actual step frequency fluctuation range, increasing the output power can provide additional assistance to help the wearing target bear the weight more easily and reduce the risk of injury. By adjusting the assistance according to the specific step frequency of the wearing target, the system can provide a more personalized user experience and adapt to the walking habits and needs of different wearing targets.

[0038] Furthermore, by real-time monitoring of muscle contraction frequency and muscle contraction strength, the system can provide early warning before the muscles become overly fatigued, thereby taking measures to prevent potential muscle damage. The wearer can take a break or adjust the work intensity in time under the prompt of the fatigue alarm to avoid reduced efficiency and work errors caused by fatigue. The fatigue alarm mechanism helps reduce accidental injuries caused by muscle fatigue, especially in environments where specific postures need to be maintained for a long time or heavy physical labor is required. The system provides personalized fatigue judgment based on the specific muscle contraction data of the wearer to adapt to the physiological characteristics and work needs of different individuals. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the exoskeleton structure of the lower limb hydraulic power-assisted exoskeleton robot system with adaptive control in this embodiment;

[0040] Figure 2 This is an operation flow chart of the adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system in this embodiment;

[0041] Figure 3 This is a flow chart for determining the output power level of the adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system in this embodiment;

[0042] Figure 4 This is a flow chart of the output power regulation of the adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system in this embodiment.

[0043] In the figure: 1-lumbar support; 2-annular support frame; 3-first sub-support frame; 4-second sub-support frame; 5-femoral support rod; 6-tibial support rod; 7-transfer transmission mechanism; 8-leg strap; 9-foot support device; 10-ankle mid-transmission mechanism; 11-hydraulic power assist assembly; 12-posture sensor; 13-lower limb force sensor; 14 wearable electromyography sensor. DETAILED DESCRIPTION

[0044] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0046] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0047] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] See also Figure 1-Figure 4 As shown, Figure 1 This is a schematic diagram of the exoskeleton structure of the lower limb hydraulic power-assisted exoskeleton robot system with adaptive control in this embodiment; Figure 2 This is an operation flow chart of the adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system in this embodiment; Figure 3 This is a flow chart for determining the output power level of the adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system in this embodiment; Figure 4 This is a flow chart of the output power regulation of the adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system in this embodiment.

[0049] This embodiment provides an adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system, comprising:

[0050] A waist support device, which is arranged on the upper part of the lower limb exoskeleton, comprises a plurality of waist supports 1 and an annular support frame 2 connected to the waist supports;

[0051] A leg support device, which is connected to the waist support device through a waist connection mechanism, comprises a first sub-support frame 3 and a second sub-support frame 4, wherein the first sub-support frame and the second sub-support frame each comprise a femoral support rod 5, a tibial support rod 6, a transfer transmission mechanism 7 and a leg belt 8; the leg belts are respectively connected to the middle of the femoral support rod and the tibial support rod;

[0052] A foot support device 9, which is connected to the leg support device through an ankle transmission mechanism, and is used to stabilize the movement of the exoskeleton robot and bear the force during the movement;

[0053] A hydraulic booster assembly 11, which is respectively arranged in the intermediate transmission mechanism and the ankle transmission mechanism, and is used to share the weight borne by the exoskeleton robot when in use;

[0054] A posture sensor 12, which is arranged in the waist support device and is used to collect the motion posture data of the exoskeleton robot;

[0055] A lower limb force sensor 13, which is arranged in the foot support device and is used to collect pressure data borne by the foot support device;

[0056] A wearable electromyography sensor 14, which is disposed in a leg strap connected to the femoral support rod and is used to detect the movement state of the thigh muscles;

[0057] The step acquisition module includes a step length acquisition unit and a step interval acquisition unit, wherein the step length acquisition unit is used to collect step length data; the step interval acquisition unit is used to collect step duration data used for a single step;

[0058] A data storage module, used to store data collected by each sensor and preset related data;

[0059] A hydraulic control module, used to control the output power of the hydraulic booster assembly;

[0060] A data analysis module is connected to the posture sensor, the lower limb force sensor, the wearable electromyography sensor, the step acquisition module, the data storage module and the hydraulic control module, collects the exoskeleton robot motion posture data through the posture sensor to determine the exoskeleton robot motion posture, and determines the walking assistance value according to the exoskeleton robot motion posture; determines the first pressure ratio value according to the pressure data collected by the lower limb force sensor, and determines the output power level of the hydraulic assistance component according to the comparison result between the first pressure ratio value and the preset pressure ratio interval; determines whether to adjust the output power for the second time according to the step length and step duration collected by the step acquisition module;

[0061] The alarm module is used to alarm the muscle fatigue state.

[0062] During specific use, the target wears the lower limb exoskeleton robot, and the waist support and leg straps fix the waist and legs respectively. After starting the device, the posture sensor, lower limb force sensor and wearable electromyography sensor start working and collect corresponding data in real time. The step acquisition module records the step length and step duration of the target, the data storage module stores the standard step frequency and real-time step data, the data analysis module processes the data, and the hydraulic control module adjusts the work of the hydraulic power assist component according to the data analysis results to achieve the best power assist effect. When using the exoskeleton to carry objects, the upper limb exoskeleton is equipped with an upper limb pressure sensor, which is used to detect the weight of the carried objects to obtain upper limb pressure data. The data analysis module determines the initial power assist value of the hydraulic power assist component through the upper limb pressure data.

[0063] Specifically, the posture sensor collects exoskeleton robot motion posture data, and the data analysis module analyzes the exoskeleton robot motion posture data to obtain the lower limb exoskeleton motion posture, wherein the motion posture includes walking motion posture and load-bearing motion posture;

[0064] Among them, the walking movement posture is a movement posture in which the average pressure borne by the foot support device is within the preset pressure range during normal walking; the load-bearing movement posture is a movement posture in which the average pressure borne by the foot support device exceeds the preset pressure range during normal walking; the preset pressure range is the pressure range of the exoskeleton robot during normal walking.

[0065] When the target wears the lower limb exoskeleton and starts to move, the posture sensor collects the exoskeleton's motion posture data in real time. The collection process includes but is not limited to the angle between the upper limb exoskeleton and the lower limb exoskeleton, the exoskeleton acceleration, and the exoskeleton inclination. The data analysis module determines the exoskeleton's motion posture based on the comparison result of the average pressure borne by the foot support device and the preset pressure range.

[0066] When the average pressure is within the preset pressure range, the data analysis module determines that the lower limb exoskeleton is in a walking motion posture.

[0067] When the average pressure is greater than the maximum value of the preset pressure range, the data analysis module determines that the lower limb exoskeleton is in a weight-bearing movement posture.

[0068] For example, the wearable target needs to use a lower limb exoskeleton robot to assist walking. The device has preset the average pressure range during normal walking according to the wearable target's weight, height and gait parameters. For example, the preset pressure range is 150-180 Pascals.

[0069] The target wears the lower limb exoskeleton robot and is ready to move;

[0070] The attitude sensor starts working:

[0071] The posture sensor collects the exoskeleton's motion posture data in real time, including the angle between the upper limb exoskeleton and the lower limb exoskeleton, the exoskeleton's acceleration, the exoskeleton's inclination, etc.

[0072] The data analysis module receives data from the posture sensor and the lower limb force sensor, and pays special attention to the average pressure on the foot support device.

[0073] When the wearer starts walking, the lower limb force sensor detects that the average pressure on the foot support device is 170 Pascals, which is within the preset pressure range of 150-180 Pascals.

[0074] The data analysis module determines that the lower limb exoskeleton is currently in a walking posture based on this data, and instructs the hydraulic control module to provide appropriate assistance to assist the wearer in walking.

[0075] During walking, if the wearer needs to stop and bend down to pick up a heavy object, the lower limb force sensor detects that the average pressure on the foot support device suddenly increases to 250 Pascals, which exceeds the preset maximum pressure range of 180 Pascals.

[0076] Based on this data, the data analysis module determines that the lower limb exoskeleton is currently in a load-bearing movement posture, and instructs the hydraulic control module to increase the power assistance to support the stability of the wearable target when bearing weight.

[0077] Through such an embodiment, the lower limb exoskeleton robot can provide corresponding assistance according to the different movement requirements of the wearer, ensuring that the wearer can get appropriate support when walking and bearing weight. This not only improves the practicality of the device, but also enhances the safety and comfort of the wearer.

[0078] By monitoring the pressure during walking in real time and ensuring that the exoskeleton provides appropriate assistance, it can help the wearer walk more easily and reduce physical exertion. In load-bearing movement postures, the exoskeleton can provide additional support to prevent the wearer from losing balance when carrying or bending. The pressure range preset according to the wearer's weight, height and gait parameters enables the exoskeleton robot to provide more personalized assistance. By monitoring pressure changes, the exoskeleton can adjust the assistance in time when the wearer's movements exceed the safe range to reduce the risk of injury. In industries such as industry or construction, exoskeletons can help workers bear the pressure of heavy objects, reduce labor intensity, and prevent occupational diseases. The device can adapt to different walking environments and task requirements, and can provide corresponding support whether it is a flat road or complex terrain.

[0079] Specifically, when the exoskeleton robot's motion posture is a walking motion posture, the data analysis module determines the walking assistance value of the lower limb hydraulic assistance component according to the basic pressure data collected by the lower limb force sensor;

[0080] The walking assistance value is positively correlated with the basic pressure data; the basic pressure data is the average pressure data borne by the foot support device during normal walking.

[0081] The target wears the lower limb exoskeleton robot according to its own body shape and ensures that the device fits the body tightly. Start the posture sensor and force sensor, perform a system self-check, and ensure that all components are working properly.

[0082] The target is ready to start walking, and the lower limb force sensor collects the basic pressure data of the foot support device when the target is walking in real time. After receiving the basic pressure data, the data analysis module determines the walking assistance value of the lower limb hydraulic assistance component according to the basic pressure data, wherein the walking assistance value is positively correlated with the basic pressure data, and the positive correlation ratio of the walking assistance value and the basic pressure data is determined by a preset proportional influence compensation parameter. The data analysis module sends the walking assistance value to the hydraulic control module, and the hydraulic control module adjusts the output power of the hydraulic assistance component of the lower limb exoskeleton according to the received assistance value to provide appropriate assistance to the lower limbs of the target, and the target starts walking with the assistance of the lower limb exoskeleton. During walking, the force sensor continuously monitors the pressure changes, and the data analysis module dynamically adjusts the walking assistance value according to the real-time data to ensure the comfort and efficiency of the target when walking.

[0083] By real-time monitoring and adjusting the walking assistance value, the exoskeleton robot can provide adaptive assistance according to the specific needs of the wearer and improve walking efficiency. The dynamic adjustment of the assistance value helps reduce the physical exertion of the wearer when walking and improves overall comfort. The exoskeleton robot provides assistance at the appropriate time, which helps reduce the energy consumption of the wearer when walking. By monitoring and adjusting the assistance, the exoskeleton robot can help the wearer maintain a stable walking posture and reduce the risk of falling. Appropriate assistance can reduce the burden on the wearer's lower limb joints, especially for users who do heavy physical labor, and help protect and restore joint health. The lower limb exoskeleton robot can provide effective walking assistance for the wearer, improve the quality of life, and play an important role in rehabilitation, military, industry and other fields.

[0084] Specifically, the data analysis module compares the load-bearing pressure data with the basic pressure data to obtain a pressure difference, the hydraulic control module determines a first pressure ratio value according to the ratio of the pressure difference value to the target weight value, compares the first pressure ratio value with a preset pressure ratio interval to obtain a ratio interval comparison result, and determines the output power level of the hydraulic booster component according to the ratio interval comparison result;

[0085] Among them, the preset pressure ratio interval includes a low pressure ratio interval, a medium pressure ratio interval and a high pressure ratio interval.

[0086] Specifically, the data analysis module determines that the first pressure ratio value is in the low pressure ratio interval, and the hydraulic control module controls the output power of the hydraulic booster component to be adjusted to the first-level output power, and determines the first-level output power of the hydraulic booster component according to the difference between the weight of the worn target and the weight of the object to be moved;

[0087] The low pressure ratio interval is a ratio interval of the weight of the object to be moved to the weight of the worn target that is greater than zero and less than or equal to half the weight of the worn target.

[0088] Specifically, the data analysis module determines that the first pressure ratio value is in the middle pressure ratio interval, and the hydraulic control module controls the output power of the hydraulic booster assembly to be the secondary output power, and determines the secondary output power of the hydraulic booster assembly according to the difference between the weight of the worn target and the weight of the object to be moved;

[0089] Among them, the medium pressure ratio interval is a ratio interval of the weight of the object to be moved that is greater than half of the wearing target weight and less than or equal to the wearing target weight to the wearing target weight value.

[0090] Specifically, the data analysis module determines that the first pressure ratio value is in the high pressure ratio interval, and the hydraulic control module controls the output power of the hydraulic booster assembly to be the third-level output power, and determines the third-level output power of the hydraulic booster assembly according to the difference between the weight of the object to be moved and the target weight of the wearer;

[0091] The high pressure ratio interval is a ratio interval of the weight of the object to be moved that is greater than the weight of the worn target to the weight of the worn target.

[0092] When the wearable object is in a stationary standing state, the force sensor collects the basic pressure data of the foot support device.

[0093] Wear the device to prepare for weight-bearing actions, such as lifting heavy objects.

[0094] The force sensor collects the pressure data of the foot support device under load-bearing state in real time, that is, the load-bearing pressure data.

[0095] The data analysis module calculates the difference between the load-bearing pressure data and the basic pressure data to obtain the pressure difference, and determines the weight of the object to be moved based on the pressure difference. The weight of the object to be moved is positively correlated with the pressure difference, and the positive correlation ratio between the weight of the object to be moved and the pressure difference is determined according to a preset ratio affecting the compensation parameter.

[0096] Determine the first pressure ratio value according to the weight ratio of the object to be moved and the weight of the object to be worn,

[0097] The hydraulic control module compares the first pressure ratio value with a preset pressure ratio interval, wherein the preset pressure ratio interval is divided into a low pressure ratio interval, a medium pressure ratio interval, and a high pressure ratio interval;

[0098] When the first pressure-bearing ratio value is in the low pressure-bearing ratio interval, the data analysis module determines that the output power level of the hydraulic booster assembly is the first-level output power of the hydraulic booster assembly, and determines the first-level output power of the hydraulic booster assembly according to the difference between the worn target weight and the weight of the object to be moved, wherein the first-level output power of the hydraulic booster assembly is negatively correlated with the difference between the worn target weight and the weight of the object to be moved;

[0099] Example:

[0100] Case 1: The hydraulic assist component is used to assist in carrying heavy objects. The first pressure ratio value refers to the ratio of the weight of the object to be moved to the weight of the target to be worn. For example, if the weight of the object to be moved is 40 kg and the weight of the target to be worn is 100 kg, the first pressure ratio value is 0.4.

[0101] The first pressure ratio value is compared with the preset low pressure ratio interval. The low pressure ratio interval is (0.0.5], so in this example, the first pressure ratio value is 0.4, which is in the low pressure ratio interval.

[0102] Since the first pressure ratio value is in the low pressure ratio interval, the data analysis module determines that the output power level of the hydraulic power assist component is the first-level output power. The data analysis module calculates the difference between the worn target weight and the weight of the object to be moved. In this example, the worn target weight is 100kg, the weight of the object to be moved is 40kg, and the difference is 60kg.

[0103] Determine the first-level output power of the hydraulic booster component. According to the difference between the weight of the target to be worn and the weight of the object to be moved, and the preset negative correlation, determine the first-level output power of the hydraulic booster component. Assume that the negative correlation is: for every increase of 1kg in the difference, the output power decreases by 10W. Then, for a difference of 60kg, the first-level output power of the hydraulic booster component is:

[0104] Initial output power - 60kg × 10W / kg = initial output power - 600W;

[0105] Assuming the initial output power is 1000W, the first-level output power of the hydraulic power assist component is: 1000W-600W = 400W.

[0106] In this embodiment, when the first pressure ratio value is in the low pressure ratio interval, the output power level of the hydraulic booster assembly is determined to be level 1 output power. By calculating the difference between the target weight to be worn and the weight of the object to be moved, and based on the negative correlation, it is determined that the level 1 output power of the hydraulic booster assembly is 400W.

[0107] Case 2: The hydraulic assist component is used to assist in carrying heavy objects. The first pressure ratio value refers to the ratio of the weight of the object to be moved to the weight of the target to be worn. For example, if the weight of the object to be moved is 40 kg and the weight of the target to be worn is 80 kg, the first pressure ratio value is 0.5.

[0108] The first pressure ratio value is compared with the preset low pressure ratio interval. The low pressure ratio interval is (0.0.5], so in this example, the first pressure ratio value is 0.5, which is in the low pressure ratio interval.

[0109] Since the first pressure ratio value is in the low pressure ratio interval, the data analysis module determines that the output power level of the hydraulic power assist component is the first-level output power. The data analysis module calculates the difference between the worn target weight and the weight of the object to be moved. In this example, the worn target weight is 80kg, the weight of the object to be moved is 40kg, and the difference is 40kg.

[0110] Determine the first-level output power of the hydraulic booster component. According to the difference between the weight of the target to be worn and the weight of the object to be moved, and the preset negative correlation, determine the first-level output power of the hydraulic booster component. Assume that the negative correlation is: for every increase of 1kg difference, the output power decreases by 10W. Then, for a difference of 40kg, the first-level output power of the hydraulic booster component is:

[0111] Initial output power - 40kg × 10W / kg = initial output power - 400W;

[0112] Assuming the initial output power is 1000W, the first-level output power of the hydraulic power assist component is: 1000W-400W = 600W.

[0113] In this embodiment, when the first pressure ratio value is in the low pressure ratio interval, the output power level of the hydraulic booster assembly is determined to be level 1 output power. By calculating the difference between the target weight to be worn and the weight of the object to be moved, and based on the negative correlation, the level 1 output power of the hydraulic booster assembly is determined to be 600W.

[0114] Case 3: The hydraulic assist component is used to assist in carrying heavy objects. The first pressure ratio value refers to the ratio of the weight of the object to be moved to the weight of the target to be worn. For example, if the weight of the object to be moved is 20 kg and the weight of the target to be worn is 80 kg, the first pressure ratio value is 0.25.

[0115] The first pressure ratio value is compared with the preset low pressure ratio interval. The low pressure ratio interval is (0.0.5], so in this example, the first pressure ratio value is 0.25, which is in the low pressure ratio interval.

[0116] Since the first pressure ratio value is in the low pressure ratio interval, the data analysis module determines that the output power level of the hydraulic power assist component is the first-level output power. The data analysis module calculates the difference between the worn target weight and the weight of the object to be moved. In this example, the worn target weight is 80kg, the weight of the object to be moved is 20kg, and the difference is 60kg.

[0117] Determine the first-level output power of the hydraulic booster component. According to the difference between the weight of the target to be worn and the weight of the object to be moved, and the preset negative correlation, determine the first-level output power of the hydraulic booster component. Assume that the negative correlation is: for every increase of 1kg in the difference, the output power decreases by 10W. Then, for a difference of 60kg, the first-level output power of the hydraulic booster component is:

[0118] Initial output power - 60kg × 10W / kg = initial output power - 600W;

[0119] Assuming the initial output power is 1000W, the first-level output power of the hydraulic power assist component is: 1000W-600W = 400W.

[0120] In this embodiment, when the first pressure ratio value is in the low pressure ratio interval, the output power level of the hydraulic booster assembly is determined to be level 1 output power. By calculating the difference between the target weight to be worn and the weight of the object to be moved, and based on the negative correlation, the level 1 output power of the hydraulic booster assembly is determined to be 600W.

[0121] The exoskeleton robot can adjust the output power according to the weight difference between the wearer and the object, providing personalized auxiliary force, making the power-assisting component more suitable for the needs of different wearers. By adjusting the output power through a negative correlation, unnecessary energy consumption is avoided and the energy efficiency of the hydraulic power-assisting component is improved. Providing appropriate assistance in the low-pressure ratio range reduces the burden on the wearer and the labor intensity, thereby improving work safety and comfort. Real-time monitoring of the load-bearing status and dynamic adjustment of the output power enable the power-assisting component to adapt to different working environments and task requirements. By reducing the force that the wearer needs to exert, the system helps reduce muscle fatigue caused by long-term work.

[0122] Specifically for the above three situations, the following are their respective beneficial effects:

[0123] Case 1:

[0124] When the weight of the object to be moved is 40kg and the weight of the wearable target is 100kg, the system determines that the output power is 400W, which helps the wearable target to easily carry lighter weights while saving energy.

[0125] Case 2:

[0126] When the weight of the object to be moved is 40kg and the weight of the wearable target is 80kg, the system determines that the output power is 600W, which provides appropriate assistance for the lighter wearable target and ensures the safety of transportation.

[0127] Case 3:

[0128] When the weight of the object to be moved is 20kg and the weight of the wearable target is 80kg, the system determines that the output power is 400W, which helps the wearable target to carry light objects more easily while avoiding excessive assistance.

[0129] When the first pressure ratio value is in the middle pressure ratio interval, the data analysis module determines that the output power level of the hydraulic booster assembly is the secondary output power of the hydraulic booster assembly, and determines the secondary output power of the hydraulic booster assembly according to the difference between the worn target weight and the weight of the object to be moved, wherein the secondary output power of the hydraulic booster assembly is negatively correlated with the difference between the worn target weight and the weight of the object to be moved;

[0130] Example:

[0131] The hydraulic booster assembly is used to assist in carrying heavy objects. The first pressure ratio value refers to the ratio of the weight of the object to be moved to the weight of the target to be worn. For example, if the weight of the object to be moved is 60kg and the weight of the target to be worn is 100kg, the first pressure ratio value is 0.6.

[0132] The first pressure ratio value is compared with the preset medium pressure ratio interval. The medium pressure ratio interval is (0.5, 1], so in this example, the first pressure ratio value is 0.6, which is in the medium pressure ratio interval.

[0133] Since the first pressure ratio value is in the medium pressure ratio range, the data analysis module determines that the output power level of the hydraulic power assist component is the secondary output power. The data analysis module calculates the difference between the worn target weight and the weight of the object to be moved. In this example, the worn target weight is 100kg, the weight of the object to be moved is 60kg, and the difference is 40kg.

[0134] Determine the secondary output power of the hydraulic booster component. According to the difference between the weight of the target to be worn and the weight of the object to be moved, and the preset negative correlation, determine the secondary output power of the hydraulic booster component. Assume that the negative correlation is: for every 1kg difference, the output power decreases by 10W. Then, for a difference of 40kg, the secondary output power of the hydraulic booster component is:

[0135] Initial output power - 40kg × 10W / kg = initial output power - 400W;

[0136] Assuming the initial output power is 1000W, the secondary output power of the hydraulic power assist component is: 1000W-400W = 600W.

[0137] In this embodiment, when the first pressure ratio value is in the medium pressure ratio interval, the output power level of the hydraulic booster assembly is determined to be the secondary output power. By calculating the difference between the target weight to be worn and the weight of the object to be moved, and based on the negative correlation, the secondary output power of the hydraulic booster assembly is determined to be 600W.

[0138] By setting the output power to level 2, the system provides moderate assistance to the wearable target, which helps provide the necessary support within the range that the wearable target can bear while avoiding excessive assistance. In the medium-pressure ratio range, appropriate assistance can significantly improve the work efficiency of the wearable target, especially when carrying medium-weight objects. By reducing the force that the wearable target needs to exert, the exoskeleton robot helps reduce the physical exertion of the wearable target, thereby extending the working time and reducing the number of rest times. The adjustment of the system helps protect the muscles and joints of the wearable target and avoid injuries caused by excessive weight. Adjusting the output power according to the difference between the weight of the wearable target and the weight of the object to be moved helps optimize energy use and reduce unnecessary energy consumption.

[0139] Specifically to the above example, the beneficial effects in the example are:

[0140] When the weight of the object to be moved is 60kg and the weight of the wearable target is 100kg, the output power is determined to be 600W. This provides sufficient assistance to the wearable target to carry objects of medium weight, while ensuring the comfort and safety of the wearable target. By reducing the output power by 400W, the system not only saves energy, but also ensures that the degree of assistance matches the actual needs of the wearable target. This method of dynamically adjusting the level of assistance according to actual needs enables the hydraulic power-assisting component to adapt to different work scenarios more intelligently, improving overall work efficiency and user experience. In short, this method of dynamically adjusting the output power of the hydraulic power-assisting component based on the first pressure-bearing ratio value provides the wearable target with a more intelligent, efficient and safe auxiliary force, especially when carrying medium-weight objects, which can significantly improve work efficiency and reduce labor intensity.

[0141] When the first pressure-bearing ratio value is in the high pressure-bearing ratio interval, the data analysis module determines that the output power level of the hydraulic power-assisting component is the third-level output power of the hydraulic power-assisting component, and determines the third-level output power of the hydraulic power-assisting component according to the difference between the weight of the object to be moved and the target weight to be worn, wherein the third-level output power of the hydraulic power-assisting component is positively correlated with the difference between the weight of the object to be moved and the target weight to be worn;

[0142] Example:

[0143] The hydraulic booster assembly is used to assist in carrying heavy objects. The first pressure ratio value refers to the ratio of the weight of the object to be moved to the weight of the target to be worn. For example, if the weight of the object to be moved is 150kg and the weight of the target to be worn is 80kg, the first pressure ratio value is 1.875.

[0144] The first pressure ratio value is compared with the preset medium pressure ratio interval. The high pressure ratio interval is greater than 1. In this example, the first pressure ratio value is 1.875, which is in the high pressure ratio interval.

[0145] Among them, the system presets the maximum pressure ratio to 2.5. When the first pressure ratio value is greater than 2.5, the alarm module will alarm to prevent the wearer from being injured.

[0146] Since the first pressure ratio value is in the high pressure ratio interval, the data analysis module determines that the output power level of the hydraulic power assist component is the third-level output power. The data analysis module calculates the difference between the worn target weight and the weight of the object to be moved. In this example, the worn target weight is 80kg, the weight of the object to be moved is 150kg, and the difference is 70kg.

[0147] Determine the three-level output power of the hydraulic assist component. According to the difference between the weight of the target to be worn and the weight of the object to be moved, and the preset positive correlation, determine the three-level output power of the hydraulic assist component. Assume that the negative correlation is: for every increase of 1kg difference, the output power increases by 10W. Then, for a difference of 70kg, the first-level output power of the hydraulic assist component is:

[0148] Initial output power + 70kg × 10W / kg = initial output power + 700W;

[0149] Assuming the initial output power is 1000W, the secondary output power of the hydraulic power assist component is: 1000W+700W=1700W.

[0150] In this embodiment, when the first pressure ratio value is in the high pressure ratio interval, the output power level of the hydraulic booster assembly is determined to be level 3 output power. By calculating the difference between the target weight to be worn and the weight of the object to be moved, and based on the negative correlation, the level 3 output power of the hydraulic booster assembly is determined to be 1700W.

[0151] In the high pressure ratio range, higher output power is provided to ensure that the wearable target can easily carry heavy objects, especially when the weight of the object to be moved is much heavier than the weight of the wearable target. By providing sufficient assistance, the risk of physical injury caused by carrying heavy objects is reduced, and the muscle and bone health of the wearable target is protected. When carrying heavy objects, higher output power can significantly improve work efficiency and shorten the time required to complete the task. The exoskeleton robot can dynamically adjust the output power according to the positive correlation between the weight of the object to be moved and the weight of the wearable target to adapt to different working environments and task requirements.

[0152] Specifically to the above example, the beneficial effects in the example are:

[0153] When the weight of the object to be moved is 150 kg and the weight of the wearable target is 80 kg, the system determines that the output power is 1700 W. This provides a strong boost for the wearable target, enabling it to safely carry objects that are much heavier than its own weight.

[0154] By increasing the output power by 700W, the system ensures that the wearable target can get enough support when facing heavy loads, avoiding potential risks caused by insufficient strength. This method of providing a high level of assistance based on actual needs enables the hydraulic power-assist component to perform well when handling heavy-load tasks, improving the work ability of the wearable target and the practicality of the system. In short, this method of dynamically adjusting the output power of the hydraulic power-assist component based on the first pressure-bearing ratio value provides strong power-assist support for the wearable target, especially when carrying heavy objects, which can significantly improve work efficiency, reduce labor intensity, and ensure the safety of the wearable target.

[0155] Specifically, the data analysis module obtains the actual step frequency according to the step length data and the step duration data.

[0156] The hydraulic control module sends a command to the step length acquisition unit to start collecting the step length data of the wearing target.

[0157] The step length acquisition unit includes but is not limited to a sensor, a camera or other measuring device, which is used to measure the length of each step of the wearing object. This embodiment does not limit the specific measuring device;

[0158] The hydraulic control module simultaneously sends instructions to the step interval acquisition unit to start collecting the step duration data of the wearing target. The step interval acquisition unit includes but is not limited to sensors or other timing devices for measuring the duration of each step.

[0159] Assuming that the wearable target is walking, the step length acquisition unit records the length data of several consecutive steps, for example: 1.2m, 1.3m, 1.2m.

[0160] The step interval acquisition unit records the duration data of the corresponding steps, for example: 0.8s, 0.9s, 0.8s.

[0161] The collected stride length and stride duration data are transmitted to the data analysis module. After receiving the data, the data analysis module performs the following calculations:

[0162] Calculate the average step duration: average step duration = total duration / number of steps,

[0163] For example: average step duration = 0.8 + 0.9 + 0.8 / 3 = 0.83.

[0164] Calculate the actual step frequency: step frequency = 1 / average step duration;

[0165] For example: step frequency = 1 / 0.83 ≈ 1.2 steps / second or step frequency ≈ 72 steps / minute.

[0166] By collecting stride length and stride duration data simultaneously, the actual stride frequency of the wearer can be calculated more accurately, thus providing reliable data support for subsequent assistance adjustments. According to the actual stride frequency of the wearer, the lower limb exoskeleton robot can provide more personalized assistance to adapt to the walking habits and rhythms of different wearers. By real-time monitoring and calculating stride frequency, the lower limb exoskeleton robot can help the wearer maintain or adjust to the optimal walking rhythm, thereby improving walking efficiency. Accurate stride frequency measurement and adjustment help improve the user experience of the exoskeleton device and make the assistance more natural and comfortable.

[0167] Specifically to the above example, the beneficial effects in the example are:

[0168] By recording the stride lengths of 1.2m, 1.3m, 1.2m and stride durations of 0.8s, 0.9s, 0.8s, the system was able to calculate the average stride duration of the wearer to be 0.83 seconds, and thus the actual stride frequency was about 72 steps / minute. This precise stride frequency measurement helps the exoskeleton device provide assistance at the right time, such as providing additional support when starting or accelerating. Real-time monitoring of stride frequency allows the system to dynamically adjust the level of assistance based on the wearer's walking speed, ensuring that the wearer can get appropriate assistance at different walking speeds. By optimizing stride frequency, the lower limb exoskeleton robot can help the wearer save energy and reduce fatigue, especially when walking for a long time or carrying heavy objects. In short, this method of calculating the actual stride frequency by collecting stride length and duration data not only improves the efficiency and comfort of the exoskeleton device, but also improves the intelligence level of the device, providing more intimate and effective assistance to the wearer.

[0169] Specifically, the data analysis module compares the actual step frequency and the load-bearing step frequency to obtain a step frequency comparison result, and determines whether to adjust the output power of the hydraulic power assist component for the second time according to the step frequency comparison result;

[0170] The load-bearing step frequency is the step frequency of the exoskeleton robot when performing a load-bearing movement posture.

[0171] The load-bearing step frequency is the step frequency of the exoskeleton robot when it performs load-bearing movements.

[0172] The data analysis module compares the actual step frequency and the weight-bearing step frequency.

[0173] When the step frequency comparison result shows that the load-bearing step frequency is within the fluctuation range of the actual step frequency, the data analysis module determines that there is no need to adjust the output power of the hydraulic power assist component;

[0174] When the comparison result of step frequency shows that the load-bearing step frequency is less than the minimum value of the actual step frequency fluctuation interval, the data analysis module determines to reduce the output power of the hydraulic power assist component. The reduced output power of the hydraulic power assist component is determined according to the difference between the minimum value of the actual step frequency fluctuation interval and the load-bearing step frequency. The reduced hydraulic power assist component is positively correlated with the difference between the minimum value of the actual step frequency fluctuation interval and the load-bearing step frequency.

[0175] The actual step frequency fluctuation range is a fluctuation range preset according to the actual step frequency;

[0176] When the step frequency comparison result shows that the load-bearing step frequency is greater than the maximum value of the actual step frequency fluctuation range, the data analysis module determines to increase the output power of the hydraulic power assist component. The increased output power of the hydraulic power assist component is determined based on the difference between the maximum value of the actual step frequency fluctuation range and the load-bearing step frequency. The reduced output power of the hydraulic power assist component is positively correlated with the difference between the maximum value of the actual step frequency fluctuation range and the load-bearing step frequency.

[0177] Example:

[0178] Assume that the standard load-bearing step frequency of the exoskeleton device in a load-bearing movement posture is 60 steps / minute, and assume that the actual step frequency fluctuation range is preset to 50 to 70 steps / minute.

[0179] Assume that the current actual step frequency is 65 steps / minute.

[0180] The data analysis module compares the actual step frequency of 65 steps / minute with the weight-bearing step frequency of 60 steps / minute.

[0181] Case 1: The load-bearing step frequency is within the actual step frequency fluctuation range of 50 to 70 steps / minute, and the data analysis module determines that there is no need to adjust the output power of the hydraulic power assist component.

[0182] Case 2: The weight-bearing step frequency is less than the minimum value of the actual step frequency fluctuation range;

[0183] Assume that the minimum fluctuation range of the actual step frequency is 50 steps / minute, and the weight-bearing step frequency is 45 steps / minute.

[0184] The data analysis module determines that the output power of the hydraulic power assist component needs to be reduced. The reduced output power is determined based on the difference of 5 steps / minute. Assuming that the output power decreases by 10W for every reduction of 1 step / minute, the total reduction is 50W.

[0185] Case 3: The weight-bearing step frequency is greater than the maximum value of the actual step frequency fluctuation range;

[0186] Assume that the maximum value of the actual step frequency fluctuation range is 70 steps / minute, and the weight-bearing step frequency is 75 steps / minute;

[0187] The data analysis module determines that the output power of the hydraulic power assist component needs to be increased. The increased output power is determined based on the difference of 5 steps / minute. Assuming that the output power increases by 10W for every increase of 1 step / minute, the total increase is 50W.

[0188] The system can dynamically adjust the level of assistance based on the comparison between the actual step frequency of the wearer and the standard load-bearing step frequency, ensuring that appropriate assistance can be provided under different walking conditions. When the load-bearing step frequency is within the actual step frequency fluctuation range, the system does not need to adjust the output power, thus avoiding unnecessary energy consumption. When the load-bearing step frequency is lower than the minimum value of the actual step frequency fluctuation range, reducing the output power can prevent excessive assistance, reduce the burden on the wearer, and improve safety. When the load-bearing step frequency is higher than the maximum value of the actual step frequency fluctuation range, increasing the output power can provide additional assistance to help the wearer bear the weight more easily and reduce the risk of injury. By adjusting the assistance according to the specific step frequency of the wearer, the system can provide a more personalized user experience and adapt to the walking habits and needs of different wearers.

[0189] Specific to the above example, the following are the beneficial effects achieved:

[0190] Beneficial effects of case 1:

[0191] Since the load-bearing step frequency of 60 steps / minute is within the actual step frequency fluctuation range of 50 to 70 steps / minute, the system determines that there is no need to adjust the output power, maintains the current level of assistance, and ensures the comfort and efficiency of the wearer.

[0192] Beneficial effects of case 2:

[0193] When the load-bearing step frequency of 45 steps / minute is lower than the minimum value of the actual step frequency fluctuation range of 50 steps / minute, the system reduces the output power by 50W, which helps to reduce the burden on the wearer and avoid providing excessive assistance at low step frequencies.

[0194] Beneficial effects of case 3:

[0195] When the load-bearing step frequency of 75 steps / minute is higher than the maximum value of the actual step frequency fluctuation range of 70 steps / minute, the system increases the output power by 50W to provide additional assistance to the wearer, helping him to maintain a stable pace and comfort under load. Through this intelligent adjustment mechanism, the exoskeleton device can better adapt to the walking pattern of the wearer and provide appropriate assistance, thereby improving the overall performance and user experience of the device in actual applications.

[0196] Specifically, the wearable electromyography sensor detects the contraction state of the leg muscles, and the data analysis module determines whether to issue a fatigue alarm according to the contraction state of the leg muscles;

[0197] Among them, the muscle contraction state includes muscle contraction frequency and muscle contraction intensity.

[0198] If the muscle contraction frequency and muscle contraction intensity are both within the preset normal range, the data analysis module determines that the muscle is not fatigued and does not issue a fatigue alarm;

[0199] If either the muscle contraction frequency or the muscle contraction intensity is not within the preset normal range, the data analysis module determines muscle fatigue and issues a fatigue alarm;

[0200] The wearable target fixes the wearable EMG sensor on the main muscle groups of the leg, such as the quadriceps on the front of the thigh. The wearable EMG sensor begins to detect the contraction state of the leg muscles, including muscle contraction frequency and muscle contraction strength. The data analysis module receives the data from the EMG sensor in real time and analyzes the muscle contraction frequency and muscle contraction strength.

[0201] The data storage module presets the thresholds of muscle contraction frequency and muscle contraction strength as the criteria for judging fatigue. For example, if the muscle contraction frequency exceeds 60 times / minute or the muscle contraction strength exceeds 200 μV, it indicates muscle fatigue.

[0202] Case 1: If the muscle contraction frequency and intensity detected by the data analysis module are within the normal range, the system determines that the wearable target has not reached the fatigue state and does not issue a fatigue alarm.

[0203] Case 2: If the muscle contraction frequency or muscle contraction intensity detected by the data analysis module exceeds the preset threshold, the system determines that the wearable target may be in a fatigue state and issues a fatigue alarm.

[0204] Once signs of muscle fatigue are detected, the data analysis module will trigger the alarm module, which can be a flashing LED light, a buzzer, or a vibration.

[0205] By real-time monitoring of muscle contraction frequency and muscle contraction strength, the system can provide early warning before the muscles become overly fatigued, so that measures can be taken to prevent potential muscle damage. The wearer can take a break or adjust the work intensity in time under the prompt of the fatigue alarm to avoid reduced efficiency and work errors caused by fatigue. The fatigue alarm mechanism helps reduce accidental injuries caused by muscle fatigue, especially in environments where specific postures need to be maintained for a long time or heavy physical labor is required. The system provides personalized fatigue judgment based on the specific muscle contraction data of the wearer to adapt to the physiological characteristics and work needs of different individuals.

[0206] Specific to the above example, the following are the beneficial effects achieved:

[0207] Beneficial effects of case 1:

[0208] When muscle contraction frequency and intensity are both within the normal range, the system does not issue fatigue alarms, which provides confidence to the wearer that they can continue with their current activities without worrying about excessive fatigue.

[0209] Beneficial effects of case 2:

[0210] When the muscle contraction frequency or intensity exceeds the preset threshold, the system will issue a fatigue alarm to remind the wearer to take a rest. This timely feedback helps protect the wearer's muscle health and avoid injuries caused by overuse.

[0211] Through this monitoring and alarm mechanism, the system can detect abnormalities at the early stage of muscle fatigue and issue an alarm in time, providing valuable time for taking measures. Through multiple alarm methods such as flashing LED lights, buzzer sounds or vibrations, it ensures that the wearable target can receive fatigue alarms even in noisy or visually restricted environments. Overall, this fatigue monitoring and alarm system based on electromyography sensors provides a safe, efficient and personalized health monitoring tool for wearable targets, which helps to improve workplace safety and personal work efficiency.

[0212] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0213] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system, characterized in that: include, The leg support device comprises a plurality of sub-support frames, any of which comprises a transfer transmission mechanism; A foot support device, which is connected to the leg support device through an ankle transmission mechanism, and a lower limb force sensor for collecting pressure data borne by the foot support device is provided in the foot support device; A hydraulic booster assembly, which is respectively arranged in the intermediate transmission mechanism and the ankle transmission mechanism; The step acquisition module can acquire the step length data and the step duration data; A waist support device, which is arranged on the upper part of the lower limb exoskeleton, comprises a plurality of waist supports and an annular support frame connected to the waist supports; A data storage module, used to store data collected by each sensor and preset related data; A hydraulic control module, used to control the output power of the hydraulic booster assembly; An alarm module, used to alarm muscle fatigue status; The data analysis module can determine the walking assistance value based on the movement posture of the exoskeleton robot; Determine the output power level of the hydraulic booster assembly according to the comparison result between the pressure data collected by the lower limb force sensor and the preset pressure ratio interval, and determine whether to adjust the output power for the second time according to the data collected by the step acquisition module; The posture sensor collects the motion posture data of the exoskeleton robot, and the data analysis module analyzes the motion posture data of the exoskeleton robot to obtain the motion posture of the lower limb exoskeleton, wherein the motion posture includes a walking motion posture and a load-bearing motion posture; the walking motion posture is a motion posture in which the average pressure borne by the foot support device is within a preset pressure range during normal walking; the load-bearing motion posture is a motion posture in which the average pressure borne by the foot support device exceeds a preset pressure range during normal walking; the preset pressure range is the pressure range of the exoskeleton robot during normal walking; When the exoskeleton robot's motion posture is a walking motion posture, the data analysis module determines the walking power assist value of the lower limb hydraulic power assist component according to the basic pressure data collected by the lower limb force sensor; The walking assistance value is positively correlated with the basic pressure data; the basic pressure data is the average pressure data borne by the foot support device during normal walking; The data analysis module compares the load-bearing pressure data with the basic pressure data to obtain a pressure difference, the hydraulic control module determines a first pressure ratio value according to a ratio of the pressure difference value to the target weight value, compares the first pressure ratio value with a preset pressure ratio interval to obtain a ratio interval comparison result, and determines the output power level of the hydraulic booster component according to the ratio interval comparison result; Among them, the preset pressure ratio interval includes a low pressure ratio interval, a medium pressure ratio interval and a high pressure ratio interval.

2. The adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system according to claim 1 is characterized in that: The data analysis module determines that the first pressure ratio value is in the low pressure ratio interval, and the hydraulic control module controls the output power of the hydraulic booster component to be adjusted to the first-level output power, and determines the first-level output power of the hydraulic booster component according to the difference between the weight of the worn target and the weight of the object to be moved; The low pressure ratio interval is a ratio interval of the weight of the object to be moved to the weight of the worn target, which is greater than zero and less than or equal to half the weight of the worn target.

3. The adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system according to claim 2 is characterized in that: The data analysis module determines that the first pressure ratio value is in the middle pressure ratio interval, and the hydraulic control module controls the output power of the hydraulic booster assembly to be the secondary output power, and determines the secondary output power of the hydraulic booster assembly according to the difference between the weight of the worn target and the weight of the object to be moved; Among them, the medium pressure ratio interval is a ratio interval of the weight of the object to be moved that is greater than half of the wearing target weight and less than or equal to the wearing target weight to the wearing target weight value.

4. The adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system according to claim 3 is characterized in that: The data analysis module determines that the first pressure ratio value is in the high pressure ratio interval, and the hydraulic control module controls the output power of the hydraulic booster assembly to be the third-level output power, and determines the third-level output power of the hydraulic booster assembly according to the difference between the weight of the object to be moved and the target weight of the wearer; The high pressure ratio interval is a ratio interval of the weight of the object to be moved that is greater than the weight of the worn target to the weight of the worn target.

5. The adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system according to claim 4 is characterized in that: The data analysis module obtains the actual step frequency according to the step length data and the step duration data.

6. The adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system according to claim 5, characterized in that: The data analysis module compares the actual step frequency and the load-bearing step frequency to obtain a step frequency comparison result, and determines whether to adjust the output power of the hydraulic power assist component for the second time according to the step frequency comparison result; The load-bearing step frequency is the step frequency of the exoskeleton robot when performing a load-bearing movement posture.

7. The adaptively controlled lower limb hydraulic power-assisted exoskeleton robot system according to claim 6, characterized in that: The wearable electromyography sensor detects the contraction state of the leg muscles, and the data analysis module determines whether to issue a fatigue alarm according to the contraction state of the leg muscles; Among them, the muscle contraction state includes muscle contraction frequency and muscle contraction intensity.

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