Exoskeleton control system and control method based on pressure detection

Abstract

The invention relates to the technical field of exoskeleton control, and discloses an exoskeleton control system and method based on pressure detection, and the method comprises the steps: obtaining the pressure data of a body part of a wearer based on a pressure sensor, and generating a corresponding pressure signal according to each pressure data; the pressure signals are amplified, noise in the amplified pressure signals is removed, and effective signals in the amplified pressure signals are enhanced. According to the relation between the pressure signal and a preset pressure signal, the driving mode of the exoskeleton is determined. Preset pressure intensity in the preset pressure signal is obtained, and the driving force of the exoskeleton is adjusted according to the relation between the pressure intensity of the pressure signal and the preset pressure intensity. By acquiring and processing the pressure signal of the wearer in real time, the driving force of the exoskeleton is intelligently adjusted, so that efficient and accurate movement support is realized, and the comfort and the movement ability of the wearer are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton control, and in particular to an exoskeleton control system and a control method based on pressure detection. Background Art

[0002] In the application of exoskeleton systems, the interaction and coordination between the wearer and the exoskeleton is a crucial link. This means that the exoskeleton's action response must maintain a high degree of consistency and synchronization with the wearer's action intention. However, due to the individual differences in each wearer's physical characteristics, strength level, and exercise habits, coupled with the complexity and variability of the movement state, how to ensure that the exoskeleton can accurately identify the wearer's action intention and achieve real-time drive control that matches it has always been a difficult problem.

[0003] However, traditional exoskeleton systems often rely on preset fixed modes or control strategies based on simple mechanical feedback, which is incapable of meeting the complex motion requirements of the wearer in various situations. Due to the lack of sufficient adaptability and intelligence of the exoskeleton system, it is difficult for it to accurately identify and respond to the wearer's subtle changes in movement, which directly limits the flexibility and accuracy of the exoskeleton in control. When the wearer is performing daily activities, such as bending, turning, or going up and down stairs, if the exoskeleton cannot adjust its support strength and movement trajectory in real time, it may cause discomfort to the wearer or increase the risk of injury.

[0004] Therefore, there is an urgent need to invent an exoskeleton control technology to solve the problem in the existing technology that the exoskeleton cannot accurately identify the wearer's movement intentions and achieve real-time drive control that matches them. Summary of the invention

[0005] In view of this, the present invention proposes an exoskeleton control system and control method based on pressure detection, aiming to solve the problem in current technology that the exoskeleton cannot accurately identify the wearer's movement intention and realize real-time drive control matching it.

[0006] The present invention proposes an exoskeleton control method based on pressure detection, comprising:

[0007] Acquire pressure data of a body part of the wearer based on a pressure sensor, and generate a corresponding pressure signal according to each of the pressure data;

[0008] amplifying the pressure signal, and removing the effective signal in the noise-enhanced pressure signal in the pressure signal after the amplification process;

[0009] Determining a driving mode of the exoskeleton according to a relationship between the pressure signal and a preset pressure signal;

[0010] A preset pressure intensity in the preset pressure signal is obtained, and a driving force of the exoskeleton is adjusted according to a relationship between the pressure intensity of the pressure signal and the preset pressure intensity.

[0011] Furthermore, when the pressure signal is amplified and the effective signal in the pressure signal is enhanced by removing the noise in the pressure signal after the amplification, it includes: enhancing the amplitude of the pressure signal based on an amplifier, and removing high-frequency noise and irregular signals in the pressure signal with the enhanced signal amplitude based on a low-pass filtering method.

[0012] Furthermore, when determining the driving mode of the exoskeleton according to the relationship between the pressure signal and the preset pressure signal, it includes:

[0013] Obtaining the pressure intensity detected by each pressure sensor at each movement amplitude of the wearer;

[0014] Determining the pressure ratio of each movement amplitude according to the pressure intensity detected by each pressure sensor;

[0015] Establishing a motion model according to the pressure ratio of each motion range, and determining the driving position of the exoskeleton in each motion range according to the motion model;

[0016] The pressure ratio between the pressure sensors in the pressure signal is obtained, and the pressure ratio is matched with the preset pressure ratios in the action model, wherein:

[0017] If the pressure ratio is consistent with any of the preset pressure ratios, determining a driving position of the exoskeleton corresponding to the preset pressure ratio;

[0018] If the pressure ratio is inconsistent with any of the preset pressure ratios, it is determined not to drive the driving position of each of the exoskeletons.

[0019] Furthermore, when adjusting the driving force of the exoskeleton according to the relationship between the pressure intensity of the pressure signal and the preset pressure intensity, it includes:

[0020] Obtaining each preset pressure intensity in the preset pressure ratio;

[0021] The pressure intensities detected in the pressure signal are obtained, and the pressure intensity differences between the pressure intensities and the corresponding preset pressure intensities are determined as evaluation indicators, wherein:

[0022] If the pressure intensity difference is less than or equal to zero, determining the pressure intensity difference is an invalid evaluation indicator;

[0023] If the pressure intensity difference is greater than zero, determining the pressure intensity difference as a valid evaluation indicator;

[0024] The effective evaluation indicators are obtained, an adjustment coefficient is determined according to the effective evaluation indicators, and the driving force of the exoskeleton is adjusted according to the adjustment coefficient.

[0025] Furthermore, when determining the adjustment coefficient according to each of the effective evaluation indicators, it includes:

[0026] Substitute each of the effective evaluation indicators into a formula, and determine the adjustment coefficient according to the formula, wherein the formula is as follows:

[0027]

[0028] Wherein, k is the adjustment coefficient, n is the number of effective evaluation indicators, a is the proportional constant, is an effective evaluation indicator.

[0029] Compared with the prior art, the beneficial effect of the present invention is that the pressure data of various parts of the wearer's body are collected in real time through the pressure sensor, which can accurately reflect the wearer's motion state and force situation. This pressure-based detection method is direct and accurate, and can capture the wearer's subtle pressure changes during different movements, avoiding the reliance on complex sensor layout and data processing in traditional motion detection methods. The generation process of the pressure signal is simple and efficient, and can quickly respond to the wearer's movements, providing basic data support for the drive control of the exoskeleton. Secondly, by amplifying the acquired pressure signal, the signal strength is effectively improved to ensure accurate perception even in the case of slight pressure changes. In addition, denoising is a key link in improving signal accuracy. Since noise and interference in the external environment may interfere with the sensor signal, this solution removes invalid signals and noise through filtering or other denoising algorithms, and enhances the effective part of the pressure signal. This signal optimization process can ensure that the exoskeleton system can still obtain high-precision control signals in complex motion environments. Thirdly, by comparing the real-time pressure signal with the preset ideal pressure signal, the adaptive adjustment of the exoskeleton drive mode is achieved. According to the wearer's current motion state, the exoskeleton's driving mode can be dynamically determined to ensure that the exoskeleton's motion response is highly consistent with the wearer's needs. Compared with the traditional fixed-mode driving mode, the adaptive driving mechanism provided by this solution is more flexible and can adapt to different motion requirements in real time, improving the flexibility and intelligence level of the exoskeleton system. Finally, by comparing the difference between the real-time pressure signal and the preset pressure signal, the exoskeleton's driving force can be adjusted in time to ensure that the exoskeleton can provide appropriate assistance or enhancement when the wearer performs exercises of different intensities. This adjustment mechanism can not only improve the exoskeleton's motion accuracy and avoid over-driving or under-driving, but also effectively improve the wearer's motion comfort and naturalness. Through precise control of the driving force, the exoskeleton system can help the wearer better complete complex motion tasks, thereby improving the practicality and user experience of the entire system.

[0030] On the other hand, the present application also provides an exoskeleton control system based on pressure detection, comprising:

[0031] A plurality of pressure sensors are provided, and the plurality of pressure sensors are used to obtain pressure data of a wearer's body part;

[0032] A signal generating module, electrically connected to each pressure sensor, and used to generate a corresponding pressure signal from the pressure data;

[0033] A signal amplification module, electrically connected to the signal generation module, the signal amplification module is used to amplify the pressure signal and remove the effective signal in the noise-enhanced pressure signal in the pressure signal after the amplification process;

[0034] The central control module is electrically connected to the signal amplification module and the exoskeleton driving module. The central control module is used to determine the driving mode of the exoskeleton according to the relationship between the pressure signal and the preset pressure signal; the central control module is also used to obtain the preset pressure intensity in the preset pressure signal, and adjust the driving force of the exoskeleton according to the relationship between the pressure intensity of the pressure signal and the preset pressure intensity.

[0035] Furthermore, the signal amplification module is used to amplify the pressure signal and remove the effective signal in the noise-enhanced pressure signal in the pressure signal after the amplification process, including:

[0036] The signal amplification module enhances the amplitude of the pressure signal based on an amplifier, and removes high-frequency noise and irregular signals in the pressure signal with enhanced signal amplitude based on a low-pass filtering method.

[0037] Furthermore, the central control module is used to determine the driving mode of the exoskeleton according to the relationship between the pressure signal and the preset pressure signal, including:

[0038] The central control module is also used to obtain the pressure intensity detected by each pressure sensor at each movement amplitude of the wearer;

[0039] The central control module is also used to determine the pressure ratio of each movement amplitude according to the pressure intensity detected by each pressure sensor;

[0040] The central control module is also used to establish a motion model according to the pressure ratio of each motion range, and determine the driving position of the exoskeleton in each motion range according to the motion model;

[0041] The central control module is also used to obtain the pressure ratio between the pressure sensors in the pressure signal, and match the pressure ratio with the preset pressure ratios in the action model, wherein:

[0042] If the pressure ratio is consistent with any of the preset pressure ratios, the central control module determines a driving position of the exoskeleton corresponding to the preset pressure ratio;

[0043] If the pressure ratio is inconsistent with any of the preset pressure ratios, the central control module determines not to drive the driving position of each of the exoskeletons.

[0044] Furthermore, the central control module is further configured to adjust the driving force of the exoskeleton according to the relationship between the pressure intensity of the pressure signal and the preset pressure intensity, including:

[0045] The central control module is also used to obtain each preset pressure intensity in the preset pressure ratio;

[0046] The central control module is also used to obtain each pressure intensity detected in the pressure signal, and determine each pressure intensity difference between each pressure intensity and each corresponding preset pressure intensity as an evaluation index, wherein:

[0047] If the pressure intensity difference is less than or equal to zero, the central control module determines that the pressure intensity difference is an invalid evaluation indicator;

[0048] If the pressure intensity difference is greater than zero, the central control module determines that the pressure intensity difference is a valid evaluation indicator;

[0049] The central control module is also used to obtain each of the effective evaluation indicators, determine an adjustment coefficient according to each of the effective evaluation indicators, and adjust the driving force of the exoskeleton according to the adjustment coefficient.

[0050] Furthermore, the central control module is also used to determine the adjustment coefficient according to each of the effective evaluation indicators, including:

[0051] The central control module is also used to substitute each of the effective evaluation indicators into a formula and determine the adjustment coefficient according to the formula, wherein the formula is as follows:

[0052]

[0053] Wherein, k is the adjustment coefficient, n is the number of effective evaluation indicators, a is the proportional constant, is an effective evaluation indicator.

[0054] It can be understood that the exoskeleton control system and control method based on pressure detection in the above-mentioned embodiments of the present invention have the same beneficial effects and will not be described in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0056] Figure 1 A flowchart of an exoskeleton control method based on pressure detection provided by an embodiment of the present invention;

[0057] Figure 2 A functional block diagram of an exoskeleton control system based on pressure detection provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0059] like Figure 1 As shown, in some embodiments of the present application, this embodiment provides an exoskeleton control method based on pressure detection, including:

[0060] Step S100: Obtain pressure data of the wearer's body parts based on the pressure sensor, and generate corresponding pressure signals according to each pressure data.

[0061] Step S200: amplify the pressure signal and remove the effective signal in the noise-enhanced pressure signal in the amplified pressure signal.

[0062] Specifically, the pressure signal is amplified and the effective signal in the pressure signal is enhanced by removing the noise in the amplified pressure signal, which includes: enhancing the pressure signal amplitude based on an amplifier, and removing high-frequency noise and irregular signals in the pressure signal with the enhanced signal amplitude based on a low-pass filtering method.

[0063] It is understandable that in the exoskeleton control system, the pressure data of various parts of the wearer's body is the key to achieving accurate motion feedback. However, in actual use, the pressure signal is often weak, especially in small movements, the signal strength is not enough to drive the exoskeleton to respond accurately. Therefore, the processing link of amplifying the pressure signal is crucial. By enhancing the amplitude of the pressure signal through the amplifier, the weak pressure change can be amplified to the detectable range, ensuring that the exoskeleton system can obtain a clear pressure feedback signal under any action. However, after the signal amplification processing, the pressure signal not only contains useful motion data, but also amplifies the noise and interference from the environment or the system. In order to ensure that the exoskeleton system can be controlled according to accurate signals, effective noise suppression must be performed after amplification processing. The main sources of noise include environmental electromagnetic interference, irregular fluctuations of the sensor itself, and other high-frequency signals generated during system operation. If these noises are not removed, the accuracy of the signal will be seriously affected, which will lead to control errors of the exoskeleton. Therefore, removing noise from the signal is a necessary step to improve the control accuracy of the exoskeleton system. In terms of denoising, the low-pass filtering method is used to allow low-frequency signals to pass through and block high-frequency noise signals. Specifically, the low-pass filter can effectively remove high-frequency noise and irregular signals in the signal, and only retain the low-frequency effective signal related to the wearer's movement. This process can filter out irrelevant information that may interfere with judgment, and ensure that only those signal components that are of practical significance to the exoskeleton control are received. The introduction of low-pass filtering technology makes the signal processing process more accurate and stable, and can significantly improve the exoskeleton's action response speed and control accuracy. By combining the amplifier and the low-pass filter, the useful part of the pressure signal can be effectively enhanced, and the noise can be removed at the same time, thereby improving the signal-to-noise ratio of the signal. The advantage of this signal processing technology is that it can not only ensure sensitive perception of the wearer's movement changes, but also reduce the impact of external interference on the signal, so that the exoskeleton can respond more accurately and flexibly. This technology has a significant effect on improving the exoskeleton's action feedback sensitivity and control stability. In addition, this signal enhancement and denoising processing method can also cope with different usage scenarios. In practical applications, the exoskeleton system may need to work in a complex environment, such as an environment with strong electromagnetic interference or vibration. Through the dual processing of amplification and denoising, it can adapt to these complex environments and ensure the accuracy of signal processing, thereby further improving the practicality and reliability of the exoskeleton.

[0064] Step S300: Determine the driving mode of the exoskeleton according to the relationship between the pressure signal and the preset pressure signal.

[0065] Specifically, when determining the driving mode of the exoskeleton according to the relationship between the pressure signal and the preset pressure signal, it includes: obtaining the pressure intensity detected by each pressure sensor at each movement amplitude of the wearer. Determining the pressure ratio of each movement amplitude according to the pressure intensity detected by each pressure sensor. Establishing a motion model according to the pressure ratio of each movement amplitude, and determining the driving position of the exoskeleton in each movement amplitude according to the motion model. Obtaining the pressure ratio between the pressure sensors detected in the pressure signal, and matching the pressure ratio with each preset pressure ratio in the motion model, wherein: if the pressure ratio is consistent with any preset pressure ratio, then determining the driving position of the exoskeleton corresponding to the preset pressure ratio. If the pressure ratio is inconsistent with any preset pressure ratio, then determining not to drive the driving position of each exoskeleton.

[0066] It can be understood that by obtaining the pressure intensity data of the wearer when performing various actions. Whenever the wearer exercises, the sensor will sense the pressure changes in various parts of the body and transmit these data to the control system in real time. This process can capture the dynamic changes of the wearer and reflect their force conditions under different movement amplitudes. Secondly, after obtaining the pressure data under each movement amplitude, the pressure ratio of each movement amplitude is calculated based on these data. This pressure ratio actually reflects the relative pressure intensity applied to each key part when the wearer performs a specific action. By establishing a mathematical model of this pressure ratio, the force characteristics under different actions can be analyzed, laying the foundation for the subsequent establishment of the action model. The process of establishing the action model associates all the collected pressure ratio information with the wearer's movement amplitude to form a comprehensive description system, which clearly defines the working mode of the exoskeleton under various actions. Once constructed, the action model can be used to determine the driving position of the exoskeleton. Specifically, by matching the pressure ratio detected by each pressure sensor with the preset pressure ratio. The preset pressure ratio is formulated based on the analysis of the exoskeleton system and its application scenarios, aiming to provide ideal control parameters for specific movement amplitudes and movement requirements. When the real-time pressure ratio is consistent with any preset pressure ratio, the corresponding drive position can be immediately identified and determined, allowing the exoskeleton to perform the corresponding action. This real-time matching mechanism ensures that the exoskeleton can respond quickly and accurately to the wearer's intentions, and achieves a smooth connection between the exoskeleton and body movements. Finally, if the real-time pressure ratio is inconsistent with all preset pressure ratios, the system adopts a strategy of not driving the drive position of the exoskeleton. Behind this design is the consideration of safety and comfort. Ensuring that the exoskeleton does not perform actions incorrectly in uncertain situations can effectively reduce the risk of sports discomfort or accidents for the wearer. This active safety mechanism not only improves the user experience, but also provides a guarantee for the reliability of the exoskeleton in practical applications.

[0067] Step S400: Obtain a preset pressure intensity in a preset pressure signal, and adjust the driving force of the exoskeleton according to the relationship between the pressure intensity of the pressure signal and the preset pressure intensity.

[0068] Specifically, when adjusting the driving force of the exoskeleton according to the relationship between the pressure intensity of the pressure signal and the preset pressure intensity, it includes: obtaining each preset pressure intensity in the preset pressure ratio. Obtaining each pressure intensity detected in the pressure signal, and determining each pressure intensity difference between each pressure intensity and the corresponding preset pressure intensity as an evaluation index, wherein: if the pressure intensity difference is less than or equal to zero, the pressure intensity difference is determined to be an invalid evaluation index. If the pressure intensity difference is greater than zero, the pressure intensity difference is determined to be a valid evaluation index. Obtain each valid evaluation index, determine an adjustment coefficient according to each valid evaluation index, and adjust the driving force of the exoskeleton according to the adjustment coefficient.

[0069] Specifically, each effective evaluation index is substituted into the formula, and the adjustment coefficient is determined according to the formula, where the formula is as follows:

[0070]

[0071] Among them, k is the adjustment coefficient, n is the number of effective evaluation indicators, and a is the proportional constant. is an effective evaluation indicator.

[0072] It can be seen that an ideal reference standard is established by obtaining each preset pressure intensity in a series of preset pressure ratios. These preset pressure intensities are set according to the design requirements of the exoskeleton and the physical characteristics of the wearer, aiming to provide optimal movement support. When the wearer performs an action, the exoskeleton system obtains the pressure intensity detected by each pressure sensor in real time and compares it with the preset pressure intensity. The pressure intensity difference generated by this comparison is regarded as an evaluation indicator to reflect the deviation between the actual pressure applied by the wearer and the pressure expected by the system. Through this process, it is possible to identify which pressure intensity differences are greater than zero, which are defined as valid evaluation indicators, indicating that the pressure currently applied by the wearer exceeds the preset value, and the driving force of the exoskeleton may need to be increased to meet the needs of the action. On the contrary, if the difference is less than or equal to zero, it is judged as an invalid evaluation indicator, and the driving force will not be adjusted to ensure that the exoskeleton does not excessively interfere with the wearer's movements when it is unnecessary. Next, based on each valid evaluation indicator, the adjustment coefficient is further determined to achieve accurate adjustment of the exoskeleton driving force. The calculation of the adjustment coefficient is performed by substituting into a pre-set formula, which contains the number of valid evaluation indicators and the proportional constant, so that the wearer's movement state can be dynamically reflected. This process ensures that the exoskeleton can flexibly adjust the driving force according to actual needs to achieve the best match with the wearer's movements. This mechanism not only enhances the adaptability and intelligent control capabilities of the exoskeleton, but also provides the wearer with a more natural and comfortable experience, achieving a higher level of integration of human-computer interaction.

[0073] It is understandable that the ideal reference standard is established by obtaining each preset pressure intensity in the preset pressure ratio. These preset pressure intensities are set based on the wearer's physiological characteristics, exercise type and design parameters of the exoskeleton, with the purpose of providing the wearer with the best support at different movement amplitudes. By clearly setting these preset values, a clear goal can be provided for the wearer's movements, so that the exoskeleton can be driven in a targeted manner during exercise, thereby improving the overall exercise effect and safety. When the wearer performs an action, the exoskeleton obtains the pressure intensity data of each pressure sensor in real time and compares these actual pressure values ​​with the preset pressure intensity. This comparison process is the key, and the difference in pressure intensity will be calculated and regarded as an evaluation indicator. The calculation result of the evaluation indicator provides an important basis for the subsequent adjustment of the driving force. If the pressure intensity difference is less than or equal to zero, it will be marked as an invalid evaluation indicator, indicating that the current pressure state has met or is lower than the preset standard, and the exoskeleton does not need to be adjusted. This adaptive feedback mechanism helps to avoid excessive intervention of the exoskeleton in the wearer's natural movement, thereby ensuring the comfort and smoothness of the movement. On the contrary, when the pressure intensity difference is greater than zero, these differences are regarded as valid evaluation indicators. This means that the pressure applied by the wearer exceeds the preset standard, and the exoskeleton's driving force needs to be adjusted to adapt to this change. This feedback mechanism ensures that the exoskeleton can respond quickly and provide additional assistance when the wearer needs more support. This design significantly improves the flexibility of the exoskeleton, allowing the exoskeleton to adjust in real time to match the wearer's movement needs when performing complex movements. Once the effective evaluation indicators are determined, the adjustment coefficient is calculated based on these indicators. The adjustment coefficient is calculated using a specific mathematical formula that takes into account the number of effective evaluation indicators and the proportional constant, so that it can accurately reflect the wearer's dynamic state. The introduction of this formula allows the adjustment coefficient to not only reflect the impact of a single indicator, but also to summarize the overall effect of multiple indicators, thereby achieving more precise adjustment of the exoskeleton's driving force. Finally, by acquiring and analyzing pressure signals in real time, the exoskeleton can ensure that appropriate assistance or reduction is provided when the wearer performs various movements to maintain the stability and naturalness of the movement. Through sophisticated signal processing and intelligent decision-making, the exoskeleton can better integrate into the wearer's movement process, thereby improving the overall user experience and movement efficiency.

[0074] In the above embodiment, the pressure data of various parts of the wearer's body are collected in real time by the pressure sensor, which can accurately reflect the wearer's motion state and force conditions. This pressure-based detection method is direct and accurate, and can capture the wearer's subtle pressure changes during different movements, avoiding the reliance on complex sensor layout and data processing in traditional motion detection methods. The generation process of the pressure signal is simple and efficient, and can quickly respond to the wearer's movements, providing basic data support for the drive control of the exoskeleton. Secondly, by amplifying the acquired pressure signal, the signal strength is effectively improved to ensure that even in the case of slight pressure changes, it can be accurately sensed. In addition, denoising is a key link in improving signal accuracy. Since noise and interference in the external environment may interfere with the sensor signal, this solution removes invalid signals and noise through filtering or other denoising algorithms, and enhances the effective part of the pressure signal. This signal optimization process can ensure that the exoskeleton system can still obtain high-precision control signals in complex motion environments. Thirdly, by comparing the real-time pressure signal with the preset ideal pressure signal, the adaptive adjustment of the exoskeleton drive mode is achieved. According to the wearer's current motion state, the exoskeleton drive mode can be dynamically determined to ensure that the exoskeleton's motion response is highly consistent with the wearer's needs. Compared with the traditional fixed-mode driving method, the adaptive driving mechanism provided by this solution is more flexible and can adapt to different movement requirements in real time, thus improving the flexibility and intelligence level of the exoskeleton system. Finally, by comparing the difference between the real-time pressure signal and the preset pressure signal, the driving force of the exoskeleton can be adjusted in time to ensure that the exoskeleton can provide appropriate assistance or enhancement when the wearer performs exercises of different intensities. This adjustment mechanism can not only improve the movement accuracy of the exoskeleton and avoid over-driving or under-driving, but also effectively improve the wearer's movement comfort and naturalness. Through precise control of the driving force, the exoskeleton system can help the wearer better complete complex movement tasks, thereby improving the practicality and user experience of the entire system.

[0075] In another preferred embodiment based on the above embodiment, Figure 2 As shown, this embodiment provides an exoskeleton control system based on pressure detection, including: a pressure sensor, a signal generating module, a signal amplifying module and a central control module.

[0076] Specifically, a plurality of pressure sensors are provided, and the plurality of pressure sensors are used to obtain pressure data of the wearer's body parts. The signal generating modules are electrically connected to the pressure sensors respectively, and the signal generating module is used to generate corresponding pressure signals for the pressure data. The signal amplifying module is electrically connected to the signal generating module, and the signal amplifying module is used to amplify the pressure signal, and remove the effective signal in the noise-enhanced pressure signal after the amplified pressure signal. The central control module is electrically connected to the signal amplifying module and the exoskeleton driving module, and the central control module is used to determine the driving mode of the exoskeleton according to the relationship between the pressure signal and the preset pressure signal. The central control module is also used to obtain the preset pressure intensity in the preset pressure signal, and adjust the driving force of the exoskeleton according to the relationship between the pressure intensity of the pressure signal and the preset pressure intensity.

[0077] Specifically, the signal amplification module is used to amplify the pressure signal and remove the noise in the pressure signal after the amplification to enhance the effective signal in the pressure signal, including: the signal amplification module enhances the pressure signal amplitude based on the amplifier, and the signal amplification module removes high-frequency noise and irregular signals in the pressure signal with the enhanced signal amplitude based on the low-pass filtering method.

[0078] Specifically, when the central control module is used to determine the driving mode of the exoskeleton according to the relationship between the pressure signal and the preset pressure signal, the central control module includes: the central control module is also used to obtain the pressure intensity detected by each pressure sensor at each movement amplitude of the wearer. The central control module is also used to determine the pressure ratio of each movement amplitude according to the pressure intensity detected by each pressure sensor. The central control module is also used to establish a motion model according to the pressure ratio of each movement amplitude, and determine the driving position of the exoskeleton in each movement amplitude according to the motion model. The central control module is also used to obtain the pressure ratio between the pressure sensors detected in the pressure signal, and match the pressure ratio with each preset pressure ratio in the motion model, wherein: if the pressure ratio is consistent with any preset pressure ratio, the central control module determines the driving position of the exoskeleton corresponding to the preset pressure ratio. If the pressure ratio is inconsistent with any preset pressure ratio, the central control module determines not to drive the driving position of each exoskeleton.

[0079] Specifically, the central control module is also used to adjust the driving force of the exoskeleton according to the relationship between the pressure intensity of the pressure signal and the preset pressure intensity, including: the central control module is also used to obtain each preset pressure intensity in the preset pressure ratio. The central control module is also used to obtain each pressure intensity detected in the pressure signal, and determine each pressure intensity difference between each pressure intensity and the corresponding preset pressure intensity as an evaluation index, wherein: if the pressure intensity difference is less than or equal to zero, the central control module determines that the pressure intensity difference is an invalid evaluation index. If the pressure intensity difference is greater than zero, the central control module determines that the pressure intensity difference is a valid evaluation index. The central control module is also used to obtain each valid evaluation index, determine the adjustment coefficient according to each valid evaluation index, and adjust the driving force of the exoskeleton according to the adjustment coefficient.

[0080] Specifically, the central control module is also used to determine the adjustment coefficient according to each effective evaluation index, including: the central control module is also used to substitute each effective evaluation index into a formula, and determine the adjustment coefficient according to the formula, wherein the formula is as follows:

[0081]

[0082] Among them, k is the adjustment coefficient, n is the number of effective evaluation indicators, and a is the proportional constant. is an effective evaluation indicator.

[0083] It can be understood that the exoskeleton control system and control method based on pressure detection in the above-mentioned embodiments of the present invention have the same beneficial effects and will not be described in detail.

[0084] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0085] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0086] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An exoskeleton control method based on pressure detection, characterized in that: include: Acquire pressure data of a body part of the wearer based on a pressure sensor, and generate a corresponding pressure signal according to each of the pressure data; amplifying the pressure signal, and removing the effective signal in the noise-enhanced pressure signal in the pressure signal after the amplification process; Determining a driving mode of the exoskeleton according to a relationship between the pressure signal and a preset pressure signal; A preset pressure intensity in the preset pressure signal is obtained, and a driving force of the exoskeleton is adjusted according to a relationship between the pressure intensity of the pressure signal and the preset pressure intensity.

2. The exoskeleton control method based on pressure detection as claimed in claim 1, characterized in that: The pressure signal is amplified and the effective signal in the pressure signal is enhanced by removing the noise in the pressure signal after the amplification, which includes: enhancing the amplitude of the pressure signal based on an amplifier, and removing high-frequency noise and irregular signals in the pressure signal with the enhanced signal amplitude based on a low-pass filtering method.

3. The exoskeleton control method based on pressure detection as claimed in claim 1, characterized in that: Determining the driving mode of the exoskeleton according to the relationship between the pressure signal and the preset pressure signal includes: Obtaining the pressure intensity detected by each pressure sensor at each movement amplitude of the wearer; Determining the pressure ratio of each movement amplitude according to the pressure intensity detected by each pressure sensor; Establishing a motion model according to the pressure ratio of each motion range, and determining the driving position of the exoskeleton in each motion range according to the motion model; The pressure ratio between the pressure sensors in the pressure signal is obtained, and the pressure ratio is matched with the preset pressure ratios in the action model, wherein: If the pressure ratio is consistent with any of the preset pressure ratios, determining a driving position of the exoskeleton corresponding to the preset pressure ratio; If the pressure ratio is inconsistent with any of the preset pressure ratios, it is determined not to drive the driving position of each of the exoskeletons.

4. The exoskeleton control method based on pressure detection as claimed in claim 3, characterized in that: When adjusting the driving force of the exoskeleton according to the relationship between the pressure intensity of the pressure signal and the preset pressure intensity, it includes: Obtaining each preset pressure intensity in the preset pressure ratio; The pressure intensities detected in the pressure signal are obtained, and the pressure intensity differences between the pressure intensities and the corresponding preset pressure intensities are determined as evaluation indicators, wherein: If the pressure intensity difference is less than or equal to zero, determining the pressure intensity difference is an invalid evaluation indicator; If the pressure intensity difference is greater than zero, determining the pressure intensity difference as a valid evaluation indicator; The effective evaluation indicators are obtained, an adjustment coefficient is determined according to the effective evaluation indicators, and the driving force of the exoskeleton is adjusted according to the adjustment coefficient.

5. The exoskeleton control method based on pressure detection as claimed in claim 4, characterized in that: When determining the adjustment coefficient based on the effective evaluation indicators, it includes: Substitute each of the effective evaluation indicators into a formula, and determine the adjustment coefficient according to the formula, wherein the formula is as follows: Wherein, k is the adjustment coefficient, n is the number of effective evaluation indicators, a is the proportional constant, is an effective evaluation indicator.

6. An exoskeleton control system based on pressure detection, applicable to an exoskeleton control method based on pressure detection as claimed in any one of claims 1 to 5, characterized in that: include: A plurality of pressure sensors are provided, and the plurality of pressure sensors are used to obtain pressure data of a wearer's body part; A signal generating module, electrically connected to each pressure sensor, and used to generate a corresponding pressure signal from the pressure data; A signal amplification module, electrically connected to the signal generation module, the signal amplification module is used to amplify the pressure signal and remove the effective signal in the noise-enhanced pressure signal in the pressure signal after the amplification process; The central control module is electrically connected to the signal amplification module and the exoskeleton driving module. The central control module is used to determine the driving mode of the exoskeleton according to the relationship between the pressure signal and the preset pressure signal; the central control module is also used to obtain the preset pressure intensity in the preset pressure signal, and adjust the driving force of the exoskeleton according to the relationship between the pressure intensity of the pressure signal and the preset pressure intensity.

7. The exoskeleton control system based on pressure detection as claimed in claim 6, characterized in that: The signal amplification module is used to amplify the pressure signal and remove the effective signal in the noise-enhanced pressure signal in the pressure signal after the amplification process, including: The signal amplification module enhances the amplitude of the pressure signal based on an amplifier, and removes high-frequency noise and irregular signals in the pressure signal with enhanced signal amplitude based on a low-pass filtering method.

8. The exoskeleton control system based on pressure detection as claimed in claim 6, characterized in that: The central control module is used to determine the driving mode of the exoskeleton according to the relationship between the pressure signal and the preset pressure signal, including: The central control module is also used to obtain the pressure intensity detected by each pressure sensor at each movement amplitude of the wearer; The central control module is also used to determine the pressure ratio of each movement amplitude according to the pressure intensity detected by each pressure sensor; The central control module is also used to establish a motion model according to the pressure ratio of each motion range, and determine the driving position of the exoskeleton in each motion range according to the motion model; The central control module is also used to obtain the pressure ratio between the pressure sensors in the pressure signal, and match the pressure ratio with the preset pressure ratios in the action model, wherein: If the pressure ratio is consistent with any of the preset pressure ratios, the central control module determines a driving position of the exoskeleton corresponding to the preset pressure ratio; If the pressure ratio is inconsistent with any of the preset pressure ratios, the central control module determines not to drive the driving position of each of the exoskeletons.

9. The exoskeleton control system based on pressure detection as claimed in claim 8, characterized in that: The central control module is further used to adjust the driving force of the exoskeleton according to the relationship between the pressure intensity of the pressure signal and the preset pressure intensity, including: The central control module is also used to obtain each preset pressure intensity in the preset pressure ratio; The central control module is also used to obtain each pressure intensity detected in the pressure signal, and determine each pressure intensity difference between each pressure intensity and each corresponding preset pressure intensity as an evaluation index, wherein: If the pressure intensity difference is less than or equal to zero, the central control module determines that the pressure intensity difference is an invalid evaluation indicator; If the pressure intensity difference is greater than zero, the central control module determines that the pressure intensity difference is a valid evaluation indicator; The central control module is also used to obtain each of the effective evaluation indicators, determine an adjustment coefficient according to each of the effective evaluation indicators, and adjust the driving force of the exoskeleton according to the adjustment coefficient.

10. The exoskeleton control method based on pressure detection as claimed in claim 9, characterized in that: The central control module is also used to determine the adjustment coefficient according to each of the effective evaluation indicators, including: The central control module is also used to substitute each of the effective evaluation indicators into a formula and determine the adjustment coefficient according to the formula, wherein the formula is as follows: Wherein, k is the adjustment coefficient, n is the number of effective evaluation indicators, a is the proportional constant, is an effective evaluation indicator.

Images