Exoskeleton assistance control method, device and equipment with power compensation and medium

Abstract

The invention relates to the technical field of exoskeletons, in particular to an exoskeleton assistance control method and device with power compensation, equipment and a medium. The method comprises the following steps: when to-be-processed hip joint data of a user wearing an exoskeleton is detected, determining a motion behavior mode and a speed mode of the user; calculating a preset reference torque control curve based on the power compensation amounts corresponding to the motion behavior mode and the speed mode to obtain a first power-assisted torque for adjusting the motion behavior mode and a second power-assisted torque for adjusting the speed mode; and power-assisted control is conducted according to the first power-assisted torque and the second power-assisted torque. The problem that a designed power-assisted curve is distinguished according to different motion modes and speeds is solved, the effect that the power-assisted control effect is poor due to the fact that power is not considered is avoided, and the purpose of improving the adaptability of power-assisted control to different modes and speeds is achieved.

Description

Technical Field

[0001] The present application relates to the field of exoskeleton technology, and more specifically, to an exoskeleton power-assisted control method, device, equipment and medium with power compensation. Background Art

[0002] There are certain differences in human motion power under different motion behavior modes (such as walking on flat ground, going up and down stairs, going up and down slopes, etc.) and different walking speeds. From a vertical perspective, human motion power is related to the motion mode. When going upstairs or uphill, kinetic energy is converted into potential energy, and people need to overcome the gravity of the whole body to do work; when going downstairs or downhill, potential energy is converted into kinetic energy, and the body's gravity does positive work; when walking on flat ground, the body moves forward by horizontal friction, and in the vertical direction, it is necessary to overcome the gravity of the lower limbs to do work. Therefore, the amount of work done by people in the above three motion modes is: going upstairs / uphill> walking on flat ground> going downstairs / downhill. From a horizontal perspective, human motion power is related to the speed of movement. The faster the speed, the greater the power, and the slower the speed, the smaller the power. Therefore, when providing assistance to the human body, the exoskeleton power-assisting system needs to consider the effect of power on the power-assisting effect in different modes and speeds. Compared with walking on flat ground, in the upstairs / uphill mode, the set torque value needs to be reached in a shorter time and maintained to output more power, while in the downstairs / downhill mode, it takes a longer time to reach the set torque value and reduce the torque maintenance time to reduce power output. The analysis of different speed modes is similar. At present, most exoskeleton control methods do not consider the effect of power on the control effect, and do not distinguish between different modes and speeds when designing the power-assisting torque curve, and the adaptability of modes and speeds is limited. Summary of the invention

[0003] In view of this, one of the technical problems solved by the embodiments of the present application is to provide an exoskeleton power-assisted control method, device, equipment and medium with power compensation, which is used to overcome the problem in the prior art that the influence of power on the control effect is not considered, thereby improving the power-assisted control efficiency.

[0004] The first aspect of the embodiment of the present application discloses an exoskeleton power-assistance control method for a vehicle with power compensation, comprising:

[0005] When the hip joint data to be processed of the user wearing the exoskeleton is detected, a movement behavior pattern and a speed pattern of the user are determined;

[0006] The preset reference torque control curve is calculated based on the power compensation amount corresponding to the motion behavior mode and the speed mode, so as to obtain a first assist torque for adjusting the motion behavior mode and a second assist torque for adjusting the speed mode;

[0007] The power assist control is performed according to the first power assist torque and the second power assist torque.

[0008] A second aspect of an embodiment of the present application discloses an exoskeleton power-assistance control device for a vehicle with power compensation, the device comprising:

[0009] a pattern recognition module, for determining a movement behavior pattern and a speed pattern of a user wearing the exoskeleton when detecting hip joint data to be processed of the user wearing the exoskeleton;

[0010] A compensation determination module, configured to calculate a preset reference torque control curve based on the power compensation amounts corresponding to the motion behavior mode and the speed mode, to obtain a first assist torque for adjusting the motion behavior mode and a second assist torque for adjusting the speed mode;

[0011] The power assist control module is used to perform power assist control according to the first power assist torque and the second power assist torque.

[0012] In a third aspect of an embodiment of the present application, an electronic device is disclosed. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0013] In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is disclosed, which stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

[0014] The present application has the following advantages: by detecting the to-be-processed hip joint data of the user wearing the exoskeleton, the user's movement behavior pattern and speed pattern are determined, and then the preset reference torque control curve is calculated based on the power compensation amounts corresponding to the movement behavior pattern and the speed pattern, to obtain a first assist torque for adjusting the movement behavior pattern and a second assist torque for adjusting the angular velocity, and assist control is performed based on the first assist torque and the second assist torque. This method of configuring different power compensation amounts for different behavior patterns and speed patterns plays a role in distinguishing the designed assist curves for different movement patterns and speeds, and designing different control strategies according to the characteristics of different patterns and speeds, thereby solving the problem of poor assist control effect caused by not considering power in the prior art, and achieving the purpose of improving the adaptability of assist control to different patterns and speeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of an exoskeleton power-assistance control method with power compensation in one embodiment of the present application;

[0016] Figure 2 A control flow chart of an exoskeleton power-assistance control method with power compensation in one embodiment of the present application;

[0017] Figure 3This is a schematic diagram of the design of the desired moment of the swing dynamics in the exoskeleton power-assisted control method with power compensation in one embodiment of the present application;

[0018] Figure 4 A schematic diagram of a flow chart of determining an operating behavior mode in an exoskeleton power-assistance control method with power compensation in one embodiment of the present application;

[0019] Figure 5 This is a system block diagram of an exoskeleton power-assisting control device with power compensation in one embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] It should be noted that although the functional modules are divided in the device schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

[0022] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0023] According to one embodiment of the present application, a method for controlling an exoskeleton power assist with power compensation is provided, such as Figure 1 As shown, the method includes step S101, step S102 and step S103.

[0024] Step S101: When the hip joint data to be processed of the user wearing the exoskeleton is detected, the movement behavior pattern and speed pattern of the user are determined.

[0025] Specifically, after the exoskeleton control system obtains the data collected by the exoskeleton sensor, it can first perform preprocessing (such as filtering processing), so as to determine the user's movement behavior pattern and speed pattern based on the preprocessed hip joint data.

[0026] Specifically, the running behavior mode may include walking on flat ground, going upstairs / uphill, and going downstairs / downhill. More specifically, the hip joint data to be processed may include hip joint angle and angular velocity. When applied, the running behavior mode can be determined according to the change of the hip joint angle at adjacent time points. For example, if the hip joint angle at the current time point is greater than the hip joint angle at the previous time point, then it can be determined that the user's movement behavior mode is going upstairs. When applied, the user's speed mode can be determined according to a pre-set angle threshold. For example, when the angular velocity is greater than the first angle threshold and less than the second angle threshold, it is determined that the user is in normal speed (medium speed) mode; when the angular velocity is less than the first angle threshold, it is determined that the user is in fast mode; when the angular velocity is greater than the second angle threshold, it is determined that the user is in slow mode. Specifically, the angular velocity ranges corresponding to multiple speed modes can be set according to statistical analysis, for example, the average angular velocity is slow at 30° / s-80° / s, 80-130° / s is medium speed, and greater than 130° / s is fast.

[0027] Step S102: Calculate a preset reference torque control curve based on the power compensation amounts corresponding to the motion behavior mode and the speed mode, and obtain a first assist torque for adjusting the motion behavior mode and a second assist torque for adjusting the angular speed.

[0028] Specifically, different motion behavior modes correspond to different power compensation amounts, and different angular velocities correspond to different power compensation amounts. For example, the power compensation amount corresponding to the flat ground walking mode is 0, and the power compensation amount in the normal speed mode is 0. In the stair climbing / uphill mode, positive power compensation is required to increase the walking torque and power to help the lower limb joints of the human body to work.

[0029] Step S103: Perform power assist control according to the first power assist torque and the second power assist torque.

[0030] Specifically, the first power-assist torque and the second power-assist torque can be calculated using a preset algorithm to obtain a final torque, so as to perform power-assist control according to the final torque. For example, the average value, variance, weighted average value and other parameters of the first power-assist torque and the second power-assist torque can be used as the final torque.

[0031] The embodiment of the present application determines the user's movement behavior pattern and speed pattern by detecting the to-be-processed hip joint data of the user wearing the exoskeleton, and then calculates the preset reference torque control curve based on the power compensation amounts corresponding to the movement behavior pattern and the speed pattern, to obtain a first assist torque for adjusting the movement behavior pattern and a second assist torque for adjusting the angular velocity, and performs assist control based on the first assist torque and the second assist torque. This method of configuring different power compensation amounts for different behavior patterns and speed patterns plays a role in distinguishing the designed assist curve for different movement modes and speeds, and designing different control strategies according to the characteristics of different modes and speeds, thereby solving the problem of poor assist control effect caused by not considering power in the prior art, and achieving the purpose of improving the adaptability of assist control to different modes and speeds.

[0032] In some embodiments, before step S102, the method further includes:

[0033] Based on a preset power compensation fitting algorithm, the power compensation amounts corresponding to the multiple operating behavior modes and the power compensation amounts corresponding to the multiple hip joint angular velocity ranges are determined.

[0034] Specifically, the fitting algorithm is the Fourier function, and the formula is as follows:

[0035] Δy i =a 0i +a 1i *cos(x i *ω i )+b 1i *sin(x i *ω i )+a 2i *cos(x i *ω i )+b 2i *sin(x i *ω i )+

[0036] a 3i *cos(x i *ω i )+b 3i *sin(x i *ω i )+...+a ni *cos(x i *ω i )+b ni *sin(x i *ω i ); where i = 1, 2, 3, 4,

[0037] They correspond to going up stairs, going down stairs, high speed and low speed respectively; a and b are setting coefficients, which are adjusted according to actual conditions, ω i represents frequency, ω i =(2π / T), T is the gait period.

[0038] When applied, polynomial fitting algorithms, sin and function algorithms and other algorithms can also be used to determine the power compensation amounts corresponding to a variety of operating behavior modes and the power compensation amounts corresponding to a plurality of hip joint angular velocity ranges.

[0039] In some embodiments, step S103 further includes:

[0040] Performing weighted sum calculation on the first power-assisting torque and the second power-assisting torque to obtain a target power-assisting torque;

[0041] The exoskeleton is controlled with assistance according to the target assistance torque;

[0042] The weighted summation calculation formula is: y = α 1 y 1 +α 2 y 2 , where y 1 is the first assist torque, y 2 is the second assist torque, α 1 and α 2 is the weighting coefficient.

[0043] In the present embodiment, the weighting coefficient α 1 and α 2 The settings reflect the importance of the motion behavior mode and the speed mode, and balance the influence of power on the power-assist control effect according to the importance, making the power-assist control smoother, achieving the purpose of improving the power-assist control effect, and further enhancing the user experience.

[0044] In order to further illustrate the method provided in the embodiment of the present application, Figure 2 and Figure 3 For detailed description. Figure 2 As shown in FIG. 1 , the hip joint data collected by the exoskeleton motor is detected and processed. First, pattern recognition is performed based on the processed hip joint data. If the pattern is flat ground walking, the designed assist torque is y 1 = sin(θ); if the mode is upstairs / uphill, the torque is compensated with positive power, and the designed assist torque value is y 1 =sin(θ)+Δy 1 , where Δy 1 is the compensation for going upstairs / uphill; if the mode is going downstairs / downhill, negative power compensation is performed on the torque, and the designed assist torque value is y 1= sin(θ)-Δy 2 , where Δy 2 is the compensation for going downstairs / downhill, otherwise the assist torque is maintained. Secondly, the hip joint angular velocity is calculated based on the processed hip joint data. If the angular velocity is greater than threshold 1 and the angular velocity is less than threshold 2, the design torque is y 2 = sin(θ); if the angular velocity < threshold 1, negative power compensation is performed on the torque, and the design torque is y 2 = sin(θ)-Δy 3 , where Δy 3 is the high-speed compensation amount; if the angular velocity > threshold 2, positive power compensation is performed on the torque, and the design torque is y 2 =sin(θ)+Δy 4 , where Δy 4 is the low speed compensation. Finally, since in actual motion, the exoskeleton and the walking mode and speed of the person have an impact on the power, the above two factors should be considered simultaneously when designing the torque. 1 and 2 Perform weighted sum y = α 1 y 1 +α 2 y 2 , and the final assist torque is obtained, where α 1 and α 2 is the weighting coefficient. Taking walking swing dynamics as an example, Figure 3 This is the expected design diagram of the swing dynamic torque, where the horizontal axis is time and the vertical axis is the torque value. When the motion mode is walking on the flat ground, the blue line is the reference torque curve; when the motion mode is walking upstairs / uphill, the reference torque curve is compensated with positive power. In the early stage of the swing dynamic, the torque rising speed and amplitude are increased to quickly increase the torque to the maximum value and maintain the torque. In the late stage of the swing, after the torque lasts for a period of time, the torque falling speed and amplitude are increased to quickly reduce the torque to 0, such as Figure 3 The black line in the figure; when the motion mode is downstairs / downhill, negative power compensation is performed on the reference torque curve. In the early stage of the swing, the torque rising speed and amplitude are reduced, so that the torque is increased to the maximum amplitude relatively slowly. In the late stage of the swing, the torque falling speed and amplitude are reduced, so that the torque is reduced to 0 relatively slowly. Figure 3 The pink lines in the

[0045] Furthermore, before step S101, the method further includes:

[0046] The hip joint data at the current time point and the hip joint filtered data at the previous time point are weighted summed to obtain the hip joint filtered data at the current time point.

[0047] The weighted summation calculation formula for the hip joint data at the current time point and the hip joint filtered data at the previous time point is as follows:

[0048] θ hip_fil (x) = a*θ hip_fil (x-1)+(1-a)θ hip (x), where x is time, θ hip_fil (x) is the hip joint filter angle at the current time, θ hip_fil (x-1) is the hip joint filtering angle at the previous time point, a is the filtering coefficient and a≤1.

[0049] The embodiment of the present application performs low-pass filtering on the hip joint data through the above formula, thereby reducing the high-frequency components in the signal and preventing high-frequency interference from affecting the accuracy of subsequent data processing.

[0050] In some embodiments, the hip joint data includes a left hip angle, a right hip angle, a left hip angular velocity, and a right hip angular velocity. The step S101 of determining the user's motion behavior pattern further includes:

[0051] When the absolute value of the left hip angle and the absolute value of the right hip angle are both less than the preset hip angle threshold value within the preset time period, and the absolute value of the left hip angular velocity and the absolute value of the right hip angular velocity are both less than the preset hip angular velocity threshold value, it is determined that the user's movement behavior mode is the standing mode;

[0052] When the user's motion behavior mode is not a standing mode, if the left hip angle PV value and the right hip angle PV value in the preset gait cycle are not greater than the preset first PV value threshold, the user's motion behavior mode is determined to be a downstairs or downhill mode;

[0053] When the user's motion behavior mode is not a standing mode and a going downstairs or downhill mode, if the left hip angle PV value and the right hip angle PV value in the preset gait cycle are both greater than the preset second PV value threshold and less than the first PV value threshold, it is determined that the user's motion behavior mode is a flat ground walking mode;

[0054] When the user's motion behavior mode is not a standing mode, a going downstairs or downhill mode, and a flat ground walking mode, if the left hip angle PV value and the right hip angle PV value in the preset gait cycle are both greater than the preset second PV value threshold, the user's motion behavior mode is determined to be a going upstairs or uphill mode;

[0055] The PV value is the difference between the maximum and minimum values ​​of the hip angle in the preset gait cycle.

[0056] Specifically, the hip angular velocity can be obtained by performing differential calculation on the hip joint angle, for example, it can be calculated by referring to the following formula: Ω h ip (x) = (θ h ip (x)-θh ip (x-1)) / ΔT, where x is time, Ω h ip (x) is the angular velocity of the hip joint, θ h ip (x) is the hip joint angle at the current time point, θ hip (x-1) is the hip joint angle at the previous time point, and ΔT is the control period.

[0057] Specifically, the preset time period t is generally greater than or equal to the gait cycle.

[0058] Specifically, the hip angle threshold may be set to a range of 0-10°, which may be adjusted according to the sensor accuracy and installation accuracy. Specifically, the hip angular velocity threshold may be set to a range of 0-30° / s;

[0059] Specifically, the first PV value threshold may be set to 3, and the second PV value threshold may be set to 50-70°.

[0060] Combine the following Figure 4 The judgment process of the running behavior mode is described in detail. First, the standing mode is judged, that is, when the following conditions are met at the same time, it is determined to be a standing mode: the absolute value of the left hip angle is less than the threshold value 1; the absolute value of the right hip angle is less than the threshold value 1; the absolute value of the left hip angular velocity is less than the threshold value 2; the absolute value of the right hip angular velocity is less than the threshold value 2; when the standing mode judgment result is no, the downstairs / downhill mode is judged, that is: when the following conditions are met at the same time, it is determined to be a downstairs / downhill mode: the PV value of the left hip angle within the preset gait cycle is ≤ threshold value 3; the PV value of the right hip angle within the preset gait cycle is ≤ threshold value 3; when the downstairs / downhill mode judgment result is no, Level ground behavior mode judgment: that is, when the following conditions are met at the same time, it is determined to be a level ground behavior mode: threshold 3 < left hip angle PV value ≤ threshold 4 within the preset gait cycle; threshold 3 < right hip angle PV value ≤ threshold 4 within the preset gait cycle; when the judgment result of the level ground behavior mode is no, stair climbing / uphill mode judgment is performed: that is, when the following conditions are met at the same time, it is determined to be a stair climbing / uphill mode: left hip angle PV value within the preset gait cycle> threshold 4; right hip angle PV value within the preset gait cycle> threshold 4; if none of the above are met, the mode remains unchanged in the previous state.

[0061] An embodiment of the present application provides an exoskeleton power-assistance control device with power compensation, such as Figure 5 As shown, the device 50 includes: a pattern recognition module 501 , a compensation determination module 502 and a power assistance control module 503 .

[0062] The pattern recognition module 501 is used to determine the movement behavior pattern and speed pattern of the user wearing the exoskeleton when the hip joint data to be processed is detected;

[0063] The compensation determination module 502 is used to calculate the preset reference torque control curve based on the power compensation amount corresponding to the motion behavior mode and the speed mode, and obtain the first assist torque for adjusting the motion behavior mode and the second assist torque for adjusting the speed mode;

[0064] The power assist control module 503 is used to perform power assist control according to the first power assist torque and the second power assist torque.

[0065] The embodiment of the present application determines the user's movement behavior pattern and speed pattern by detecting the to-be-processed hip joint data of the user wearing the exoskeleton, and then calculates the preset reference torque control curve based on the power compensation amounts corresponding to the movement behavior pattern and the speed pattern, to obtain a first assist torque for adjusting the movement behavior pattern and a second assist torque for adjusting the angular velocity, and performs assist control based on the first assist torque and the second assist torque. This method of configuring different power compensation amounts for different behavior patterns and speed patterns plays a role in distinguishing the designed assist curve for different movement modes and speeds, and designing different control strategies according to the characteristics of different modes and speeds, thereby solving the problem of poor assist control effect caused by not considering power in the prior art, and achieving the purpose of improving the adaptability of assist control to different modes and speeds.

[0066] Furthermore, before the compensation determination module calculates the preset reference torque control curve based on the power compensation amount corresponding to the motion behavior pattern and the hip joint angular velocity, and obtains the first assist torque for adjusting the motion behavior pattern and the second assist torque for adjusting the angular velocity, it also includes:

[0067] The fitting calculation submodule is used to determine the power compensation amounts corresponding to each of the multiple operating behavior modes and the power compensation amounts corresponding to each of the multiple hip joint angular velocity ranges based on a preset power compensation amount fitting algorithm.

[0068] Furthermore, the fitting algorithm is a Fourier function, and the formula is as follows:

[0069] Δy i =a 0i +a 1i *cos(x i *ω i )+b 1i *sin(x i *ω i )+a 2i *cos(x i *ω i )+b 2i *sin(x i *ω i )+

[0070] a3i *cos(x i *ω i )+b 3i *sin(x i *ω i )+...+a ni *cos(x i *ω i )+b ni *sin(x i *ω i ); where i=1, 2, 3, 4.

[0071] Furthermore, the power assist control module includes:

[0072] A weighted processing submodule, used for performing weighted sum calculation on the first power-assisting torque and the second power-assisting torque to obtain a target power-assisting torque;

[0073] The power-assistance control submodule is used to perform power-assistance control on the exoskeleton according to the target power-assistance torque;

[0074] The weighted summation calculation formula is: y = α 1 y 1 +α 2 y 2 , where y 1 is the first assist torque, y 2 is the second assist torque, α 1 and α 2 is the weighting coefficient.

[0075] Furthermore, before determining the user's motion behavior pattern and speed pattern, the pattern recognition module further includes:

[0076] The filtering processing submodule is used to perform weighted sum calculation on the hip joint data at the current time point and the hip joint filtered data at the previous time point to obtain the hip joint filtered data at the current time point.

[0077] Further, the hip joint data includes a left hip angle, a right hip angle, a left hip angular velocity, and a right hip angular velocity, and the pattern recognition module includes:

[0078] The first identification submodule is used to determine that the user's movement behavior mode is a standing mode when the absolute value of the left hip angle and the absolute value of the right hip angle are both less than a preset hip angle threshold, and the absolute value of the left hip angular velocity and the absolute value of the right hip angular velocity are both less than a preset hip angular velocity threshold within a preset time period;

[0079] The second identification submodule is used to determine that the user's movement behavior mode is a downstairs or downhill mode if the left hip angle PV value and the right hip angle PV value in the preset gait cycle are not greater than a preset first PV value threshold when the user's movement behavior mode is not a standing mode;

[0080] The third identification submodule is used for determining that the user's movement behavior mode is a flat ground walking mode if the left hip angle PV value and the right hip angle PV value in the preset gait cycle are both greater than a preset second PV value threshold and less than a first PV value threshold when the user's movement behavior mode is not a standing mode and a going downstairs or downhill mode;

[0081] The fourth identification submodule is used to determine that the user's movement behavior mode is a stair climbing or uphill walking mode if the left hip angle PV value and the right hip angle PV value in the preset gait cycle are both greater than a preset second PV value threshold when the user's movement behavior mode is not a standing mode, a downstairs or downhill walking mode, and a flat ground walking mode;

[0082] The PV value is the difference between the maximum and minimum values ​​of the hip angle in the preset gait cycle.

[0083] The above-mentioned device of this embodiment can execute the method shown in the first embodiment of the present application, and its implementation principle is similar, which will not be repeated here.

[0084] Another embodiment of the present application provides a terminal, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above method when executing the computer program.

[0085] Specifically, the processor may be a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0086] Specifically, the processor is connected to the memory via a bus, and the bus may include a path for transmitting information. The bus may be a PCI bus or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0087] The memory can be a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, or an EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0088] Optionally, the memory is used to store the code of the computer program for executing the solution of the present application, and the execution is controlled by the processor. The processor is used to execute the application program code stored in the memory to implement the actions of the device provided in the above embodiment.

[0089] Yet another embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions for executing the method shown in the above figure for exoskeleton knee joint power assistance control.

[0090] The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0091] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0092] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the present application. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. An exoskeleton power-assistance control method with power compensation, characterized in that: The method comprises: When the hip joint data to be processed of the user wearing the exoskeleton is detected, the movement behavior pattern and speed pattern of the user are determined; Calculating a preset reference torque control curve based on the power compensation amounts corresponding to the motion behavior mode and the speed mode, to obtain a first assist torque for adjusting the motion behavior mode and a second assist torque for adjusting the speed mode; The power assist control is performed according to the first power assist torque and the second power assist torque.

2. The method according to claim 1, characterized in that Before calculating the preset reference torque control curve based on the power compensation amount corresponding to the movement behavior pattern and the hip joint angular velocity to obtain the first assist torque for adjusting the movement behavior pattern and the second assist torque for adjusting the angular velocity, the method further includes: Based on a preset power compensation fitting algorithm, the power compensation amounts corresponding to the multiple operating behavior modes and the power compensation amounts corresponding to the multiple hip joint angular velocity ranges are determined.

3. The method according to claim 2, characterized in that The fitting algorithm is the Fourier function, and the formula is as follows: Δy i =a 0i +a 1i *cos(x) i *oh i )+b 1i *sin(x i *oh i )+a 2i *cos(x) i *oh i )+b 2i *sin(x i *oh i )+ a 3i *cos(x) i *oh i )+b 3i *sin(x i *oh i )+...+a ni *cos(x) i *oh i )+b ni *sin(x i *oh i ); among them,i=1,2,3,4。 4. The method according to claim 1, characterized in that: The performing power assist control according to the first power assist torque and the second power assist torque comprises: Performing weighted sum calculation on the first power-assisting torque and the second power-assisting torque to obtain a target power-assisting torque; Performing power-assistance control on the exoskeleton according to the target power-assistance torque; The weighted sum calculation formula is: y=α1y1+α2y2, where y1 is the first assist torque, y2 is the second assist torque, and α1 and α2 are weighting coefficients.

5. The method according to claim 1, characterized in that Before determining the movement behavior pattern and speed pattern of the user, the method further includes: The hip joint data at the current time point and the hip joint filtered data at the previous time point are weighted summed up to obtain the hip joint filtered data at the current time point.

6. The method according to claim 1, characterized in that The hip joint data includes a left hip angle, a right hip angle, a left hip angular velocity, and a right hip angular velocity. The determining of the movement behavior pattern of the user includes: When the absolute value of the left hip angle and the absolute value of the right hip angle are both less than the preset hip angle threshold value within the preset time period, and the absolute value of the left hip angular velocity and the absolute value of the right hip angular velocity are both less than the preset hip angular velocity threshold value, it is determined that the user's movement behavior mode is the standing mode; When the user's movement behavior mode is not a standing mode, if the left hip angle PV value and the right hip angle PV value in the preset gait cycle are not greater than a preset first PV value threshold, the user's movement behavior mode is determined to be a downstairs or downhill mode; When the user's motion behavior mode is not a standing mode and a going downstairs or downhill mode, if the left hip angle PV value and the right hip angle PV value in the preset gait cycle are both greater than a preset second PV value threshold and less than the first PV value threshold, it is determined that the user's motion behavior mode is a flat ground walking mode; When the user's motion behavior mode is not a standing mode, a going downstairs or downhill mode, and a flat ground walking mode, if the left hip angle PV value and the right hip angle PV value in the preset gait cycle are both greater than the preset second PV value threshold, it is determined that the user's motion behavior mode is a going upstairs or uphill mode; The PV value is the difference between the maximum and minimum values ​​of the hip angle in the preset gait cycle.

7. An exoskeleton power-assistance control method with power compensation, characterized in that: include: A pattern recognition module, configured to determine a movement behavior pattern and a speed pattern of a user wearing the exoskeleton when the hip joint data to be processed of the user is detected; A compensation determination module, configured to calculate a preset reference torque control curve based on the power compensation amounts corresponding to the motion behavior mode and the speed mode, to obtain a first assist torque for adjusting the motion behavior mode and a second assist torque for adjusting the speed mode; A power assist control module is used to perform power assist control according to the first power assist torque and the second power assist torque.

8. The method according to claim 7, characterized in that The compensation determination module calculates a preset reference torque control curve based on the power compensation amount corresponding to the motion behavior pattern and the hip joint angular velocity to obtain a first assist torque for adjusting the motion behavior pattern and a second assist torque for adjusting the angular velocity, and further includes: The fitting calculation submodule is used to determine the power compensation amounts corresponding to each of the multiple operating behavior modes and the power compensation amounts corresponding to each of the multiple hip joint angular velocity ranges based on a preset power compensation amount fitting algorithm.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions, and the processor is used to execute the computer-readable instructions, wherein the computer-readable instructions execute the method according to any one of claims 1 to 6 when executed.

10. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the method according to any one of claims 1 to 6.

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