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

Abstract

The application 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 detecting to-be-processed hip joint data of a user wearing an exoskeleton, determining a motion behavior mode and a speed mode of the user; based on power compensation amounts corresponding to the motion behavior mode and the speed mode, calculating a preset reference torque control curve to obtain a first assistance torque for adjusting the motion behavior mode and a second assistance torque for adjusting the speed mode; and performing assistance control according to the first assistance torque and the second assistance torque. The designed assistance curve is distinguished according to different motion modes and speeds, the poor assistance control effect caused by not considering power is avoided, and the purpose of improving the adaptability of assistance control to different modes and speeds is achieved.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and more specifically, to an exoskeleton assistive control method, device, equipment, and medium with power compensation. Background Technology

[0002] The power output of human movement varies depending on different movement patterns (such as walking on flat ground, climbing stairs, and going up and down slopes) and walking speeds. Vertically, the power output is related to the movement pattern. When climbing stairs or going uphill, kinetic energy is converted into potential energy, requiring the person to overcome gravity. When going down stairs or going downhill, potential energy is converted into kinetic energy, with gravity doing positive work. When walking on flat ground, the body moves forward using horizontal friction, requiring work to overcome the gravity of the lower limbs in the vertical direction. Therefore, the amount of work done by a person in these three movement patterns is: climbing stairs / going uphill > walking on flat ground > going down stairs / going downhill. Horizontally, the power output is related to movement speed; the faster the speed, the greater the power output, and the slower the speed, the smaller the power output. Therefore, when providing assistance to the human body, exoskeleton assistive systems must consider the impact of power on the assistive effect at different modes and speeds. Compared to walking on flat ground, in the uphill / downhill mode, the set torque value needs to be reached and maintained in a shorter time to output greater power. In the downhill / downhill mode, it takes a longer time to reach the set torque value and the torque maintenance time needs to be reduced to decrease power output. The same principle applies to different speed modes. Currently, most exoskeleton control methods do not consider the impact of power on control effect, and the assist torque curve is not differentiated for different modes and speeds when designed, resulting in limited adaptability to modes and speeds. Summary of the Invention

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

[0004] The first aspect of this application discloses a vehicle-mounted exoskeleton assist control method with power compensation, comprising:

[0005] When unprocessed hip joint data of a user wearing an exoskeleton is detected, the user's movement behavior pattern and speed pattern are determined;

[0006] Based on the power compensation amount corresponding to each motion behavior mode and speed mode, the preset reference torque control curve is calculated to obtain the first assist torque for adjusting the motion behavior mode and the second assist torque for adjusting the speed mode.

[0007] Assist control is performed based on the first assist torque and the second assist torque.

[0008] A second aspect of this application discloses a vehicle-mounted power-compensated exoskeleton assist control device, the device comprising:

[0009] The pattern recognition module is used to determine the user's movement behavior pattern and speed pattern when it detects the hip joint data to be processed by the user wearing the exoskeleton.

[0010] The compensation determination module 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, so as to obtain the first assist torque for adjusting the motion behavior mode and the second assist torque for adjusting the speed mode.

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

[0012] A third aspect of this application discloses an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0013] A fourth aspect of this application discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0014] This application has the following advantages: By detecting the hip joint data of the user wearing the exoskeleton, the user's motion behavior mode and speed mode are determined. Based on the power compensation amount corresponding to each motion behavior mode and speed mode, a preset reference torque control curve is calculated to obtain a first assist torque for adjusting the motion behavior mode and a second assist torque for adjusting the angular velocity. Assist control is then performed based on the first assist torque and the second assist torque. This method of configuring different power compensation amounts for different motion modes and speed modes distinguishes the designed assist curve for different motion modes and speeds, and designs different control strategies according to the characteristics of different modes and speeds. This solves the problem of poor assist control effect caused by the lack of consideration of power in the prior art, and achieves the goal of improving the adaptability of assist control to different modes and speeds. Attached Figure Description

[0015] Figure 1 This is a schematic flowchart of an exoskeleton assistive control method with power compensation in one embodiment of this application;

[0016] Figure 2 A control flowchart of an exoskeleton assist control method with power compensation in one embodiment of this application;

[0017] Figure 3This is a schematic diagram of the design of the desired dynamic torque of the pendulum in an embodiment of the exoskeleton assistance control method with power compensation in this application;

[0018] Figure 4 This is a flowchart illustrating the process of determining the operating behavior mode in an exoskeleton assistive control method with power compensation in one embodiment of this application.

[0019] Figure 5 This is a system block diagram of an exoskeleton assist control device with power compensation in one embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] It should be noted that although functional modules are divided in the device schematic diagram 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] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0023] According to one embodiment of this application, a power-compensated exoskeleton assistive control method is provided, such as... Figure 1 As shown, the method includes steps S101, S102 and S103.

[0024] Step S101: When the user wearing the exoskeleton has unprocessed hip joint data detected, determine the user's motion behavior pattern and speed pattern.

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

[0026] Specifically, the operational behavior pattern can include walking on flat ground, going upstairs / uphill, and going downstairs / downhill. More specifically, the hip joint data to be processed can include hip joint angle and angular velocity. In application, the operational behavior pattern can be determined based on the change in 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 the user's movement behavior pattern can be determined to be going upstairs. In application, the user's speed pattern can be determined based on preset angle thresholds. For example, when the angular velocity is greater than a first angle threshold and less than a second angle threshold, the user is determined to be in normal speed (medium speed) mode; when the angular velocity is less than the first angle threshold, the user is determined to be in fast mode; when the angular velocity is greater than the second angle threshold, the user is determined to be in slow mode. Specifically, multiple speed patterns can be set with corresponding angular velocity ranges based on statistical analysis. For example, an average angular velocity of 30° / s–80° / s is slow speed, 80–130° / s is medium speed, and greater than 130° / s is fast speed.

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

[0028] Specifically, different movement patterns correspond to different power compensation amounts, and different angular velocities correspond to different power compensation amounts. For example, the power compensation amount for walking on flat ground is 0, and the power compensation amount for the enemy camp in normal speed mode is also 0. In the uphill / climbing mode, positive power compensation is required to increase walking torque and power, thereby helping the lower limb joints to do work.

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

[0030] Specifically, a preset algorithm can be used to calculate the first and second assist torques to obtain the final torque, which can then be used for assist control. For example, the average, variance, and weighted average of the first and second assist torques can be used as the final torque.

[0031] This application embodiment determines the user's motion behavior mode and speed mode by detecting the hip joint data of the user wearing the exoskeleton. Based on the power compensation amount corresponding to each motion behavior mode and speed mode, a preset reference torque control curve is calculated to obtain a first assist torque for adjusting the motion behavior mode and a second assist torque for adjusting the angular velocity. Assist control is then performed based on the first assist torque and the second assist torque. This method of configuring different power compensation amounts for different motion modes and speed modes distinguishes the designed assist curve for different motion modes and speeds, and designs different control strategies according to the characteristics of different modes and speeds. This solves the problem of poor assist control effect caused by not considering power in the prior art, and achieves the purpose of improving the adaptability of assist control to different modes and speeds.

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

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

[0034] Specifically, the fitting algorithm is a Fourier function, as shown in the following formula:

[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] These represent the corresponding speeds: going up stairs, going down stairs, high speed, and low speed; a and b are set coefficients that are adjusted according to actual conditions, ω i Represents frequency, ω i = (2π / T), where T is the gait period.

[0038] In application, multinomial fitting algorithms, sine functions, and other algorithms can also be used to determine the power compensation amount corresponding to each of the various operating behavior modes and the power compensation amount corresponding to each of the various hip joint angular velocity ranges.

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

[0040] The target assist torque is obtained by weighted summation of the first and second assist torques.

[0041] The exoskeleton is assisted and controlled based on the target assist torque.

[0042] The weighted summation 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.

[0043] This application embodiment uses weighting coefficients α1 and α2 to reflect the importance of motion behavior patterns and speed patterns, thereby balancing the influence of power on the assist control effect according to the importance, making the assist control smoother, improving the assist control effect, and further enhancing the user experience.

[0044] To further illustrate the method provided in the embodiments of this application, the following is combined with... Figure 2 and Figure 3 Please provide a detailed explanation. For example... Figure 2As shown, hip joint data collected using exoskeleton motors is detected and processed. First, pattern recognition is performed based on the processed hip joint data. If the pattern is walking on flat ground, the designed assist torque is y1 = sin(θ); if the pattern is going upstairs / uphill, positive power compensation is applied to the torque, and the designed assist torque value is y1 = sin(θ) + Δy1, where Δy1 is the compensation amount for going upstairs / uphill; if the pattern is going downstairs / downhill, negative power compensation is applied to the torque, and the designed assist torque value is y1 = sin(θ) - Δy2, where Δy2 is the compensation amount for going downstairs / downhill; otherwise, the assist torque remains unchanged. Secondly, the hip joint angular velocity is calculated based on the processed hip joint data. If the angular velocity > threshold 1 and < threshold 2, the design torque is y2 = sin(θ); if the angular velocity < threshold 1, negative power compensation is applied to the torque, and the design torque is y2 = sin(θ) - Δy3, where Δy3 is the high-speed compensation amount; if the angular velocity > threshold 2, positive power compensation is applied to the torque, and the design torque is y2 = sin(θ) + Δy4, where Δy4 is the low-speed compensation amount. Finally, since the exoskeleton and the walking pattern and speed of the person both affect the power in actual movement, both factors should be considered when designing the torque. Therefore, y1 and y2 are weighted and summed to obtain the final assist torque, where α1 and α2 are weighting coefficients. Taking the walking sway dynamic as an example... Figure 3 This is a design diagram for the expected dynamic torque of a pendulum, where the horizontal axis represents time and the vertical axis represents the torque value. When the motion mode is walking on flat ground, the blue line represents the baseline torque curve. When the motion mode is climbing stairs / uphill, positive power compensation is applied to the baseline torque curve. In the early stage of the pendulum motion, the rate and amplitude of torque increase are increased to quickly raise the torque to its maximum value and maintain it. In the later stage of the pendulum motion, after the torque has been sustained for a period of time, the rate and amplitude of torque decrease are increased to quickly reduce the torque to 0. Figure 3 The black line in the diagram; when the motion mode is downhill / downhill, negative power compensation is applied to the baseline torque curve. In the early stage of the swing motion, the speed and amplitude of torque increase are reduced, so that the torque increases more slowly to its maximum value. In the later stage of the swing, the speed and amplitude of torque decrease are reduced, so that the torque decreases more slowly to 0. Figure 3 The pink lines in the text.

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

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

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

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

[0049] The embodiments of this application use the above formula to perform low-pass filtering on hip joint data, which reduces high-frequency components in the signal and avoids high-frequency interference affecting the accuracy of subsequent data processing.

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

[0051] If the absolute values ​​of the left hip angle and the right hip angle are both less than the preset hip angle threshold within a preset time period, and the absolute values ​​of the left hip angular velocity and the right hip angular velocity are both less than the preset hip angular velocity threshold, the user's movement behavior mode is determined to be standing mode.

[0052] When the user's movement behavior pattern is not standing, if the PV values ​​of the left hip angle and the right hip angle within the preset gait cycle are not greater than the preset first PV value threshold, then the user's movement behavior pattern is determined to be downstairs or downhill.

[0053] When the user's movement behavior pattern is not standing mode or downstairs or downhill mode, if the left hip angle PV value and the right hip angle PV value within the preset gait cycle are both greater than the preset second PV value threshold and less than the first PV value threshold, then the user's movement behavior pattern is determined to be flat ground walking mode.

[0054] When the user's movement behavior pattern is not standing, going downstairs or downhill, or walking on flat ground, if the left hip angle PV value and the right hip angle PV value are both greater than the preset second PV value threshold within the preset gait cycle, then the user's movement behavior pattern is determined to be going upstairs or uphill.

[0055] The PV value is the difference between the maximum and minimum hip angles within a preset gait cycle.

[0056] Specifically, the hip angular velocity can be obtained by differential calculation of the hip joint angle, for example, by referring to the following formula: Ω h ip (x)=(θ h ip (x)-θ h ip (x-1)) / ΔT, where x is time, Ω h ip (x) represents the hip joint angular velocity, θ h ip(x) represents the hip joint angle at the current time point, θ hip (x-1) represents the hip joint angle at the previous time point, and ΔT represents 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 can be set to a range of 0-10°, which can be adjusted according to the sensor accuracy and installation accuracy. Specifically, the hip angular velocity threshold can be set to a range of 0-30° / s.

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

[0060] The following is combined Figure 4 The process of determining the operating behavior mode is explained in detail. First, a standing mode is determined: the mode is established when the following conditions are met simultaneously: absolute value of left hip angle < threshold 1; absolute value of right hip angle < threshold 1; absolute value of left hip angular velocity < threshold 2; absolute value of right hip angular velocity < threshold 2. If the standing mode determination result is negative, a descending / downhill mode is determined: the mode is established when the following conditions are met simultaneously: left hip angle PV value ≤ threshold 3 within a preset gait cycle; right hip angle PV value ≤ threshold 3 within a preset gait cycle. If the descending / downhill mode determination result is negative, the process continues... Flat ground behavior pattern determination: The flat ground behavior pattern is determined when the following conditions are met simultaneously: within the preset gait cycle, threshold 3 < left hip angle PV value ≤ threshold 4; within the preset gait cycle, threshold 3 < right hip angle PV value ≤ threshold 4. If the flat ground behavior pattern determination result is negative, the stair / uphill behavior pattern determination is performed: the stair / uphill behavior pattern is determined when the following conditions are met simultaneously: within the preset gait cycle, left hip angle PV value > threshold 4; within the preset gait cycle, right hip angle PV value > threshold 4. If none of the above conditions are met, the pattern remains unchanged from the previous state.

[0061] One embodiment of this application provides an exoskeleton assistive 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 assist control module 503.

[0062] The pattern recognition module 501 is used to determine the user's movement behavior pattern and speed pattern when it detects the hip joint data to be processed of the user wearing the exoskeleton.

[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, so as to 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 based on the first power assist torque and the second power assist torque.

[0065] This application embodiment determines the user's motion behavior mode and speed mode by detecting the hip joint data of the user wearing the exoskeleton. Based on the power compensation amount corresponding to each motion behavior mode and speed mode, a preset reference torque control curve is calculated to obtain a first assist torque for adjusting the motion behavior mode and a second assist torque for adjusting the angular velocity. Assist control is then performed based on the first assist torque and the second assist torque. This method of configuring different power compensation amounts for different motion modes and speed modes distinguishes the designed assist curve for different motion modes and speeds, and designs different control strategies according to the characteristics of different modes and speeds. This solves the problem of poor assist control effect caused by not considering power in the prior art, and achieves the purpose of improving the adaptability of assist control to different modes and speeds.

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

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

[0068] Furthermore, the fitting algorithm is a Fourier function, as shown in the following formula:

[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 steering module includes:

[0072] The weighted processing submodule is used to calculate the weighted sum of the first assist torque and the second assist torque to obtain the target assist torque;

[0073] The assist control submodule is used to provide assist control to the exoskeleton based on the target assist torque.

[0074] The weighted summation 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.

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

[0076] The filtering submodule is used to perform a weighted summation 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] Furthermore, the hip joint data includes left hip angle, right hip angle, left hip angular velocity, and 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 standing mode when the absolute values ​​of the left hip angle and the right hip angle are both less than the preset hip angle threshold within a preset time period, and the absolute values ​​of the left hip angular velocity and the right hip angular velocity are both less than the preset hip angular velocity threshold.

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

[0080] The third identification submodule is used to determine that the user's movement behavior mode is flat ground walking mode when the user's movement behavior mode is not standing mode or downstairs or downhill mode. If the left hip angle PV value and the right hip angle PV value within the preset gait cycle are both greater than the preset second PV value threshold and less than the first PV value threshold, then the user's movement behavior mode is flat ground walking mode.

[0081] The fourth identification submodule is used to determine that the user's movement behavior mode is upstairs or uphill when the user's movement behavior mode is not standing mode, downstairs or downhill mode or flat walking mode. If the left hip angle PV value and the right hip angle PV value are both greater than the preset second PV value threshold within the preset gait cycle, then the user's movement behavior mode is upstairs or uphill mode.

[0082] The PV value is the difference between the maximum and minimum hip angles within a preset gait cycle.

[0083] The apparatus described in this embodiment can execute the method shown in Embodiment 1 of this application, and its implementation principle is similar, so it will not be described again here.

[0084] Another embodiment of this 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 executes the computer program to implement the above-described method.

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

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

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

[0088] Optionally, the memory stores the code of a computer program that executes the scheme of this application, and the execution is controlled by a processor. The processor executes the application code stored in the memory to implement the operation of the apparatus provided in the above embodiments.

[0089] Another embodiment of this application provides a computer-readable storage medium storing computer-executable instructions for performing the method shown in the above figure for exoskeleton knee joint assist control.

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

[0091] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media 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 includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0092] The above is a detailed description of the preferred embodiments of this application. However, this application is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A method of exoskeleton assist control with power compensation, characterized by, The method comprises: When the hip joint data of the user wearing the exoskeleton is detected, the motion behavior mode and the speed mode of the user are determined; Based on the power compensation amount corresponding to each of the motion behavior mode and the speed mode, a preset reference torque control curve is calculated to obtain a first assist torque for adjusting the motion behavior mode and a second assist torque for adjusting the speed mode; before this step, further comprising: based on a preset power compensation fitting algorithm, determining the power compensation amount corresponding to each of the multiple motion behavior modes and the power compensation amount corresponding to each of the multiple hip joint angular velocity ranges; 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 )+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 ); wherein i=1, 2, 3, 4, respectively representing going upstairs, going downstairs, high speed, and low speed; a and b are set coefficients, ω i represents frequency, ω i =(2π / T), T is the gait cycle. The first assist torque and the second assist torque are used for assist control; the first assist torque and the second assist torque are further weighted and summed to obtain a target assist torque; the exoskeleton is controlled according to the target assist torque; the weighted sum calculation formula is y = α1y1 + α2y2, wherein y1 is the first assist torque, y2 is the second assist torque, and α1 and α2 are weighting coefficients.

2. The method of claim 1, wherein, Before the motion behavior mode and the speed mode of the user are determined, the method further comprises: The hip joint data at the current time point and the hip joint filtered data at the last time point are weighted and summed to obtain the hip joint filtered data at the current time point.

3. The method of claim 1, wherein, The hip joint data comprises left hip angle, right hip angle, left hip angular velocity and right hip angular velocity; the motion behavior mode of the user is determined by: When the absolute values of the left hip angle and the right hip angle are both less than a preset hip angle threshold value, and the absolute values of the left hip angular velocity and the right hip angular velocity are both less than a preset hip angular velocity threshold value within a preset time period, it is determined that the motion behavior mode of the user is a standing mode; When the motion behavior mode of the user is not the standing mode, if the PV values of the left hip angle and the right hip angle are both not greater than a preset first PV value threshold value within a preset gait cycle, it is determined that the motion behavior mode of the user is a downstairs or downhill mode; When the motion behavior mode of the user is not the standing mode and the downstairs or downhill mode, if the PV values of the left hip angle and the right hip angle are both greater than a preset second PV value threshold value and less than the first PV value threshold value within a preset gait cycle, it is determined that the motion behavior mode of the user is a flat ground walking mode; When the motion behavior mode of the user is not the standing mode, the downstairs or downhill mode and the flat ground walking mode, if the PV values of the left hip angle and the right hip angle are both greater than the preset second PV value threshold value within a preset gait cycle, it is determined that the motion behavior mode of the user is an upstairs or uphill mode; The PV value is the difference between the maximum value and the minimum value of the hip angle within a preset gait cycle.

4. An exoskeleton assistive control device with power compensation, characterized by, Comprise: The mode recognition module is used to determine the motion behavior mode and the speed mode of the user when the hip joint data of the user wearing the exoskeleton is detected; The compensation determination module is used to calculate the first assist torque for adjusting the motion behavior mode and the second assist torque for adjusting the speed mode based on the power compensation amount corresponding to each of the motion behavior mode and the speed mode according to a preset reference torque control curve; The compensation determination module further comprises: The fitting calculation submodule is used to determine the power compensation amount corresponding to each of the multiple motion behavior modes and the power compensation amount corresponding to each of the multiple hip angular velocity ranges based on a preset power compensation amount fitting algorithm; The fitting algorithm is a Fourier function, and the formula is as follows: 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 ) + 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, respectively, represent going up stairs, going down stairs, high speed, and low speed; a and b are set coefficients, ω i represents frequency, ω i = (2π / T), T is the gait cycle. The assist control module is used to perform assist control according to the first assist torque and the second assist torque; The assist control module comprises: The weighting processing submodule is configured to perform weighted summation calculation on the first assist torque and the second assist torque to obtain a target assist torque. The assist control submodule is configured to perform assist control on the exoskeleton according to the target assist torque. The weighted summation 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 apparatus of claim 4, wherein, Before the compensation determination module calculates a preset reference torque control curve based on the power compensation amounts corresponding to the motion behavior mode and the hip joint angular velocity respectively to obtain the first assist torque for adjusting the motion behavior mode and the second assist torque for adjusting the angular velocity, the compensation determination module further includes: The fitting calculation submodule is configured to determine the power compensation amounts corresponding to the various motion behavior modes and the power compensation amounts corresponding to the various hip joint angular velocity ranges based on a preset power compensation amount fitting algorithm.

6. An electronic device, comprising: A processor and a memory are included, and the memory stores computer readable instructions. The processor is configured to run the computer readable instructions, and the computer readable instructions perform the method of any one of claims 1 to 3 when running.

7. A computer readable storage medium storing computer executable instructions for performing the method of any one of claims 1 to 3.

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