Exoskeleton robot control method, system, electronic device and storage medium

Abstract

The present invention provides an exoskeleton robot control method, system, electronic device and storage medium, which relates to the field of robot assistance technology. The method comprises: based on the walking process of the target user when wearing the exoskeleton robot, obtaining the actual angle data of the hip joint generated by the target user at the current moment; determining the hip joint reference angle data corresponding to the current moment, and generating the auxiliary force adjustment data corresponding to the current moment according to the actual angle data of the hip joint and the hip joint reference angle data; based on the auxiliary force adjustment data, driving the auxiliary force execution unit of the exoskeleton robot to generate the corresponding auxiliary force. The present invention can provide personalized gait rehabilitation training while ensuring the efficiency and safety of gait rehabilitation training.

Description

Technical Field

[0001] The present invention relates to the field of robot-assisted technology, and in particular to an exoskeleton robot control method, system, electronic equipment and storage medium. Background Art

[0002] In the field of medical rehabilitation, gait rehabilitation of stroke patients has always been an important research hotspot. Due to the damage to the motor center caused by stroke, patients often have a series of problems such as weakened muscle strength on the affected side, abnormal muscle tone, sensory impairment, and impaired posture control. These problems not only affect the patient's walking ability, but also bring great inconvenience to their daily life. Although traditional gait rehabilitation training methods have achieved certain results, they often have problems such as low efficiency and insufficient personalization of gait rehabilitation training, which makes it difficult to meet the diverse rehabilitation needs of patients.

[0003] With the continuous advancement of robotics technology, exoskeleton robots are increasingly used in the field of medical rehabilitation. Exoskeleton robots can accurately simulate normal gait patterns, provide patients with scientific training trajectories and motion support, and help them gradually recover their walking ability. However, there are significant differences in the lower limb motor abilities of post-stroke patients, which leads to the lack of sufficient personalization in existing training trajectory generation methods, which in turn affects the efficiency of gait rehabilitation training and may even increase the risk of secondary injuries.

[0004] Therefore, there is an urgent need for an exoskeleton robot control method, system, electronic device and storage medium to solve the above problems. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides an exoskeleton robot control method, system, electronic device and storage medium.

[0006] The present invention provides an exoskeleton robot control method, comprising:

[0007] Based on the walking process of the target user wearing the exoskeleton robot, obtaining the actual angle data of the hip joint generated by the target user at the current moment;

[0008] Determine the hip joint reference angle data corresponding to the current moment, and generate the auxiliary force adjustment data corresponding to the current moment according to the hip joint actual angle data and the hip joint reference angle data;

[0009] Based on the auxiliary force adjustment data, the auxiliary force execution unit of the exoskeleton robot is driven to generate corresponding auxiliary force.

[0010] According to an exoskeleton robot control method provided by the present invention, generating the auxiliary force adjustment data corresponding to the current moment according to the actual angle data of the hip joint and the reference angle data of the hip joint includes:

[0011] Acquire the angle difference between the hip joint reference angle data and the hip joint actual angle data;

[0012] When it is determined that the angle difference is less than or equal to a first preset switching control strategy threshold, setting the auxiliary force adjustment data to 0;

[0013] When it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold, generating the auxiliary force adjustment data according to the angle difference and the joint angular velocity;

[0014] When it is determined that the angle difference is greater than the second preset switching control strategy threshold and less than or equal to the third preset switching control strategy threshold, generating the auxiliary force adjustment data according to the maximum safe interaction force corresponding to the exoskeleton robot and the angle difference;

[0015] Among them, the first preset switching control strategy threshold, the second preset switching control strategy threshold and the third preset switching control strategy threshold increase in sequence; the second preset switching control strategy threshold is constructed based on the maximum active angle of the hip joint of the target user.

[0016] According to an exoskeleton robot control method provided by the present invention, when it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold, generating the auxiliary force adjustment data according to the angle difference and the joint angular velocity, including:

[0017] Obtaining a first difference value according to a difference between the angle difference value and the first preset switching control strategy threshold value;

[0018] Obtaining a second difference according to a difference between the first preset switching control strategy threshold and the second preset switching control strategy threshold;

[0019] Obtaining a hip joint angle difference ratio according to a ratio between the first difference and the second difference, and obtaining an impedance adjustment force according to a product between the hip joint angle difference ratio and an angle impedance coefficient;

[0020] Acquire the joint angular velocity of the hip joint of the target user at the current moment, and obtain the joint damping force according to the product of the joint angular velocity and the velocity impedance coefficient;

[0021] The damping force corresponding to the preset speed compensation threshold is compared with the joint damping force. If the damping force corresponding to the preset speed compensation threshold is greater than the joint damping force, the joint damping force is used as the target damping force; if the damping force corresponding to the preset speed compensation threshold is less than the joint damping force, the damping force corresponding to the preset speed compensation threshold is used as the target damping force;

[0022] The auxiliary force adjustment data is obtained according to the difference between the impedance adjustment force and the target damping force.

[0023] According to an exoskeleton robot control method provided by the present invention, when it is determined that the angle difference is greater than the second preset switching control strategy threshold and less than or equal to the third preset switching control strategy threshold, the auxiliary force adjustment data is generated according to the maximum safe interaction force corresponding to the exoskeleton robot and the angle difference, including:

[0024] Obtaining a first square difference value; wherein the first square difference value represents a square difference value between the second preset switching control strategy threshold and the third preset switching control strategy threshold;

[0025] Obtaining a threshold proportionality coefficient according to a ratio between the maximum safe interaction force and the square value of the first difference;

[0026] Obtaining a second square difference value; wherein the second square difference value represents a square difference value between the angle difference value and the second preset switching control strategy threshold;

[0027] Obtaining a safety interaction force adjustment force according to the product of the threshold proportionality coefficient and the second difference square value;

[0028] The auxiliary force adjustment data is obtained according to the sum of the safety interaction force adjustment force and the maximum safety interaction force.

[0029] According to an exoskeleton robot control method provided by the present invention, when it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold, the auxiliary force adjustment data is calculated based on the first auxiliary force adjustment data calculation formula, and the first auxiliary force adjustment data calculation formula is specifically:

[0030] ;

[0031] ;

[0032] in, represents the auxiliary force adjustment data, represents the angular impedance coefficient, represents the angle difference, represents the first preset switching control strategy threshold, represents the second preset switching control strategy threshold, represents the damping force corresponding to the preset speed compensation threshold, represents the velocity impedance coefficient, represents the joint angular velocity, represents the hip joint reference angle data, Represents the actual angle data of the hip joint.

[0033] According to an exoskeleton robot control method provided by the present invention, when it is determined that the angle difference is greater than the second preset switching control strategy threshold and less than or equal to the third preset switching control strategy threshold, the auxiliary force adjustment data is calculated based on the second auxiliary force adjustment data calculation formula, and the second auxiliary force adjustment data calculation formula is specifically:

[0034] ;

[0035] ;

[0036] in, represents the auxiliary force adjustment data, represents the maximum safe interaction force, represents the angle difference, represents the second preset switching control strategy threshold, represents the third preset switching control strategy threshold, represents the hip joint reference angle data, Represents the actual angle data of the hip joint.

[0037] According to an exoskeleton robot control method provided by the present invention, the step of determining the hip joint reference angle data corresponding to the current moment includes:

[0038] The hip joint reference angle data is determined according to the gait assistance physiological parameters and the preset walking speed of the target user, wherein the gait assistance physiological parameters include gender information, age information, calf length, thigh length, height data, weight data, anterior superior iliac spine width and knee diameter.

[0039] The present invention also provides an exoskeleton robot control system, comprising:

[0040] A hip joint angle acquisition module is used to obtain the actual hip joint angle data generated by the target user at the current moment based on the walking process of the target user wearing the exoskeleton robot;

[0041] A data processing module, used to determine the hip joint reference angle data corresponding to the current moment, and generate the auxiliary force adjustment data corresponding to the current moment according to the hip joint actual angle data and the hip joint reference angle data;

[0042] The auxiliary force control module is used to drive the auxiliary force execution unit of the exoskeleton robot to generate corresponding auxiliary force based on the auxiliary force adjustment data.

[0043] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the above-described exoskeleton robot control methods is implemented.

[0044] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the exoskeleton robot control methods described above.

[0045] The exoskeleton robot control method, system, electronic device and storage medium provided by the present invention compare the actual angle data of the hip joint acquired in real time with the reference angle data of the hip joint, and then adjust the auxiliary force of the exoskeleton robot according to the size of the angle deviation obtained by comparison, thereby providing personalized gait rehabilitation training while ensuring the efficiency and safety of gait rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A schematic diagram of the flow chart of the exoskeleton robot control method provided by the present invention;

[0048] Figure 2 A schematic diagram of the auxiliary force of the exoskeleton robot corresponding to the three control modes provided by the present invention;

[0049] Figure 3 A schematic diagram of angle deviation between hip joint reference angle data and hip joint actual angle data provided by the present invention;

[0050] Figure 4 A schematic diagram of the structure of the exoskeleton robot control system provided by the present invention;

[0051] Figure 5 This is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] For post-stroke patients, due to damage to the brain's motor center, they often show abnormal gait. If the control strategy of the exoskeleton robot does not fully consider the patient's insufficient lower limb motor ability and forces the patient to walk with a normal gait, it may increase the risk of falling and even cause secondary injuries. Existing exoskeleton robots can be adjusted according to the patient's real-time motor ability and gait characteristics. This type of algorithm uses an integrated sensor network to monitor the patient's muscle activity, joint angles, ground reaction force and other parameters in real time, thereby dynamically adjusting the exoskeleton's auxiliary strength and gait pattern. However, although the existing methods have improved the possibility of personalized rehabilitation to a certain extent, their algorithms are highly complex and have high requirements for hardware computing power and data processing speed, and cannot achieve efficient, simple and safe gait rehabilitation training.

[0054] Aiming at the existing problem of exoskeleton robot assistance for gait rehabilitation of stroke patients under abnormal gait, the present invention proposes a three-mode hip joint exoskeleton robot control method, which dynamically adjusts the auxiliary force mode of the exoskeleton robot only according to the deviation between the actual angle measured by the angle sensor of the DC brushless motor on both sides of the hip joint and the current expected angle. By applying specific auxiliary force adjustment formulas in different auxiliary force modes, accurate auxiliary torque is calculated, thereby providing safer and more accurate support for the wearer's gait rehabilitation training.

[0055] Figure 1 A schematic diagram of the flow chart of the exoskeleton robot control method provided by the present invention, such as Figure 1 As shown, the present invention provides an exoskeleton robot control method, comprising:

[0056] Step 101, based on the walking process of the target user while wearing the exoskeleton robot, obtaining the actual angle data of the hip joint generated by the target user at the current moment;

[0057] Step 102, determining the hip joint reference angle data corresponding to the current moment, and generating the auxiliary force adjustment data corresponding to the current moment according to the hip joint actual angle data and the hip joint reference angle data;

[0058] Step 103: Based on the auxiliary force adjustment data, drive the auxiliary force execution unit of the exoskeleton robot to generate corresponding auxiliary force.

[0059] In the present invention, the exoskeleton robot is mainly composed of two parts: a host computer and a hip joint exoskeleton robot, wherein the host computer is used to generate corresponding auxiliary force adjustment data according to the deviation between the actual angle data of the hip joint and the reference angle data of the hip joint.

[0060] The core components of the hip joint exoskeleton robot include the main control module, actuator and angle sensor. The detailed working principles of each component are as follows:

[0061] First, the angle sensor equipped with the DC brushless motor of the hip exoskeleton robot can capture and record the actual movement angles of the user's hip joints on both sides, that is, the actual angle data of the hip joints, in real time. These angle information will be efficiently transmitted to the host computer through the RS485 serial communication protocol for further analysis and processing.

[0062] Subsequently, after receiving the angle sequence formed by the actual angle data of the hip joint, the host computer calculates the real-time reference angle, i.e., the hip joint reference angle data. Preferably, in the present invention, the hip joint reference angle data is determined based on the user's gait auxiliary physiological parameters and the preset walking speed. Next, the host computer determines the torque value required by the exoskeleton robot, i.e., the auxiliary force adjustment data, according to the deviation between the actual angle and the reference angle, combined with the preset precise control strategy.

[0063] Finally, this precisely calculated torque value will be transmitted back to the main control module of the hip joint exoskeleton robot through the RS485 serial communication protocol. After receiving the torque value, the main control module will immediately drive the actuator to make corresponding adjustments to achieve the gait assistance function, thereby helping users to perform more accurate and effective rehabilitation training.

[0064] The exoskeleton robot control method provided by the present invention compares the actual angle data of the hip joint acquired in real time with the reference angle data of the hip joint, and then adjusts the auxiliary force of the exoskeleton robot according to the angle deviation obtained by comparison, thereby providing personalized gait rehabilitation training while ensuring the efficiency and safety of gait rehabilitation training.

[0065] On the basis of the above embodiment, the generating the auxiliary force adjustment data corresponding to the current moment according to the actual angle data of the hip joint and the reference angle data of the hip joint includes:

[0066] Acquire the angle difference between the hip joint reference angle data and the hip joint actual angle data;

[0067] When it is determined that the angle difference is less than or equal to a first preset switching control strategy threshold, setting the auxiliary force adjustment data to 0;

[0068] When it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold, generating the auxiliary force adjustment data according to the angle difference and the joint angular velocity;

[0069] When it is determined that the angle difference is greater than the second preset switching control strategy threshold and less than or equal to the third preset switching control strategy threshold, generating the auxiliary force adjustment data according to the maximum safe interaction force corresponding to the exoskeleton robot and the angle difference;

[0070] Among them, the first preset switching control strategy threshold, the second preset switching control strategy threshold and the third preset switching control strategy threshold increase in sequence; the second preset switching control strategy threshold is constructed based on the maximum active angle of the hip joint of the target user.

[0071] In the present invention, the difference between the reference angle data and the actual angle data of the hip joint is first calculated, and the difference reflects the degree of deviation between the user's current action and the ideal state.

[0072] If the calculated angle difference is less than or equal to the first preset switching control strategy threshold, it means that the user's movement is very close to the ideal state. At this time, the exoskeleton robot does not need to provide additional auxiliary force. Therefore, the auxiliary force adjustment data is set to 0, which helps to reduce unnecessary intervention and allow users to move more naturally.

[0073] If the angle difference is greater than the first preset switching control strategy threshold but less than or equal to the second preset switching control strategy threshold, it means that the user action deviates from the ideal state to a certain extent, but is still within an acceptable range. At this time, the auxiliary force adjustment data is generated according to the angle difference and the joint angular velocity (i.e., the speed of hip joint rotation), so as to help the user approach the ideal angle more smoothly while taking into account the dynamics of the movement. In the present invention, the second preset switching control strategy threshold is constructed based on the maximum active angle of the hip joint of the target user. This threshold takes into account the individual differences of the users and ensures that the auxiliary force adjustment is neither too radical (which may cause discomfort or injury to the user) nor too conservative (affecting the auxiliary effect).

[0074] If the angle difference is greater than the second preset switching control strategy threshold but less than or equal to the third preset switching control strategy threshold, it means that the user action deviates significantly from the ideal state. At this time, the auxiliary force adjustment data is generated according to the maximum safe interaction force and angle difference corresponding to the exoskeleton robot. The maximum safe interaction force is the maximum force that the exoskeleton can safely apply to the user, ensuring that no harm is caused when assisting the user. In the present invention, when it is determined that the angle difference is greater than the second preset switching control strategy threshold but less than or equal to the third preset switching control strategy threshold, when the angle difference increases, the generated auxiliary force adjustment data will gradually decrease to avoid causing harm to the user.

[0075] In the present invention, the first preset switching control strategy threshold, the second preset switching control strategy threshold and the third preset switching control strategy threshold increase successively, indicating that as the angle difference increases, the auxiliary force adjustment strategy of the exoskeleton robot will become more active (i.e., provide more auxiliary force), but always remain within a safe range. By setting different thresholds, accurate response to user actions and safe assistance are achieved.

[0076] On the basis of the above embodiment, when it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold, generating the auxiliary force adjustment data according to the angle difference and the joint angular velocity includes:

[0077] Obtaining a first difference value according to a difference between the angle difference value and the first preset switching control strategy threshold value;

[0078] Obtaining a second difference according to a difference between the first preset switching control strategy threshold and the second preset switching control strategy threshold;

[0079] Obtaining a hip joint angle difference ratio according to a ratio between the first difference and the second difference, and obtaining an impedance adjustment force according to a product between the hip joint angle difference ratio and an angle impedance coefficient;

[0080] Acquire the joint angular velocity of the hip joint of the target user at the current moment, and obtain the joint damping force according to the product of the joint angular velocity and the velocity impedance coefficient;

[0081] The damping force corresponding to the preset speed compensation threshold is compared with the joint damping force. If the damping force corresponding to the preset speed compensation threshold is greater than the joint damping force, the joint damping force is used as the target damping force; if the damping force corresponding to the preset speed compensation threshold is less than the joint damping force, the damping force corresponding to the preset speed compensation threshold is used as the target damping force;

[0082] The auxiliary force adjustment data is obtained according to the difference between the impedance adjustment force and the target damping force.

[0083] Figure 2 The schematic diagram of the exoskeleton robot auxiliary force corresponding to the three control modes provided by the present invention can be referred to Figure 2 As shown, in the present invention, three robot control modes are constructed according to the angle difference between the hip joint reference angle data and the hip joint actual angle data, namely, the ideal mode, the power-assist mode and the safety mode.

[0084] Figure 3 The angle deviation diagram of the hip joint reference angle data and the hip joint actual angle data provided by the present invention can be referred to Figure 3 As shown, in the present invention, when the user's legs are kept upright, the hip joint angle is 0 degrees; when the user wears the exoskeleton robot to walk, The hip joint reference angle data can be calculated through the user's current gait phase; As the actual angle data of the hip joint, the reference angle data of the hip joint can be captured and recorded in real time by the angle sensor.

[0085] Furthermore, in the present invention, when When , the control mode of the exoskeleton robot is the ideal mode, in which, is the first preset switching control strategy threshold. In the ideal mode, the main control module of the exoskeleton robot does not provide additional auxiliary force, that is, the auxiliary force adjustment data To encourage users to complete gait rehabilitation training independently, and improve the effect of gait rehabilitation training by increasing user participation.

[0086] Furthermore, when When the control mode of the exoskeleton robot is the power-assist mode, In the present invention, when it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold, the auxiliary force adjustment data is calculated based on the first auxiliary force adjustment data calculation formula, and the first auxiliary force adjustment data calculation formula is specifically:

[0087] ;

[0088] ;

[0089] in, represents the auxiliary force adjustment data, represents the angular impedance coefficient, represents the angle difference, represents the first preset switching control strategy threshold, represents the second preset switching control strategy threshold, represents the damping force corresponding to the preset speed compensation threshold, represents the velocity impedance coefficient, represents the joint angular velocity, represents the hip joint reference angle data, Represents the actual angle data of the hip joint.

[0090] In the present invention, the hip joint reference angle data Actual angle data of hip joint The angle difference between , reflecting the difference between the target angle and the actual angle.

[0091] Furthermore, based on the angle difference The first preset switching control strategy threshold The difference between the two, namely the first difference, represents the current angle difference Deviation from the first preset switching control strategy threshold Based on the first preset switching control strategy threshold The second preset switching control strategy threshold The difference between them, i.e., the second difference, reflects the range between the two control strategy thresholds.

[0092] Furthermore, the current angle difference is represented by the ratio between the first difference and the second difference, that is, the hip joint angle difference ratio. Deviation from the first preset switching control strategy threshold The degree of relative to two thresholds (i.e., the first preset switching control strategy threshold and a second preset switching control strategy threshold ) between the range. Then, by comparing the hip joint angle difference ratio with the angle impedance coefficient Multiplying them together gives the impedance adjustment force, which reflects the adjustment force based on the angle difference and impedance characteristics.

[0093] Furthermore, by transforming the joint angular velocity Velocity impedance coefficient Multiply them together to get the joint damping force, which reflects the damping force based on speed change and impedance characteristics. Then, compare the damping force corresponding to the preset speed compensation threshold The target damping force is ensured not to exceed the damping force corresponding to the preset speed compensation threshold or the smaller value of the joint damping force, thereby adjusting the final auxiliary force and enhancing the flexibility of human-computer interaction. is greater than the joint damping force, the target damping force is the joint damping force; if the damping force corresponding to the preset speed compensation threshold is If the target damping force is less than the joint damping force, the target damping force is the damping force corresponding to the preset speed compensation threshold. .

[0094] Finally, the auxiliary force adjustment data is obtained based on the difference between the impedance adjustment force and the target damping force. ,Right now . For reference Figure 2 As shown, in the power-assist mode, when the angle difference The larger it is, the greater the auxiliary force provided by the exoskeleton robot will be.

[0095] On the basis of the above embodiment, when it is determined that the angle difference is greater than the second preset switching control strategy threshold and less than or equal to the third preset switching control strategy threshold, the auxiliary force adjustment data is generated according to the maximum safe interaction force corresponding to the exoskeleton robot and the angle difference, including:

[0096] Obtaining a first square difference value; wherein the first square difference value represents a square difference value between the second preset switching control strategy threshold and the third preset switching control strategy threshold;

[0097] Obtaining a threshold proportionality coefficient according to a ratio between the maximum safe interaction force and the square value of the first difference;

[0098] Obtaining a second square difference value; wherein the second square difference value represents a square difference value between the angle difference value and the second preset switching control strategy threshold;

[0099] Obtaining a safety interaction force adjustment force according to the product of the threshold proportionality coefficient and the second difference square value;

[0100] The auxiliary force adjustment data is obtained according to the sum of the safety interaction force adjustment force and the maximum safety interaction force.

[0101] In the present invention, when When the control mode of the exoskeleton robot is safe mode, In the present invention, when it is determined that the angle difference is greater than the second preset switching control strategy threshold and less than or equal to the third preset switching control strategy threshold, the auxiliary force adjustment data is calculated based on the second auxiliary force adjustment data calculation formula, and the second auxiliary force adjustment data calculation formula is specifically:

[0102] ;

[0103] ;

[0104] in, represents the auxiliary force adjustment data, represents the maximum safe interaction force, represents the angle difference, represents the second preset switching control strategy threshold, represents the third preset switching control strategy threshold, represents the hip joint reference angle data, Represents the actual angle data of the hip joint.

[0105] In the present invention, the safety mode of the exoskeleton robot involves two preset switching control strategy thresholds (i.e., the second preset switching control strategy threshold and a third preset switching control strategy threshold ), these two values ​​define a range for determining the angle difference The first square difference value is the second preset switching control strategy threshold. and a third preset switching control strategy threshold The square of the difference between the first and second values ​​can be regarded as a reference range to be considered when adjusting the auxiliary force.

[0106] The threshold proportionality factor is the ratio of the maximum safe interaction force of the exoskeleton robot to the square value of the first difference. The square value of the second difference is the angle difference. The second preset switching control strategy threshold The square of the difference between the two, this value reflects the current angle difference The second preset switching control strategy threshold The degree of deviation between them. The present invention can obtain an adjusted force, namely the safety interaction force adjustment force, based on the product of the threshold proportional coefficient and the square value of the second difference. Finally, this adjusted force is added to the maximum safety interaction force to obtain the final auxiliary force adjustment data, forming an auxiliary force value that takes into account the maximum safety limit and is appropriately adjusted according to the current situation. Furthermore, when the exoskeleton robot is in safety mode, it means that the angle difference between the current hip joint reference angle data and the actual hip joint angle data is too large. When the angle difference increases, the auxiliary force execution unit of the exoskeleton robot is driven by the auxiliary force adjustment data to gradually reduce the auxiliary force until no assistance is provided, so as to avoid harm to the user.

[0107] Based on the above embodiment, the step of determining the hip joint reference angle data corresponding to the current moment includes:

[0108] The hip joint reference angle data is determined according to the gait assistance physiological parameters and the preset walking speed of the target user, wherein the gait assistance physiological parameters include gender information, age information, calf length, thigh length, height data, weight data, anterior superior iliac spine width and knee diameter.

[0109] In the present invention, before the user starts the exoskeleton robot-assisted gait rehabilitation training, the user first obtains the gait assistance physiological parameters and the expected walking speed (i.e., the preset walking speed) that are highly correlated with the gait trajectory. Then, based on this information, a personalized hip joint gait reference trajectory is generated. Preferably, in the present invention, a multi-layer perceptron trained in advance can be used to output the corresponding hip joint gait reference trajectory based on the input gait assistance physiological parameters and the expected walking speed.

[0110] During gait rehabilitation training, the angle sensors installed on both sides of the hip joint on the exoskeleton robot are used to monitor the user's actual hip joint angle in real time, and an adaptive frequency oscillator is used to reconstruct the hip joint angle trajectory to extract gait phase information.

[0111] Furthermore, according to the gait phase information, the polynomial fitting model constructed in combination with the hip joint gait reference trajectory is used to calculate the real-time hip joint reference angle. In the present invention, the polynomial fitting model can accurately map any gait phase acquired in real time to the corresponding hip joint angle. The formula of the polynomial fitting model is specifically as follows: ;in, is the hip joint reference angle data, is the real-time gait phase; , and are the corresponding coefficients in the polynomial.

[0112] Then, according to the deviation between the measured actual angle data of the hip joint and the reference angle calculated according to the gait phase, the exoskeleton robot is controlled to switch between three different control strategies to ensure the safety of gait rehabilitation training and provide smooth auxiliary force, thereby improving the comfort of gait rehabilitation training.

[0113] The exoskeleton robot control system provided by the present invention is described below. The exoskeleton robot control system described below and the exoskeleton robot control method described above can be referenced to each other.

[0114] Figure 4 The schematic diagram of the structure of the exoskeleton robot control system provided by the present invention is as follows: Figure 4As shown, the present invention provides an exoskeleton robot control system, including a hip joint angle acquisition module 401, a data processing module 402 and an auxiliary force control module 403, wherein the hip joint angle acquisition module 401 is used to obtain the actual hip joint angle data generated by the target user at the current moment based on the walking process of the target user when wearing the exoskeleton robot; the data processing module 402 is used to determine the hip joint reference angle data corresponding to the current moment, and generate the auxiliary force adjustment data corresponding to the current moment according to the hip joint actual angle data and the hip joint reference angle data; the auxiliary force control module 403 is used to drive the auxiliary force execution unit of the exoskeleton robot to generate corresponding auxiliary force based on the auxiliary force adjustment data.

[0115] The exoskeleton robot control system provided by the present invention compares the actual angle data of the hip joint acquired in real time with the reference angle data of the hip joint, and then adjusts the auxiliary force of the exoskeleton robot according to the angle deviation obtained by comparison, thereby providing personalized gait rehabilitation training while ensuring the efficiency and safety of gait rehabilitation training.

[0116] The system provided in the embodiment of the present invention is used to execute the above-mentioned method embodiments. Please refer to the above-mentioned embodiments for the specific process and detailed contents, which will not be repeated here.

[0117] Figure 5 A schematic diagram of the structure of an electronic device provided by the present invention, such as Figure 5 As shown, the electronic device may include: a processor (Processor) 501, a communication interface (Communications Interface) 502, a memory (Memory) 503 and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 communicate with each other through the communication bus 504. The processor 501 may call the logic instructions in the memory 503 to execute the exoskeleton robot control method, the method comprising: based on the walking process of the target user when wearing the exoskeleton robot, obtaining the actual hip joint angle data generated by the target user at the current moment; determining the hip joint reference angle data corresponding to the current moment, and generating the auxiliary force adjustment data corresponding to the current moment according to the actual hip joint angle data and the hip joint reference angle data; based on the auxiliary force adjustment data, driving the auxiliary force execution unit of the exoskeleton robot to generate the corresponding auxiliary force.

[0118] In addition, the logic instructions in the above-mentioned memory 503 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0119] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the exoskeleton robot control method provided by the above-mentioned methods, and the method includes: based on the walking process of the target user when wearing the exoskeleton robot, obtaining the actual hip joint angle data generated by the target user at the current moment; determining the hip joint reference angle data corresponding to the current moment, and generating the auxiliary force adjustment data corresponding to the current moment based on the actual hip joint angle data and the hip joint reference angle data; based on the auxiliary force adjustment data, driving the auxiliary force execution unit of the exoskeleton robot to generate corresponding auxiliary force.

[0120] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the exoskeleton robot control method provided in the above-mentioned embodiments, the method comprising: based on the walking process of the target user when wearing the exoskeleton robot, obtaining the actual hip joint angle data generated by the target user at the current moment; determining the hip joint reference angle data corresponding to the current moment, and generating the auxiliary force adjustment data corresponding to the current moment based on the actual hip joint angle data and the hip joint reference angle data; based on the auxiliary force adjustment data, driving the auxiliary force execution unit of the exoskeleton robot to generate the corresponding auxiliary force.

[0121] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, 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 scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0123] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling an exoskeleton robot, characterized in that: include: Based on the walking process of the target user wearing the exoskeleton robot, obtaining the actual angle data of the hip joint generated by the target user at the current moment; Determine the hip joint reference angle data corresponding to the current moment, and generate the auxiliary force adjustment data corresponding to the current moment according to the hip joint actual angle data and the hip joint reference angle data; Based on the auxiliary force adjustment data, driving the auxiliary force execution unit of the exoskeleton robot to generate a corresponding auxiliary force; The step of generating the auxiliary force adjustment data corresponding to the current moment according to the actual angle data of the hip joint and the reference angle data of the hip joint comprises: Acquire the angle difference between the hip joint reference angle data and the hip joint actual angle data; When it is determined that the angle difference is less than or equal to a first preset switching control strategy threshold, setting the auxiliary force adjustment data to 0; When it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold, generating the auxiliary force adjustment data according to the angle difference and the joint angular velocity; When it is determined that the angle difference is greater than the second preset switching control strategy threshold and less than or equal to the third preset switching control strategy threshold, generating the auxiliary force adjustment data according to the maximum safe interaction force corresponding to the exoskeleton robot and the angle difference; The first preset switching control strategy threshold, the second preset switching control strategy threshold and the third preset switching control strategy threshold increase in sequence; the second preset switching control strategy threshold is constructed based on the maximum active angle of the hip joint of the target user; The step of generating the auxiliary force adjustment data according to the angle difference and the joint angular velocity when it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold comprises: Obtaining a first difference value according to a difference between the angle difference value and the first preset switching control strategy threshold value; Obtaining a second difference according to a difference between the first preset switching control strategy threshold and the second preset switching control strategy threshold; Obtaining a hip joint angle difference ratio according to a ratio between the first difference and the second difference, and obtaining an impedance adjustment force according to a product between the hip joint angle difference ratio and an angle impedance coefficient; Acquire the joint angular velocity of the hip joint of the target user at the current moment, and obtain the joint damping force according to the product of the joint angular velocity and the velocity impedance coefficient; The damping force corresponding to the preset speed compensation threshold is compared with the joint damping force. If the damping force corresponding to the preset speed compensation threshold is greater than the joint damping force, the joint damping force is used as the target damping force; if the damping force corresponding to the preset speed compensation threshold is less than the joint damping force, the damping force corresponding to the preset speed compensation threshold is used as the target damping force; The assisting force adjustment data is obtained according to the difference between the impedance adjustment force and the target damping force.

2. The exoskeleton robot control method according to claim 1, characterized in that: When it is determined that the angle difference is greater than the second preset switching control strategy threshold and less than or equal to the third preset switching control strategy threshold, generating the auxiliary force adjustment data according to the maximum safe interaction force corresponding to the exoskeleton robot and the angle difference, including: Obtaining a first square difference value; wherein the first square difference value represents a square difference value between the second preset switching control strategy threshold and the third preset switching control strategy threshold; Obtaining a threshold proportionality coefficient according to a ratio between the maximum safe interaction force and the square value of the first difference; Obtaining a second square difference value; wherein the second square difference value represents a square difference value between the angle difference value and the second preset switching control strategy threshold; Obtaining a safety interaction force adjustment force according to the product of the threshold proportionality coefficient and the second difference square value; The auxiliary force adjustment data is obtained according to the sum of the safety interaction force adjustment force and the maximum safety interaction force.

3. The exoskeleton robot control method according to claim 1, characterized in that: When it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold, the auxiliary force adjustment data is calculated based on a first auxiliary force adjustment data calculation formula, and the first auxiliary force adjustment data calculation formula is specifically: ； ； in, represents the auxiliary force adjustment data, represents the angular impedance coefficient, represents the angle difference, represents the first preset switching control strategy threshold, represents the second preset switching control strategy threshold, represents the damping force corresponding to the preset speed compensation threshold, represents the velocity impedance coefficient, represents the joint angular velocity, represents the hip joint reference angle data, Represents the actual angle data of the hip joint.

4. The exoskeleton robot control method according to claim 2, characterized in that: When it is determined that the angle difference is greater than the second preset switching control strategy threshold and less than or equal to the third preset switching control strategy threshold, the auxiliary force adjustment data is calculated based on the second auxiliary force adjustment data calculation formula, and the second auxiliary force adjustment data calculation formula is specifically: ； ； in, represents the auxiliary force adjustment data, represents the maximum safe interaction force, represents the angle difference, represents the second preset switching control strategy threshold, represents the third preset switching control strategy threshold, represents the hip joint reference angle data, Represents the actual angle data of the hip joint.

5. The exoskeleton robot control method according to claim 1, characterized in that: The determining of the hip joint reference angle data corresponding to the current moment includes: The hip joint reference angle data is determined according to the gait assistance physiological parameters and the preset walking speed of the target user, wherein the gait assistance physiological parameters include gender information, age information, calf length, thigh length, height data, weight data, anterior superior iliac spine width and knee diameter.

6. An exoskeleton robot control system, characterized in that: include: A hip joint angle acquisition module is used to obtain the actual hip joint angle data generated by the target user at the current moment based on the walking process of the target user wearing the exoskeleton robot; A data processing module, used to determine the hip joint reference angle data corresponding to the current moment, and generate the auxiliary force adjustment data corresponding to the current moment according to the hip joint actual angle data and the hip joint reference angle data; An auxiliary force control module, used to drive the auxiliary force execution unit of the exoskeleton robot to generate corresponding auxiliary force based on the auxiliary force adjustment data; The data processing module is specifically used for: Acquire the angle difference between the hip joint reference angle data and the hip joint actual angle data; When it is determined that the angle difference is less than or equal to a first preset switching control strategy threshold, setting the auxiliary force adjustment data to 0; When it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold, generating the auxiliary force adjustment data according to the angle difference and the joint angular velocity; When it is determined that the angle difference is greater than the second preset switching control strategy threshold and less than or equal to the third preset switching control strategy threshold, generating the auxiliary force adjustment data according to the maximum safe interaction force corresponding to the exoskeleton robot and the angle difference; The first preset switching control strategy threshold, the second preset switching control strategy threshold and the third preset switching control strategy threshold increase in sequence; the second preset switching control strategy threshold is constructed based on the maximum active angle of the hip joint of the target user; The step of generating the auxiliary force adjustment data according to the angle difference and the joint angular velocity when it is determined that the angle difference is greater than the first preset switching control strategy threshold and less than or equal to the second preset switching control strategy threshold comprises: Obtaining a first difference value according to a difference between the angle difference value and the first preset switching control strategy threshold value; Obtaining a second difference according to a difference between the first preset switching control strategy threshold and the second preset switching control strategy threshold; Obtaining a hip joint angle difference ratio according to a ratio between the first difference and the second difference, and obtaining an impedance adjustment force according to a product between the hip joint angle difference ratio and an angle impedance coefficient; Acquire the joint angular velocity of the hip joint of the target user at the current moment, and obtain the joint damping force according to the product of the joint angular velocity and the velocity impedance coefficient; The damping force corresponding to the preset speed compensation threshold is compared with the joint damping force. If the damping force corresponding to the preset speed compensation threshold is greater than the joint damping force, the joint damping force is used as the target damping force; if the damping force corresponding to the preset speed compensation threshold is less than the joint damping force, the damping force corresponding to the preset speed compensation threshold is used as the target damping force; The assisting force adjustment data is obtained according to the difference between the impedance adjustment force and the target damping force.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the exoskeleton robot control method according to any one of claims 1 to 5 is implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the exoskeleton robot control method according to any one of claims 1 to 5 is implemented.

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