Exoskeleton device and control method thereof

Abstract

The invention relates to an exoskeleton device and a control method thereof. The exoskeleton device comprises a driving mechanism, an exoskeleton suit and a transmission mechanism, the driving mechanism comprises a shell, a driving unit and a speed reduction assembly, the shell is provided with a containing cavity, the driving unit and the speed reduction assembly are both arranged in the containing cavity, and the power output end of the driving unit is connected with the speed reduction assembly. The exoskeleton suit comprises a lining, shoulder straps and oversleeves, the shoulder straps are installed on the shoulders of the lining, the oversleeves are installed on the elbows of the lining, and the shoulder straps are connected with the oversleeves. The transmission mechanism comprises a first rope, a second rope, a first connecting assembly and a second connecting assembly, the first connecting assembly and the second connecting assembly are installed at the positions, corresponding to the two sides of the elbow joint, of the oversleeve, and the two ends of the first rope penetrate through the first sleeve to be connected with the first connecting assembly and the driving mechanism; the two ends of the second rope penetrate through the second sleeve to be connected with the second connecting assembly and the driving mechanism. The exoskeleton device and the control method thereof have the advantages of being good in optimization effect and good in applicability.

Description

Technical Field

[0001] The present application relates to the technical field of wearable devices, and in particular to an exoskeleton device and a control method thereof. Background Art

[0002] The converter station is a place where AC and DC are converted to each other in the HVDC transmission system. In the daily work of the converter station, the workers usually need to carry some heavy parts or tools, such as large electrical connectors, busbars, etc., which brings fatigue and safety risks to the workers. In some green converter stations, by equipping the workers with exoskeleton devices, the strength of the workers can be enhanced, helping them to carry heavy objects more easily and reducing the probability of injuries to the waist, shoulders, arms and other parts.

[0003] However, when the existing exoskeleton device is applied to the green converter station, the drive mechanism, clothing system, sensor mechanism and control method cannot fully meet the working requirements of the green current station. The drive unit needs a powerful torque drive transmission mechanism, and it is necessary to ensure that the exoskeleton device operates stably and efficiently in the green converter station. The working environment requirements are very strict, and there are defects such as poor optimization effect and poor applicability. Summary of the invention

[0004] Based on this, it is necessary to provide an exoskeleton device and a control method thereof to address the problems of poor optimization effect and poor applicability of the exoskeleton device.

[0005] The present invention provides an exoskeleton device, comprising:

[0006] A driving mechanism, the driving mechanism comprising a housing, a driving unit and a reduction assembly, the housing being provided with a receiving cavity, the driving unit and the reduction assembly being both arranged in the receiving cavity, the power output end of the driving unit being connected to the reduction assembly, and the reduction assembly being provided with a first output end and a second output end;

[0007] An exoskeleton suit, the exoskeleton suit comprising an inner lining, a shoulder strap and a sleeve, the shoulder strap being mounted on the shoulder of the inner lining, the sleeve being mounted on the elbow of the inner lining, the shoulder strap being connected to the sleeve, and the shoulder strap being provided with a first sleeve and a second sleeve;

[0008] And a transmission mechanism, the transmission mechanism includes a first rope, a second rope, a first connecting component and a second connecting component, the first connecting component is installed at a position of the sleeve corresponding to the inner side of the elbow joint, the second connecting component is installed at a position of the sleeve corresponding to the outer side of the elbow joint, the first rope can be movably passed through the first sleeve, one end of the first rope is connected to the first output end, and the other end of the first rope is connected to the first connecting component, the second rope can be movably passed through the second sleeve, one end of the second rope is connected to the second output end, and the other end of the second rope is connected to the second connecting component.

[0009] In one embodiment, the exoskeleton device further includes a sensing mechanism, which includes a drive sensor, a transmission state sensor, and a motion intention sensor. The drive sensor is installed on the drive unit, and the drive sensor is used to obtain the rotational speed and input angle signal of the drive unit. The transmission state sensor is installed on the deceleration assembly, and the transmission state sensor is used to monitor the transmission state of the first rope and the second rope in real time. The motion intention sensor is installed on the sleeve, and the motion intention sensor is used to provide motion feedback for the exoskeleton device.

[0010] In one embodiment, the first connecting component includes a first anchor point and a second anchor point, the first anchor point is installed at one end of the sleeve on the inner side of the elbow joint close to the shoulder strap, the port of the first sleeve is connected to the first anchor point, the second anchor point is installed at one end of the sleeve on the inner side of the elbow joint away from the shoulder strap, and the first rope is connected to the second anchor point;

[0011] The second connecting component includes a third anchor point, a fourth anchor point, a fifth anchor point and a sixth anchor point, the third anchor point is installed at one end of the sleeve on the outside of the elbow joint close to the shoulder strap, the port of the second sleeve is connected to the third anchor point, the fourth anchor point is installed at one end of the sleeve on the outside of the elbow joint away from the shoulder strap, the second rope is connected to the fourth anchor point, the fifth anchor point and the sixth anchor point are respectively installed at two ends of the position where the sleeve is bent on the outside of the elbow joint, the fifth anchor point is provided with a first pulley, the sixth anchor point is provided with a second pulley, and the second rope is movably connected to the first pulley and the second pulley.

[0012] In one embodiment, the reduction assembly includes a worm, a worm wheel, a first gear, a first rotating shaft, a second gear, a third gear, a first winding wheel, a second winding wheel, a second rotating shaft and a third rotating shaft, the worm is connected to the power output end of the drive unit, the first rotating shaft is rotatably mounted on the accommodating cavity, the worm wheel and the first gear are mounted on the first rotating shaft, the worm is meshingly connected to the worm wheel, the second rotating shaft and the third rotating shaft are both rotatably mounted on the accommodating cavity, the first winding wheel and the second gear are mounted on the second rotating shaft, the second winding wheel and the third gear are mounted on the third rotating shaft, the second gear and the third gear are both meshingly connected with the first gear, the first rope is wound around the first winding wheel, and the second rope is wound around the second winding wheel.

[0013] In one embodiment, the exoskeleton suit further comprises gloves, and one end of the sleeve away from the shoulder strap is connected to the gloves.

[0014] In one embodiment, the first connection assembly further comprises a first elastic member, one end of the first elastic member is connected to the second anchor point, and the other end of the first elastic member is connected to the first rope;

[0015] The second connecting assembly further includes a second elastic member, one end of the second elastic member is connected to the fourth anchor point, and the other end of the second elastic member is connected to the second rope.

[0016] In one embodiment, the transmission mechanism further includes a first one-way feeding assembly, the first one-way feeding assembly includes a first one-way bearing, a first friction wheel, a fourth rotating shaft and a fifth rotating shaft, the fourth rotating shaft and the fifth rotating shaft are installed in parallel in the accommodating cavity, the first one-way bearing is installed on the fourth rotating shaft, the first friction wheel is installed on the fifth rotating shaft, the first rope is passed between the first one-way bearing and the first friction wheel, and the gap between the first one-way bearing and the first friction wheel is smaller than the diameter of the first rope;

[0017] The transmission mechanism also includes a second one-way feed assembly, which includes a second one-way bearing, a second friction wheel, a sixth rotating shaft and a seventh rotating shaft. The sixth rotating shaft and the seventh rotating shaft are installed in parallel in the accommodating cavity, the second one-way bearing is installed on the sixth rotating shaft, the second friction wheel is installed on the seventh rotating shaft, the second rope is passed between the second one-way bearing and the second friction wheel, and the gap between the second one-way bearing and the second friction wheel is smaller than the diameter of the second rope.

[0018] In one embodiment, the transmission mechanism further includes a first outlet assembly, the first outlet assembly includes a first wire tube, a first hollow tube, a third elastic member and a first baffle, the first wire tube is movably arranged on the shell, the first wire tube is provided with a first through hole, the first hollow tube is provided with a second through hole, the outer side wall of the first hollow tube is movably connected to the inner side wall of the first through hole, the first rope can movably pass through the first through hole and the second through hole, the third elastic member is arranged in the first through hole, one end of the first hollow tube facing the first through hole abuts against the third elastic member, the first baffle is connected to the first rope, and the first baffle can movably abut against the third elastic member;

[0019] The transmission mechanism also includes a second outlet assembly, which includes a second wire tube, a second hollow tube, a fourth elastic member and a second baffle. The second wire tube is movably arranged on the shell. The second wire tube is provided with a third through hole. The second hollow tube is provided with a fourth through hole. The outer wall of the second hollow tube is movably connected to the inner wall of the third through hole. The second rope can movably pass through the third through hole and the fourth through hole. The fourth elastic member is arranged in the third through hole. One end of the second hollow tube facing the third through hole abuts against the fourth elastic member. The second baffle is connected to the second rope, and the second baffle can movably abut against the fourth elastic member.

[0020] The present invention also provides a control method for an exoskeleton device, which is applicable to the exoskeleton device described in any of the above embodiments, and comprises the following steps:

[0021] Initialize a feature set F and a data set D;

[0022] Initialize an empty set F';

[0023] Use the ReliefF algorithm for the dataset D, taking each feature f[i] in F as the target feature to generate the importance score score[i] of feature f[i];

[0024] Sort all features f according to score and record the sorting index idx;

[0025] Extract the first 50% of the features with the highest scores and place them in F', that is, F'=f[idx[1:n]];

[0026] Initialize a new data set D';

[0027] Extract the feature values ​​in F' from each sample s[j] in D to form a new sample s[j]', and put s[j]' into the new data set D';

[0028] The new data set D' is normalized using the maximum and minimum normalization method and converted into the driving force of the exoskeleton device.

[0029] The present invention also provides a control method for an exoskeleton device, which is applicable to the exoskeleton device described in any of the above embodiments, and comprises the following steps:

[0030] The joint torque is mapped to the incremental angle of the joint based on the data of the drive sensor, the transmission state sensor and the motion intention sensor;

[0031] Position loop sent to the neural network controller;

[0032] A neural network algorithm is used to analyze the nonlinear relationship between the estimated joint torque and the incremental angle in real time;

[0033] The exoskeleton device is controlled based on the nonlinear relationship between the estimated joint torque and the increment angle.

[0034] In the above-mentioned exoskeleton device and its control method, the driving mechanism is the power unit of the exoskeleton device, the staff wears the exoskeleton suit on the body, and the output end of the driving mechanism is connected to the first connecting component on the exoskeleton suit through a first rope, and is connected to the second connecting component on the exoskeleton suit through a second rope, so as to assist the movement of the human body through the driving mechanism. In this embodiment, a reduction assembly is set between the driving unit and the transmission mechanism, so that the driving unit can output a larger torque through the reduction assembly, thereby improving the performance parameters of the driving mechanism. Since green power exchange stations often require a larger torque to overcome resistance to complete the work, the exoskeleton device of this application is more suitable for the working conditions of green power exchange stations. Furthermore, by setting a reduction assembly, the rotation speed of the driving unit can be reduced, so that the movement of the exoskeleton device is smoother and more precise, providing safe and stable external force transmission, and optimizing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of wearing the exoskeleton device described in an embodiment of the present application.

[0036] Figure 2 This is a schematic diagram of wearing the other side of the exoskeleton device described in an embodiment of the present application.

[0037] Figure 3 This is a schematic diagram of the power structure of the exoskeleton device described in an embodiment of the present application.

[0038] Figure 4 This is a schematic diagram of the internal structure of the power structure of the exoskeleton device described in an embodiment of the present application.

[0039] Figure 5 This is a schematic structural diagram of the first unidirectional feeding component of the exoskeleton device described in an embodiment of the present application.

[0040] Figure 6 This is a schematic diagram of the structure of the first output wire assembly of the exoskeleton device described in an embodiment of the present application.

[0041] Figure 7 Schematic diagram of the structure of the transmission mechanism of the exoskeleton device described in an embodiment of the present application.

[0042] Figure 8 This is a system block diagram of the exoskeleton device described in an embodiment of the present application.

[0043] Fig. 9 This is a characteristic weight distribution diagram of the control method of the exoskeleton device described in an embodiment of the present application.

[0044] Fig.10 This is a probability graph of the characteristic weight distribution graph of the control method of the exoskeleton device described in the embodiment of the present application.

[0045] Fig.11 This is a scatter diagram of the main components of different motion modes of the control method of the exoskeleton device described in an embodiment of the present application.

[0046] Fig.12 This is a neural network controller structure of the control method of the exoskeleton device described in an embodiment of the present application.

[0047] Fig.13 This is a block diagram of a PID force-position hybrid control method for estimating joint torque based on a neural network for the control method of an exoskeleton device described in an embodiment of the present application.

[0048] Figure Number:

[0049] 100, driving mechanism; 110, housing; 120, driving unit; 130, reduction assembly; 131, worm; 132, worm wheel; 133, first gear; 134, first rotating shaft; 135, second gear; 136, third gear; 137, first winding wheel; 138, second winding wheel; 139, second rotating shaft; 1310, third rotating shaft; 140, first one-way feeding assembly; 141, first one-way bearing; 142, first friction wheel; 143, fourth rotating shaft; 144, fifth rotating shaft; 150, second one-way feeding assembly; 160, first outlet assembly; 161, first wire tube; 162, first hollow tube; 163, third elastic member; 164, first baffle; 170, second outlet assembly;

[0050] 200, exoskeleton suit; 210, lining; 220, shoulder straps; 221, first sleeve; 222, second sleeve; 230, sleeves; 240, gloves;

[0051] 300, transmission mechanism; 310, first rope; 320, second rope; 330, first connecting assembly; 331, first anchor point; 332, second anchor point; 333, first elastic member; 340, second connecting assembly; 341, third anchor point; 342, fourth anchor point; 343, fifth anchor point; 344, sixth anchor point; 345, first pulley; 346, second pulley; 347, second elastic member;

[0052] 400, sensing mechanism; 410, tension sensor; 420, tension sensor. DETAILED DESCRIPTION

[0053] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0054] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0055] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0056] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0057] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0058] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0059] See also Figures 1 to 3 , shows a schematic diagram of the structure of an exoskeleton device in an embodiment of the present application, the exoskeleton device includes a drive mechanism 100, an exoskeleton suit 200 and a transmission mechanism 300, the drive mechanism 100 includes a housing 110, a drive unit 120 and a reduction assembly 130, the housing 110 is provided with a receiving cavity, the drive unit 120 and the reduction assembly 130 are both arranged in the receiving cavity, the power output end of the drive unit 120 is connected to the reduction assembly 130, and the reduction assembly 130 is provided with a first output end and a second output end. In an exemplary embodiment, the drive unit 120 is a motor.

[0060] The exoskeleton suit 200 includes a lining 210 , shoulder straps 220 and sleeves 230 . The shoulder straps 220 are installed on the shoulders of the lining 210 , and the sleeves 230 are installed on the elbows of the lining 210 . The shoulder straps 220 are connected to the sleeves 230 , and the shoulder straps 220 are provided with a first sleeve 221 and a second sleeve 222 .

[0061] The transmission mechanism 300 includes a first rope 310, a second rope 320, a first connecting component 330 and a second connecting component 340. The first connecting component 330 is installed at a position of the sleeve 230 corresponding to the inner side of the elbow joint, and the second connecting component 340 is installed at a position of the sleeve 230 corresponding to the outer side of the elbow joint. The first rope 310 can be movably passed through the first sleeve 221, one end of the first rope 310 is connected to the first output end, and the other end of the first rope 310 is connected to the first connecting component 330. The second rope 320 can be movably passed through the second sleeve 222, one end of the second rope 320 is connected to the second output end, and the other end of the second rope 320 is connected to the second connecting component 340.

[0062] In the exoskeleton device described in the embodiment of the present application, the drive mechanism 100 is the power unit of the exoskeleton device. The staff wears the exoskeleton suit 200. The exoskeleton suit 200 is also provided with shoulder straps 220 at the shoulder position and sleeves 230 at the arm. The first connecting component 330 and the second connecting component 340 are respectively installed at the positions on both sides of the elbow joint. The first output end of the drive mechanism 100 is connected to the first connecting component 330 on the exoskeleton suit 200 through the first rope 310, and the second output end of the drive mechanism 100 is connected to the second connecting component 340 on the exoskeleton suit 200 through the second rope 320, so that the drive mechanism 100 transmits external force to the joints of the exoskeleton suit 200 worn on the human body to assist the human body in movement.

[0063] The exoskeleton device described in the embodiment of the present application, by setting a deceleration component 130 between the drive unit 120 and the transmission mechanism 300, enables the drive unit 120 to output a greater torque through the deceleration component 130, thereby improving the performance parameters of the drive mechanism 100. Since a larger torque is often required to overcome resistance to complete work in a green power exchange station, the exoskeleton device of the present application is more suitable for the working conditions of a green power exchange station. Moreover, by setting the deceleration component 130, the rotation speed of the drive unit 120 can be reduced, thereby making the movement of the exoskeleton device more stable and precise, providing safe and stable external force transmission, and optimizing the user experience.

[0064] In the exoskeleton device described in the embodiment of the present application, all components are attached or connected to the lining 210 of the exoskeleton suit 200, and the connection points are designed taking into account the moving parts of the human body. There is no need to worry about the drive mechanism 100 slipping, abrasion of the human body, etc.

[0065] Combination Figure 4, shows a schematic diagram of the internal structure of an exoskeleton device in an embodiment of the present application. In some embodiments, the exoskeleton device further includes a sensor mechanism 400, which includes a drive sensor, a transmission state sensor, and a motion intention sensor. The drive sensor is installed on the drive unit 120, and the drive sensor is used to obtain the rotation speed and input angle signal of the drive unit 120. The transmission state sensor is installed on the deceleration assembly 130, and the transmission state sensor is used to monitor the transmission state of the first rope 310 and the second rope 320 in real time. The motion intention sensor is installed on the sleeve 230, and the motion intention sensor is used to provide motion feedback for the exoskeleton device. Through the drive sensor, the transmission state sensor, and the motion intention sensor, the motion signals and physiological signals of the drive mechanism 100, the exoskeleton suit 200, and the wearer can be collected and transmitted to the control system of the exoskeleton device. The control system can realize system control according to the real-time status of the exoskeleton device and the wearer, and drive the exoskeleton device to realize corresponding movements as expected, so as to improve the comfort of the exoskeleton device.

[0066] In an exemplary embodiment, the driving sensor is an absolute encoder built into the driving unit 120, which is used to obtain the rotation speed and input angle signal of the driving unit 120 in real time. The transmission state sensor includes a tension sensor 410 and a tension sensor 420. The tension sensor 410 is installed at the first output end and the second output end of the deceleration assembly 130, and the tension sensor 420 is installed at the first output end and the second output end of the deceleration assembly 130. The input force of the first rope 310 and the second rope 320 can be obtained through the tension sensor 410, and the magnitude of the output force transmitted to the arm end through the transmission mechanism 300 can be obtained through the tension sensor 420. The motion intention sensor includes an electromyographic sensor and an elbow joint angle sensor arranged at the arm end of the exoskeleton suit 200, which can provide motion feedback for the entire exoskeleton device, detect the bending angle of the elbow joint in real time, and obtain the activity degree of the muscles related to the elbow joint movement. The effectiveness of the exoskeleton device can be further verified by the activity degree of the muscles. The elbow joint angle sensor is mainly used to provide feedback on the elbow joint movement and provide safety guarantee for the movement of the elbow joint.

[0067] In an optional embodiment, if Figure 7As shown, the first connection assembly 330 includes a first anchor point 331 and a second anchor point 332. The first anchor point 331 is installed at one end of the sleeve 230 on the inner side of the elbow joint near the shoulder strap 220, the port of the first sleeve 221 is connected to the first anchor point 331, the second anchor point 332 is installed at one end of the sleeve 230 on the inner side of the elbow joint away from the shoulder strap 220, and the first rope 310 is connected to the second anchor point 332. The sleeve 230 is a connecting fabric that fixes the anchor point on the lining 210, and at the same time, the sleeve 230 also distributes the concentrated force from the anchor point to the arm. By setting the first anchor point 331 and the second anchor point 332 on the inner side of the elbow joint, the first anchor point 331 is used to fix the distal end of the first sleeve 221, and the first rope 310 is connected to the second anchor point 332 after passing through the first sleeve 221, so that the second anchor point 332 is driven by the driving mechanism 100 to apply power to the second anchor point 332, so as to achieve the purpose of assisting the wearer to move.

[0068] Furthermore, if Figure 7 As shown, the second connecting component 340 includes a third anchor point 341, a fourth anchor point 342, a fifth anchor point 343 and a sixth anchor point 344, the third anchor point 341 is installed at one end of the sleeve 230 on the outside of the elbow joint close to the shoulder strap 220, the port of the second sleeve 222 is connected to the third anchor point 341, the fourth anchor point 342 is installed at one end of the sleeve 230 on the outside of the elbow joint away from the shoulder strap 220, the second rope 320 is connected to the fourth anchor point 342, the fifth anchor point 343 and the sixth anchor point 344 are respectively installed at two ends of the position where the sleeve 230 is bent on the outside of the elbow joint, the fifth anchor point 343 is provided with a first pulley 345, the sixth anchor point 344 is provided with a second pulley 346, and the second rope 320 is movably connected to the first pulley 345 and the second pulley 346. By setting the third anchor point 341 and the sixth anchor point 344 on the outside of the elbow joint, the third anchor point 341 is used to fix the distal end of the second sleeve 222, and the second rope 320 is connected to the sixth anchor point 344 after passing through the second sleeve 222, so that the sixth anchor point 344 is driven by the driving mechanism 100. Considering that when the elbow joint is bent, the second rope 320 is connected to the sixth anchor point 344 via the third anchor point 341, and the transmission path will pass through the outside of the elbow joint, and pressure will be generated on the elbow joint during the transmission process, which may cause damage to the elbow joint in severe cases. Therefore, the fourth anchor point 342 and the fifth anchor point 343 are respectively set on the outside, the fourth anchor point 342 is connected to the miniature first pulley 345, and the fifth anchor point 343 is connected to the miniature second pulley 346. The second rope 320 slides from the first pulley 345 and the second pulley 346, which not only changes the transmission direction of the second rope 320, but also ensures the safety of the human arm, and does not affect the transmission efficiency of the second rope 320.

[0069] In an optional embodiment, the first anchor point 331, the second anchor point 332, the third anchor point 341, the fourth anchor point 342, the fifth anchor point 343 and the sixth anchor point 344 are structures connecting the exoskeleton suit 200 and the transmission mechanism 300. They mainly bear the tension and pressure from the transmission mechanism 300 and transmit these external forces to the exoskeleton suit 200. Therefore, the anchor points need to have a certain ability to resist deformation, that is, have a certain hardness. In an exemplary embodiment, the first anchor point 331, the second anchor point 332, the third anchor point 341, the fourth anchor point 342, the fifth anchor point 343 and the sixth anchor point 344 are made of high-performance nylon material through 3D printing. The tensile strength of the high-performance nylon material is 48 MPa / 6960 pounds per square inch, and the tensile modulus is about 1700 MPa / 245 thousand pounds per square inch, which has good toughness and strength.

[0070] In an optional embodiment, if Figure 4 As shown, the reduction assembly 130 includes a worm 131, a worm wheel 132, a first gear 133, a first rotating shaft 134, a second gear 135, a third gear 136, a first winding wheel 137, a second winding wheel 138, a second rotating shaft 139 and a third rotating shaft 1310. The worm 131 is connected to the power output end of the driving unit 120, the first rotating shaft 134 is rotatably installed in the accommodating cavity, the worm wheel 132 and the first gear 133 are installed on the first rotating shaft 134, and the worm 131 is connected to the power output end of the driving unit 120. Meshingly connected with the worm gear 132, the second rotating shaft 139 and the third rotating shaft 1310 are both rotatably installed in the accommodating cavity, the first winding wheel 137 and the second gear 135 are installed on the second rotating shaft 139, the second winding wheel 138 and the third gear 136 are installed on the third rotating shaft 1310, the second gear 135 and the third gear 136 are both meshingly connected with the first gear 133, the first rope 310 is wound around the first winding wheel 137, and the second rope 320 is wound around the second winding wheel 138.

[0071] The drive unit 120 of this embodiment is installed in the housing 110. The entire exoskeleton device is driven by the drive unit 120. The drive direction of the drive unit 120 is changed through the worm 131 and the worm wheel 132. At the same time, the output torque of the drive unit 120 is increased and the output speed is reduced. The worm wheel 132 rotates coaxially with the first gear 133. The second gear 135 corresponding to the inner side of the elbow joint and the third gear 136 corresponding to the outer side of the elbow joint are meshed with the first gear 133. Different speed transmission is achieved for the inner side and the outer side of the elbow joint according to different transmission ratios. The second gear 135 is connected to the first winding wheel 137, one end of the first rope 310 is connected to the first winding wheel 137, the third gear 136 is connected to the second winding wheel 138, and one end of the second rope 320 is connected to the second winding wheel 138. The first rope 310 and the second rope 320 are wound around the first winding wheel 137 and the second winding wheel 138 in opposite winding directions. When the driving unit 120 rotates, the second gear 135 and the third gear 136 will rotate in the same direction. Since the winding directions are opposite, the first rope 310 and the second rope 320 will have opposite directions. This is also similar to the changes in the biceps and triceps when the elbow joint is bent, thereby optimizing the use effect of the exoskeleton device and providing safe and stable external force transmission.

[0072] In an exemplary embodiment, the reduction ratio of the worm 131 and the worm wheel 132 is 50:1, and the transmission ratio of the second gear 135 and the third gear 136 is 5:3.

[0073] In an optional embodiment, if Figure 1 As shown, the exoskeleton suit 200 further includes a glove 240, and one end of the sleeve 230 away from the shoulder strap 220 is connected to the glove 240. Since the upper arm portion of the arm will be subjected to the pulling force from the first rope 310 and the second rope 320, in order to prevent the sleeve 230 from sliding down, the upper part of the sleeve 230 is fixed at the shoulder by the shoulder strap 220, and the shoulder strap 220 is passed around the shoulder and chest and fixed on the other shoulder. The forearm end will have a tendency to slide up due to the pulling force of the first rope 310 and the second rope 320, so the glove 240 and the sleeve 230 are further fixed to prevent the sleeve 230 from sliding upward as a whole, optimize the use effect of the exoskeleton device, and provide safe and stable external force transmission.

[0074] In an optional embodiment, if Figure 7As shown, the first connection assembly 330 further includes a first elastic member 333, one end of which is connected to the second anchor point 332, and the other end of which is connected to the first rope 310. The second connection assembly 340 further includes a second elastic member 347, one end of which is connected to the fourth anchor point 342, and the other end of which is connected to the second rope 320. Specifically, the first elastic member 333 and the second elastic member 347 are springs. By connecting the first elastic member 333 to the end of the first rope 310 and connecting the second elastic member 347 to the end of the second rope 320, the first elastic member 333 and the second elastic member 347 provide a buffer for the first rope 310 and the second rope 320, so as to avoid the first rope 310 and the second rope 320 from pulling the arm too hard, resulting in low arm comfort, thereby optimizing the user experience of the exoskeleton device.

[0075] In an optional embodiment, if Figure 4 and Figure 5 As shown, the transmission mechanism 300 also includes a first one-way feeding assembly 140, which mainly uses friction to suppress the proximal relaxation of the first rope 310 caused by the distal relaxation. The first one-way feeding assembly 140 includes a first one-way bearing 141, a first friction wheel 142, a fourth rotating shaft 143 and a fifth rotating shaft 144, the fourth rotating shaft 143 and the fifth rotating shaft 144 are installed in parallel in the accommodating cavity, the first one-way bearing 141 is installed on the fourth rotating shaft 143, and the first one-way bearing 141 can only rotate in one direction on the fourth rotating shaft 143. The first friction wheel 142 is installed on the fifth rotating shaft 144, the first rope 310 is inserted between the first one-way bearing 141 and the first friction wheel 142, and the gap between the first one-way bearing 141 and the first friction wheel 142 is smaller than the diameter of the first rope 310. Specifically, the first friction wheel 142 is a soft rubber wheel. When the first rope 310 is transmitted outward, it will drive the first one-way bearing 141 and the first friction wheel 142 to rotate. When the first rope 310 slides in the opposite direction, the first one-way bearing 141 is locked and the first friction wheel 142 can rotate. Since the gap between the first one-way bearing 141 and the first friction wheel 142 is smaller than the diameter of the first rope 310, under the action of friction, a certain pulling force needs to be applied from below to realize the sliding of the first rope 310, thereby suppressing the proximal relaxation of the first rope 310 caused by the distal relaxation, thereby improving the user experience.

[0076] Similarly, if Figure 4As shown, the transmission mechanism 300 further includes a second one-way feeding assembly 150, the structure of which is the same as that of the first one-way feeding assembly 140, and the second one-way feeding assembly 150 includes a second one-way bearing, a second friction wheel, a sixth rotating shaft and a seventh rotating shaft, the sixth rotating shaft and the seventh rotating shaft are installed in parallel in the accommodating cavity, the second one-way bearing is installed on the sixth rotating shaft, the second friction wheel is installed on the seventh rotating shaft, the second rope 320 is passed through between the second one-way bearing and the second friction wheel, and the gap between the second one-way bearing and the second friction wheel is smaller than the diameter of the second rope 320. Specifically, the second friction wheel is a soft rubber wheel. When the second rope 320 is transmitted outward, it will drive the second one-way bearing and the second friction wheel to rotate. When the second rope 320 slides in the opposite direction, the second one-way bearing is locked and the second friction wheel can rotate. Since the gap between the second one-way bearing and the second friction wheel is smaller than the diameter of the second rope 320, under the action of friction, a certain pulling force needs to be applied from below to realize the sliding of the second rope 320, thereby suppressing the proximal relaxation of the second rope 320 caused by distal relaxation, thereby improving the user experience.

[0077] In an optional embodiment, if Figure 3 and Figure 6 As shown, the transmission mechanism 300 further includes a first outlet assembly 160, which includes a first wire tube 161, a first hollow tube 162, a third elastic member 163 and a first baffle 164. The first wire tube 161 is movably disposed on the housing 110, the first wire tube 161 is provided with a first through hole, the first hollow tube 162 is provided with a second through hole, the outer wall of the first hollow tube 162 is movably connected to the inner wall of the first through hole, the first rope 310 can movably pass through the first through hole and the second through hole, the third elastic member 163 is disposed in the first through hole, one end of the first hollow tube 162 facing the first through hole abuts against the third elastic member 163, the first baffle 164 is connected to the first rope 310, and the first baffle 164 can movably abut against the third elastic member 163. The inner and outer walls of the first wire tube 161 are both provided with threads, the first wire tube 161 is connected and meshed with the wire tube nut through external threads, and is connected to the first hollow tube 162 through internal threads. The first through hole of the first wire tube 161 can allow the first rope 310 to pass through it. The third elastic member 163 is placed in the first wire tube 161, and the first rope 310 passes through it, and then passes through the first baffle 164. The first baffle 164 is mainly used to connect the third elastic member 163 and the first sleeve 221. At the same time, when the first hollow tube 162 is tightened downward, the third elastic member 163 can be compressed. The inner diameter of the first hollow tube 162 is larger than the outer diameter of the first sleeve 221, which can allow the first sleeve 221 to pass freely therethrough. The function of the first outlet assembly 160 is to provide a pre-tightening force for the transmission mechanism 300, adjust the first rope 310 to enter a tensioned state, and improve the user experience.

[0078] Similarly, the transmission mechanism 300 also includes a second outlet assembly 170, and the structure of the second outlet assembly 170 is consistent with the structure of the first outlet assembly 160. The second outlet assembly 170 includes a second wire tube, a second hollow tube, a fourth elastic member and a second baffle. The second wire tube is movably arranged on the housing 110, the second wire tube is provided with a third through hole, the second hollow tube is provided with a fourth through hole, the outer side wall of the second hollow tube is movably connected to the inner side wall of the third through hole, the second rope 320 can movably pass through the third through hole and the fourth through hole, the fourth elastic member is arranged on the third through hole, one end of the second hollow tube facing the third through hole abuts the fourth elastic member, the second baffle is connected to the second rope 320, and the second baffle can movably abut the fourth elastic member. The inner side wall and the outer side wall of the second wire tube are both provided with threads, the second wire tube is connected and meshed with the wire tube nut through the external thread, and is connected to the second hollow tube through the internal thread. The second through hole of the second wire tube can allow the second rope 320 to pass through it. The fourth elastic member is placed in the second wire tube, and the second rope 320 passes through it and then passes through the second baffle. The second baffle is mainly used to connect the fourth elastic member and the second sleeve. At the same time, when the second hollow tube is tightened downward, the fourth elastic member can be compressed. The inner diameter of the second hollow tube is larger than the outer diameter of the second sleeve, allowing the second sleeve to pass freely therethrough. The function of the second outlet assembly is to provide pre-tightening force for the transmission mechanism 300, adjust the second rope 320 to enter a tensioned state, and improve the user experience.

[0079] On the other hand, an embodiment of the present application further provides a control method for an exoskeleton device, which is applicable to the exoskeleton device described in any of the above embodiments, and comprises the following steps:

[0080] Initialize a feature set F and a data set D;

[0081] Initialize an empty set F';

[0082] Use the ReliefF algorithm for the dataset D, taking each feature f[i] in F as the target feature to generate the importance score score[i] of feature f[i];

[0083] Sort all features f according to score and record the sorting index idx;

[0084] Extract the first 50% of the features with the highest scores and place them in F', that is, F'=f[idx[1:n]];

[0085] Initialize a new data set D';

[0086] Extract the feature values ​​in F' from each sample s[j] in D to form a new sample s[j]', and put s[j]' into the new data set D';

[0087] The new data set D' is normalized using the maximum and minimum normalization method and converted into the driving force of the exoskeleton device.

[0088] The control method of the exoskeleton device described in the embodiment of the present application is as follows: Figure 8 As shown in FIG. 1 , the control system applied to the exoskeleton device obtains the signal of the sensor mechanism 400 and transmits the processed signal to the drive mechanism 100, thereby controlling the drive mechanism 100 to drive the worker wearing the exoskeleton suit 200 through the transmission mechanism 300. After the control method of the exoskeleton device performs ReliefF feature selection on all features, the feature weight distribution obtained is as follows: Fig. 9 The feature weight value w is concentrated in the range of 0 to 0.4. The weight close to 0 indicates that the feature has a large intra-class distance and a small inter-class distance, and is an invalid feature. The weight tends to 1, indicating that the feature is the most sensitive in this classification and is a high-quality feature.

[0089] like Fig.10 As shown in the figure, among the multidimensional features, 79% of the feature weights are distributed between 0 and 0.1, 5% of the feature weights are between 0.1 and 0.15, 3% of the feature weights are between 0.15 and 0.2, and 13% of the feature weights are greater than 0.2.

[0090] After the original feature vector is selected by ReliefF and reduced by PCA, the first three principal components of its feature subset are visualized in three dimensions. The results are as follows: Fig.11 As shown, it can be seen that the feature samples of the same motion mode are clustered together, the boundary between the feature samples of different motion modes is obvious, the intra-mode distance is small, and the inter-mode distance is large, which shows that the feature clustering effect after ReliefF-PCA fusion is obvious, showing the effectiveness of this method.

[0091] In this embodiment, the feature is screened by the ReliefF algorithm and then converted into driving force. The exoskeleton device is worn on the human body, and the driving force generated by the driving mechanism 100 is transmitted to the exoskeleton suit 200 to realize joint movement. The sensor mechanism 400 can collect the motion signals and physiological signals of the driving mechanism 100, the exoskeleton suit 200 and the wearer, and transmit them to the control system. The control system can realize the control of the system according to the real-time status of the exoskeleton device and the wearer, and the driving system realizes the corresponding movement as expected.

[0092] On the other hand, an embodiment of the present application further provides a control method for an exoskeleton device, which is applicable to the exoskeleton device described in any of the above embodiments, and comprises the following steps:

[0093] The joint torque is mapped to the incremental angle of the joint based on the data of the drive sensor, the transmission state sensor and the motion intention sensor;

[0094] Position loop sent to the neural network controller;

[0095] A neural network algorithm is used to analyze the nonlinear relationship between the estimated joint torque and the incremental angle in real time;

[0096] The exoskeleton device is controlled based on the nonlinear relationship between the estimated joint torque and the increment angle.

[0097] The control method of the exoskeleton device described in the embodiment of the present application is as follows: Fig.13 As shown, the control method of the exoskeleton device is applied to the control system of the exoskeleton device. The control system adopts PID force-position hybrid control based on neural network to estimate joint torque. The neural network can obtain the relationship between the system input and output through learning and training without relying on prior knowledge of the system. Moreover, the neural network has a strong learning ability in simulating complex nonlinear systems and compensating for non-structural uncertainties.

[0098] The control method of the exoskeleton device described in the embodiment of the present application is based on the PID force-position hybrid control strategy of the neural network estimated torque, which combines the information of the surface electromyography sensor, the force sensor and the encoder to achieve motion assistance of the elbow joint. In order to control the movement of the exoskeleton device based on the human's movement intention to achieve effective motion assistance, the estimated joint torque is mapped to the joint increment angle and then sent to the position loop of the neural network controller. However, the mapping factor between the estimated value of the joint torque and the increment angle is highly nonlinear, and the optimal solution will change with the elbow flexion and extension movement and the surface electromyography signal. Therefore, a neural network algorithm is used here to analyze the nonlinear relationship between them in real time to improve the control performance of the exoskeleton robot.

[0099] The control method of the exoskeleton device described in the embodiment of the present application adopts the following five-layer neural network structure: Fig.11 As shown, the input vector of the neural network controller is Estimating torque from joints , surface electromyography , elbow angle and its differential Composition can be expressed as:

[0100]

[0101] In the neural network controller of this embodiment, there are three hidden control layers. represents the first hidden layer Nodes is the second hidden layer nodes, Represents the third hidden layer nodes. Represents the input layer Nodes With the first hidden layer Nodes The weight between represents the first hidden layer Nodes With the second hidden layer Nodes The weight between The second hidden layer Nodes With the third hidden layer Nodes The weight between represents the third hidden layer Nodes The weights between the output layer and , , and Represent the bias of each weight. The root mean square error and Sigmoid function are selected as the loss function and activation function of the neural network controller respectively. There must be a large deviation between the input and output obtained by each forward propagation. Based on the Luo rule and gradient descent method, the back propagation algorithm is used to optimize the weights and biases in each layer of the neural network controller. Assuming that the neural network controller has completed training and can meet the system control requirements, the output of the neural network controller It can be expressed as:

[0102]

[0103] The joint increment angle is:

[0104]

[0105] Then the position error can be expressed as:

[0106]

[0107] Then the expression of the PID force-position hybrid control strategy based on neural network estimation of joint torque can be expressed as:

[0108]

[0109] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0110] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An exoskeleton device, characterized in that: include: A driving mechanism (100), the driving mechanism (100) comprising a housing (110), a driving unit (120) and a reduction assembly (130), the housing (110) being provided with a receiving cavity, the driving unit (120) and the reduction assembly (130) being both arranged in the receiving cavity, a power output end of the driving unit (120) being connected to the reduction assembly (130), and the reduction assembly (130) being provided with a first output end and a second output end; An exoskeleton suit (200), the exoskeleton suit (200) comprising an inner lining (210), a shoulder strap (220) and a sleeve (230), the shoulder strap (220) being mounted on the shoulder of the inner lining (210), the sleeve (230) being mounted on the elbow of the inner lining (210), the shoulder strap (220) being connected to the sleeve (230), and the shoulder strap (220) being provided with a first sleeve (221) and a second sleeve (222); and A transmission mechanism (300), the transmission mechanism (300) comprising a first rope (310), a second rope (320), a first connecting assembly (330) and a second connecting assembly (340), the first connecting assembly (330) being mounted at a position of the sleeve (230) corresponding to the inner side of the elbow joint, the second connecting assembly (340) being mounted at a position of the sleeve (230) corresponding to the outer side of the elbow joint, the first rope (310) being movably inserted through the first sleeve (221), one end of the first rope (310) being connected to the first output end, the other end of the first rope (310) being connected to the first connecting assembly (330), the second rope (320) being movably inserted through the second sleeve (222), one end of the second rope (320) being connected to the second output end, and the other end of the second rope (320) being connected to the second connecting assembly (340).

2. The exoskeleton device according to claim 1, characterized in that: The exoskeleton device further comprises a sensing mechanism (400), wherein the sensing mechanism (400) comprises a drive sensor, a transmission state sensor and a motion intention sensor, wherein the drive sensor is mounted on the drive unit (120), and is used to obtain a rotation speed and an input angle signal of the drive unit (120); the transmission state sensor is mounted on the deceleration assembly (130), and is used to monitor the transmission state of the first rope (310) and the second rope (320) in real time; and the motion intention sensor is mounted on the sleeve (230), and is used to provide motion feedback for the exoskeleton device.

3. The exoskeleton device according to claim 1, characterized in that: The first connection component (330) comprises a first anchor point (331) and a second anchor point (332), the first anchor point (331) being mounted on an end of the sleeve (230) on the inner side of the elbow joint close to the shoulder strap (220), the port of the first sleeve (221) being connected to the first anchor point (331), the second anchor point (332) being mounted on an end of the sleeve (230) on the inner side of the elbow joint away from the shoulder strap (220), and the first rope (310) being connected to the second anchor point (332); The second connecting component (340) comprises a third anchor point (341), a fourth anchor point (342), a fifth anchor point (343) and a sixth anchor point (344), wherein the third anchor point (341) is installed at one end of the sleeve (230) on the outside of the elbow joint close to the shoulder strap (220), the port of the second sleeve (222) is connected to the third anchor point (341), and the fourth anchor point (342) is installed at the end of the sleeve (230) on the outside of the elbow joint away from the shoulder strap The sleeve (230) is provided with one end of the sleeve (220), the second rope (320) is connected to the fourth anchor point (342), the fifth anchor point (343) and the sixth anchor point (344) are respectively installed at the two ends of the sleeve (230) at the outer bending position of the elbow joint, the fifth anchor point (343) is provided with a first pulley (345), the sixth anchor point (344) is provided with a second pulley (346), and the second rope (320) is movably connected to the first pulley (345) and the second pulley (346).

4. The exoskeleton device according to claim 1, characterized in that: The reduction assembly (130) comprises a worm (131), a worm wheel (132), a first gear (133), a first rotating shaft (134), a second gear (135), a third gear (136), a first winding wheel (137), a second winding wheel (138), a second rotating shaft (139) and a third rotating shaft (1310), wherein the worm (131) is connected to a power output end of the driving unit (120), the first rotating shaft (134) is rotatably mounted on the accommodating cavity, the worm wheel (132) and the first gear (133) are mounted on the first rotating shaft (134), and the worm (131) and the worm wheel (137) are connected to each other. 2) meshing connection, the second rotating shaft (139) and the third rotating shaft (1310) are both rotatably mounted on the accommodating cavity, the first winding wheel (137) and the second gear (135) are mounted on the second rotating shaft (139), the second winding wheel (138) and the third gear (136) are mounted on the third rotating shaft (1310), the second gear (135) and the third gear (136) are both meshingly connected with the first gear (133), the first rope (310) is wound around the first winding wheel (137), and the second rope (320) is wound around the second winding wheel (138).

5. The exoskeleton device according to claim 1, characterized in that: The exoskeleton suit (200) further comprises a glove (240), and one end of the sleeve (230) away from the shoulder strap (220) is connected to the glove (240).

6. The exoskeleton device according to claim 3, characterized in that: The first connection assembly (330) further comprises a first elastic member (333), one end of the first elastic member (333) being connected to the second anchor point (332), and the other end of the first elastic member (333) being connected to the first rope (310); The second connection assembly (340) further comprises a second elastic member (347), one end of the second elastic member (347) being connected to the fourth anchor point (342), and the other end of the second elastic member (347) being connected to the second rope (320).

7. The exoskeleton device according to claim 1, characterized in that: The transmission mechanism (300) further comprises a first one-way feeding assembly (140), the first one-way feeding assembly (140) comprising a first one-way bearing (141), a first friction wheel (142), a fourth rotating shaft (143) and a fifth rotating shaft (144), the fourth rotating shaft (143) and the fifth rotating shaft (144) being mounted in parallel in the accommodating cavity, the first one-way bearing (141) being mounted on the fourth rotating shaft (143), the first friction wheel (142) being mounted on the fifth rotating shaft (144), the first rope (310) being passed through between the first one-way bearing (141) and the first friction wheel (142), and a gap between the first one-way bearing (141) and the first friction wheel (142) being smaller than a diameter of the first rope (310); The transmission mechanism (300) further includes a second one-way feeding assembly (150), the second one-way feeding assembly (150) includes a second one-way bearing, a second friction wheel, a sixth rotating shaft and a seventh rotating shaft, the sixth rotating shaft and the seventh rotating shaft are installed in parallel in the accommodating cavity, the second one-way bearing is installed on the sixth rotating shaft, the second friction wheel is installed on the seventh rotating shaft, the second rope (320) is passed between the second one-way bearing and the second friction wheel, and the gap between the second one-way bearing and the second friction wheel is smaller than the diameter of the second rope (320).

8. The exoskeleton device according to claim 1, characterized in that: The transmission mechanism (300) further comprises a first outlet assembly (160), the first outlet assembly (160) comprising a first wire tube (161), a first hollow tube (162), a third elastic member (163) and a first baffle (164); the first wire tube (161) is movably arranged on the housing (110); the first wire tube (161) is provided with a first through hole; the first hollow tube (162) is provided with a second through hole; the outer wall of the first hollow tube (162) is movably connected to the inner wall of the first through hole; the first rope (310) is movably passed through the first through hole and the second through hole; the third elastic member (163) is arranged on the first through hole; one end of the first hollow tube (162) facing the first through hole abuts against the third elastic member (163); the first baffle (164) is connected to the first rope (310); and the first baffle (164) is movably abuts against the third elastic member (163); The transmission mechanism (300) further comprises a second outlet assembly (170), the second outlet assembly (170) comprising a second wire tube, a second hollow tube, a fourth elastic member and a second baffle, the second wire tube being movably arranged on the housing (110), the second wire tube being provided with a third through hole, the second hollow tube being provided with a fourth through hole, the outer wall of the second hollow tube being movably connected to the inner wall of the third through hole, the second rope (320) being movably passed through the third through hole and the fourth through hole, the fourth elastic member being arranged on the third through hole, one end of the second hollow tube facing the third through hole abutting against the fourth elastic member, the second baffle being connected to the second rope (320), and the second baffle being movably abutting against the fourth elastic member.

9. A control method for an exoskeleton device, applicable to the exoskeleton device according to any one of claims 1 to 8, characterized in that: The steps include: Initialize a feature set F and a data set D; Initialize an empty set F'; Use the ReliefF algorithm for the dataset D, taking each feature f[i] in F as the target feature to generate the importance score score[i] of feature f[i]; Sort all features f according to score and record the sorting index idx; Extract the first 50% of the features with the highest scores and place them in F', that is, F'=f[idx[1:n]]; Initialize a new data set D'; Extract the feature values ​​in F' from each sample s[j] in D to form a new sample s[j]', and put s[j]' into the new data set D'; The new data set D' is normalized using the maximum and minimum normalization method and converted into the driving force of the exoskeleton device.

10. A control method for an exoskeleton device, applicable to the exoskeleton device according to any one of claims 1 to 8, characterized in that: The steps include: The joint torque is mapped to the incremental angle of the joint based on the data of the drive sensor, the transmission state sensor and the motion intention sensor; Position loop sent to the neural network controller; A neural network algorithm is used to analyze the nonlinear relationship between the estimated joint torque and the incremental angle in real time; The exoskeleton device is controlled based on the nonlinear relationship between the estimated joint torque and the increment angle.

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