Exoskeleton device and control method thereof

Abstract

The application relates to an exoskeleton device and a control method thereof. The exoskeleton device comprises a driving mechanism, an exoskeleton 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 arranged in the containing cavity. The power output end of the driving unit is connected with the speed reduction assembly. The exoskeleton comprises an inner liner, a shoulder strap and a sleeve. The shoulder strap is mounted on the shoulder of the inner liner. The sleeve is mounted on the elbow of the inner liner. The shoulder strap is connected with the sleeve. 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 mounted on the positions corresponding to the two sides of the elbow joint of the sleeve. The two ends of the first rope pass through a first sleeve to connect the first connecting assembly and the driving mechanism. The two ends of the second rope pass through a second sleeve to connect the second connecting assembly and the driving mechanism. The exoskeleton device and the control method thereof have the advantages of good optimization effect and good applicability.

Description

Technical Field

[0001] This application relates to the field of wearable device technology, and in particular to an exoskeleton device and its control method. Background Technology

[0002] Converter stations are locations within high-voltage direct current (HVDC) transmission systems where alternating current (AC) and direct current (DC) are converted into each other. During daily operations at these stations, workers often need to move heavy components or tools, such as large electrical connectors and busbars, leading to fatigue and safety risks. In some green converter stations, exoskeletons are used to enhance workers' strength, helping them move heavy objects more easily and reducing the likelihood of injuries to their lower back, shoulders, and arms.

[0003] However, when existing exoskeleton devices are applied to green converter stations, their drive mechanisms, clothing systems, sensing mechanisms, and control methods are not fully adapted to the operational requirements of green power stations. The drive unit requires a powerful torque-driven transmission mechanism and must ensure the stable and efficient operation of the exoskeleton device in green converter stations, which places very strict requirements on the working environment, resulting in poor optimization effects and poor applicability. Summary of the Invention

[0004] Therefore, it is necessary to provide an exoskeleton device and its control method to address the problems of poor optimization and poor applicability of exoskeleton devices.

[0005] This invention provides an exoskeleton device, comprising:

[0006] A drive mechanism, comprising a housing, a drive unit, and a reduction assembly, wherein the housing has a receiving cavity, the drive unit and the reduction assembly are both disposed in the receiving cavity, the power output end of the drive unit is connected to the reduction assembly, and the reduction assembly has a first output end and a second output end;

[0007] An exoskeleton suit, comprising an inner lining, shoulder straps, and sleeves, wherein the shoulder straps are mounted on the shoulders of the inner lining, the sleeves are mounted on the elbows of the inner lining, the shoulder straps are connected to the sleeves, and the shoulder straps are provided with a first sleeve and a second sleeve.

[0008] The sleeve includes a transmission mechanism comprising a first rope, a second rope, a first connecting assembly, and a second connecting assembly. The first connecting assembly is installed on the inner side of the sleeve corresponding to the elbow joint, and the second connecting assembly is installed on the outer side of the sleeve corresponding to the elbow joint. The first rope is movably threaded through the first sleeve, with one end connected to the first output end and the other end connected to the first connecting assembly. The second rope is movably threaded through the second sleeve, with one end connected to the second output end and the other end connected to the second connecting assembly.

[0009] In one embodiment, the exoskeleton device further includes a sensing mechanism comprising a drive sensor, a transmission state sensor, and a motion intention sensor. The drive sensor is mounted on the drive unit and is used to acquire the rotational speed and input angle signals of the drive unit. The transmission state sensor is mounted on the deceleration assembly and is used to monitor the transmission state of the first rope and the second rope in real time. The motion intention sensor is mounted on the sleeve and is used to provide motion feedback to 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 near 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. 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 the end of the sleeve on the outside of the elbow joint near the shoulder strap. The end of the second sleeve is connected to the third anchor point. The fourth anchor point is installed at the 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 and sixth anchor points are respectively installed at both ends of the sleeve at the bent position on the outside of the elbow joint. The fifth anchor point is provided with a first pulley, and the sixth anchor point is provided with a second pulley. 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 shaft, a second gear, a third gear, a first winding reel, a second winding reel, a second shaft, and a third shaft. The worm is connected to the power output end of the drive unit. The first shaft is rotatably mounted in the accommodating cavity. The worm wheel and the first gear are mounted on the first shaft, and the worm is meshed with the worm wheel. The second shaft and the third shaft are both rotatably mounted in the accommodating cavity. The first winding reel and the second gear are mounted on the second shaft, and the second winding reel and the third gear are mounted on the third shaft. Both the second gear and the third gear are meshed with the first gear. The first rope is wound around the first winding reel, and the second rope is wound around the second winding reel.

[0013] In one embodiment, the exoskeleton suit further includes gloves, with one end of the sleeve remote from the shoulder strap connected to the gloves.

[0014] In one embodiment, the first connecting component further includes a first elastic element, one end of which is connected to the second anchor point, and the other end of which is connected to the first rope;

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

[0016] In one embodiment, the transmission mechanism further includes a first one-way feed assembly, which 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 parallel to each other in the receiving cavity. The first one-way bearing is installed on the fourth rotating shaft, the first friction wheel is installed on the fifth rotating shaft, and the first rope passes between the first one-way bearing and the first friction wheel. 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 further 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, and the second rope passes between the second one-way bearing and the second friction wheel, with the gap between the second one-way bearing and the second friction wheel being smaller than the diameter of the second rope.

[0018] In one embodiment, the transmission mechanism further includes a first cable outlet assembly, which includes a first cable tube, a first hollow tube, a third elastic element, and a first baffle. The first cable tube is movably disposed in the housing and has a first through hole. The first hollow tube has 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 is movably passed through the first through hole and the second through hole. The third elastic element is disposed in the first through hole. One end of the first hollow tube facing the first through hole abuts against the third elastic element. The first baffle is connected to the first rope and is movably abuts against the third elastic element.

[0019] The transmission mechanism further includes a second cable outlet assembly, which includes a second cable tube, a second hollow tube, a fourth elastic element, and a second baffle. The second cable tube is movably disposed in the housing and has a third through hole. The second hollow tube has 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 movably passes through the third and fourth through holes. The fourth elastic element is disposed in the third through hole. One end of the second hollow tube facing the third through hole abuts against the fourth elastic element. The second baffle is connected to the second rope and movably abuts against the fourth elastic element.

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

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

[0022] Initialize an empty set F';

[0023] The ReliefF algorithm is used to generate an importance score[i] for each feature f[i] in dataset D, with each feature f[i] in F as the target feature.

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

[0025] Extract the features with the highest scores from the top 50% and place them in F', i.e., F' = f[idx[1:n]].

[0026] Initialize a new dataset D';

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

[0028] The new dataset D' is normalized using the min-max normalization method and transformed into the driving force of the exoskeleton device.

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

[0030] The joint torque is calculated based on data from the drive sensor, transmission status sensor, and motion intention sensor and mapped to the incremental angle of the joint.

[0031] The position loop is sent to the neural network controller;

[0032] A neural network algorithm is used to analyze the nonlinear relationship between the joint torque estimate 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 incremental angle.

[0034] The aforementioned exoskeleton device and its control method utilize a drive mechanism as the power unit. Workers wear the exoskeleton suit, and the output end of the drive mechanism is connected to a first connecting component on the exoskeleton suit via a first rope and a second connecting component via a second rope, thereby assisting human movement. This embodiment incorporates a speed reduction component between the drive unit and the transmission mechanism, allowing the drive unit to output greater torque and improving the performance parameters of the drive mechanism. Since green power swapping stations often require significant torque to overcome resistance and complete their work, the exoskeleton device of this application is more suitable for the working conditions of green power swapping stations. Furthermore, by incorporating a speed reduction component, the rotational speed of the drive unit can be reduced, resulting in smoother and more precise movement of the exoskeleton device, providing safe and stable external force transmission, and optimizing the user experience. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of wearing the exoskeleton device described in the embodiments of this application.

[0036] Figure 2 This is a schematic diagram of wearing the exoskeleton device on the other side according to an embodiment of this application.

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

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

[0039] Figure 5 This is a schematic diagram of the structure of the first unidirectional feed component of the exoskeleton device described in the embodiments of this application.

[0040] Figure 6 This is a schematic diagram of the structure of the first wire output component of the exoskeleton device described in the embodiments of this application.

[0041] Figure 7 This is a schematic diagram of the transmission mechanism of the exoskeleton device described in the embodiments of this application.

[0042] Figure 8 This is a system block diagram of the exoskeleton device described in the embodiments of this application.

[0043] Figure 9 This is a feature weight distribution diagram of the control method for the exoskeleton device described in the embodiments of this application.

[0044] Figure 10 This is a probability diagram showing the feature weight distribution of the control method for the exoskeleton device described in the embodiments of this application.

[0045] Figure 11 Principal component dispersion diagrams of different motion modes of the control method of the exoskeleton device described in the embodiments of this application.

[0046] Figure 12 This is the neural network controller structure of the control method for the exoskeleton device described in the embodiments of this application.

[0047] Figure 13 This is a block diagram of a PID force-position hybrid control method based on neural network estimation of joint torque for the control method of the exoskeleton device described in the embodiments of this application.

[0048] Icon labels:

[0049] 100. Drive mechanism; 110. Housing; 120. Drive unit; 130. Reduction assembly; 131. Worm gear; 132. Worm wheel; 133. First gear; 134. First shaft; 135. Second gear; 136. Third gear; 137. First winding wheel; 138. Second winding wheel; 139. Second shaft; 1310. Third shaft; 140. First one-way feed assembly; 141. First one-way bearing; 142. First friction wheel; 143. Fourth shaft; 144. Fifth shaft; 150. Second one-way feed assembly; 160. First cable outlet assembly; 161. First conduit; 162. First hollow tube; 163. Third elastic element; 164. First baffle; 170. Second cable outlet assembly;

[0050] 200. Exoskeleton suit; 210. Lining; 220. Shoulder straps; 221. First sleeve; 222. Second sleeve; 230. Sleeve covers; 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 element; 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 element;

[0052] 400. Sensing mechanism; 410. Tension sensor; 420. Force sensor. Detailed Implementation

[0053] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0054] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0055] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0056] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0057] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0058] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, 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 possible implementation.

[0059] See Figures 1 to 3 The diagram illustrates the structure of an exoskeleton device according to an embodiment of this 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 has a receiving cavity, and both the drive unit 120 and the reduction assembly 130 are disposed 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 has 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 an inner lining 210, shoulder straps 220, and sleeves 230. The shoulder straps 220 are installed on the shoulders of the inner lining 210, and the sleeves 230 are installed on the elbows of the inner 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 assembly 330, and a second connecting assembly 340. The first connecting assembly 330 is installed on the sleeve 230 at the position corresponding to the inner side of the elbow joint, and the second connecting assembly 340 is installed on the sleeve 230 at the position corresponding to the outer side of the elbow joint. The first rope 310 is movably threaded through the first sleeve 221, with one end of the first rope 310 connected to the first output end and the other end of the first rope 310 connected to the first connecting assembly 330. The second rope 320 is movably threaded through the second sleeve 222, with one end of the second rope 320 connected to the second output end and the other end of the second rope 320 connected to the second connecting assembly 340.

[0062] The exoskeleton device described in this application embodiment has a drive mechanism 100 as its power unit. An operator wears an exoskeleton suit 200, which includes shoulder straps 220 at the shoulders and sleeves 230 at the arms. A first connecting component 330 and a second connecting component 340 are respectively installed on either side 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 via a 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 via a second rope 320. Thus, the drive mechanism 100 transmits external force to the joints of the exoskeleton suit 200 worn by the human body, assisting in movement.

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

[0064] In the exoskeleton device described in this application embodiment, all components are attached to or connected to the inner lining 210 of the exoskeleton suit 200, and the connection points are designed with consideration for the movement parts of the human body, so there is no need to worry about the drive mechanism 100 slipping off or abrading the human body.

[0065] Combination Figure 4This diagram illustrates the internal structure of an exoskeleton device according to one embodiment of this application. In some embodiments, the exoskeleton device further includes a sensing mechanism 400, which includes a drive sensor, a transmission state sensor, and a motion intention sensor. The drive sensor is mounted on the drive unit 120 and is used to acquire the rotational speed and input angle signals 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. The motion intention sensor is mounted on the sleeve 230 and is used to provide motion feedback to the exoskeleton device. Through the drive sensor, transmission state sensor, and motion intention sensor, motion signals and physiological signals from 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 state of the exoskeleton device and the wearer, driving the exoskeleton device to achieve the desired corresponding movements, thereby improving the comfort of the exoskeleton device.

[0066] In an exemplary embodiment, the drive sensor is an absolute encoder built into the drive unit 120, used to obtain the rotational speed and input angle signals of the drive unit 120 in real time. The transmission state sensors include a tension sensor 410 and a force sensor 420. The tension sensor 410 is installed at the first and second output ends of the reduction assembly 130, and the force sensor 420 is also installed at the first and second output ends of the reduction assembly 130. The tension sensor 410 can obtain the input force of the first rope 310 and the second rope 320, and the force sensor 420 can obtain the magnitude of the output force transmitted to the arm end through the transmission mechanism 300. The motion intention sensors include an electromyography sensor and an elbow joint angle sensor installed at the arm end of the exoskeleton suit 200, capable of providing motion feedback for the entire exoskeleton device, detecting the elbow joint flexion angle in real time, and obtaining the activity level of muscles related to elbow joint movement. The activity level of muscles can further verify the effectiveness of the exoskeleton device. The elbow joint angle sensor is mainly used to provide feedback on elbow joint movement and to provide safety assurance for elbow joint movement.

[0067] In an optional embodiment, such as Figure 7As shown, the first connecting component 330 includes a first anchor point 331 and a second anchor point 332. The first anchor point 331 is installed on the end of the sleeve 230 on the inner side of the elbow joint near the shoulder strap 220. The end of the first sleeve 221 is connected to the first anchor point 331. The second anchor point 332 is installed on the end of the sleeve 230 on the inner side of the elbow joint away from the shoulder strap 220. The first rope 310 is connected to the second anchor point 332. The sleeve 230 is a connecting fabric that fixes the anchor points to the lining 210. At the same time, the sleeve 230 also distributes the concentrated force from the anchor points 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 fixes the distal end of the first sleeve 221. The first rope 310 passes through the first sleeve 221 and connects to the second anchor point 332, thereby applying power to the second anchor point 332 under the drive of the drive mechanism 100, achieving the purpose of assisting the wearer's movement.

[0068] Furthermore, such as Figure 7 As shown, the second connecting assembly 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 the end of the sleeve 230 on the outside of the elbow joint near 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 the 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 both ends of the sleeve 230 at the bent position on the outside of the elbow joint. The fifth anchor point 343 is provided with a first pulley 345, and the sixth anchor point 344 is provided with a second pulley 346. The second rope 320 is movably connected to the first pulley 345 and the second pulley 346. By setting a third anchor point 341 and a sixth anchor point 344 on the outer side of the elbow joint, the third anchor point 341 serves to fix the distal end of the second sleeve 222. The second rope 320 passes through the second sleeve 222 and connects to the sixth anchor point 344, thereby applying power to the sixth anchor point 344 under the drive of the drive mechanism 100. Considering that when the elbow joint is bent, the second rope 320 connects to the sixth anchor point 344 via the third anchor point 341, and the transmission path passes through the outer side of the elbow joint, which will generate pressure on the elbow joint during transmission, potentially causing injury in severe cases. Therefore, a fourth anchor point 342 and a fifth anchor point 343 are set above and below the outer side, respectively. A miniature first pulley 345 is connected to the fourth anchor point 342, and a miniature second pulley 346 is connected to the fifth anchor point 343. The second rope 320 slides on the first pulley 345 and the second pulley 346, which changes the transmission direction of the second rope 320, 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 tensile and compressive forces from the transmission mechanism 300 and transmit these external forces to the exoskeleton suit 200. Therefore, the anchor points need to have a certain resistance to deformation, i.e., a certain degree of rigidity. 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 high-performance nylon material has a tensile strength of 48 MPa / 6960 psi and a tensile modulus of approximately 1700 MPa / 245 kilopascals / psi, exhibiting good toughness and strength.

[0070] In an optional embodiment, such as Figure 4 As shown, the reduction assembly 130 includes a worm 131, a worm wheel 132, a first gear 133, a first shaft 134, a second gear 135, a third gear 136, a first winding reel 137, a second winding reel 138, a second shaft 139, and a third shaft 1310. The worm 131 is connected to the power output end of the drive unit 120. The first shaft 134 is rotatably mounted in the receiving cavity. The worm wheel 132 and the first gear 133 are mounted on the first shaft 134. The second shaft 139 and the third shaft 1310 are rotatably mounted in the accommodating cavity and mesh with the worm gear 132. The first winding wheel 137 and the second gear 135 are mounted on the second shaft 139, and the second winding wheel 138 and the third gear 136 are mounted on the third shaft 1310. The second gear 135 and the third gear 136 are both meshed 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] In this embodiment, the drive unit 120 is installed within the accommodating cavity of the housing 110. The entire exoskeleton device is driven by the drive unit 120. The transmission direction of the drive unit 120 is changed through the worm gear 131 and the worm wheel 132, which simultaneously increases the output torque and decreases the output speed of the drive unit 120. The worm wheel 132 rotates coaxially with the first gear 133. The second gear 135, which controls the inner side of the elbow joint, and the third gear 136, which controls the outer side of the elbow joint, mesh with the first gear 133. Different speed transmissions are achieved for the inner and outer sides 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 on the first winding wheel 137 and the second winding wheel 138 in opposite winding directions. When the drive 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 of rotation. This is 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 one exemplary embodiment, the reduction ratio of the worm gear 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, such as Figure 1 As shown, the exoskeleton suit 200 also includes gloves 240, with the end of the sleeve 230 away from the shoulder strap 220 connected to the gloves 240. Since the upper arm is subjected to tension from the first rope 310 and the second rope 320, to prevent the sleeve 230 from slipping down, the upper part of the sleeve 230 is secured at the shoulder via the shoulder strap 220, which wraps around the shoulder and chest and is secured to the opposite shoulder. The forearm end tends to slip upwards due to the tension of the first rope 310 and the second rope 320; therefore, the gloves 240 are used to further secure the sleeve 230, preventing the sleeve 230 from sliding upwards as a whole, optimizing the use of the exoskeleton device, and providing safe and stable external force transmission.

[0074] In an optional embodiment, such as Figure 7As shown, the first connecting assembly 330 further includes a first elastic element 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 connecting assembly 340 further includes a second elastic element 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 element 333 and the second elastic element 347 are springs. By connecting the first elastic element 333 to the end of the first rope 310 and the second elastic element 347 to the end of the second rope 320, the first elastic element 333 and the second elastic element 347 provide cushioning for the first rope 310 and the second rope 320, preventing the first rope 310 and the second rope 320 from pulling too intensely on the arm, resulting in low arm comfort, thereby optimizing the user experience of the exoskeleton device.

[0075] In an optional embodiment, such as Figure 4 and Figure 5 As shown, the transmission mechanism 300 also includes a first one-way feed assembly 140, which mainly utilizes friction to suppress proximal slackening of the first rope 310 due to distal slackening. The first one-way feed 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 and fifth rotating shafts 143 and 144 are installed parallel to each other in the receiving cavity. The first one-way bearing 141 is mounted on the fourth rotating shaft 143 and can only rotate in one direction on the fourth rotating shaft 143. The first friction wheel 142 is mounted on the fifth rotating shaft 144. The first rope 310 passes 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 moves outward, it drives 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 locks, 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, a certain pulling force needs to be applied from below under the action of friction to achieve the sliding of the first rope 310. This suppresses the situation where the proximal end of the first rope 310 is loosened due to the loosening of the distal end, thus improving the user experience.

[0076] Similarly, such as Figure 4As shown, the transmission mechanism 300 also includes a second one-way feed assembly 150. The structure of the second one-way feed assembly 150 is the same as that of the first one-way feed assembly 140. The second one-way feed assembly 150 includes a second one-way bearing, a second friction wheel, a sixth rotating shaft, and a seventh rotating shaft. The sixth and seventh rotating shafts are installed parallel to each other in the accommodating cavity. The second one-way bearing is installed on the sixth rotating shaft, and the second friction wheel is installed on the seventh rotating shaft. A second rope 320 passes 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 moves outward, it drives 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 locks, 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, a certain pulling force needs to be applied from below to achieve the sliding of the second rope 320 under the action of friction. This suppresses the situation where the proximal end of the second rope 320 loosens due to the loosening of the distal end, thus improving the user experience.

[0077] In an optional embodiment, such as Figure 3 and Figure 6 As shown, the transmission mechanism 300 also includes a first cable outlet assembly 160, which includes a first cable conduit 161, a first hollow tube 162, a third elastic element 163, and a first baffle 164. The first cable conduit 161 is movably disposed in the housing 110 and has a first through hole. The first hollow tube 162 has a second through hole, and the outer side wall of the first hollow tube 162 is movably connected to the inner side wall of the first through hole. The first rope 310 movably passes through the first and second through holes. The third elastic element 163 is disposed in the first through hole, and the end of the first hollow tube 162 facing the first through hole abuts against the third elastic element 163. The first baffle 164 is connected to the first rope 310 and movably abuts against the third elastic element 163. Both the inner and outer side walls of the first cable conduit 161 are threaded. The first cable conduit 161 is connected to a cable conduit nut via external threads and to the first hollow tube 162 via internal threads. The first through hole in the first conduit 161 allows the first rope 310 to pass through it. A third elastic element 163 is placed inside the first conduit 161, through which the first rope 310 passes, and then through the first baffle 164. The first baffle 164 primarily connects the third elastic element 163 to the first sleeve 221, and also compresses the third elastic element 163 when the first hollow tube 162 is screwed downwards. The inner diameter of the first hollow tube 162 is larger than the outer diameter of the first sleeve 221, allowing the first sleeve 221 to pass freely through it. The first cable exit assembly 160 provides preload to the transmission mechanism 300, adjusting the first rope 310 to a tensioned state, thus improving the user experience.

[0078] Similarly, the transmission mechanism 300 also includes a second cable outlet assembly 170, the structure of which is identical to that of the first cable outlet assembly 160. The second cable outlet assembly 170 includes a second conduit, a second hollow tube, a fourth elastic element, and a second baffle. The second conduit is movably disposed within the housing 110, and has a third through hole. The second hollow tube has a fourth through hole, and 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 movably passes through the third and fourth through holes. The fourth elastic element is disposed in the third through hole, and the end of the second hollow tube facing the third through hole abuts against the fourth elastic element. The second baffle is connected to the second rope 320 and movably abuts against the fourth elastic element. Both the inner and outer side walls of the second conduit are threaded. The second conduit is connected to a conduit nut via external threads and to the second hollow tube via internal threads. The second through hole of the second conduit allows the second rope 320 to pass through it. The fourth elastic element is placed inside the second conduit, through which the second rope 320 passes, and then through the second baffle. The second baffle mainly connects the fourth elastic element to the second sleeve, and can also compress the fourth elastic element when the second hollow tube is screwed down. 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 through it. The function of the second cable exit assembly is to provide preload to the transmission mechanism 300, adjust the second rope 320 to a tensioned state, and improve the user experience.

[0079] On the other hand, this application also provides a control method for an exoskeleton device, applicable to the exoskeleton device described in any of the above embodiments, comprising the following steps:

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

[0081] Initialize an empty set F';

[0082] The ReliefF algorithm is used to generate an importance score[i] for each feature f[i] in dataset D, with each feature f[i] in F as the target feature.

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

[0084] Extract the features with the highest scores from the top 50% and place them in F', i.e., F' = f[idx[1:n]].

[0085] Initialize a new dataset D';

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

[0087] The new dataset D' is normalized using the min-max normalization method and transformed into the driving force of the exoskeleton device.

[0088] The control method for the exoskeleton device described in the embodiments of this application, such as Figure 8 As shown, the control system applied to the exoskeleton device acquires signals from the sensing mechanism 400 and transmits the processed signals to the drive mechanism 100, thereby controlling the drive mechanism 100 to drive the worker wearing the exoskeleton suit 200 via the transmission mechanism 300. The control method for the exoskeleton device, after performing ReliefF feature selection on all features, yields the following feature weight distribution: Figure 9 As shown, the feature weight values ​​w are concentrated in the range of 0 to 0.4. A weight close to 0 indicates that the feature has a large intra-class distance and a small inter-class distance, and is therefore an invalid feature. A weight close to 1 indicates that the feature is the most sensitive in this classification and is therefore a high-quality feature.

[0089] like Figure 10 As shown, among the multidimensional features, 79% of the features have a weight distribution between 0 and 0.1, 5% of the features have a weight distribution between 0.1 and 0.15, 3% of the features have a weight distribution between 0.15 and 0.2, and 13% of the features have a weight greater than 0.2.

[0090] After the original feature vector is subjected to ReliefF feature selection and PCA dimensionality reduction, the first three principal components of its feature subset are visualized in three dimensions, as shown below. Figure 11 As shown, feature samples of the same motion mode cluster together, while feature samples of different motion modes have clear boundaries, with small intra-modal distances and large inter-modal distances. This indicates that the feature clustering effect after using ReliefF-PCA fusion is significant, demonstrating the effectiveness of the method.

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

[0092] On the other hand, this application also provides a control method for an exoskeleton device, applicable to the exoskeleton device described in any of the above embodiments, comprising the following steps:

[0093] The joint torque is calculated based on data from the drive sensor, transmission status sensor, and motion intention sensor and mapped to the incremental angle of the joint.

[0094] The position loop is sent to the neural network controller;

[0095] A neural network algorithm is used to analyze the nonlinear relationship between the joint torque estimate 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 incremental angle.

[0097] The control method for the exoskeleton device described in the embodiments of this application, such as Figure 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 estimation of joint torque. The neural network can obtain the relationship between system input and output through learning and training without relying on the prior knowledge of the system. Moreover, the neural network has a strong learning ability in simulating complex nonlinear systems and compensating for unstructured uncertainties.

[0098] The control method for the exoskeleton device described in this application is based on a PID force-position hybrid control strategy using neural network-estimated torque. This strategy combines information from surface electromyography (EMG) sensors, force sensors, and encoders to achieve elbow joint motion assistance. To achieve effective motion assistance by controlling the exoskeleton device's movement based on the user's intention, 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 joint torque and the increment angle is highly nonlinear, and the optimal solution changes with elbow flexion / extension movements and EMG signals. Therefore, a neural network algorithm is used to analyze the nonlinear relationship between them in real time to improve the control performance of the exoskeleton robot.

[0099] The control method for the exoskeleton device described in this application uses a five-layer neural network structure as follows: Figure 11 As shown, the input vector of the neural network controller Torque estimation by joint Surface electromyography signals elbow joint angle and its differential Composition can be represented as:

[0100]

[0101] In the neural network controller of this embodiment, there are three hidden control layers. Represents the first hidden layer's... Nodes For the second hidden layer 1 node The third hidden layer Each node. Indicates the input layer's first... Nodes With the first hidden layer Nodes The weights between them Indicates the first hidden layer. Nodes With the second hidden layer Nodes The weights between them Indicates the second hidden layer Nodes With the third hidden layer Nodes The weights between them Indicates the third hidden layer Nodes The weights between the output layer and the output layer, in addition, , , and These represent the biases of each weight. The root mean square error (RMSE) and sigmoid function are chosen as the loss function and activation function of the neural network controller, respectively. Since there will inevitably be a large deviation between the input and output obtained through each forward propagation, the weights and biases in each layer of the neural network controller are optimized using the backpropagation algorithm based on the Law of Rado and gradient descent. Assuming the neural network controller has been trained and can meet the system control requirements, the output of the neural network controller... It can be represented as:

[0102]

[0103] The joint increment angle is:

[0104]

[0105] The position error can then 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 represented as:

[0108]

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

[0110] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An exoskeleton device, characterized in that, include: A drive mechanism (100) includes a housing (110), a drive unit (120), and a reduction assembly (130). The housing (110) has a receiving cavity. The drive unit (120) and the reduction assembly (130) are both disposed in the receiving cavity. The power output end of the drive unit (120) is connected to the reduction assembly (130). The reduction assembly (130) has a first output end and a second output end. An exoskeleton suit (200) comprising an inner lining (210), shoulder straps (220), and sleeves (230), wherein the shoulder straps (220) are attached to the shoulders of the inner lining (210), and the sleeves (230) are attached to the elbows of the inner 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); and A 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 on the sleeve (230) at the position corresponding to the inner side of the elbow joint, and the second connecting component (340) is installed on the sleeve (230) at the position corresponding to the outer side of the elbow joint. The first rope (310) is movably threaded through the first sleeve (221), with one end of the first rope (310) connected to the first output end and the other end of the first rope (310) connected to the first connecting component (330). The second rope (320) is movably threaded through the second sleeve (222), with one end of the second rope (320) connected to the second output end and the other end of the second rope (320) connected to the second connecting component (340). The exoskeleton device further includes a sensing 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 is used to acquire the rotational speed and input angle signals of the drive unit (120). The transmission state sensor is installed 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. The motion intention sensor is installed on the sleeve (230) and is used to provide motion feedback to the exoskeleton device. The deceleration assembly (130) includes a worm gear (131), a worm wheel (132), a first gear (133), a first shaft (134), a second gear (135), a third gear (136), a first winding reel (137), a second winding reel (138), a second shaft (139), and a third shaft. Shaft (1310), the worm (131) is connected to the power output end of the drive unit (120), the first rotating shaft (134) is rotatably mounted in the accommodating cavity, the worm wheel (132) and the first gear (133) are mounted on the first rotating shaft (134), the worm (131) is meshed with the worm wheel (132), the second rotating shaft (139) and the third rotating shaft (1310) are both rotatably mounted in the accommodating cavity, and 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 meshed with the first gear (133), the first rope (310) is wound on the first winding wheel (137), and the second rope (320) is wound on the second winding wheel (138).

2. The exoskeleton device according to claim 1, characterized in that: The first connecting component (330) includes a first anchor point (331) and a second anchor point (332). The first anchor point (331) is installed on 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 on one end of the sleeve (230) on the inner side of the elbow joint away from the shoulder strap (220). The first rope (310) is connected to the second anchor point (332). The second connecting assembly (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 on one end of the sleeve (230) on the outer side of the elbow joint near 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 on the outer side of the sleeve (230) away from the shoulder strap (220) on the outer side of the elbow joint. At one end, 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 both ends of the sleeve (230) at the elbow joint where it is bent. The fifth anchor point (343) is provided with a first pulley (345), and the sixth anchor point (344) is provided with a second pulley (346). The second rope (320) is movably connected to the first pulley (345) and the second pulley (346).

3. The exoskeleton device according to claim 1, characterized in that: The exoskeleton suit (200) also includes gloves (240), with the sleeve (230) connected to the glove (240) at one end away from the shoulder strap (220).

4. The exoskeleton device according to claim 2, characterized in that: The first connecting component (330) further includes a first elastic element (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 connecting component (340) further includes a second elastic element (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).

5. The exoskeleton device according to claim 1, characterized in that: The transmission mechanism (300) further includes a first one-way feed assembly (140), which 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 friction wheel (142) is installed on the fifth rotating shaft (144). The first rope (310) passes 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). The transmission mechanism (300) further includes a second one-way feed assembly (150), 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, and the second rope (320) passes between the second one-way bearing and the second friction wheel. The gap between the second one-way bearing and the second friction wheel is smaller than the diameter of the second rope (320).

6. The exoskeleton device according to claim 1, characterized in that: The transmission mechanism (300) further includes a first cable outlet assembly (160), which includes a first cable tube (161), a first hollow tube (162), a third elastic element (163), and a first baffle (164). The first cable tube (161) is movably disposed in the housing (110). The first cable tube (161) has a first through hole, and the first hollow tube (162) has a second through hole. The outer side wall of the first hollow tube (162) is movably connected to the inner side 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 element (163) is disposed in the first through hole. The end of the first hollow tube (162) facing the first through hole abuts against the third elastic element (163). The first baffle (164) is connected to the first rope (310) and is movably abuts against the third elastic element (163). The transmission mechanism (300) further includes a second cable outlet assembly (170), which includes a second cable tube, a second hollow tube, a fourth elastic element, and a second baffle. The second cable tube is movably disposed in the housing (110). The second cable tube has a third through hole, and the second hollow tube has 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) movably passes through the third through hole and the fourth through hole. The fourth elastic element is disposed in the third through hole. One end of the second hollow tube facing the third through hole abuts against the fourth elastic element. The second baffle is connected to the second rope (320) and the second baffle movably abuts against the fourth elastic element.

7. A control method for an exoskeleton device, applicable to the exoskeleton device according to any one of claims 1-6, characterized in that, Includes the following steps: Initialize a feature set F and a dataset D; Initialize an empty set F'; The ReliefF algorithm is used to generate an importance score[i] for each feature f[i] in dataset D, with each feature f[i] in F as the target feature. Sort all features f according to their scores and record the sorting index idx; Extract the features with the highest scores from the top 50% and place them in F', i.e., F' = f[idx[1:n]]. Initialize a new dataset D'; Extract the feature values ​​from F' from each sample s[j] in D to form a new sample s[j]', and put s[j]' into the new dataset D'; The new dataset D' is normalized using the min-max normalization method and transformed into the driving force of the exoskeleton device.

8. A control method for an exoskeleton device, applicable to the exoskeleton device according to any one of claims 1-6, characterized in that, Includes the following steps: The joint torque is calculated based on data from the drive sensor, transmission status sensor, and motion intention sensor and mapped to the incremental angle of the joint. The position loop is sent to the neural network controller; A neural network algorithm is used to analyze the nonlinear relationship between the joint torque estimate and the incremental angle in real time; The exoskeleton device is controlled based on the nonlinear relationship between the estimated joint torque and the incremental angle.

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