Resistance exoskeleton mechanism control method, resistance exoskeleton mechanism and bottom layer controller

Abstract

The invention provides a resistance exoskeleton mechanism control method, a resistance exoskeleton mechanism and a bottom layer controller, and the method comprises the steps that in the process that a human body wears the resistance exoskeleton mechanism to walk, lower limb motion state information of the human body is detected in real time through a measuring unit; determining current gait phase information according to the lower limb motion state information; the traction force is determined according to the gait phase information and a preset relation, the preset relation is used for representing the change relation of the traction force along with time in one gait cycle of the human body, and the preset relation is determined according to the biomechanical characteristics of the human body; traction force is applied to the flexible traction assembly through the driving assembly, so that the second wearing assembly applies traction resistance far away from the walking direction to the hip of the human body, and the third wearing assembly applies torsion resistance in the opposite direction to the ankle of the human body. The method can provide resistance conforming to human body biomechanics according to human body operation characteristics, so that the exercise effect is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of walking resistance training devices, and in particular relates to a resistance exoskeleton mechanism control method, a resistance exoskeleton mechanism, and an underlying controller. Background Art

[0002] Walking resistance training is an effective form of physical training, initially used in rehabilitation to help patients regain their mobility. With technological advancements, researchers have begun exploring the application of walking resistance training in enhancing strength and endurance in healthy individuals. For example, numerous researchers have begun developing devices that enhance human strength by adding resistance during walking. Related research has made progress in structural design and control strategies, particularly in power-assistance applications, enabling personalized power assistance in a variety of scenarios.

[0003] However, when currently available devices add resistance to a walking human body, they usually add resistance according to a preset fixed torque, and the exercise effect is not very good. Summary of the Invention

[0004] The embodiments of the present application provide a resistance exoskeleton mechanism control method, a resistance exoskeleton mechanism, and an underlying controller, which can provide resistance that conforms to human biomechanics based on the running characteristics of the human body, thereby improving the exercise effect.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, a resistance exoskeleton mechanism control method is provided, which is applied to a resistance exoskeleton mechanism, wherein the resistance exoskeleton mechanism is used to apply resistance when a human body walks, and the resistance exoskeleton mechanism includes a wearing part, a driving part and a measuring unit; the wearing part includes a first wearing component, a second wearing component and a third wearing component, the first wearing component is worn on the waist of the human body, the second wearing component is worn on the hip of the human body, and the third wearing component is worn on the ankle of the human body; the driving part includes a driving component, a flexible traction component and a fixed pulley bearing component, the driving component is installed on the first wearing component, the fixed pulley bearing component is installed on the second wearing component, the output end of the driving component is drive-connected to the first end of the flexible traction component, and the flexible traction component drives and connects the second end to the third wearing component after passing around the fixed pulley bearing component.

[0006] The method specifically includes: while the person is walking while wearing the resistance exoskeleton mechanism, detecting the motion state information of the person's lower limbs in real time through the measurement unit; determining current gait phase information based on the lower limb motion state information; determining a traction force based on the gait phase information and a preset relationship, wherein the preset relationship is used to represent the relationship between the change of the traction force over time within a gait cycle of the person, and the preset relationship is determined based on the biomechanical characteristics of the human body; applying the traction force to the flexible traction component through the drive component, so that the second wearable component applies a pulling resistance to the hip of the person away from the walking direction, and the third wearable component applies a torsional resistance to the ankle of the person in the opposite direction.

[0007] Optionally, the preset relationship is represented by a parameterized curve formed by smoothly connecting two cubic spline curves. The parameterized curve is determined by the following four parameters: the peak value of the traction force, the peak time, the peak start time, and the peak end time. The traction force between the start time of the gait cycle and the peak start time is zero, and the traction force between the peak end time and the end time of the gait cycle is zero. It can be understood that the variation pattern of the parameterized curve matches the force generation pattern of the human lower limb joints.

[0008] Optionally, the method also includes: optimizing the preset relationship based on the lower limb motion state information, the lower limb motion state information including one or more of the following parameters: gait symmetry, stride, or cadence, the optimization objects when performing the optimization are the four parameters, and the optimization goal when performing the optimization is to make the human body's heart rate exceed a second preset value when the gait deviation is less than a first preset value, and the gait deviation is the deviation between the real-time parameter and the target parameter in the lower limb motion state information.

[0009] Optionally, the resistance exoskeleton mechanism also includes an energy recovery system, which includes a bidirectional DC-DC converter, a generator, and a battery. The generator uses the energy generated by the human body during walking to output an inconstant voltage. The bidirectional DC-DC converter is used to convert the inconstant voltage output by the generator into a stable voltage to charge the battery, and the battery is used to power the resistance exoskeleton mechanism.

[0010] Optionally, the energy recovery system also includes: applying the traction force to the flexible traction component through the driving component, including: determining a target current corresponding to the traction force; determining a target voltage based on the target current; and controlling the gate voltage of a metal oxide semiconductor (MOS) transistor to the target voltage to output the traction force.

[0011] Optionally, the capacity of the battery is less than or equal to a third preset value.

[0012] Optionally, the second wearable component and the third wearable component are connected via a buckle structure.

[0013] Optionally, the gait phase information includes gait phase and phase rate; determining the current gait phase information based on the lower limb motion state information includes: based on the lower limb motion state information, performing real-time calculation of the gait phase and phase rate of the human body during walking through an extended Kalman filter.

[0014] According to another aspect of the present application, a resistance exoskeleton mechanism is provided, comprising an underlying controller, a memory, and computer instructions stored in the memory and executable on the processor. When the underlying controller executes the computer instructions, the resistance exoskeleton mechanism implements the method described in any one of the first aspects.

[0015] According to another aspect of the present application, a bottom-level controller is provided. The bottom-level controller is applied to a resistance exoskeleton mechanism, and the bottom-level controller is used to call computer instructions to enable the resistance exoskeleton mechanism to execute the method as described in any one of the first aspects.

[0016] The beneficial effects of the resistance exoskeleton control method provided in this application are: compared with existing technologies, the control method provided in this application can achieve precise adjustment of resistance through preset relationships, providing resistance that conforms to human biomechanics during walking, thereby ensuring the naturalness of gait and effective muscle training. In addition, the resistance exoskeleton mechanism can use flexible traction components to drive wearable parts in multiple locations to apply resistance to the walking person, thereby achieving simultaneous resistance to the upper and lower legs at specific times, achieving multi-muscle training rather than just training isolated muscle groups, thereby improving the training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the main structure of a resistance exoskeleton mechanism provided in an embodiment of the present application is shown;

[0018] Figure 2 A schematic diagram of the wearing effect of the resistance exoskeleton mechanism provided by the present application and a schematic diagram of the assembly of components are shown;

[0019] Figure 3 FIG. 1 shows an exemplary internal structure diagram of the first wearable component 110;

[0020] Figure 4 A schematic diagram showing the resistance exerted by the resistance exoskeleton mechanism provided in an embodiment of the present application is shown;

[0021] Figure 5 Schematic diagram showing a framework of a resistance exoskeleton mechanism control method 200 provided in this application;

[0022] Figure 6 The specific expression form of a parameterized curve corresponding to the preset relationship is shown;

[0023] Figure 7 A schematic diagram of a bidirectional voltage conversion circuit in an energy recovery system provided by an embodiment of the present application is shown;

[0024] Figure 8 A schematic diagram of a loop controllable resistance circuit in an energy recovery system provided by an embodiment of the present application is shown;

[0025] Figure 9 A control system framework diagram of a resistance exoskeleton mechanism provided in an embodiment of the present application is shown;

[0026] Figure 10 A schematic structural diagram of another resistance exoskeleton mechanism provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0028] As mentioned in the background technology section, walking resistance training has been widely used in the fields of rehabilitation and exercise. The so-called walking resistance training refers to a training method that adds appropriate resistance to the human body during walking to enhance the strength and endurance of the human body. With the development of technology, related technologies have derived the concept of wearable resistance training (WRT), which is to wear a designed device on the human body so that "micro-loads" can be added to the trunk and limbs of the body during walking, which is used for resistance training under specific movements.

[0029] Current research shows that there are many wearable devices for walking resistance training of the human body, but these devices generally have simple structures and relatively simple ways of outputting torque. They can only train single muscle groups, so the training effect is not significant.

[0030] In response to the above issues, this application designs a resistance exoskeleton mechanism. This mechanism, through a flexible traction assembly and a fixed pulley bearing assembly, can achieve a reasonable distribution of resistance, thereby simultaneously exercising multiple leg muscle groups. Furthermore, during operation, the mechanism can adjust and optimize resistance in real time based on the state information of the human body during walking, thereby achieving a better training effect.

[0031] Figure 1A schematic diagram of the main structure of a resistance exoskeleton mechanism provided in an embodiment of the present application is shown. This resistance exoskeleton mechanism is used to apply traction (resistance) to a person while walking, thereby performing fat loss exercises and further enhancing the person's strength and endurance. The following is an exemplary description of the components of this resistance exoskeleton mechanism.

[0032] The resistance exoskeleton mechanism comprises at least a wearing part, a driving part and a measuring unit. As an example, the wearing part is used to wear the resistance exoskeleton mechanism on the human body, the driving part is used to provide output traction and power for the resistance exoskeleton mechanism, and the measuring unit is used to detect the human body's motion state information in real time. Figure 1 As shown, the wearable part includes a first wearable component 110, a second wearable component 120 and a third wearable component 130. The first wearable component 110 is used to be worn on the waist of the human body, the second wearable component 120 is used to be worn on the hip of the human body, and the third wearable component 130 is used to be worn on the ankle of the human body. The wearing effect can be seen in the subsequent Figure 2 The output end of the drive assembly 140 is drivingly connected to the first end of the flexible traction assembly 150. The flexible traction assembly 150 passes around the fixed pulley bearing assembly 160 and then drives the second end to connect to the third wearable component 130. The drive unit includes the drive assembly 140, the flexible traction assembly 150, and the fixed pulley bearing assembly 160. The drive assembly 140 is mounted on the first wearable component 110, and the fixed pulley bearing assembly 160 is mounted on the second wearable component 120.

[0033] See also Figure 2 , in addition to the above Figure 1 In addition to the components mentioned in the figure, the resistance exoskeleton mechanism may also include other components. For example, in order to deal with the problem of strap connection caused by the reaction force during the resistance provision process, the resistance exoskeleton mechanism may also include support structures for the thigh and calf straps, such as the calf support fixture 27, calf support rod 28, calf support fixture 2 29, etc. These fixtures can provide more stable support for the calf straps. For another example, the second wearable component 120 and the third wearable component 130 are connected by a buckle structure. This design ensures the rotational freedom of the knee joint during walking and provides the necessary upward support force for the second wearable component 120. Through this optimized design, the force transmission path of the exoskeleton is rationally distributed, thereby effectively improving the stability of the equipment and enhancing the effect of resistance training. For other possible components, please refer to Figure 2 , I will not go into details here.

[0034] Optionally, the resistance exoskeleton mechanism in this application is made of carbon fiber. By using carbon fiber, the weight of the device can be significantly reduced. This lightweight design not only increases wearing comfort but also enhances the portability of the resistance exoskeleton mechanism, providing a more natural wearing experience for the user.

[0035] Figure 3 FIG. 1 shows an exemplary internal structure diagram of the first wearable component 110. Figure 3 As shown, the first wearable component 110 includes a drive component 140, which consists of a motor 141, a winding wheel 142 and a housing 143. The motor 141 is used to output power, and the winding wheel 142 is used to wind the flexible traction component 150. Optionally, the first wearable component 110 also includes a bottom controller 170, which is used to achieve precise control and data transmission of the resistance exoskeleton mechanism. The bottom controller 170 includes a communication component 171, which is, for example, a Bluetooth chip, for achieving communication between the bottom controller 170 (as a lower computer) and the upper computer (such as a computer), for example, for achieving the transmission of optimized parameters between the upper computer and the bottom controller. In an embodiment of the present application, the resistance exoskeleton mechanism is powered by the drive unit. For example, when a person wears the resistance exoskeleton mechanism and walks, the driving component 140 applies the traction force to the flexible traction component 150, so that the second wearable component 120 applies a pulling resistance to the hip (or hip joint) of the person away from the walking direction, and the third wearable component 130 applies a torsional resistance to the ankle (or ankle joint) of the person in the opposite direction. Figure 4 The traction effect of the flexible traction component 150 can be found in Figure 4 The thick solid line in FIG. 1 and the schematic diagram of the traction force exerted on the human body by the second wearable component 120 and the third wearable component 130 can be referred to in FIG. Figure 4 The dotted line in .

[0036] It is understood that the structural features of the resistance exoskeleton mechanism provided in the embodiments of the present application are designed based on the biomechanical characteristics of the human body during a gait cycle.

[0037] The complete gait cycle provided by this embodiment can be considered as the process of a human body walking, from the time one foot touches the ground to the next time the same foot touches the ground again. This process includes multiple stages. As an example, the gait cycle provided by this embodiment uses the time when the supporting foot leaves the ground at the end of the support phase as the dividing point of a gait cycle, and divides the gait cycle into a support phase and a swing phase, wherein the swing phase accounts for approximately 40% of the gait cycle and the support phase accounts for approximately 60% of the gait cycle. This application does not limit the way in which different phases are divided within a gait cycle. Because in the late support phase of the gait cycle, the ankle exhibits extension movement, while the hip exhibits a tendency to move away from the vertical direction. In view of this biomechanical characteristic, a structure is designed to apply resistance to the human body through a flexible traction component 150 and a fixed pulley bearing component 160.

[0038] The flexible traction assembly 150, with the help of the fixed pulley bearing assembly 160, provides torsional resistance at the ankle and traction resistance at the hip joint from the end stance phase to the double-leg stance phase. By setting a starting anchor point behind the hip joint and utilizing the fixed pulley bearing structure to transfer force from the hip joint to the end anchor point in front of the ankle joint (i.e., the forefoot), this structure effectively distributes resistance and simultaneously exercises the thigh and calf muscles.

[0039] In a specific example, the flexible traction component 150 involved in the embodiment of the present application can be, for example, a flexible Bowden cable, which can transmit force in a more complex spatial layout while having high safety.

[0040] In summary, the resistance exoskeleton mechanism provided by this application achieves a resistance sharing effect through the combination of flexible traction assembly 150 and fixed pulley bearing assembly 160, effectively allocating resistance during the later stages of support and enabling targeted action on the thigh and calf muscles, thereby providing a more comprehensive lower limb training effect. It also avoids the discomfort and exercise burden caused by the concentration of resistance on a single joint in traditional exoskeleton systems. This unique force transmission method can more effectively stimulate relevant muscle groups during exercise, improving lower limb strength, stability, and athletic performance.

[0041] In the related art, the resistance exoskeleton mechanism can generally only apply a preset fixed traction force to the human body, and cannot apply more targeted resistance to the human body, resulting in limited training effects. In view of this, the present application provides a resistance exoskeleton mechanism control method, which can apply resistance that conforms to human biomechanics to the human body according to the real-time gait characteristics of the human body during walking, thereby achieving better training effects. Figure 5 Method 200 in the figure is used as an example to illustrate the specific implementation of the resistance exoskeleton mechanism control method.

[0042] S210. When a person wears the resistance exoskeleton mechanism and walks, the measurement unit detects the motion state information of the lower limbs of the person in real time.

[0043] For example, the resistance exoskeleton mechanism in this application includes a measurement unit that can be used to collect motion parameters such as human body speed, acceleration, angular velocity, direction, etc. As an example, the measurement unit can be an inertial measurement unit (IMU), which can be installed on the third wearable component 130. The specific installation method is not limited in this application.

[0044] When a person walks while wearing a resistance exoskeleton, the measurement unit can capture the lower limb motion state information of the person in real time. The lower limb motion state information includes one or more of the following parameters: gait symmetry, stride length, or step frequency. The lower limb motion state information is determined based on the data collected by the measurement unit.

[0045] S220: Determine current gait phase information according to the lower limb motion state information.

[0046] For example, the main purpose of capturing the motion state information of the lower limbs of the human body through the measurement unit is to obtain real-time gait phase information of the human body during walking. The gait phase information can be used to indicate which stage of a gait cycle the walking human body is currently in. By obtaining the gait phase information, it can be used to determine the traction force that conforms to the biomechanical characteristics of the human body. The specific implementation method can be referred to the subsequent step S230, which will not be repeated here.

[0047] This application does not limit the specific method for determining gait phase information. As one possible example, based on the lower limb motion state information, the gait phase and phase rate of the human body during walking are calculated in real time using an extended Kalman filter (EKF). This calculation method can provide accurate and continuous gait phase information at different walking speeds. It should be understood that the gait phase and phase rate are gait phase information.

[0048] S230: Determine the traction force according to the gait phase information and a preset relationship.

[0049] Exemplarily, after obtaining gait phase information, the corresponding traction force is determined based on the gait phase information and a preset relationship, wherein the preset relationship is used to represent the relationship between the change of the traction force over time during a gait cycle of the human body, and the preset relationship is determined based on the biomechanical characteristics of the human body.

[0050] In other words, based on human biomechanics and the characteristics of human movement within a gait cycle, the relationship between the change in traction force over time within a gait cycle is determined in advance. Then, during the human movement process, the current gait phase is detected in real time to determine the change in traction force over time. This determination of traction force is more consistent with human biomechanics.

[0051] It should be understood that the traction force described in the embodiment of the present application refers to the force applied by the resistance skeletal mechanism through the drive assembly 140. During the walking process of the human body, the traction force can provide reverse resistance at the hip and ankle, thereby achieving an exercise effect.

[0052] It should be understood that this application does not limit the data representation format of the preset relationship. It can be in the form of a table, a curve, or other possible data formats, and this application does not limit this. For convenience, this application uses a parameterized curve to represent the preset relationship.

[0053] Figure 6 The specific expression of a parameterized curve corresponding to the preset relationship is shown, and the parameterized curve represents the variation pattern of traction force in a gait cycle. A design method of the parameterized curve is exemplified below.

[0054] In the embodiment of the present application, the parameterized curve is formed by smoothly connecting two cubic spline curves and is defined by the following four parameters: peak magnitude of the traction force, peak time, peak start time, and peak end time. Peak magnitude is the maximum value of the traction force, peak time represents the duration of the peak, peak start time represents the time it takes for the traction force to change from 0 to the peak value, and peak end time represents the time it takes for the traction force to change from the peak value to 0. Within a gait cycle, the traction force between the start time of the gait cycle and the peak start time is 0, and the traction force between the peak end time and the end time of the gait cycle is also 0. This design ensures the continuity and adjustability of the resistance curve.

[0055] It's understandable that this parametric curve is designed based on the biological joint torque curve during gait, so its variation pattern matches the force pattern of the human lower limb joints. By adding exogenous resistance at key time points, the load on the lower limb joints can be targeted, thereby achieving effective resistance training. This parametric curve design based on biomechanical characteristics provides a priori theoretical and technical support for the resistance setting of flexible lower limb resistance exoskeletons.

[0056] Optionally, the preset relationship can be optimized in real time according to the current characteristics of the human body during walking, so that the output traction force is more consistent with the current characteristics of the human body. The optimization method is briefly described below.

[0057] In one possible implementation, the optimization object includes at least one or more of the following parameters: the peak size of the traction force, the peak time, the peak start time, and the peak end time. The optimization goal is to make the heart rate of the human body exceed the second preset value when the gait deviation is less than or lower than the first preset value. The gait deviation is the deviation between the real-time parameter and the target parameter in the lower limb motion state information. Specifically: the optimization goal of the resistance exoskeleton mechanism mainly involves two aspects: improving metabolism and ensuring the normality of gait characteristics. To this end, in the construction of the objective function, key indicators reflecting normal gait (such as gait symmetry, stride, step frequency, etc.) need to be introduced to limit gait abnormalities that may be caused by resistance training. This multi-objective optimization strategy can ensure that the use of the exoskeleton does not have a negative impact on the wearer's gait pattern while achieving effective metabolic improvement, thereby meeting multiple needs in practical applications. In one example, the objective function for parameter optimization of the parameterized curve using the Bayesian equation is shown in the formula:

[0058]

[0059] Among them, x represents the optimization object, x peak_start Indicates the peak start time, x last_time represents the peak time, x peak_end Indicates the peak end time, x peak_amp Indicates the peak size, x * Represents the optimization goal.

[0060] It is understandable that applying resistance during human walking may interfere with the normal gait of the human body. Although the human body has a certain ability to self-regulate, if the upper limit of human regulation is exceeded, it may lead to changes in the walking habits of the human body. In the long run, it may even cause injuries such as joint wear and scoliosis. In the above-mentioned optimization method for parameterized curves, the parameterized curve is optimized by Bayesian so that one of the objective functions can match the upper limit of human regulation, so that the change law of the parameterized curve can match the current walking characteristics of the human body, and the traction force will not be too small, resulting in poor exercise effect, nor will the traction force be too large, excessively affecting the normal gait of the human body and causing the normal walking habits of the human body to be changed. That is, within the upper limit of the human body, the greatest possible exercise effect is achieved.

[0061] S240: Apply the traction force to the flexible traction component through the driving component, so that the second wearable component applies a pulling resistance to the hip of the human body away from the walking direction, and the third wearable component applies a torsional resistance to the ankle of the human body in the opposite direction.

[0062] For example, after the traction force is determined in step S230, the traction force is applied by the driving component so as to apply resistance during the walking process of the human body. Figure 1 The components in the figure illustrate the power output method of the resistance exoskeleton mechanism: In this embodiment of the present application, the resistance exoskeleton mechanism is powered by a drive unit. For example, when a person wears the resistance exoskeleton mechanism and walks, the traction force applied to the flexible traction component 150 by the drive component 140 can cause the second wearable component 120 to apply a pulling resistance to the hip (or hip joint) of the person away from the walking direction, and cause the third wearable component 130 to apply a torsional resistance to the ankle (or ankle joint) of the person in the opposite direction. Specifically, when the driving unit is working, the motor drives the Bowden cable winding wheel 142 to rotate, further driving the flexible traction component 150 to be tensioned. Since the flexible traction component is wound around the fixed pulley bearing component 160, and the fixed pulley bearing component 160 is installed on the second wearable component 120, the flexible traction component 150 will apply reverse resistance to the second wearable component 120 after being tensioned. The second wearable component 120 is applied to the hip of the human body, so it can apply a pulling resistance away from the walking direction to the hip of the human body during the walking process; on the other hand, the second end of the flexible traction component 150 is drive-connected to the third wearable component 130, and the third wearable component is worn on the ankle of the human body. As the human body walks, the condyle will also bend repeatedly. When the condyle bends downward, the traction of the flexible traction component 150 will apply a reverse rotation force to the ankle. The traction effect of the flexible traction component 150 can be referred to. Figure 4 The red line in FIG. 1 shows the traction force exerted on the human body by the second wearable component 120 and the third wearable component 130. Figure 2 The purple line in.

[0063] The above provides a resistance exoskeleton mechanism that can enhance a person's strength and endurance by adding resistance during walking. Furthermore, the resistance exoskeleton mechanism can precisely adjust resistance through preset relationships, providing resistance that conforms to human biomechanics during walking, thereby ensuring a natural gait and effectively training muscle groups. Furthermore, the resistance exoskeleton mechanism analyzes the characteristics of the human gait cycle during structural design, thereby providing resistance to the upper and lower legs simultaneously at specific times, thereby training multiple muscle groups rather than just isolated muscle groups, thereby improving training effectiveness.

[0064] The resistance exoskeleton mechanism uses batteries to provide energy for the driving part. However, since the resistance exoskeleton mechanism is worn on the human body, if the battery is too large, the weight of the entire mechanism will be too high, increasing the burden on the human body; if the battery is too small, the battery life will be relatively poor and the user experience will be poor.

[0065] In view of this, the present application designs an energy recovery system in the resistance exoskeleton mechanism. This energy recovery system can recover the energy generated by the human body during walking, thereby achieving a long battery life effect using a small capacity battery. The structure of the energy recovery system is exemplified below.

[0066] As an example, the energy recovery system includes a bidirectional DC-DC converter, a generator, and a battery. The generator utilizes the energy generated by the human body during walking to output a non-constant voltage. The bidirectional DC-DC converter is used to convert the non-constant voltage output by the generator into a stable voltage for charging the battery, which is used to power the resistance exoskeleton. As an example, the battery capacity is less than or equal to a third preset value, i.e., the battery is a small-capacity battery. This reduces the battery mass and reduces the burden on the human body.

[0067] Optionally, in one possible implementation, the energy recovery system further includes a MOS transistor for controlling the output traction force. Applying the traction force to the flexible traction component via the drive component may specifically include: determining a target current corresponding to the traction force; determining a target voltage based on the target current; and controlling the gate voltage of the MOS transistor to the target voltage to output the traction force.

[0068] It is understandable that the energy recovery function and traction control function in the energy recovery system can be realized through circuits. Figure 7 and Figure 8 A specific composition structure of the energy recovery system is exemplified.

[0069] Figure 7 A schematic diagram of a bidirectional voltage conversion circuit provided in an embodiment of the present application is shown. In this circuit, a bidirectional DC-DC converter is used to process the non-constant voltage power generated by the generator. Through the efficient regulation of the bidirectional voltage conversion circuit, the voltage output by the generator can be converted into a stable voltage to charge the battery. The battery can not only provide a stable power supply for the underlying controller, sensors, circuit control modules and other components of the exoskeleton system, but also provide additional support for other functional modules of the exoskeleton device when needed. This design improves the energy utilization efficiency of the system while achieving power recovery.

[0070] Figure 8The loop controllable resistance circuit provided by the embodiment of the present application is shown. The circuit achieves the desired resistance control by actively adjusting the current in the generator circuit. The circuit can provide a resistance setting optimized in combination with human biomechanics to achieve a better exercise effect. First, the desired loop current curve is obtained according to the current and torque constant formula based on the desired damping force, and then the voltage required to be set for the controlled MOS transistor is obtained by calculating the voltage drop obtained from other parts of the loop. The transistor gate voltage is controlled after DA conversion by the underlying controller, RC circuit filtering, and voltage amplifier pre-processing of the control voltage to obtain the actual loop current to generate the desired damping force. The specific formula is as follows:

[0071]

[0072] Among them I Est is the expected loop current, r input is the input resistance, F Desired is the expected damping force, K Torque is the torque constant; V Mos To control the gate voltage of the MOS transistor, v Gen is the current voltage of the generator, K Speed is the speed constant of the motor, V Gen. is the output voltage of the generator, V Diode is the diode voltage drop, V Sense is the sensor voltage.

[0073] The above describes the working principle of the energy recovery system designed in this application for the resistance exoskeleton mechanism. This system enables efficient recovery of human motion energy, fully utilizing the recovered power and potential value of the energy generated by the human body resisting the exoskeleton's resistance, rather than allowing the human energy generated by resistance to be dissipated as heat. The recovered electrical energy not only powers the sensors and control system but also significantly reduces the weight of the entire device, thereby improving the portability and sustainability of the exoskeleton.

[0074] In summary, the present application provides a resistance exoskeleton mechanism that can output resistance that conforms to the biomechanical characteristics of the human body according to the real-time gait characteristics of the human body. At the same time, it utilizes the energy recovery system to fully utilize the energy generated by the human body's resistance to resistance, reduce the weight of the overall equipment, and optimize the user experience while improving the exercise effect.

[0075] It should be understood that the realization of the above functions depends on the intelligent control and real-time data transmission functions designed on the resistance exoskeleton mechanism. The resistance exoskeleton mechanism integrates high-precision sensors, low-level controllers and high-level controllers to achieve accurate real-time data collection and motion effect analysis. The overall system framework can be referred to as Figure 9As shown in the framework diagram, in this system framework, gait phase estimation and continuous resistance closed-loop control functions are implemented on the underlying controller. The control system is a chip-based control board with powerful computing capabilities and diverse interface support. In the underlying controller, lower limb motion data is collected through an inertial measurement unit (IMU), and combined with the extended Kalman filter (EKF) algorithm, real-time continuous estimation of gait phase is achieved. Based on the gait phase estimation results, the system uses a spline curve based on prior knowledge as a reference for resistance setting, and parameterizes the resistance curve within the gait cycle into key variables such as peak size, peak time, start time, and end time.

[0076] It is understood that after the design of the resistance exoskeleton is completed, an exoskeleton experimental platform can be constructed to test its functions and effectiveness. A possible experimental approach is described below: a resistance exoskeleton experimental platform is constructed based on a force measurement treadmill, a motion capture system, an electromyographic acquisition system, an exercise respiratory and cardiopulmonary system, and an energy recovery monitoring module. On this platform, the following tests are conducted: functional testing, performance testing, and iterative parameter optimization testing. In this experiment, multi-dimensional data, including human lower limb kinematics, dynamics, electromyographic activity (such as soleus muscle activity), gait symmetry, metabolic expenditure, and energy recovery efficiency, are combined under different resistance conditions to systematically study the resistance training effects of the resistance exoskeleton on human lower limb joints and propose a corresponding evaluation index system. This systematic analysis of the resistance exoskeleton's ability to improve human metabolic efficiency and the effectiveness of parameter optimization provides theoretical and data support for the optimized design and practical application of flexible lower limb resistance exoskeletons. Furthermore, by utilizing a high-precision 3D motion capture system and metabolic analyzer, the effects of exogenous resistance on human metabolism and normal gait were systematically studied, evaluating the metabolic regulation effects of the resistance exoskeleton under varying resistance conditions. This experiment aimed to obtain preliminary data on gait-related characteristic parameters and provide a theoretical basis for constructing a parameter optimization objective function. In this experiment, the first version of the exoskeleton was used to apply exogenous resistance to the ankle joint, conducting ankle resistance experiments. This finding not only validated the significant effectiveness of the resistance exoskeleton in improving human energy expenditure and metabolic levels, but also further clarified the feasibility of the exoskeleton as an exercise device. Furthermore, the 3D motion capture system accurately recorded kinematic data such as gait cycle, stride length, and cadence, allowing analysis of the impact of exoskeleton resistance on gait characteristics. These experimental results provide a data foundation for further constructing an optimization objective function based on the gait and metabolic characteristics of the lower limb flexible exoskeleton.

[0077] Figure 10A structural schematic diagram of another resistance exoskeleton mechanism 300 provided in an embodiment of the present application is shown. The resistance exoskeleton mechanism 300 includes: at least one underlying controller 310, a memory 320, and computer instructions 321 stored in the memory and executable on the at least one processor. When the underlying controller executes the computer instructions, the steps in any of the above-mentioned method embodiments are implemented.

[0078] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0079] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0080] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

[0081] In addition, it should be noted that the various numerical numbers used in this application (such as the terms "first," "second," "third," "fourth," and other terminology (if any) in the specification, claims, and drawings) are merely for descriptive purposes and are not intended to limit the scope of this application. The order of execution of each process does not necessarily imply a specific order of execution; the execution order of each process should be determined by its function and inherent logic.

[0082] The terms "including" and "having" and any variations thereof mean "including but not limited to," unless specifically stated otherwise. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, product, or apparatus.

[0083] In the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of this application should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0084] In the various embodiments of this application, unless otherwise specified or logically conflicting, the terms and / or descriptions between different embodiments are consistent and can be referenced from each other. The technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships. The specific operating methods in the method embodiments of this application can also be applied to the device embodiments or system embodiments.

Claims

1. A method for controlling a resistance exoskeleton mechanism, characterized in that: Applied to a resistance exoskeleton mechanism, the resistance exoskeleton mechanism is used to apply resistance when a human body walks, the resistance exoskeleton mechanism includes a wearing part, a driving part and a measuring unit; the wearing part includes a first wearing component, a second wearing component and a third wearing component, the first wearing component is worn on the waist of the human body, the second wearing component is worn on the hip of the human body, and the third wearing component is worn on the ankle of the human body; the driving part includes a driving component, a flexible traction component and a fixed pulley bearing component, the driving component is installed on the first wearing component, the fixed pulley bearing component is installed on the second wearing component, the output end of the driving component is drivingly connected to the first end of the flexible traction component, and the second end of the flexible traction component is drivingly connected to the third wearing component after passing around the fixed pulley bearing component; The method comprises: When the human body wears the resistance exoskeleton mechanism and walks, the measuring unit detects the motion state information of the lower limbs of the human body in real time; determining current gait phase information according to the lower limb motion state information; determining a traction force according to the gait phase information and a preset relationship, wherein the preset relationship is used to represent a relationship between the traction force and time during a gait cycle of the human body, and the preset relationship is determined according to characteristics of human biomechanics; The traction force is applied to the flexible traction component by the driving component, so that the second wearable component applies a pulling resistance away from the walking direction to the hip of the human body, and the third wearable component applies a torsional resistance in the opposite direction to the ankle of the human body.

2. The method according to claim 1, characterized in that The preset relationship is represented by a parameterized curve, which is formed by smoothly connecting two cubic spline curves. The parameterized curve is determined by the following four parameters: the peak value, peak time, peak start time, and peak end time of the traction force. The traction force between the start time of the gait cycle and the peak start time is 0, and the traction force between the peak end time and the end time of the gait cycle is 0.

3. The method according to claim 2, characterized in that The method further comprises: The preset relationship is optimized according to the lower limb motion state information, and the lower limb motion state information includes one or more of the following parameters: gait symmetry, stride, or cadence. The optimization object when performing the optimization is the four parameters. The optimization goal when performing the optimization is to make the human body's heart rate exceed a second preset value when the gait deviation is less than a first preset value. The gait deviation is the deviation between the real-time parameter and the target parameter in the lower limb motion state information.

4. The method according to any one of claims 1 to 3, characterized in that The resistance exoskeleton mechanism also includes an energy recovery system, which includes a bidirectional DC-DC converter, a generator, and a battery. The generator uses the energy generated by the human body during walking to output an inconstant voltage. The bidirectional DC-DC converter is used to convert the inconstant voltage output by the generator into a stable voltage to charge the battery. The battery is used to power the resistance exoskeleton mechanism.

5. The method according to claim 4, characterized in that The energy recovery system further comprises: Applying the traction force to the flexible traction component by the driving component includes: determining a target current corresponding to the traction force; determining a target voltage according to the target current; The gate voltage of the MOS transistor is controlled to be the target voltage to output the pulling force.

6. The method according to claim 4, characterized in that The capacity of the battery is less than or equal to a third preset value.

7. The method according to any one of claims 1 to 3, characterized in that The second wearing component and the third wearing component are connected via a buckle structure.

8. The method according to any one of claims 1 to 3, characterized in that Gait phase information includes gait phase and phase rate, The determining of current gait phase information according to the lower limb motion state information includes: Based on the lower limb motion state information, the gait phase and phase rate of the human body during walking are calculated in real time through an extended Kalman filter.

9. A resistance exoskeleton mechanism, characterized in that: The method comprises an underlying controller, a memory, and computer instructions stored in the memory and executable on the underlying controller, wherein when the underlying controller executes the computer instructions, the resistance exoskeleton mechanism implements the method as described in any one of claims 1 to 8.

10. A bottom layer controller, characterized in that: The underlying control is applied to a resistance exoskeleton mechanism, and the underlying controller is used to call computer instructions to enable the resistance exoskeleton mechanism to execute the method according to any one of claims 1 to 8.

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