A multi-dimensional fall prevention method and system for aging walking assistance

Abstract

This application discloses a multidimensional age-friendly walking assistance method and system for fall prevention, belonging to the field of medical assistance and smart wearable device technology. The system includes a head-mounted device, a wrist-mounted device, and an assistive robot. The head-mounted device is used to sense the current walking state of the target person, which includes a stable state or a transient state. The wrist-mounted device communicates with the head-mounted device and receives different state commands from the head-mounted device corresponding to the walking state. The assistive robot has at least a first working mode and a second working mode. In the first working mode, the assistive robot receives a first control command from the wrist-mounted device; in the second working mode, the assistive robot receives a second control command from the head-mounted device; the second control command has a higher priority than the first control command. A method based on the system is also disclosed. This invention can achieve age-friendly walking assistance and fall prevention based on multidimensional state perception.

Description

Technical Field

[0001] This application belongs to the field of medical assistance and smart wearable device technology, and particularly relates to a multidimensional age-friendly walking assistance method and system for fall prevention, an electronic device for implementing the method, a computer-readable storage medium, and a computer program product. Background Technology

[0002] Older adults face a higher risk of falls due to age-related decline in physiological functions, such as decreased muscle strength, bone density, joint flexibility, and vision, as well as a higher incidence of chronic diseases like diabetes and hypertension. Falls during walking are the leading cause of disability, impairment, and death among the elderly, increasing not only the risk of hospitalization but also causing panic, depression, and reduced independence, placing a heavy burden on society and families.

[0003] Common fall prevention measures for the elderly include exercise, environmental interventions, medication, psychological interventions, and assistive technology interventions. Among these, assistive technology for fall prevention is an emerging field. Assistive technology refers to assistive products, related systems, and services developed to enable people to maintain or improve their functional activities and promote a good state of being. Fall prevention assistive technologies for the elderly mainly include wearable devices, virtual reality, mobile health, and robotic assistive technologies. For example, Chinese invention patent application CN202210376962.1 proposes a smart cane for detecting falls in the elderly; CN200980134385.8 proposes a fall prevention system; and CN201510016658.6 proposes a smart belt and a smart fall emergency early warning system.

[0004] Existing wearable devices for detecting human instability primarily focus on collecting data on changes in waist position. However, through extensive research and the latest literature, the inventors have discovered that head movements are more pronounced when the body is about to become unstable, especially at the moment of an impending fall.

[0005] In addition, related assistive products such as smart canes have certain conflicts in terms of ease of operation, active adjustability and passive protection for the elderly in actual walking. For example, when the elderly lose their balance, they often experience excessive tension or incoordination of their hand muscles due to panic, making it difficult to adjust the cane to a protective position in time. Summary of the Invention

[0006] To address the aforementioned technical problems, this application proposes a multidimensional age-friendly walking assistance method and system for fall prevention, an electronic device for implementing the method, a computer-readable storage medium, and a computer program product.

[0007] In a first aspect of the invention, a multidimensional age-friendly walking assistance fall prevention system is proposed, the system comprising a head-mounted device, a wrist-mounted device, and an assistive robot.

[0008] The head-mounted device is used to sense the current walking state of the target person, which includes a stable state or a transient state.

[0009] The wrist device communicates with the head-mounted device to receive different state commands from the head-mounted device corresponding to the walking state;

[0010] The auxiliary robot has at least a first working mode and a second working mode;

[0011] In the first working mode, the auxiliary robot receives a first control command from the wrist device;

[0012] In the second working mode, the auxiliary robot receives a second control command from the head-mounted device;

[0013] The second control command has a higher priority than the first control command.

[0014] The head-mounted device is equipped with a gyroscope, which includes an accelerometer and a position sensor;

[0015] The head-mounted device determines whether the target person is in a stable or transient state based on the continuous acceleration and position changes monitored by the gyroscope. The transient state indicates that the target person has a tendency to fall.

[0016] The wrist-mounted device communicates with the head-mounted device to receive at least two mode commands from the head-mounted device corresponding to the walking state, specifically including:

[0017] When the head-mounted device senses that the target person's current walking state is stable, the head-mounted device sends a working state activation command to the wrist device, which enables the wrist device to issue the first control command.

[0018] When the head-mounted device senses that the target person's current walking state is transient, the head-mounted device sends a working state prohibition command to the wrist device, which prevents the wrist device from issuing the first control command.

[0019] The wrist-type device issues at least one first control command through wrist and / or palm posture operation, the first control command being used to actively adjust the working posture of the auxiliary robot.

[0020] The assistive robot is a cane robot or a wearable limb joint assistive robot.

[0021] When the head-mounted device detects that the target person's current walking state is transient, the auxiliary robot enters the second working mode.

[0022] In a second aspect of the invention, a multidimensional age-friendly walking assistance method for fall prevention is also proposed, the method being implemented based on a head-mounted device, a wrist-mounted device, and an assistive robot configured on the target person.

[0023] Specifically, the method includes the following steps:

[0024] The head-mounted device is used to sense the current walking state of the target person, which includes a stable state or a transient state.

[0025] When the target person's current walking state is stable, the head-mounted device sends a working state activation command to the wrist device, which enables the wrist device to issue the first control command.

[0026] Based on the first control command, adjust the working posture of the auxiliary robot;

[0027] When the target person's current walking state is in a transient state, the head-mounted device sends a working state prohibition command to the wrist device, which prevents the wrist device from issuing the first control command.

[0028] Simultaneously, the head-mounted device sends a working mode switching command to the auxiliary robot, causing the auxiliary robot to enter a second working mode; in the second working mode, the auxiliary robot receives a second control command from the head-mounted device.

[0029] The assistive robot also includes a first working mode, in which the assistive robot receives a first control command from the wrist device; the first control command has a lower priority than the second control command.

[0030] The wrist-type device issues at least one first control command through wrist and / or palm posture operations; the wrist posture operations include raising / lowering the wrist; the palm posture operations include gripping / releasing.

[0031] In a third aspect of the invention, an electronic device is also provided, the electronic device comprising a processor and a memory; the memory being used to store computer program code; when the program code is executed by the processor, a fall prevention method for multidimensional age-friendly walking assistance as described in the second aspect is implemented.

[0032] In a fourth aspect of the invention, a computer-readable storage medium is also provided, having stored thereon computer program instructions, wherein the computer program is executed by an electronic device including a processor to implement the fall prevention method for multidimensional age-friendly walking assistance described in the second aspect.

[0033] The technical solution of this invention first senses the current walking state of the target person, which includes a stable state or a transient state. When the target person's current walking state is stable, the head-mounted device sends a working state activation command to the wrist-mounted device, which enables the wrist-mounted device to issue a first control command. Based on the first control command, the working posture of the assistive robot is adjusted. When the target person's current walking state is transient, the head-mounted device sends a working state prohibition command to the wrist-mounted device, which prevents the wrist-mounted device from issuing the first control command. Simultaneously, the head-mounted device sends a working mode switching command to the assistive robot, causing the assistive robot to enter a second working mode. In the second working mode, the assistive robot receives a second control command from the head-mounted device, thereby avoiding the problem that elderly people often experience excessive tension or incoordination of their hand muscles due to panic when losing their balance, making it difficult to adjust the cane to a protective position in time. This achieves the technical effect of age-appropriate walking assistance and fall prevention based on multi-dimensional state perception.

[0034] The specific advantages and implementation principles of the technical solution of this invention will be further detailed in the specific embodiments section in conjunction with the accompanying drawings. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the main functional modules of a multidimensional age-friendly walking assistance fall prevention system according to an embodiment of the present invention.

[0037] Figure 2 This is a schematic diagram of a scenario where the age-friendly walking assistance system of the present invention is applied.

[0038] Figure 3 These are schematic diagrams illustrating different working postures of the auxiliary robot in the technical solution of this invention.

[0039] Figure 4This is a schematic diagram of the main flow of a multidimensional age-friendly walking assistance fall prevention method according to an embodiment of the present invention. Detailed Implementation

[0040] In the specific embodiments of this application, if the embodiments of the relevant technical solutions involve user-related data, then when the embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0041] First see Figure 1 , Figure 1 This diagram illustrates the main functional modules of a multidimensional age-friendly walking assistance fall prevention system according to an embodiment of the present invention.

[0042] exist Figure 1 The system shown includes a head-mounted device, a wrist-mounted device, and an assistive robot.

[0043] Combination Figure 2 The provided diagram illustrates a scenario where the technical solution of this invention is applied to age-friendly walking assistance. Figure 1 The head-mounted device is worn on the head of the target person (in this invention, it refers to the elderly, especially the elderly who need assistance walking).

[0044] In existing technologies, wearable devices used to detect human instability primarily focus on collecting data on changes in waist position. However, through long-term investigation and research of the latest literature, the inventors discovered that head movements are more pronounced when the human body is about to become unstable, especially at the moment of an impending fall.

[0045] Therefore, the embodiments of the present invention do not configure wearable belts or other devices on the waist, but instead configure head-mounted wearable devices.

[0046] To make them aesthetically pleasing and easy for the elderly to accept and wear, head-mounted wearable devices can be designed in the form of ordinary hats, ordinary sports headbands, etc. Figure 2 The head-mounted wearable device shown is just one example; in practical applications, it can take many other forms.

[0047] Specifically, head-mounted wearable devices generally include connecting components, buttons, audible and visual warning components, support components, sensors, and adjustment straps. When an elderly person's body tilts or leans to the side, which could lead to a fall, the gyroscope sensor detects this information and activates the audible and visual warning components via a button, emitting sound and light alerts to attract the attention of others.

[0048] In actual use, the headband design may cause discomfort to the elderly after wearing it for a long time. Therefore, the overall size and weight of the device will be optimized, for example, by retaining only basic components such as tilt or lateral sensing components and connectors (adjustment straps) to improve portability and ease of use.

[0049] Therefore, as a preferred embodiment, the head-mounted wearable device may be equipped with a gyroscope sensor, which includes an accelerometer and a position sensor; the head-mounted device determines whether the target person is currently in a stable state or a transient state based on the continuous acceleration change value and position change value monitored by the gyroscope, and the transient state indicates that the target person has a tendency to fall.

[0050] In addition, the head-mounted wearable device is also equipped with a microprocessor-based instruction and data interaction unit for performing near-field data and instruction interaction with the wrist-mounted device and the assistive robot.

[0051] The wrist device communicates with the head-mounted device to receive different state commands from the head-mounted device corresponding to the walking state;

[0052] like Figure 2 As shown, the wrist-based device typically manifests as a smart glove device worn on the wrist and fingers (palm). It is relatively lightweight and does not significantly hinder the movement of the elderly. Moreover, it is usually made of soft, breathable materials, conforms to the wrist and fingers, and is comfortable to wear for extended periods.

[0053] The auxiliary robot has at least a first working mode and a second working mode;

[0054] In the first working mode, the auxiliary robot receives a first control command from the wrist device;

[0055] In the second working mode, the auxiliary robot receives a second control command from the head-mounted device;

[0056] The second control command has a higher priority than the first control command.

[0057] As a specific example, the assistive robot is a cane robot or a wearable limb joint assistive robot.

[0058] The auxiliary robot has multiple working modes and various working postures that can be adjusted and switched. Furthermore, the auxiliary robot has an auxiliary movement unit that can move based on external commands.

[0059] Preferably, the cane robot is a smart cane, and the handheld end (handshake end) of the smart cane is connected to the wrist or palm of the target person by an elastic band to prevent the smart cane from falling out of the target person's control.

[0060] Figure 3 The diagram shows different working postures of the auxiliary robot in the technical solution of the present invention. Figure 3 The following section introduces assistive robots using the intelligent cane robot as an example.

[0061] Specifically, see Figure 1 Head-mounted wearable devices, wrist-worn devices, and assistive robots are all equipped with microprocessor-based instruction and data interaction units (MCUs) for performing near-field data communication and instruction interaction with each other.

[0062] exist Figure 3 The smart cane robot shown has at least two working postures: one is an extended end state, and the other is a retracted end state.

[0063] The extended end state can be understood as the intelligent cane robot's ground-touching end being able to unfold three supports to form a stable triangular ground-touching plane.

[0064] Even in this end-expanded state, there are various unfolding forms with different angles and areas. Figure 3 The four small images on the left show at least four different ways the ends can be unfolded, with different angles and areas.

[0065] The folded-off state can be understood as the intelligent cane robot having only one fulcrum supporting its ground-touching end.

[0066] (The unfolded triangular support folds back into one piece), and the entire cane becomes a straight walking stick, like... Figure 3 As shown in the large image on the right.

[0067] In the technical solution of the present invention, the working posture of the intelligent cane robot can be actively adjusted and controlled by the target person based on different operations of the wrist device.

[0068] Specifically, the wrist-based device actively adjusts and controls the working posture of the intelligent cane robot by issuing various first control commands through wrist and / or palm posture operations; the wrist posture operations include raising / lowering the wrist; the palm posture operations include gripping / releasing. Different wrist posture operations, palm posture operations, or combinations of both correspond to different working postures of the intelligent cane robot.

[0069] As an example, when the wrist is raised, the smart cane robot is controlled to be in a retracted end state; when the wrist is lowered, the smart cane robot is controlled to be in a deployed end state.

[0070] Furthermore, when the wrist is lowered and the palm is in a clenched position, the different angles and / or areas of the extended end of the smart cane robot can be adjusted, for example, reducing the extension angle and / or area of ​​the extended end; when the wrist is lowered and the palm is in a relaxed position, the different angles and / or areas of the extended end of the smart cane robot can be adjusted, for example, increasing the extension angle and / or area of ​​the extended end.

[0071] As one of the advantages and outstanding improvements of the present invention, the auxiliary robot has at least a first working mode and a second working mode;

[0072] In the first working mode, the auxiliary robot receives a first control command from the wrist device;

[0073] In the second working mode, the auxiliary robot receives a second control command from the head-mounted device.

[0074] The reason for setting up two working modes is to address the problem that elderly people often experience excessive tension or incoordination of their hand muscles due to panic when they lose their balance, making it difficult for them to adjust their cane to a protective position in time. This will be explained in more detail below.

[0075] When the target person is in a normal walking state, the head-mounted device senses that the target person's current walking state is stable. At this time, the target person is not at risk of falling. Therefore, the target person can freely choose a comfortable walking state and the corresponding cane holding posture.

[0076] At this time, the auxiliary robot can be in a first working mode. In the first working mode, the auxiliary robot only receives the first control command from the wrist device. The target person issues at least one first control command through wrist and / or palm gestures to actively adjust the working posture of the auxiliary robot.

[0077] In other words, under most normal conditions, the auxiliary robot is in the first working mode by default, which allows the target person to freely and actively control the working posture of the auxiliary robot, so that the stability of the walking state is maintained, the comfort is improved, and the convenience of operation and active adjustability are satisfied.

[0078] Therefore, in one specific embodiment, the wrist-mounted device communicates with the head-mounted device to receive at least two mode commands from the head-mounted device corresponding to the walking state, specifically including:

[0079] When the head-mounted device senses that the target person's current walking state is stable, the head-mounted device sends a working state activation command to the wrist device, which enables the wrist device to issue the first control command.

[0080] In other words, in this mode, the target person's operation commands to the wrist device are effective, and can control the auxiliary robot to adjust its working posture.

[0081] However, when the target is likely to fall, the target will lose balance and become overly tense or uncoordinated in their hand muscles due to panic, making it difficult to adjust the cane to a protective position in time. They may even make incorrect commands due to tension (such as gripping the gloves tightly or raising their wrists).

[0082] At this point, if the wrist posture is adjusted according to the target's wrist and / or hand posture as issued by the first control command, the cane may not be able to be adjusted to the protective posture and position.

[0083] In this case, as a further improvement of the present invention, the auxiliary robot will switch to a second working mode, in which the auxiliary robot receives a second control command from the head-mounted device;

[0084] The second control command has a higher priority than the first control command.

[0085] In other words, in the second working mode, the auxiliary robot will only receive the second control command from the head-mounted device.

[0086] Specifically, when the head-mounted device senses that the target person's current walking state is transient, the auxiliary robot enters the second working mode.

[0087] When the head-mounted device senses that the target person's current walking state is transient, it sends a working state prohibition command to the wrist-mounted device, preventing the wrist-mounted device from issuing the first control command. Simultaneously, the head-mounted device sends a working mode switching command to the auxiliary robot, causing the auxiliary robot to enter a second working mode; in the second working mode, the auxiliary robot receives a second control command from the head-mounted device.

[0088] As can be seen, in this working mode, the target person loses balance due to the impending fall, stumble, or tilt. Driven by bodily instinct, the target person may panic and then perform actions such as gripping the cane tightly, clutching the gloves, or clenching the fist. That is, by manipulating the posture of the wrist and / or palm, at least one primary control command is issued.

[0089] However, at this time, the auxiliary robot simultaneously enters the second working mode. In the second working mode, the auxiliary robot only receives the second control command from the head-mounted device and does not receive the first control command from the wrist device. At this time, the head-mounted device also sends a working state prohibition command to the wrist device, which prevents the wrist device from sending the first control command.

[0090] In other words, at this point, the technical solution of this application will reasonably handle instruction conflicts, so that the second control instruction has a higher priority than the first control instruction.

[0091] In other words, at this moment, the target's active adjustment mode will be temporarily disabled (because the target is in an unstable and panicked state and cannot actively make the correct response). The operation of the auxiliary robot will be passively taken over by the head-mounted device, and forced operation will be carried out based on the instructions of the head-mounted device, thereby achieving a balance in different dimensions of operation convenience, active adjustability and passive protection.

[0092] Specifically, when the target person's current walking state is in a transient state, the head-mounted device sends a second control command to the auxiliary robot to adjust its working posture, so that the auxiliary robot enters the optimal protective posture and ensures that it enters the optimal protective position. For example, the unfolded length, unfolded angle, and unfolded area of ​​the smart cane are optimized to match the tilt direction of the target person detected by the head-mounted device.

[0093] Preferably, when the user is prone to falling from the front or side, the head-mounted device issues a command to move the smart cane to an ideal position, so that the target person's center of gravity is kept within the triangular support polygon formed by the user's feet and the cane robot, ensuring the stability of the cane robot and preventing the elderly from falling in real time.

[0094] Preferably, when the user is prone to falling from the front or side, the head-mounted device issues a command to maximize the unfolded area of ​​the smart cane's end.

[0095] Intelligent canes or hand robots can be realized based on existing intelligent assistive canes. It is only necessary to redevelop microprocessor-based instruction interaction and data communication execution units to perform instruction pairing and interaction.

[0096] Figure 1 The communication between the auxiliary robot and the head-mounted device is represented by dashed lines, while the communication between the auxiliary robot and the wrist device is represented by solid lines. It is further illustrated that the auxiliary robot has two working modes, and only one communication link is used in each working mode. The two communication links (solid and dashed lines) will not be active at the same time.

[0097] By default, the assistive robot always switches to the first working mode, communicating and interacting with the wrist device only (solid line segment). Only when the head-mounted device detects a transient state will the assistive robot switch to the second working mode. In this mode, the assistive robot disconnects its communication link with the wrist device (solid line segment) but communicates with the head-mounted device (dashed line segment). However, once the person returns to a stable state and resumes normal walking posture, the assistive robot will revert to the first working mode.

[0098] After the introduction Figures 1-3 Based on the structural composition and working principle of the system (device) embodiment, the following further refers to... Figure 4 , Figure 4 Showing based on Figure 1 The main process diagram of the multidimensional age-friendly walking assistance fall prevention method implemented by the system is shown in the figure.

[0099] Specifically, Figure 4 The method is implemented based on a head-mounted device, a wrist-worn device, and an auxiliary robot configured on the target person;

[0100] The method includes the following steps:

[0101] The head-mounted device is used to sense the current walking state of the target person, which includes a stable state or a transient state.

[0102] When the target person's current walking state is stable, the head-mounted device sends a working state activation command to the wrist device, which enables the wrist device to issue the first control command.

[0103] Based on the first control command, adjust the working posture of the auxiliary robot;

[0104] When the target person's current walking state is in a transient state, the head-mounted device sends a working state prohibition command to the wrist device, which prevents the wrist device from issuing the first control command.

[0105] Simultaneously, the head-mounted device sends a working mode switching command to the auxiliary robot, causing the auxiliary robot to enter a second working mode; in the second working mode, the auxiliary robot receives a second control command from the head-mounted device.

[0106] The assistive robot also includes a first working mode, in which the assistive robot receives a first control command from the wrist device; the first control command has a lower priority than the second control command.

[0107] The wrist-type device issues at least one first control command through wrist and / or palm posture operations; the wrist posture operations include raising / lowering the wrist; the palm posture operations include gripping / releasing.

[0108] Although not shown in the accompanying drawings, a preferred and more common embodiment of the product may also be an electronic device comprising: a memory and one or more processors. The memory stores one or more application programs adapted to be executed by the one or more processors. Figure 4 The method steps of the embodiment.

[0109] Although not shown in the accompanying drawings, further embodiments also include a computer-readable storage medium storing a computer program that, when executed, Figure 4 The method steps of the embodiment are implemented.

[0110] It is understood that the system, product, equipment, and media implementation examples and method implementations correspond to each other and can be referenced by each other, and their principles are similar or the same, so they will not be elaborated again.

[0111] This invention first senses the target person's current walking state, which includes a stable state or a transient state. When the target person's current walking state is stable, the head-mounted device sends a working state activation command to the wrist-mounted device, enabling the wrist-mounted device to issue a first control command. Based on the first control command, the working posture of the assistive robot is adjusted. When the target person's current walking state is transient, the head-mounted device sends a working state prohibition command to the wrist-mounted device, preventing the wrist-mounted device from issuing the first control command. Simultaneously, the head-mounted device sends a working mode switching command to the assistive robot, causing the assistive robot to enter a second working mode. In the second working mode, the assistive robot receives a second control command from the head-mounted device, thereby avoiding the problem that elderly people often experience excessive tension or incoordination of their hand muscles due to panic when losing balance, making it difficult to adjust the cane to a protective position in time. This achieves the technical effect of age-appropriate walking assistance and fall prevention based on multi-dimensional state perception.

[0112] Other technologies, principles, algorithms, or models not elaborated in detail in this application can be found in the prior art.

[0113] The foregoing has shown and described the method embodiments and systems of the present invention, but it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multidimensional age-friendly walking assistance fall prevention system, the system comprising a head-mounted device, a wrist-mounted device, and an assistive robot, characterized in that: The head-mounted device is used to sense the current walking state of the target person, which includes a stable state or a transient state. The wrist device communicates with the head-mounted device to receive different state commands from the head-mounted device corresponding to the walking state; The auxiliary robot has at least a first working mode and a second working mode; In the first working mode, the auxiliary robot receives a first control command from the wrist device; In the second working mode, the auxiliary robot receives a second control command from the head-mounted device; The second control command has a higher priority than the first control command; The wrist-mounted device communicates with the head-mounted device to receive at least two mode commands from the head-mounted device corresponding to the walking state, specifically including: When the head-mounted device senses that the target person's current walking state is stable, the head-mounted device sends a working state activation command to the wrist device, which enables the wrist device to issue the first control command. When the head-mounted device senses that the target person's current walking state is transient, the head-mounted device sends a working state prohibition command to the wrist device, which prevents the wrist device from issuing the first control command.

2. The multidimensional age-friendly walking assistance fall prevention system as described in claim 1, characterized in that: The head-mounted device is equipped with a gyroscope, which includes an accelerometer and a position sensor; The head-mounted device determines whether the target person is in a stable or transient state based on the continuous acceleration and position changes monitored by the gyroscope. The transient state indicates that the target person has a tendency to fall.

3. The multidimensional age-friendly walking assistance fall prevention system as described in claim 1, characterized in that: The wrist-type device issues at least one first control command through wrist and / or palm posture operation, the first control command being used to actively adjust the working posture of the auxiliary robot.

4. The multidimensional age-friendly walking assistance fall prevention system as described in claim 1, characterized in that: The assistive robot is a cane robot or a wearable limb joint assistive robot.

5. The multidimensional age-friendly walking assistance fall prevention system as described in claim 1, characterized in that: When the head-mounted device detects that the target person's current walking state is transient, the auxiliary robot enters the second working mode.

6. A multidimensional age-friendly walking assistance method for fall prevention, the method being implemented based on a head-mounted device, a wrist-mounted device, and an assistive robot configured on the target individual, characterized in that, The method includes the following steps: The head-mounted device is used to sense the current walking state of the target person, which includes a stable state or a transient state. When the target person's current walking state is stable, the head-mounted device sends a working state activation command to the wrist device, which enables the wrist device to issue a first control command. Based on the first control command, adjust the working posture of the auxiliary robot; When the target person's current walking state is in a transient state, the head-mounted device sends a working state prohibition command to the wrist device, which prevents the wrist device from issuing the first control command. Simultaneously, the head-mounted device sends a working mode switching command to the auxiliary robot, causing the auxiliary robot to enter a second working mode; in the second working mode, the auxiliary robot receives a second control command from the head-mounted device.

7. A fall prevention method for multidimensional age-friendly walking assistance as described in claim 6, characterized in that, The assistive robot also includes a first working mode, in which the assistive robot receives a first control command from the wrist device; the first control command has a lower priority than the second control command.

8. A fall prevention method for multidimensional age-appropriate walking assistance as described in claim 6, characterized in that, The wrist-type device issues at least one first control command through wrist and / or palm posture operations; the wrist posture operations include raising / lowering the wrist; the palm posture operations include gripping / releasing.

9. A computer-readable storage medium having stored thereon computer program instructions, wherein the computer program is executed by an electronic device including a processor to implement the fall prevention method for multidimensional age-friendly walking assistance as described in any one of claims 6-8.

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