A control method and device of an exoskeleton apparatus, and an exoskeleton apparatus

Abstract

The embodiment of the application provides a control method and device of an exoskeleton device and the exoskeleton device, the method comprises the following steps: obtaining the acquisition data corresponding to the encoder on both sides of the exoskeleton device respectively, obtaining the initial damping force corresponding to the acquisition data on both sides respectively, obtaining the target damping force based on the initial damping force on both sides respectively and in combination with the damping force limit value, obtaining the target torque based on the target damping force and in combination with the target motion type, and controlling the driving actuator on both sides of the exoskeleton device based on the target torque. According to the above scheme, the target damping force dynamically changing is obtained based on the initial damping force on both sides and in combination with the damping force limit value, the target torque suitable for the target motion type is obtained based on the target damping force and in combination with the target motion type, and the driving actuator on both sides of the exoskeleton device outputs the resistance suitable for the target motion type and dynamically changing based on the target torque.

Description

Technical Field

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

[0002] With the continuous advancement of technology, exoskeleton technology has gradually become an important assistive technology. In scenarios requiring assistance, such as medical rehabilitation and elderly care, exoskeleton devices improve the wearer's mobility by mimicking the movement patterns of the human body, providing enhanced strength, stability, and flexibility.

[0003] However, the characteristics of movement differ in sports scenarios compared to scenarios requiring assistance. In scenarios requiring assistance, exoskeleton devices can provide aids and simple weight-bearing; while in sports scenarios, to achieve training effects, it is often necessary to simulate a complex biomechanical environment. In this case, if the exoskeleton device used in the aforementioned scenarios requiring assistance is applied to assist the wearer's movement, the training effect may be poor, and it may even cause injury to the wearer.

[0004] Therefore, designing a control method for exoskeleton devices suitable for sports scenarios has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides a control method, device, and exoskeleton device for precise control of the exoskeleton device in sports scenarios.

[0006] In a first aspect, embodiments of this application provide a first control method for an exoskeleton device, applied to a controller of the exoskeleton device, the method comprising:

[0007] The data collected from the encoders on both sides of the exoskeleton device are obtained, and the corresponding initial damping force is obtained based on the data collected from both sides.

[0008] Based on the initial damping forces on both sides, and combined with the damping force limit, the target damping force is obtained;

[0009] Based on the target damping force and the target motion type, a target torque is obtained, and based on the target torque, the drive actuators on both sides of the exoskeleton device are controlled.

[0010] The above scheme obtains the initial damping force on both sides of the exoskeleton device based on the data collected by the encoders on both sides. Then, combined with the damping force limit, a dynamically changing target damping force is obtained. Since different types of motion have different resistance requirements, a target torque suitable for the target motion type is obtained based on the target damping force and the target motion type. Based on the target torque, the drive actuators on both sides of the exoskeleton device are controlled. In this way, the drive actuators can output a dynamic resistance suitable for the target motion type, meet the training objectives under different motion types, and improve the training effect.

[0011] In some optional implementations, the acquired data includes angular velocity; based on the acquired data from each side, the corresponding initial damping force is obtained, including:

[0012] For the angular velocity collected on either side, the corresponding initial damping force is obtained based on the collected angular velocity and the damping coefficient.

[0013] The above scheme, based on the acquisition of angular velocity and combined with the damping coefficient, simulates the resistance output under damping conditions to obtain the corresponding initial damping force.

[0014] In some optional implementations, based on the acquired angular velocity and in combination with the damping coefficient, the corresponding initial damping force is obtained, including:

[0015] When the acquired angular velocity is less than the angular velocity threshold, the negative number of the product between the acquired angular velocity and the damping coefficient is determined as the corresponding initial damping force.

[0016] When the collected angular velocity reaches the angular velocity threshold, the negative number of the product between the angular velocity threshold and the damping coefficient is determined as the corresponding initial damping force.

[0017] The above scheme compares the collected angular velocity with an angular velocity threshold when calculating the initial damping force. The angular velocity threshold serves as the upper limit of the angular velocity used to calculate the initial damping force, thereby reducing the occurrence of excessively large calculated damping forces.

[0018] In some optional implementations, the target torque is obtained based on the target damping force and the target motion type, including:

[0019] When the target motion type is non-resistance motion, the target damping force is determined as the target torque;

[0020] When the target motion is resistive motion, the target torque is obtained based on the target damping force and the target elastic force.

[0021] The above scheme, for non-resistance exercise, directly determines the target damping force as the target torque to simulate the damping environment, thereby meeting the training goal of energy consumption under non-resistance exercise; for resistance exercise, it simulates the spring stretching environment through the target elastic force, and also combines the target damping force to reduce oscillations during the exercise, making the training process smooth and stable, thereby meeting the training goal of improving strength under resistance exercise.

[0022] In some optional implementations, the target torque is obtained based on the target damping force and the target elastic force, including:

[0023] The sum of the target damping force and the target elastic force is determined as the initial torque;

[0024] When the initial torque is less than the upper limit of torque, the initial torque is determined as the target torque;

[0025] When the initial torque reaches the upper limit of the torque, the upper limit of the torque is determined as the target torque.

[0026] The above solution determines the initial torque by the sum of the target damping force and the target elastic force, and compares the initial torque with the upper limit of torque. If the initial torque is less than the upper limit of torque, the initial torque is directly used as the target torque. If the initial torque reaches the upper limit of torque, the upper limit of torque is determined as the target torque, thereby limiting the target torque within the upper limit of torque. This prevents the output of a target torque that exceeds the upper limit of torque, thereby reducing the damage to the exoskeleton device or the user caused by excessive torque.

[0027] In some optional implementations, the acquired data includes the acquisition angle; the target elastic force is obtained through the following methods:

[0028] When the absolute value of the acquisition angle is less than the first angle, the lower limit of the torque is determined as the target elastic force;

[0029] When the absolute value of the acquisition angle is between the first angle and the second angle, the target elastic force is determined based on the angle difference between the absolute value of the acquisition angle and the first angle, combined with the stiffness coefficient; wherein, the second angle is greater than the first angle;

[0030] When the absolute value of the acquisition angle is greater than the second angle, the upper limit of the torque is determined as the target elastic force.

[0031] The above scheme compares the acquisition angle with a smaller first angle and a larger second angle respectively. If the absolute value of the acquisition angle is less than the first angle, the lower limit of the torque is determined as the target elastic force. This allows users to freely adjust their posture when the acquisition angle is small without much elastic force interference. If the absolute value of the acquisition angle is between the first and second angles, the target elastic force is obtained by simulating the restoring torque of a spring based on the angle difference between the absolute value of the acquisition angle and the first angle, combined with the stiffness coefficient. When the absolute value of the acquisition angle is greater than the second angle, the upper limit of the torque is determined as the target elastic force to reduce the occurrence of excessive target elastic force.

[0032] In some optional implementations, the target damping force is obtained based on the initial damping forces on both sides, combined with the damping force limit, including:

[0033] The sum of the initial damping forces corresponding to each side is determined as the bilateral damping force.

[0034] Based on the aforementioned bilateral damping forces, and in conjunction with the damping force limit, the target damping force is obtained.

[0035] In some optional implementations, the damping force limit includes: an upper limit of damping force and a lower limit of damping force;

[0036] Based on the aforementioned bilateral damping force, and in conjunction with the damping force limit, the target damping force is obtained, including:

[0037] When the bilateral damping force is less than the lower limit of the damping force, the product of the attenuation coefficient and the initial damping force is determined as the target damping force; wherein the attenuation coefficient is directly proportional to the initial damping force.

[0038] When the bilateral damping force is between the lower limit of the damping force and the upper limit of the damping force, the initial damping force is determined as the target damping force;

[0039] When the bilateral damping force is greater than the upper limit of the damping force, the upper limit of the damping force is determined as the target damping force.

[0040] The above scheme compares the bilateral damping force with both the lower and upper limits of the damping force. If the bilateral damping force is less than the lower limit, the product of the attenuation coefficient and the initial damping force is determined as the target damping force. In other words, the initial damping force is attenuated by the attenuation coefficient, and the smaller the initial damping force, the smaller the attenuation coefficient and the greater the attenuation. Thus, the target damping force will gradually attenuate to 0 after the lower limit, reducing the occurrence of exoskeleton equipment vibration caused by small torque output. If the bilateral damping force is between the lower and upper limits, the initial damping force is directly determined as the target damping force. When the bilateral damping force is greater than the upper limit, the upper limit is determined as the target damping force, reducing the occurrence of excessive target damping force.

[0041] In some optional implementations, before obtaining the acquisition data corresponding to the encoders on both sides of the exoskeleton device, the following steps are also included:

[0042] In response to a motion command sent by a user device, motion parameters corresponding to the motion command are obtained; wherein, the motion parameters include the target motion type.

[0043] The above solution obtains motion parameters, including the target motion type, based on motion commands, thereby allowing for the selection of motion parameters such as the target motion type according to actual needs, which improves the practicality and training efficiency of exoskeleton devices.

[0044] In some optional implementations, based on the target torque, the drive actuators on both sides of the exoskeleton device are controlled, including:

[0045] Based on the target torque and the first direction, control the drive actuator on one side of the exoskeleton device; and,

[0046] Based on the target torque and the second direction, the drive actuator on the other side of the exoskeleton device is controlled; wherein the first direction and the second direction are opposite to each other.

[0047] The above solution controls the drive actuators on both sides by using a first direction and a second direction that are opposite to each other. This applies symmetrical target torques to both sides of the user, ensuring the stability of the back pole of the exoskeleton device and reducing the occurrence of the exoskeleton rolling on the back.

[0048] Secondly, embodiments of this application provide a control device for an exoskeleton device, applied to a controller of the exoskeleton device, the method comprising:

[0049] The damping force acquisition module is used to acquire the data collected by the encoders on both sides of the exoskeleton device, and to acquire the corresponding initial damping force based on the data collected by both sides.

[0050] The damping force acquisition module is also used to obtain the target damping force based on the initial damping forces corresponding to both sides and the damping force limit;

[0051] The control module is used to obtain the target torque based on the target damping force and the target motion type, and to control the drive actuators on both sides of the exoskeleton device based on the target torque.

[0052] In some optional implementations, the acquired data includes angular velocity; the damping force acquisition module is specifically used for:

[0053] For the angular velocity collected on either side, the corresponding initial damping force is obtained based on the collected angular velocity and the damping coefficient.

[0054] In some optional implementations, the damping force obtaining module is specifically used for:

[0055] When the acquired angular velocity is less than the angular velocity threshold, the negative number of the product between the acquired angular velocity and the damping coefficient is determined as the corresponding initial damping force.

[0056] When the collected angular velocity reaches the angular velocity threshold, the negative number of the product between the angular velocity threshold and the damping coefficient is determined as the corresponding initial damping force.

[0057] In some optional implementations, the control module is specifically used for:

[0058] When the target motion type is non-resistance motion, the target damping force is determined as the target torque;

[0059] When the target motion is resistive motion, the target torque is obtained based on the target damping force and the target elastic force.

[0060] In some optional implementations, the control module is specifically used for:

[0061] The sum of the target damping force and the target elastic force is determined as the initial torque;

[0062] When the initial torque is less than the upper limit of torque, the initial torque is determined as the target torque;

[0063] When the initial torque reaches the upper limit of the torque, the upper limit of the torque is determined as the target torque.

[0064] In some optional implementations, an elasticity acquisition module is also included, wherein the acquired data includes an acquisition angle; the elasticity acquisition module is used for:

[0065] When the absolute value of the acquisition angle is less than the first angle, the lower limit of the torque is determined as the target elastic force;

[0066] When the absolute value of the acquisition angle is between the first angle and the second angle, the target elastic force is determined based on the angle difference between the absolute value of the acquisition angle and the first angle, combined with the stiffness coefficient; wherein, the second angle is greater than the first angle;

[0067] When the absolute value of the acquisition angle is greater than the second angle, the upper limit of the torque is determined as the target elastic force.

[0068] In some optional implementations, the damping force obtaining module is specifically used for:

[0069] The sum of the initial damping forces corresponding to each side is determined as the bilateral damping force.

[0070] Based on the aforementioned bilateral damping forces, and in conjunction with the damping force limit, the target damping force is obtained.

[0071] In some optional implementations, the damping force limit includes: an upper limit of damping force and a lower limit of damping force;

[0072] The damping force acquisition module is specifically used for:

[0073] When the bilateral damping force is less than the lower limit of the damping force, the product of the attenuation coefficient and the initial damping force is determined as the target damping force; wherein the attenuation coefficient is directly proportional to the initial damping force.

[0074] When the bilateral damping force is between the lower limit of the damping force and the upper limit of the damping force, the initial damping force is determined as the target damping force;

[0075] When the bilateral damping force is greater than the upper limit of the damping force, the upper limit of the damping force is determined as the target damping force.

[0076] In some optional implementations, a parameter acquisition module is also included, for:

[0077] In response to a motion command sent by a user device, motion parameters corresponding to the motion command are obtained; wherein, the motion parameters include the target motion type.

[0078] In some optional implementations, the control module is specifically used for:

[0079] Based on the target torque and the first direction, control the drive actuator on one side of the exoskeleton device; and,

[0080] Based on the target torque and the second direction, the drive actuator on the other side of the exoskeleton device is controlled; wherein the first direction and the second direction are opposite to each other.

[0081] Thirdly, embodiments of this application provide an exoskeleton device, including encoders, controllers, memory, and drive actuators on both sides of a hip joint exoskeleton; wherein:

[0082] The memory stores instructions that can be executed by the controller. These instructions are executed by the controller to enable the controller to control the drive actuator by performing any of the methods described in the first aspect above, based on the data from the encoders on both sides.

[0083] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program executable by a processor, which, when run on the processor, causes the processor to perform the control method for the exoskeleton device described in any of the first aspects above. Attached Figure Description

[0084] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0085] Figure 1 A system architecture diagram of an exoskeleton device provided in this application embodiment;

[0086] Figure 2 A flowchart illustrating a control method for an exoskeleton device provided in an embodiment of this application;

[0087] Figure 3 This is a schematic diagram illustrating an application scenario provided in the embodiments of this application;

[0088] Figure 4 A schematic diagram of a first user interface provided for an embodiment of this application;

[0089] Figure 5 A flowchart illustrating the control method for a second type of exoskeleton device provided in this application embodiment;

[0090] Figure 6 A flowchart illustrating the control method for a third type of exoskeleton device provided in this application embodiment;

[0091] Figure 7 A schematic diagram of a second user interface provided in an embodiment of this application;

[0092] Figure 8A schematic diagram of a third user interface provided in the embodiments of this application;

[0093] Figure 9 A schematic diagram of a fourth user interface provided in the embodiments of this application;

[0094] Figure 10 A schematic diagram of the fifth user interface provided in the embodiments of this application;

[0095] Figure 11 This is a schematic diagram of the structure of the control device for the exoskeleton device provided in the embodiments of this application;

[0096] Figure 12 This is a schematic diagram of the structure of the exoskeleton device provided in the embodiments of this application. Detailed Implementation

[0097] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0098] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0099] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two devices. Those skilled in the art can understand the specific meaning of the above term in this application based on the specific circumstances.

[0100] With the continuous advancement of technology, exoskeleton technology has gradually become an important assistive technology. In scenarios requiring assistance, such as medical rehabilitation and elderly care, exoskeleton devices improve the wearer's mobility by mimicking the movement patterns of the human body, providing enhanced strength, stability, and flexibility.

[0101] However, the characteristics of movement differ in sports scenarios compared to scenarios requiring assistance. In scenarios requiring assistance, exoskeleton devices can provide aids and simple weight-bearing; while in sports scenarios, to achieve training effects, it is often necessary to simulate a complex biomechanical environment. In this case, if the exoskeleton device used in the aforementioned scenarios requiring assistance is applied to assist the wearer's movement, the training effect may be poor, and it may even cause injury to the wearer.

[0102] Therefore, designing a control method for exoskeleton devices suitable for sports scenarios has become an urgent problem to be solved.

[0103] In view of this, embodiments of this application propose a control method, device, and exoskeleton device for precise control of the exoskeleton device in sports scenarios.

[0104] See Figure 1 The figure shown is a system architecture diagram of an exoskeleton device provided in an embodiment of this application, including encoders on both sides of the exoskeleton device (located at the hip joints on both sides respectively), controllers, memory (not shown in the figure) and drive actuators on both sides.

[0105] The encoders on both sides are high-precision relative position sensors used to obtain corresponding data in real time;

[0106] The memory stores instructions that can be executed by the controller. When the controller executes these instructions, it can perform the following actions based on the data from the encoders on both sides: obtain the acquisition data corresponding to the encoders on both sides of the exoskeleton device; obtain the corresponding initial damping force based on the acquisition data of each side; obtain the target damping force based on the initial damping force of each side and the damping force limit; obtain the target torque based on the target damping force and the target motion type; and control the drive actuators on both sides based on the target torque.

[0107] The drive actuators on both sides are used to apply the target torque at the corresponding hip joint under the control of the controller.

[0108] The exoskeleton device described above is merely an example; in practice, the exoskeleton device, in addition to... Figure 1 In addition to the devices shown, other components may be included, such as Hall sensors. Hall sensors can detect the absolute position of the motor rotor. Therefore, Hall sensors can be used in conjunction with the exoskeleton device during initialization or periodically to calibrate the encoder, thereby improving the accuracy of the acquired data and making subsequent control more precise.

[0109] In this embodiment, based on the data collected from the encoders on both sides of the exoskeleton device, the initial damping forces on both sides are obtained. Then, combined with the damping force limit, a dynamically changing target damping force is obtained. Since different types of motion have different resistance requirements, a target torque suitable for the target motion type is obtained based on the target damping force and the target motion type. Based on the target torque, the drive actuators on both sides of the exoskeleton device are controlled. In this way, the drive actuators can output a dynamic resistance suitable for the target motion type, meet the training objectives under different motion types, and improve the training effect.

[0110] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with reference to the accompanying drawings and specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0111] Figure 2 This is a flowchart illustrating a first type of control method for an exoskeleton device provided in an embodiment of this application, applied to the controller of the exoskeleton device, such as... Figure 2 As shown, it includes the following steps:

[0112] Step S201: Obtain the acquisition data corresponding to the encoders on both sides of the exoskeleton device, and obtain the corresponding initial damping force based on the acquisition data corresponding to both sides.

[0113] See above Figure 1 As shown, encoders are installed on both sides of the exoskeleton device. Each encoder can obtain corresponding data in real time and then transmit it to the controller.

[0114] After the controller obtains the corresponding data from both sides, it obtains the initial damping force corresponding to each side.

[0115] Step S202: Based on the initial damping forces corresponding to both sides, and combined with the damping force limit, obtain the target damping force.

[0116] In practice, a target damping force is obtained by merging the initial damping forces on both sides and combining them with the damping force limit.

[0117] Step S203: Based on the target damping force and the target motion type, obtain the target torque, and based on the target torque, control the drive actuators on both sides of the exoskeleton device.

[0118] Since different types of motion have different resistance requirements, for example, some types of motion require additional forces in addition to the target damping force, a target torque suitable for the target motion type is obtained based on the target damping force and combined with the target motion type, thereby controlling the drive actuators on both sides of the exoskeleton device.

[0119] For example, the controller generates a control signal corresponding to the target torque, such as a pulse width modulation (PWM) wave, to control the drive actuator to output torque.

[0120] The above scheme obtains the initial damping force on both sides of the exoskeleton device based on the data collected by the encoders on both sides. Then, combined with the damping force limit, a dynamically changing target damping force is obtained. Since different types of motion have different resistance requirements, a target torque suitable for the target motion type is obtained based on the target damping force and the target motion type. Based on the target torque, the drive actuators on both sides of the exoskeleton device are controlled. In this way, the drive actuators can output a dynamic resistance suitable for the target motion type, meet the training objectives under different motion types, and improve the training effect.

[0121] See Figure 3 As shown, the exoskeleton device may be equipped with a communication unit, which can be used to connect to the user device.

[0122] The embodiments of this application do not limit the specific implementation of the communication unit, such as a wireless local area network (WiFi) unit, a Bluetooth unit, etc.

[0123] In some alternative implementations, the following steps may also be performed before step S201 described above:

[0124] In response to a motion command sent by a user device, motion parameters corresponding to the motion command are obtained; wherein, the motion parameters include the target motion type.

[0125] In practice, different methods exist for determining the target torque under different motion types. Therefore, it is necessary to combine the user's needs to obtain the required target motion type.

[0126] In this embodiment of the application, motion commands triggered by the user are obtained through interaction with the user device, thereby accurately and efficiently obtaining motion parameters including the target motion type.

[0127] See Figure 4 As shown, the main interface for managing exoskeleton devices includes a drop-down menu for movement types. Users can select the target movement type by clicking on an option in the drop-down menu. Figure 4 Taking resistance training and non-resistance training as examples, other types of exercise can be involved in the implementation.

[0128] The above Figure 4 The target motion type can be selected via a drop-down menu. In practice, it can also be achieved through buttons, input boxes, etc., which will not be illustrated here.

[0129] The above solution obtains motion parameters, including the target motion type, based on motion commands, thereby allowing for the selection of motion parameters such as the target motion type according to actual needs, which improves the practicality and training efficiency of exoskeleton devices.

[0130] In some optional implementations, the exoskeleton device can also send device status data, current motion status, and other data to the user device via the communication unit so that the user device can display this data.

[0131] In some optional implementations, the acquired data includes angular velocity; step S201 above can be implemented in, but is not limited to, the following ways:

[0132] For the angular velocity collected on either side, the corresponding initial damping force is obtained based on the collected angular velocity and the damping coefficient.

[0133] In actual sports, the damping force generated naturally is related to speed, and the greater the speed, the greater the damping force. Furthermore, the strength of the damping force varies in different sports scenarios. For example, walking in water results in a greater damping force from the water, while walking on land results in a smaller damping force from the wind. Moreover, the damping force from the wind also varies under different weather conditions. Different users also have different needs for the damping force generated during sports.

[0134] Based on this, in this embodiment of the application, the corresponding initial damping force is obtained by combining the collected angular velocity (which reflects the current speed of motion) with the damping coefficient (which can simulate the strength of damping force in different motion scenarios according to user needs).

[0135] The above scheme, based on the acquisition of angular velocity and combined with the damping coefficient, simulates the resistance output under damping conditions to obtain the corresponding initial damping force.

[0136] In some optional implementations, based on the acquired angular velocity and in combination with the damping coefficient, the corresponding initial damping force is obtained, including:

[0137] When the acquired angular velocity is less than the angular velocity threshold, the negative number of the product between the acquired angular velocity and the damping coefficient is determined as the corresponding initial damping force.

[0138] When the collected angular velocity reaches the angular velocity threshold, the negative number of the product between the angular velocity threshold and the damping coefficient is determined as the corresponding initial damping force.

[0139] In practice, an angular velocity threshold is set, and the acquired angular velocity is compared with the threshold. If the acquired angular velocity is less than the threshold, it means that the acquired angular velocity meets the threshold's constraint. Therefore, the negative product of the acquired angular velocity and the damping coefficient is directly determined as the corresponding initial damping force. If the acquired angular velocity reaches the threshold, it means that the acquired angular velocity does not meet the threshold's constraint. Therefore, the negative product of the angular velocity threshold and the damping coefficient is determined as the corresponding initial damping force.

[0140] The formula is expressed as: Initial damping force on the left side F_L=-B*ω L ω L =min{ω L0 ,ω max The initial damping force on the right side is F_R = -B*ω. R ω R =min{ω R0 ,ω max};

[0141] Where B is the damping coefficient, ω L0 The angular velocity is collected on the left side, ω max ω is the angular velocity threshold. L For ω L0 and ω max The minimum value of ω R0 The angular velocity collected on the right side, ω L For ω R0 and ω max The minimum value in.

[0142] The above scheme compares the collected angular velocity with an angular velocity threshold when calculating the initial damping force. The angular velocity threshold serves as the upper limit of the angular velocity used to calculate the initial damping force, thereby reducing the occurrence of excessively large calculated damping forces.

[0143] In some optional implementations, step S202 above can be implemented in, but is not limited to, the following ways:

[0144] The sum of the initial damping forces corresponding to each side is determined as the bilateral damping force.

[0145] Based on the aforementioned bilateral damping forces, and in conjunction with the damping force limit, the target damping force is obtained.

[0146] In practice, the initial damping forces on both sides are added together to obtain the dual-sided damping force that integrates the initial damping forces on both sides; then, the target damping force is obtained by combining the damping force limit.

[0147] The formula is expressed as: bilateral damping force F t=F_L + F_R; F_L is the initial damping force on the left side, and F_R is the initial damping force on the right side.

[0148] In some optional implementations, the damping force limit includes an upper limit and a lower limit; the target damping force can be obtained in, but is not limited to, the following ways:

[0149] When the bilateral damping force is less than the lower limit of the damping force, the product of the attenuation coefficient and the initial damping force is determined as the target damping force; wherein the attenuation coefficient is directly proportional to the initial damping force.

[0150] When the bilateral damping force is between the lower limit of the damping force and the upper limit of the damping force, the initial damping force is determined as the target damping force;

[0151] When the bilateral damping force is greater than the upper limit of the damping force, the upper limit of the damping force is determined as the target damping force.

[0152] In this embodiment of the application, a lower limit F of damping force is set. min and the upper limit of damping force F max The damping forces on both sides were compared with the lower limit and upper limit of the damping force, respectively.

[0153] Because when the exoskeleton device outputs a small torque, it may cause low-frequency vibration of the exoskeleton device;

[0154] Based on this, in the embodiments of this application, when the damping force on both sides is less than the lower limit of the damping force, the initial damping force is attenuated by the attenuation coefficient. The smaller the initial damping force, the smaller the attenuation coefficient and the greater the attenuation. In this way, the target damping force will gradually attenuate to 0 after the lower limit of the damping force, reducing the occurrence of exoskeleton device shaking due to small torque output.

[0155] The formula is expressed as: Target damping force F D =α*F t Where α is the attenuation coefficient, F t This is a two-sided damping force. For example, the value of α ranges from 0 to 1, that is, as F... t As the number of α decreases, it will gradually decay from 1 to 0.

[0156] Because large torques generated by exoskeleton devices may cause damage to the equipment or the user;

[0157] Based on this, in the embodiments of this application, when the damping force on both sides is greater than the upper limit of the damping force, the upper limit of the damping force is determined as the target damping force.

[0158] The above scheme compares the bilateral damping force with both the lower and upper limits of the damping force. If the bilateral damping force is less than the lower limit, the product of the attenuation coefficient and the initial damping force is determined as the target damping force. In other words, the initial damping force is attenuated by the attenuation coefficient, and the smaller the initial damping force, the smaller the attenuation coefficient and the greater the attenuation. Thus, the target damping force will gradually attenuate to 0 after the lower limit, reducing the occurrence of exoskeleton equipment vibration caused by small torque output. If the bilateral damping force is between the lower and upper limits, the initial damping force is directly determined as the target damping force. When the bilateral damping force is greater than the upper limit, the upper limit is determined as the target damping force, reducing the occurrence of excessive target damping force.

[0159] In some optional implementations, the drive actuators controlling both sides of the exoskeleton device in step S203 above can be implemented in, but are not limited to, the following ways:

[0160] Based on the target torque and the first direction, control the drive actuator on one side of the exoskeleton device; and,

[0161] Based on the target torque and the second direction, the drive actuator on the other side of the exoskeleton device is controlled; wherein the first direction and the second direction are opposite to each other.

[0162] By controlling the drive actuators on both sides in the first and second directions, which are opposite to each other, symmetrical target torques are applied to both sides of the user, ensuring the stability of the back pole of the exoskeleton device and reducing the occurrence of the exoskeleton rolling on the back.

[0163] Figure 5 This is a flowchart illustrating the control method for the second type of exoskeleton device provided in this application embodiment, as shown below. Figure 5 As shown, it includes the following steps:

[0164] Step S501: Obtain the acquisition data corresponding to the encoders on both sides of the exoskeleton device, and obtain the corresponding initial damping force based on the acquisition data corresponding to both sides.

[0165] Step S502: Based on the initial damping forces corresponding to both sides, and combined with the damping force limit, obtain the target damping force.

[0166] The specific implementation of steps S501 to S502 can be referred to the above embodiments, and will not be repeated here.

[0167] Step S503: When the target motion type is non-resistance motion, the target damping force is determined as the target torque, and based on the target torque, the drive actuators on both sides of the exoskeleton device are controlled.

[0168] The above scheme, for non-resistance motion, directly determines the target damping force as the target torque, simulates the damping environment, and thus meets the training objective of energy consumption under non-resistance motion.

[0169] Figure 6 A flowchart illustrating the control method for the third type of exoskeleton device provided in this application embodiment is shown below. Figure 6 As shown, it includes the following steps:

[0170] Step S601: Obtain the acquisition data corresponding to the encoders on both sides of the exoskeleton device, and obtain the corresponding initial damping force based on the acquisition data corresponding to both sides.

[0171] Step S602: Based on the initial damping forces corresponding to both sides, and combined with the damping force limit, obtain the target damping force.

[0172] The specific implementation of steps S601 to S602 can be referred to the above embodiments, and will not be repeated here.

[0173] Step S603: When the target motion is resistive motion, the target torque is obtained based on the target damping force and the target elastic force, and the drive actuators on both sides of the exoskeleton device are controlled based on the target torque.

[0174] The above scheme, designed for resistance training, simulates the stretching environment of a spring through target elasticity and reduces oscillations during exercise by combining target damping force, making the training process smooth and stable, thereby meeting the training goal of improving strength under resistance training.

[0175] In some optional implementations, determining the target torque in step S603 above can be achieved, but is not limited to, in the following ways:

[0176] The sum of the target damping force and the target elastic force is determined as the initial torque;

[0177] When the initial torque is less than the upper limit of torque, the initial torque is determined as the target torque;

[0178] When the initial torque reaches the upper limit of the torque, the upper limit of the torque is determined as the target torque.

[0179] In practice, the initial torque under the dual influence of damping and spring tension is obtained by adding the target damping force and the target elastic force, and the initial torque is compared with the upper limit of torque.

[0180] The formula is expressed as: initial torque F O =F D +F S Among them, F DFor the target damping force, F S The target elastic force.

[0181] If the initial torque is less than the upper limit of torque, the initial torque is directly used as the target torque. If the initial torque reaches the upper limit of torque, the upper limit of torque is determined as the target torque, thereby limiting the target torque to within the upper limit of torque. This prevents the output of a target torque greater than the upper limit of torque, thereby reducing damage to the exoskeleton device or user caused by excessive torque.

[0182] The formula is expressed as: Target torque F out =min{F O ,F sat}; where F O For the initial torque, F sat This represents the upper limit of the torque.

[0183] In some optional implementations, the acquired data includes the acquisition angle; the target elastic force can be obtained through, but is not limited to, the following methods:

[0184] When the absolute value of the acquisition angle is less than the first angle, the lower limit of the torque is determined as the target elastic force;

[0185] When the absolute value of the acquisition angle is between the first angle and the second angle, the target elastic force is determined based on the angle difference between the absolute value of the acquisition angle and the first angle, combined with the stiffness coefficient; wherein, the second angle is greater than the first angle;

[0186] When the absolute value of the acquisition angle is greater than the second angle, the upper limit of the torque is determined as the target elastic force.

[0187] In this embodiment of the application, a smaller first angle △θ1 and a larger second angle △θ2 are set, and the collected angle △θ0 is compared with the smaller first angle and the larger second angle respectively.

[0188] If the absolute value of the acquisition angle is less than the first angle, i.e., |△θ0| < △θ1, the lower limit of the torque is determined as the target elastic force. This allows the user to freely adjust their posture when the acquisition angle is small without significant elastic force interference. This application does not specifically limit the lower limit of the torque, as long as it does not generate significant resistance; for example, the lower limit of the torque can be set to 0.

[0189] If the absolute value of the acquired angle is between the first angle and the second angle, i.e., △θ1≤|△θ0|≤△θ2, the target elastic force is obtained by simulating the restoring torque of the spring based on the angle difference between the absolute value of the acquired angle and the first angle, combined with the stiffness coefficient.

[0190] The formula is expressed as: Target elastic force F S=-K*(|△θ0|-△θ1); where K is the stiffness coefficient, △θ0 is the acquisition angle, and △θ1 is the first angle.

[0191] If the absolute value of the sampling angle is greater than the second angle, i.e., |△θ0|>△θ2, the upper limit of the torque is determined as the target elastic force to reduce the occurrence of excessive target elastic force.

[0192] During resistance motion, the direction of the target torque always points to the neutral position (Δθ0=0).

[0193] The above scheme compares the acquisition angle with a smaller first angle and a larger second angle respectively. If the absolute value of the acquisition angle is less than the first angle, the lower limit of the torque is determined as the target elastic force. This allows users to freely adjust their posture when the acquisition angle is small without much elastic force interference. If the absolute value of the acquisition angle is between the first and second angles, the target elastic force is obtained by simulating the restoring torque of a spring based on the angle difference between the absolute value of the acquisition angle and the first angle, combined with the stiffness coefficient. When the absolute value of the acquisition angle is greater than the second angle, the upper limit of the torque is determined as the target elastic force to reduce the occurrence of excessive target elastic force.

[0194] As described above, in some optional implementations, in response to a motion command sent by a user device, motion parameters corresponding to the motion command are obtained; wherein, the motion parameters include the target motion type.

[0195] In practice, in addition to the target motion type, motion commands may also include other motion parameters related to that target motion type.

[0196] Taking the above-mentioned non-resistance motion as an example, in addition to the target motion type, some or all of the following can also be obtained based on the motion command: damping coefficient, angular velocity threshold, upper limit of damping force, and lower limit of damping force.

[0197] In some embodiments, users can directly set the damping coefficient, angular velocity threshold, upper limit of damping force, and lower limit of damping force, that is, the motion command includes specific parameters of the damping coefficient, angular velocity threshold, upper limit of damping force, and lower limit of damping force.

[0198] Based on the above Figure 4 For example, after selecting non-resistance exercise in the main interface of the exoskeleton device management, you can enter... Figure 7 The sub-interface shown is for non-resistance motion. This sub-interface includes sliders corresponding to the damping coefficient, angular velocity threshold, upper limit of damping force, and lower limit of damping force. Specific parameters can be selected by sliding these sliders.

[0199] Figure 7 The specific parameters are implemented using a slider as an example. In practice, they can also be implemented through input boxes, etc., but we will not give examples of each method here.

[0200] In other embodiments, instead of directly setting the damping coefficient, angular velocity threshold, and damping force limit, the user can select a subdivision mode for non-resistance motion, that is, the motion command includes the subdivision mode, and the exoskeleton device determines the specific parameters of the corresponding damping coefficient, angular velocity threshold, and damping force limit based on the subdivision mode.

[0201] Based on the above Figure 4 For example, after selecting non-resistance exercise in the main interface of the exoskeleton device management, you can enter... Figure 8 The sub-interface for non-resistance motion is shown. In this sub-interface, there is a drop-down menu for each sub-mode of non-resistance motion. You can select the sub-mode by clicking the option in the drop-down menu. Figure 8 Taking non-resistance exercise mode 1, non-resistance exercise mode 2 and non-resistance exercise mode 3 as examples, more or fewer sub-modes of non-resistance exercise can be set in the implementation.

[0202] The exoskeleton device can determine the specific parameters of the damping coefficient, angular velocity threshold, and damping force limit based on the first correspondence between the subdivision mode, damping coefficient, angular velocity threshold, and damping force limit.

[0203] Taking the above-mentioned resistive motion as an example, in addition to the target motion type, some or all of the following can also be obtained based on the motion command: damping coefficient, angular velocity threshold, damping force limit, torque limit, first angle, second angle, and stiffness coefficient.

[0204] In some embodiments, users can directly set specific parameters such as damping coefficient, angular velocity threshold, damping force limit, torque limit, first angle, second angle, and stiffness coefficient.

[0205] Based on the above Figure 4 For example, after selecting resistance exercise in the main interface of the exoskeleton device management, you can enter... Figure 9 The sub-interface for resisting motion shown includes sliders corresponding to specific parameters such as damping coefficient, angular velocity threshold, upper limit of damping force, lower limit of damping force, upper limit of torque, first angle, second angle, and stiffness coefficient. The specific parameters can be selected by sliding these sliders.

[0206] Figure 9 The specific parameters are implemented using a slider as an example. In practice, they can also be implemented through input boxes, etc., but we will not give examples of each method here.

[0207] In other embodiments, instead of directly setting the specific parameters of damping coefficient, angular velocity threshold, upper limit of damping force, lower limit of damping force, upper limit of torque, first angle, second angle, and stiffness coefficient, the user can select a subdivision mode for resistive motion. That is, the motion command includes this subdivision mode, and the exoskeleton device determines the corresponding specific parameters of damping coefficient, angular velocity threshold, upper limit of damping force, lower limit of damping force, upper limit of torque, first angle, second angle, and stiffness coefficient according to this subdivision mode.

[0208] Based on the above Figure 4 For example, after selecting resistance exercise in the main interface of the exoskeleton device management, you can enter... Figure 10 The sub-interface for resistance motion shown contains drop-down menus for various sub-modes of resistance motion. You can select a sub-mode by clicking on the options in the drop-down menu. Figure 10 Taking resistance exercise mode 1, resistance exercise mode 2 and resistance exercise mode 3 as examples, more or fewer subdivisions of resistance exercise can be set during implementation.

[0209] The exoskeleton device can determine the specific parameters of the damping coefficient, angular velocity threshold, upper limit of damping force, lower limit of damping force, upper limit of torque, first angle, second angle, and stiffness coefficient based on the second correspondence between the subdivision mode, damping coefficient, angular velocity threshold, upper limit of damping force, lower limit of damping force, upper limit of torque, first angle, second angle, and stiffness coefficient.

[0210] The above solution, by obtaining other exercise parameters, allows users to adjust training intensity according to their own physical fitness level and training stage, and precisely customize personalized training plans to achieve intelligent fitness guidance.

[0211] In some optional implementations, based on any of the above embodiments, the following steps may also be performed:

[0212] When the acquired acceleration is greater than the acceleration limit and / or the acquired angular velocity is greater than the velocity limit, a reverse pulse torque is obtained based on the acquired angular velocity, and the actuator is controlled to drive the actuator.

[0213] For example, the above-mentioned acquisition acceleration is obtained by taking the first derivative of the acquisition angular velocity, which is to say, by taking the second derivative of the acquisition angle.

[0214] By comparing the collected acceleration with acceleration limits and the collected angular velocity with velocity limits, abnormal velocity or acceleration can be detected in a timely manner. By applying a reverse pulse torque, dangerous situations such as the legs rising too quickly and hitting the user can be reduced, thus improving the safety of the exoskeleton equipment during use.

[0215] like Figure 11As shown, this application embodiment provides a control device 1100 for an exoskeleton device, applied to the controller of the exoskeleton device, the device comprising:

[0216] The damping force acquisition module 1101 is used to acquire the data collected by the encoders on both sides of the exoskeleton device, and to acquire the corresponding initial damping force based on the data collected by both sides.

[0217] The damping force acquisition module 1101 is also used to obtain the target damping force based on the initial damping forces corresponding to both sides and the damping force limit.

[0218] The control module 1102 is used to obtain the target torque based on the target damping force and the target motion type, and to control the drive actuators on both sides of the exoskeleton device based on the target torque.

[0219] In some optional implementations, the acquired data includes angular velocity; the damping force acquisition module 1101 is specifically used for:

[0220] For the angular velocity collected on either side, the corresponding initial damping force is obtained based on the collected angular velocity and the damping coefficient.

[0221] In some optional implementations, the damping force obtaining module 1101 is specifically used for:

[0222] When the acquired angular velocity is less than the angular velocity threshold, the negative number of the product between the acquired angular velocity and the damping coefficient is determined as the corresponding initial damping force.

[0223] When the collected angular velocity reaches the angular velocity threshold, the negative number of the product between the angular velocity threshold and the damping coefficient is determined as the corresponding initial damping force.

[0224] In some optional implementations, the control module 1102 is specifically used for:

[0225] When the target motion type is non-resistance motion, the target damping force is determined as the target torque;

[0226] When the target motion is resistive motion, the target torque is obtained based on the target damping force and the target elastic force.

[0227] In some optional implementations, the control module 1102 is specifically used for:

[0228] The sum of the target damping force and the target elastic force is determined as the initial torque;

[0229] When the initial torque is less than the upper limit of torque, the initial torque is determined as the target torque;

[0230] When the initial torque reaches the upper limit of the torque, the upper limit of the torque is determined as the target torque.

[0231] In some optional implementations, an elasticity acquisition module 1103 is also included, wherein the acquired data includes an acquisition angle; the elasticity acquisition module 1103 is used for:

[0232] When the absolute value of the acquisition angle is less than the first angle, the lower limit of the torque is determined as the target elastic force;

[0233] When the absolute value of the acquisition angle is between the first angle and the second angle, the target elastic force is determined based on the angle difference between the absolute value of the acquisition angle and the first angle, combined with the stiffness coefficient; wherein, the second angle is greater than the first angle;

[0234] When the absolute value of the acquisition angle is greater than the second angle, the upper limit of the torque is determined as the target elastic force.

[0235] In some optional implementations, the damping force obtaining module 1101 is specifically used for:

[0236] The sum of the initial damping forces corresponding to each side is determined as the bilateral damping force.

[0237] Based on the aforementioned bilateral damping forces, and in conjunction with the damping force limit, the target damping force is obtained.

[0238] In some optional implementations, the damping force limit includes: an upper limit of damping force and a lower limit of damping force;

[0239] The damping force acquisition module 1101 is specifically used for:

[0240] When the bilateral damping force is less than the lower limit of the damping force, the product of the attenuation coefficient and the initial damping force is determined as the target damping force; wherein the attenuation coefficient is directly proportional to the initial damping force.

[0241] When the bilateral damping force is between the lower limit of the damping force and the upper limit of the damping force, the initial damping force is determined as the target damping force;

[0242] When the bilateral damping force is greater than the upper limit of the damping force, the upper limit of the damping force is determined as the target damping force.

[0243] In some optional implementations, a parameter acquisition module 1104 is also included, for:

[0244] In response to a motion command sent by a user device, motion parameters corresponding to the motion command are obtained; wherein, the motion parameters include the target motion type.

[0245] In some optional implementations, the control module 1102 is specifically used for:

[0246] Based on the target torque and the first direction, control the drive actuator on one side of the exoskeleton device; and,

[0247] Based on the target torque and the second direction, the drive actuator on the other side of the exoskeleton device is controlled; wherein the first direction and the second direction are opposite to each other.

[0248] Since this device is the same as the device in the method of this application embodiment, and the principle of the device in solving the problem is similar to that of the method, the implementation of the device can be referred to the implementation of the method, and the repeated parts will not be described again.

[0249] Based on the same technical concept, this application also provides an exoskeleton device 1200, such as... Figure 12 As shown, it includes at least one controller 1201 and a memory 1202 connected to at least one controller. In this embodiment, the specific connection medium between the controller 1201 and the memory 1202 is not limited. Figure 12 Taking the connection between the controller 1201 and the memory 1202 via bus 1203 as an example. Buses can be divided into address buses, data buses, control buses, etc. For ease of illustration, Figure 12 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0250] The controller 1201 is the control center of the exoskeleton device. It can connect to various parts of the exoskeleton device using various interfaces and lines. It performs data processing by running or executing instructions stored in the memory 1202 and calling data stored in the memory 1202. Optionally, the controller 1201 may include one or more processing units. The controller 1201 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles issuing instructions. It is understood that the modem processor may not be integrated into the controller 1201. In some embodiments, the controller 1201 and the memory 1202 can be implemented on the same chip; in some embodiments, they can also be implemented on separate chips.

[0251] The controller 1201 can be a general-purpose processor, such as a CPU, digital signal processor, application-specific integrated circuit (ASIC), field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the control method for the exoskeleton device can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0252] Memory 1202, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 1202 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, magnetic disk, optical disk, etc. Memory 1202 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 1202 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0253] In this embodiment, the memory 1202 stores a computer program, which, when executed by the controller 1201, causes the controller 1201 to perform the following:

[0254] The data collected from the encoders on both sides of the exoskeleton device are obtained, and the corresponding initial damping force is obtained based on the data collected from both sides.

[0255] Based on the initial damping forces on both sides, and combined with the damping force limit, the target damping force is obtained;

[0256] Based on the target damping force and the target motion type, a target torque is obtained, and based on the target torque, the drive actuators on both sides of the exoskeleton device are controlled.

[0257] In some optional implementations, the acquired data includes angular velocity; the controller 1201 specifically executes:

[0258] For the angular velocity collected on either side, the corresponding initial damping force is obtained based on the collected angular velocity and the damping coefficient.

[0259] In some optional implementations, controller 1201 specifically performs the following:

[0260] When the acquired angular velocity is less than the angular velocity threshold, the negative number of the product between the acquired angular velocity and the damping coefficient is determined as the corresponding initial damping force.

[0261] When the collected angular velocity reaches the angular velocity threshold, the negative number of the product between the angular velocity threshold and the damping coefficient is determined as the corresponding initial damping force.

[0262] In some optional implementations, controller 1201 specifically performs the following:

[0263] When the target motion type is non-resistance motion, the target damping force is determined as the target torque;

[0264] When the target motion is resistive motion, the target torque is obtained based on the target damping force and the target elastic force.

[0265] In some optional implementations, controller 1201 specifically performs the following:

[0266] The sum of the target damping force and the target elastic force is determined as the initial torque;

[0267] When the initial torque is less than the upper limit of torque, the initial torque is determined as the target torque;

[0268] When the initial torque reaches the upper limit of the torque, the upper limit of the torque is determined as the target torque.

[0269] In some optional implementations, the acquired data includes the acquisition angle; the controller 1201 also performs:

[0270] When the absolute value of the acquisition angle is less than the first angle, the lower limit of the torque is determined as the target elastic force;

[0271] When the absolute value of the acquisition angle is between the first angle and the second angle, the target elastic force is determined based on the angle difference between the absolute value of the acquisition angle and the first angle, combined with the stiffness coefficient; wherein, the second angle is greater than the first angle;

[0272] When the absolute value of the acquisition angle is greater than the second angle, the upper limit of the torque is determined as the target elastic force.

[0273] In some optional implementations, controller 1201 specifically performs the following:

[0274] The sum of the initial damping forces corresponding to each side is determined as the bilateral damping force.

[0275] Based on the aforementioned bilateral damping forces, and in conjunction with the damping force limit, the target damping force is obtained.

[0276] In some optional implementations, the damping force limit includes: an upper limit of damping force and a lower limit of damping force;

[0277] Controller 1201 performs the following actions:

[0278] When the bilateral damping force is less than the lower limit of the damping force, the product of the attenuation coefficient and the initial damping force is determined as the target damping force; wherein the attenuation coefficient is directly proportional to the initial damping force.

[0279] When the bilateral damping force is between the lower limit of the damping force and the upper limit of the damping force, the initial damping force is determined as the target damping force;

[0280] When the bilateral damping force is greater than the upper limit of the damping force, the upper limit of the damping force is determined as the target damping force.

[0281] In some optional implementations, before acquiring the data collected from the encoders on both sides of the exoskeleton device, the controller 1201 further performs the following:

[0282] In response to a motion command sent by a user device, motion parameters corresponding to the motion command are obtained; wherein, the motion parameters include the target motion type.

[0283] In some optional implementations, controller 1201 specifically performs the following:

[0284] Based on the target torque and the first direction, control the drive actuator on one side of the exoskeleton device; and,

[0285] Based on the target torque and the second direction, the drive actuator on the other side of the exoskeleton device is controlled; wherein the first direction and the second direction are opposite to each other.

[0286] Based on the same technical concept, embodiments of this application also provide a computer-readable storage medium storing a computer program executable by a processor, which, when run on the processor, causes the processor to perform the steps of the control method for the exoskeleton device described above.

[0287] In some alternative implementations, various aspects of the control method for the exoskeleton device provided in this application can also be implemented as a program product containing computer-executable instructions. When the program product is run on a computer device, the computer-executable instructions are used to cause the computer device to perform the steps of the control method for the exoskeleton device according to the various exemplary embodiments of this application described above.

[0288] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0289] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0290] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0291] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0292] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0293] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A control method for an exoskeleton device, characterized in that, The method, applied to a controller for an exoskeleton device, includes: The data collected from the encoders on both sides of the exoskeleton device are obtained, and the corresponding initial damping force is obtained based on the data collected from both sides. Based on the initial damping forces on both sides, and combined with the damping force limit, the target damping force is obtained; Based on the target damping force and the target motion type, the target torque is obtained, and based on the target torque, the drive actuators on both sides of the exoskeleton device are controlled. Based on the target damping force and the target motion type, the target torque is obtained, including: When the target motion type is non-resistance motion, the target damping force is determined as the target torque; When the target motion is resistive motion, the target torque is obtained based on the target damping force and the target elastic force; The collected data includes the collection angle; the target elastic force is obtained through the following methods: When the absolute value of the acquisition angle is less than the first angle, the lower limit of the torque is determined as the target elastic force; When the absolute value of the acquisition angle is between the first angle and the second angle, the target elastic force is determined based on the angle difference between the absolute value of the acquisition angle and the first angle, combined with the stiffness coefficient; wherein, the second angle is greater than the first angle; When the absolute value of the acquisition angle is greater than the second angle, the upper limit of the torque is determined as the target elastic force.

2. The method as described in claim 1, characterized in that, The acquired data includes angular velocity; based on the acquired data from both sides, the corresponding initial damping forces are obtained, including: For the angular velocity collected on either side, the corresponding initial damping force is obtained based on the collected angular velocity and the damping coefficient.

3. The method as described in claim 2, characterized in that, Based on the acquired angular velocity and the damping coefficient, the corresponding initial damping force is obtained, including: When the acquired angular velocity is less than the angular velocity threshold, the negative number of the product between the acquired angular velocity and the damping coefficient is determined as the corresponding initial damping force. When the collected angular velocity reaches the angular velocity threshold, the negative number of the product between the angular velocity threshold and the damping coefficient is determined as the corresponding initial damping force.

4. The method as described in claim 1, characterized in that, Based on the target damping force and the target elastic force, the target torque is obtained, including: The sum of the target damping force and the target elastic force is determined as the initial torque; When the initial torque is less than the upper limit of torque, the initial torque is determined as the target torque; When the initial torque reaches the upper limit of the torque, the upper limit of the torque is determined as the target torque.

5. The method according to any one of claims 1 to 4, characterized in that, Based on the initial damping forces on both sides and the damping force limit, the target damping force is obtained, including: The sum of the initial damping forces corresponding to each side is determined as the bilateral damping force. Based on the aforementioned bilateral damping forces, and in conjunction with the damping force limit, the target damping force is obtained.

6. The method as described in claim 5, characterized in that, The damping force limit includes: an upper limit for damping force and a lower limit for damping force; Based on the aforementioned bilateral damping force, and in conjunction with the damping force limit, the target damping force is obtained, including: When the bilateral damping force is less than the lower limit of the damping force, the product of the attenuation coefficient and the initial damping force is determined as the target damping force; wherein the attenuation coefficient is directly proportional to the initial damping force. When the bilateral damping force is between the lower limit of the damping force and the upper limit of the damping force, the initial damping force is determined as the target damping force; When the bilateral damping force is greater than the upper limit of the damping force, the upper limit of the damping force is determined as the target damping force.

7. The method according to any one of claims 1 to 4, characterized in that, Before obtaining the data collected from the encoders on both sides of the exoskeleton device, the process also includes: In response to a motion command sent by a user device, motion parameters corresponding to the motion command are obtained; wherein, the motion parameters include the target motion type.

8. The method according to any one of claims 1 to 4, characterized in that, Based on the target torque, the drive actuators on both sides of the exoskeleton device are controlled, including: Based on the target torque and the first direction, control the drive actuator on one side of the exoskeleton device; and, Based on the target torque and the second direction, the drive actuator on the other side of the exoskeleton device is controlled; wherein the first direction and the second direction are opposite to each other.

9. A control device for an exoskeleton device, characterized in that, A controller for exoskeleton devices, the device comprising: The damping force acquisition module is used to acquire the data collected by the encoders on both sides of the exoskeleton device, and to acquire the corresponding initial damping force based on the data collected by both sides. The damping force acquisition module is also used to obtain the target damping force based on the initial damping forces corresponding to both sides and the damping force limit; The control module is used to obtain the target torque based on the target damping force and the target motion type, and to control the drive actuators on both sides of the exoskeleton device based on the target torque. The control module is specifically used for: When the target motion type is non-resistance motion, the target damping force is determined as the target torque; When the target motion is resistive motion, the target torque is obtained based on the target damping force and the target elastic force; It also includes an elasticity acquisition module, wherein the acquired data includes the acquisition angle; the elasticity acquisition module is used for: When the absolute value of the acquisition angle is less than the first angle, the lower limit of the torque is determined as the target elastic force; When the absolute value of the acquisition angle is between the first angle and the second angle, the target elastic force is determined based on the angle difference between the absolute value of the acquisition angle and the first angle, combined with the stiffness coefficient; wherein, the second angle is greater than the first angle; When the absolute value of the acquisition angle is greater than the second angle, the upper limit of the torque is determined as the target elastic force.

10. An exoskeleton device, characterized in that, Includes encoders, controllers, memory, and drive actuators on both sides of the hip exoskeleton; wherein: The memory stores instructions that can be executed by the controller, which, when executed by the controller, enables the controller to control the drive actuator according to the method described in any one of claims 1-8, based on the data from the encoders on both sides.

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