Under-actuated walking-aid exoskeleton robot control method and system for body rising scene and terminal

Abstract

The invention relates to the technical field of robot control, and discloses an underactuated walking-aided exoskeleton robot control method, system and terminal for a body rising scene, and the method comprises the steps: constructing an underactuated walking-aided exoskeleton robot, simplifying the underactuated walking-aided exoskeleton robot to obtain a four-bar system, and connecting the four-bar system with the underactuated walking-aided exoskeleton robot; a trunk hip joint angle, a knee joint angle and an ankle joint angle in a four-bar system are obtained through an inertial measurement unit and an inverse kinematics technology, and a moment of each joint of a lower limb is iteratively solved through a Newton-Euler method to obtain a knee joint moment and a hip joint moment; calculating the required motor torque according to the knee joint torque and the hip joint torque, and performing sole contact detection on the motor torque to obtain a command torque; according to the current coefficient of the motor, the command torque is converted into command current, and the command current is input into a controller of the motor to control the under-actuated walking-aid exoskeleton robot. According to the method, assistance of the multi-joint exoskeleton can be more robust and stable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, in particular to an underactuated walking-assisted exoskeleton robot control method, system, terminal and storage medium for body ascending scenarios. BACKGROUND

[0002] Due to the degeneration of the musculoskeletal system, the walking strategy of the elderly will change, which is called protective gait strategy. The strategy specifically manifests that the trunk flexion increases when walking, so that the mechanical output of the hip joint extensor needs to be increased to stabilize the trunk; the hip and knee joints are flexed, which increases the joint load; the joint torque moves from the distal end to the proximal end, thereby reducing the dependence on the use of the ankle joint. In summary, it is of great significance to provide extension assistance for the hip and knee joints for the daily walking of the elderly.

[0003] Exoskeleton, as a convenient wearable device, can apply controllable auxiliary torque at the human joint, and is expected to be applied to daily travel assistance scenarios.

[0004] However, the current multi-joint assisted exoskeleton basically relies on pre-defined torque curves or mapping models for control. The limitations of single joint historical angle information or terrain classification priori make the assistance of multi-joint exoskeleton not stable enough, and at the same time, the center of mass state is difficult to be directly measured by sensors, which also leads to the difficulty of applying such method to body ascending scenarios.

[0005] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0006] The main purpose of the present application is to provide an underactuated walking-assisted exoskeleton robot control method, system, terminal and computer readable storage medium for body ascending scenarios, aiming to solve the problem that the limitations of historical angle information and terrain classification priori in the prior art make the assistance of multi-joint exoskeleton not stable enough, and at the same time, the center of mass state is difficult to be directly measured by sensors, which leads to the difficulty of applying the exoskeleton robot control method to body ascending scenarios.

[0007] To achieve the above purpose, the present application provides an underactuated walking-assisted exoskeleton robot control method for body ascending scenarios, which comprises the following steps: An underactuated walking-assisted exoskeleton robot is constructed, an assistance strategy is determined according to the assistance needs of the elderly, and the underactuated walking-assisted exoskeleton robot is simplified according to the assistance strategy to obtain a four-bar system; When the elderly are in a body lifting scene, the trunk hip joint angle, the knee joint angle and the ankle joint angle in the four-bar system are obtained through an inertial measurement unit and inverse kinematics technology; According to the trunk hip joint angle, the knee joint angle and the ankle joint angle, the moment of each joint of the lower limbs is iteratively solved through a Newton Euler method, to obtain a knee joint moment and a hip joint moment; According to the knee joint moment and the hip joint moment, a motor moment required by the underactuated walking exoskeleton robot is calculated, a finite state machine is introduced to detect foot contact of the motor moment, to obtain a command moment input to the motor; According to a current coefficient of the motor, the command moment is converted into a command current, and the command current is input into a controller of the motor to control the underactuated walking exoskeleton robot.

[0008] Optionally, the underactuated walking exoskeleton robot control method for the body lifting scene, wherein the underactuated walking exoskeleton robot is constructed, an assistance strategy is determined according to an assistance requirement of the elderly, and the underactuated walking exoskeleton robot is simplified according to the assistance strategy, to obtain a four-bar system, specifically comprising: The underactuated walking exoskeleton robot is constructed based on a musculoskeletal and artificial muscle system, and an assistance strategy is determined according to an assistance requirement of the elderly; The assistance strategy is that a centrifugal contraction assistance effect is generated in an early support phase, a centripetal contraction assistance effect is generated in a late support phase, and the swing of the lower limbs is not affected in a swing phase. According to the assistance strategy, the underactuated walking exoskeleton robot is simplified into a four-bar system, and the four-bar system comprises a trunk link, a thigh link, a shank link, a foot link, an inertial measurement unit and a pressure shoe pad.

[0009] Optionally, the underactuated walking exoskeleton robot control method for the body lifting scene, wherein the trunk hip joint angle, the knee joint angle and the ankle joint angle in the four-bar system are obtained through an inertial measurement unit and inverse kinematics technology, specifically comprising: An inertial measurement unit is installed at the trunk, the thigh, the shank and the foot, and angle values of the trunk, the thigh, the shank and the foot in the inertial measurement unit sagittal plane are obtained through the inertial measurement unit; According to the angle values of the trunk, the thigh, the shank and the foot in the inertial measurement unit sagittal plane, the trunk hip joint angle, the knee joint angle and the ankle joint angle are calculated through inverse kinematics technology: ; ; ; wherein, represents a trunk hip joint angle, represents a knee joint angle, represents an ankle joint angle, represents an angle value of the trunk in the inertial measurement unit sagittal plane, represents an angle value of the thigh in the inertial measurement unit sagittal plane, represents an angle value of the shank in the inertial measurement unit sagittal plane, represents an angle value of the foot in the inertial measurement unit sagittal plane.

[0010] Optionally, the underactuated walking-assisted exoskeleton robot control method for the body rising scene, wherein the moment of each joint of the lower limb is iteratively solved through Newton-Euler method according to the trunk hip joint angle, the knee joint angle and the ankle joint angle, to obtain the knee joint moment and the hip joint moment, specifically comprising: The ground reaction force vector in the three-dimensional space is measured through the pressure shoe pad, and the ankle joint moment is obtained through Newton-Euler method: ; wherein, represents an ankle joint moment, represents a position vector of the center of pressure of the foot bottom relative to the ankle joint, represents a ground reaction force vector in the three-dimensional space; The knee joint moment under the three-dimensional problem is obtained through Newton-Euler method according to the ankle joint moment, the ankle joint angle and the knee joint angle, the shank is regarded as a rigid body, the midpoint of the shank connecting rod is regarded as a first mass center position, the knee joint moment under the three-dimensional problem is simplified based on the first mass center position, to obtain the knee joint moment under the two-dimensional problem; The hip joint moment under the three-dimensional problem is obtained through Newton-Euler method according to the knee joint moment, the trunk hip joint angle and the knee joint angle, the thigh is regarded as a rigid body, the midpoint of the thigh connecting rod is regarded as a second mass center position, the hip joint moment under the three-dimensional problem is simplified based on the second mass center position, to obtain the hip joint moment under the two-dimensional problem.

[0011] Optionally, the underactuated walking-assisted exoskeleton robot control method for the body rising scene, wherein the knee joint moment under the three-dimensional problem is obtained through Newton-Euler method according to the ankle joint moment, the ankle joint angle and the knee joint angle, the shank is regarded as a rigid body, the midpoint of the shank connecting rod is regarded as a first mass center position, the knee joint moment under the three-dimensional problem is simplified based on the first mass center position, to obtain the knee joint moment under the two-dimensional problem, specifically comprising: According to the ankle torque, the ankle angle and the knee angle, the knee torque under a three-dimensional problem is obtained by a Newton Euler method: ; wherein, represents the knee torque under a three-dimensional problem, and respectively represent position vectors of the ankle and the knee relative to the mass center of the lower leg, represents the counterforce on the ankle, represents the counterforce on the knee, represents the length of the lower leg, represents the moment of inertia of the lower leg rotating around the first mass center position, represents the angular acceleration of the mass center of the lower leg; Taking the sagittal plane as the only element to be considered, the lower leg is regarded as a rigid body, the midpoint of the lower leg link is regarded as the first mass center position, and the knee torque under a three-dimensional problem is simplified based on the first mass center position to obtain the knee torque under a two-dimensional problem: ; wherein, represents the knee torque under a two-dimensional problem, represents the length of the lower leg.

[0012] Optionally, the control method of the underactuated walking-assisted exoskeleton robot for the body rising scenario, wherein the counterforce on the ankle is equivalent to the ground reaction force; the angular acceleration of the mass center of the lower leg is measured by an inertial measurement unit placed on the lower leg; the counterforce on the knee is obtained from a balance equation established based on the lower leg: ; wherein, , represents the mass of the lower leg, which is obtained from the body weight of the human body, represents the body weight of the human body; the length of the lower leg is obtained from the body height of the human body: ; wherein, represents the body height of the human body; the moment of inertia of the lower leg rotating around the first mass center position is obtained from the body height and the body weight of the human body: .

[0013] Optionally, the control method of the underactuated walking exoskeleton robot for the body ascending scene, wherein the motor torque required by the underactuated walking exoskeleton robot is calculated according to the knee joint torque and the hip joint torque, a finite state machine is introduced to detect the foot contact of the motor torque, and a command torque input to the motor is obtained, and specifically includes: The hip joint angular velocity vector and the knee joint angular velocity vector are obtained through the inertial measurement unit, and the exoskeleton motor angular velocity vector is obtained through the motor encoder; The motor torque required by the underactuated walking exoskeleton robot is calculated according to the hip joint angular velocity vector, the knee joint angular velocity vector, the exoskeleton motor angular velocity vector, the knee joint torque and the hip joint torque: The motor torque is represented by, The hip joint torque is represented by, The hip joint angular velocity vector, the knee joint angular velocity vector and the exoskeleton motor angular velocity vector are represented by, The damping attenuation coefficient is represented by; The ground reaction force at the moment is obtained through the pressure shoe pad, The ground reaction force is used as a finite state machine: The finite state machine is represented by, The ground reaction force at the moment is represented by, The foot contact of the motor torque is detected according to the finite state machine, and a command torque input to the motor is obtained: The command torque input to the motor is represented by, The motor torque at the moment is represented by, The motor torque during the swing phase is represented by.

[0014] In addition, in order to achieve the above-mentioned purpose, the application also provides an underactuated walking exoskeleton robot control system for a body ascending scene, wherein the underactuated walking exoskeleton robot control system for the body ascending scene comprises: A target simplification module is used to construct an underactuated walking exoskeleton robot, determine an assistance strategy according to the assistance demand of the elderly, and simplify the underactuated walking exoskeleton robot according to the assistance strategy, so as to obtain a four-bar system; ​​​​​​​​​​A parameter acquisition module is configured to acquire a torso hip joint angle, a knee joint angle and an ankle joint angle in the four-bar system by an inertial measurement unit and inverse kinematics technology when the elderly person is in a body rising scene. A moment solution module is configured to iteratively solve moments of each joint of a lower limb by a Newton-Euler method according to the torso hip joint angle, the knee joint angle and the ankle joint angle, to obtain a knee joint moment and a hip joint moment. A command moment acquisition module is configured to calculate a motor moment required by the underactuated walking exoskeleton robot according to the knee joint moment and the hip joint moment, to introduce a finite state machine to perform foot contact detection on the motor moment, and to obtain a command moment input to the motor. A robot control module is configured to convert the command moment into a command current according to a current coefficient of the motor, and to input the command current into a controller of the motor to control the underactuated walking exoskeleton robot.

[0015] In addition, to achieve the above object, the present application further provides a terminal, wherein the terminal comprises a memory, a processor and an underactuated walking exoskeleton robot control program for a body rising scene stored in the memory and executable on the processor, and the underactuated walking exoskeleton robot control program for the body rising scene implements the steps of the underactuated walking exoskeleton robot control method for the body rising scene when executed by the processor.

[0016] In addition, to achieve the above object, the present application further provides a computer readable storage medium, wherein the computer readable storage medium stores an underactuated walking exoskeleton robot control program for a body rising scene, and the underactuated walking exoskeleton robot control program for the body rising scene implements the steps of the underactuated walking exoskeleton robot control method for the body rising scene when executed by a processor.

[0017] In the present application, an underactuated walking exoskeleton robot is constructed, the underactuated walking exoskeleton robot is simplified to obtain a four-bar system, the trunk hip joint angle, the knee joint angle and the ankle joint angle in the four-bar system are obtained through an inertial measurement unit and inverse kinematics technology, the moments of each joint of the lower limb are iteratively solved through Newton-Euler method to obtain the knee joint moment and the hip joint moment, the required motor moment is calculated according to the knee joint moment and the hip joint moment, the foot contact detection is performed on the motor moment to obtain the command moment; the command moment is converted into the command current according to the current coefficient of the motor, and the command current is input into the controller of the motor to control the underactuated walking exoskeleton robot. The multi-joint exoskeleton control method based on the center of mass state estimation can get rid of the limitations of the traditional use of single joint historical angle information or terrain classification priori, so that the assistance of the multi-joint exoskeleton can be more robust and stable. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a flowchart of a preferred embodiment of the underactuated walking exoskeleton robot control method for the body lifting scene of the present application; Figure 2 is a partial biomechanical data schematic diagram of the underactuated walking exoskeleton robot control method for the body lifting scene of the present application when the elderly person goes up the slope; Figure 3 is a schematic diagram of the musculoskeletal and assistance strategy in the underactuated walking exoskeleton robot control method for the body lifting scene of the present application; Figure 4 is a schematic diagram of the human-exoskeleton system modeling and controller in the underactuated walking exoskeleton robot control method for the body lifting scene of the present application; Figure 5 is a structure diagram of a preferred embodiment of the underactuated walking exoskeleton robot control system for the body lifting scene of the present application; Figure 6 is a structure diagram of a preferred embodiment of the terminal of the present application. DETAILED DESCRIPTION

[0019] The present application provides an underactuated walking exoskeleton robot control method, system, terminal and storage medium for the body lifting scene, in order to make the purpose, technical scheme and effect of the present application more clear and explicit, the present application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0020] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood as having meanings consistent with those in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as such herein.

[0021] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0022] The control method of the underactuated walking-assisted exoskeleton robot for body ascending scenarios described in the preferred embodiments of the present application, as shown in Figure 1 The control method of the underactuated walking-assisted exoskeleton robot for body ascending scenarios includes the following steps: Step S10, construct an underactuated walking-assisted exoskeleton robot, determine an assistance strategy according to the assistance needs of the elderly, and simplify the underactuated walking-assisted exoskeleton robot according to the assistance strategy to obtain a four-bar system.

[0023] It can be understood that in daily walking, scenarios such as uphill and stair climbing are most likely to make the elderly feel tired, and even fall. This is because such body ascending scenarios not only need the lower limb joints to provide the work required for the person to advance, but also need to provide the work required to overcome the gravity of the person, and the work required to overcome the gravity of the person is often the main one. In the flat ground scenario, because the distance of the ascent is short, the work required to overcome the gravity of the person is small. According to the biomechanical data of the elderly when ascending the slope (such as Figure 2 As shown, the elderly mainly rely on the coordinated work of the hip joint and the knee joint to realize the ascending of the body, and the ankle joint hardly works, so it can be obtained that: ; Among them, represents the power required to overcome the gravity of the person, and represent the power of the hip joint and the knee joint, respectively, and torque of the hip and knee joints, respectively, and angular velocity vectors of the hip and knee joints, respectively.

[0024] Specifically, an underactuated walking exoskeleton robot is constructed based on a musculoskeletal and artificial muscle system, and an assistance strategy is determined according to the assistance needs of the elderly; wherein the assistance strategy is: in the early stage of the support phase, a centrifugal contraction assistance effect is generated, in the late stage of the support phase, a centripetal contraction assistance effect is generated, and in the swing phase, no impact is caused to the swing of the lower limbs.

[0025] In this embodiment, in order to realize the cooperative extension assistance of the hip and knee joints, an artificial muscle is introduced for the elderly, such as Figure 3 The schematic diagram of the musculoskeletal and assistance strategy is shown, which can generate extension torque at the hip and knee joints at the same time when tensioned. According to the assistance needs of the elderly, the following assistance strategy can be basically determined: during the support phase, the artificial muscle is tensioned, thereby generating a centrifugal contraction assistance effect in the early stage of the support phase, and a centripetal contraction assistance effect in the middle-late stage of the support phase. In the swing phase, the muscle is relaxed, and no impact is caused to the swing of the lower limbs. Here, the artificial muscle is realized through an underactuated exoskeleton system. The system mainly generates tension force through a motor, and then transmits the force to the hip and knee joints through a steel wire rope.

[0026] Further, according to the assistance strategy, the underactuated walking exoskeleton robot is simplified into a four-bar system, which includes a trunk link, a thigh link, a shank link, a foot link, an inertial measurement unit and a pressure shoe pad.

[0027] It can be understood that for the control of the underactuated walking exoskeleton robot, it is crucial to estimate the power of the hip and knee joints to determine the power required to overcome the gravity. As Figure 4 shown, the underactuated walking exoskeleton robot (human-exoskeleton) is first simplified into a four-bar system, mainly including a trunk link, a thigh link, a shank link, a foot link, an inertial measurement unit (IMU, Inertial Measurement Unit) and a pressure shoe pad, and mainly concerned about the kinematics and dynamics of the system in the sagittal plane.

[0028] In step S20, when the elderly is in the body lifting scene, the trunk hip joint angle, the knee joint angle and the ankle joint angle in the four-bar system are obtained through the inertial measurement unit and the inverse kinematics technology.

[0029] Specifically, the inertial measurement unit is installed at the trunk, the thigh, the shank and the foot, and the angle values of the trunk, the thigh, the shank and the foot in the inertial measurement unit sagittal plane are obtained through the inertial measurement unit.

[0030] In the present embodiment, the angle values of the trunk, the thigh, the shank and the foot in the IMU sagittal plane are obtained by installing IMUs at the trunk, the thigh, the shank and the foot, respectively, and the installation direction of the IMU is as shown in FIG. 1. Figure 4

[0031] Further, the trunk hip joint angle, the knee joint angle and the ankle joint angle are calculated by inverse kinematics technology according to the angle values of the trunk, the thigh, the shank and the foot in the IMU sagittal plane, respectively: wherein, represents the trunk hip joint angle, represents the knee joint angle, represents the ankle joint angle, represents the angle value of the trunk in the IMU sagittal plane, represents the angle value of the thigh in the IMU sagittal plane, represents the angle value of the shank in the IMU sagittal plane, represents the angle value of the foot in the IMU sagittal plane.

[0032] In step S30, the moments of each joint of the lower limbs are iteratively solved by Newton-Euler method according to the trunk hip joint angle, the knee joint angle and the ankle joint angle, to obtain the knee joint moment and the hip joint moment.

[0033] Specifically, the ground reaction force vector in the three-dimensional space is measured by the pressure insole, and the ankle joint moment is obtained by Newton-Euler method: wherein, represents the ankle joint moment, represents the position vector of the center of pressure of the foot relative to the ankle joint, represents the ground reaction force vector in the three-dimensional space.

[0034] Further, the knee joint moment under the three-dimensional problem is obtained by Newton-Euler method according to the ankle joint moment, the ankle joint angle and the knee joint angle, the shank is regarded as a rigid body, the midpoint of the shank link is regarded as the first mass center position, the knee joint moment under the three-dimensional problem is simplified based on the first mass center position, to obtain the knee joint moment under the two-dimensional problem.

[0035] ​​​​​The ankle torque, the ankle angle and the knee angle are used to obtain the knee torque under a three-dimensional problem by Newton Euler method, the calf is regarded as a rigid body, the midpoint of the calf connecting rod is regarded as a first mass center position, the knee torque under the three-dimensional problem is simplified based on the first mass center position, and the knee torque under a two-dimensional problem is obtained, and the knee torque under the two-dimensional problem specifically comprises: The ankle torque, the ankle angle and the knee angle are used to obtain the knee torque under a three-dimensional problem by Newton Euler method, the calf is regarded as a rigid body, the midpoint of the calf connecting rod is regarded as a first mass center position, the knee torque under the three-dimensional problem is simplified based on the first mass center position, and the knee torque under a two-dimensional problem is obtained, and the knee torque under the two-dimensional problem specifically comprises: ; Wherein, The knee torque under the three-dimensional problem is represented by, And The position vectors of the ankle and the knee relative to the mass center of the calf are represented by, The counterforce on the ankle is represented by, The counterforce on the knee is represented by, The calf rod length is represented by, The rotational inertia of the calf rotating around the first mass center position is represented by, The angular acceleration of the mass center of the calf is represented by; The sagittal plane is regarded as the only considered element, the calf is regarded as a rigid body, the midpoint of the calf connecting rod is regarded as a first mass center position, the knee torque under the three-dimensional problem is simplified based on the first mass center position, and the knee torque under a two-dimensional problem is obtained: ; Wherein, The knee torque under the two-dimensional problem is represented by, The calf rod length is represented by.

[0036] It can be understood that, in order to simplify the calculation, only the sagittal plane is considered, the calf is assumed to be a rigid body, the mass center position is at the midpoint of the calf rod, the three-dimensional problem is simplified into a two-dimensional problem, and the calculation efficiency is improved under the premise of packaging precision.

[0037] Wherein, the angular acceleration of the mass center of the calf Is measured by an inertial measurement unit placed on the calf; The counterforce on the knee Is obtained from a balance equation established based on the calf: ; Wherein, , The mass of the calf is represented by the human body weight, The human body weight is represented by, The calf rod length Is obtained from the human body height: ; wherein, represents the height of the human body; the moment of inertia of the lower leg rotating around the first center of mass position is obtained from the height of the human body and the weight of the human body: .

[0038] It should be noted that the weight of the human body and the constant before the height of the human body, such as , and are estimated, and here only the preferred values are described, and are not limited to fixed values.

[0039] Further, according to the knee joint torque, the trunk and hip joint angle, and the knee joint angle, the hip joint torque under a three-dimensional problem is obtained by Newton Euler method, the thigh is regarded as a rigid body, the midpoint of the thigh connecting rod is regarded as a second center of mass position, the hip joint torque under a three-dimensional problem is simplified based on the second center of mass position, and the hip joint torque under a two-dimensional problem is obtained.

[0040] It can be understood that the solution of the hip joint torque is also through a similar way to the solution of the knee joint torque, and here the embodiment only lists the calculation process of the balance equation based on the thigh and the related parameters, and the specific process is not described in detail: ; ; The thigh is regarded as a rigid body, the midpoint of the thigh connecting rod is regarded as a second center of mass position, the hip joint torque under a three-dimensional problem is simplified based on the second center of mass position, the above problem is simplified as a two-dimensional problem, and the following is obtained: ; wherein, the length and mass parameters of the thigh are also estimated according to the height and weight of the human body: ; ; ; wherein, represents the counterforce of the hip joint, represents the acceleration of the thigh, and respectively represent the position vectors of the knee joint and the hip joint relative to the center of mass of the thigh, represents the mass of the thigh, represents the length of the thigh, represents the moment of inertia of the thigh rotating around the center of mass, represents the angular acceleration of the center of mass of the thigh, Represents gravitational acceleration. This represents the hip joint torque in a three-dimensional problem. This represents the hip joint torque in a two-dimensional problem.

[0041] Step S40: Calculate the required motor torque for the underactuated walking exoskeleton robot based on the knee joint torque and the hip joint torque, introduce a finite state machine to perform foot contact detection on the motor torque, and obtain the command torque input to the motor.

[0042] Specifically, the hip joint speed vector and knee joint speed vector are obtained through an inertial measurement unit, and the exoskeleton motor speed vector is obtained through a motor encoder; The required motor torque for the underactuated walking exoskeleton robot is calculated based on the hip joint rotational speed vector, the knee joint rotational speed vector, the exoskeleton motor rotational speed vector, the knee joint torque, and the hip joint torque. ; in, Indicates motor torque. Indicates hip joint torque. , and These represent the hip joint speed vector, knee joint speed vector, and exoskeleton motor speed vector, respectively. Indicates the damping attenuation coefficient; Obtained through pressure insoles The magnitude of the ground reaction force at time t is used as a finite state machine: ; in, This represents a finite state machine. express The magnitude of the ground reaction force at any given moment; The command torque input to the motor is obtained by performing foot contact detection on the motor using the finite state machine. ; in, This indicates the command torque input to the motor. express Motor torque at any given moment This indicates the magnitude of the motor torque during the oscillating phase.

[0043] Understandably, based on the above analysis, the power required to be injected into the exoskeleton can be determined as follows: ; in, This represents the torque vector of the exoskeleton motor. represents the rotation speed vector of the exoskeleton motor, represents the power required to be injected into the exoskeleton.

[0044] Therefore, the required torque of the exoskeleton motor is:

[0045] wherein, represents the modulus of the torque vector of the exoskeleton motor, represents the motor torque, represents the hip joint torque, , and respectively represent the hip joint rotation speed vector, the knee joint rotation speed vector and the exoskeleton motor rotation speed vector, represents the damping attenuation coefficient.

[0046] Further, in order to ensure that the exoskeleton does not affect the normal swing of the wearer's lower limbs during the swing phase, the present application detects the foot contact through the pressure insole, and introduces a finite state machine: ; wherein, represents the finite state machine, represents the size of the ground reaction force at the moment.

[0047] Finally, the command torque input to the motor is: ; wherein, represents the motor torque at the moment, represents the motor torque during the swing phase, which is set as a fixed value, the purpose is to prevent the steel wire from relaxing, and has a certain pre-tightening force, but it does not affect the normal swing of the lower limbs.

[0048] Step S50, according to the current coefficient of the motor, the command torque is converted into command current, and the command current is input into the controller of the motor to control the under-actuated walking exoskeleton robot.

[0049] Specifically, in the present embodiment, the command torque is converted into command current according to the current coefficient of the motor, and is input into the motor controller. The motor controller is realized by a proportional integral control.

[0050] The current coefficient is a conversion bridge between the torque and the current, the value of which is determined by the electromagnetic characteristics of the motor, and can convert the abstract torque demand into a current signal that can be recognized by the controller. The controller quickly responds to the deviation between the command current and the actual current through the proportional link, and outputs the adjustment amount in real time to reduce the error. The integral link is used to eliminate the steady-state deviation in the system and ensure the stability of the current output during long-term operation.

[0051] Through such conversion and control process, the motor controller can continuously correct the output according to the real-time feedback of the current information, so that the actual torque generated by the motor closely follows the command torque, thereby ensuring that the entire motion system can achieve high-precision motion control under dynamic and static working conditions.

[0052] It can be understood that for the present application, the center of mass state is an indispensable component. Since the center of mass state is difficult to be directly measured by a sensor, the present application indirectly estimates the center of mass state through the state of the lower limb joints. In essence, no matter which movement is performed, the final effect of walking is to cause the center of mass to move correspondingly. For body lifting scenarios such as uphill, stair climbing, and from sitting to standing, the essence is to lift the center of mass of the human body. The multi-joint exoskeleton control method based on center of mass state estimation proposed by the present application can get rid of the limitations of traditional use of single joint historical angle information or terrain classification priori, so that the assistance of multi-joint exoskeleton can be more robust and stable.

[0053] Further, as shown in Figure 5 Fig. 2, based on the underactuated walking-assisted exoskeleton robot control method for body lifting scenarios, the present application also correspondingly provides an underactuated walking-assisted exoskeleton robot control system for body lifting scenarios, wherein the underactuated walking-assisted exoskeleton robot control system for body lifting scenarios comprises: a target simplification module 51 for constructing an underactuated walking-assisted exoskeleton robot, determining an assistance strategy according to the assistance demand of the elderly, and simplifying the underactuated walking-assisted exoskeleton robot according to the assistance strategy to obtain a four-bar system; a parameter acquisition module 52 for acquiring a trunk hip joint angle, a knee joint angle, and an ankle joint angle in the four-bar system through an inertial measurement unit and inverse kinematics technology when the elderly is in a body lifting scenario; a torque solving module 53 for iteratively solving the torque of each joint of the lower limb through Newton-Euler method according to the trunk hip joint angle, the knee joint angle, and the ankle joint angle to obtain a knee joint torque and a hip joint torque; The command torque acquisition module 54 is used to calculate the motor torque required by the underactuated walking exoskeleton robot based on the knee joint torque and the hip joint torque, and to introduce a finite state machine to perform foot contact detection on the motor torque to obtain the command torque input to the motor. The robot control module 55 is used to convert the command torque into a command current according to the current coefficient of the motor, and input the command current into the controller of the motor to control the underactuated walking exoskeleton robot.

[0054] Furthermore, such as Figure 6 As shown, based on the above-described underactuated assisted walking exoskeleton robot control method and system for body ascent scenarios, the present invention also provides a terminal, which includes a processor 10, a memory 20 and a display 30. Figure 6 Only some of the terminal components are shown; however, it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0055] In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory. In other embodiments, the memory 20 may be an external storage device of the terminal, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc. Further, the memory 20 may include both internal and external storage devices. The memory 20 is used to store application software and various types of data installed on the terminal, such as program code installed on the terminal. The memory 20 can also be used to temporarily store data that has been output or will be output. In one embodiment, the memory 20 stores an underactuated assistive exoskeleton robot control program 40 for body ascent scenarios. This underactuated assistive exoskeleton robot control program 40 for body ascent scenarios can be executed by the processor 10, thereby implementing the underactuated assistive exoskeleton robot control method for body ascent scenarios in this application.

[0056] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in the memory 20 or process data, such as executing the underactuated assisted walking exoskeleton robot control method for body rising scenarios.

[0057] The display 30 can be, in some embodiments, an LED display, a liquid crystal display, a touch liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, etc. The display 30 is used to display information of the vehicle and to display a visualized user interface. Components of the vehicle communicate with each other through a system bus.

[0058] In an embodiment, the following steps are implemented when the processor 10 executes the underactuated walking assist exoskeleton robot control program 40 for the body rising scenario in the memory 20: An underactuated walking assist exoskeleton robot is constructed, an assistance strategy is determined according to the assistance needs of the elderly, and the underactuated walking assist exoskeleton robot is simplified according to the assistance strategy to obtain a four-bar system; When the elderly is in a body rising scenario, the trunk hip joint angle, the knee joint angle, and the ankle joint angle in the four-bar system are obtained through an inertial measurement unit and inverse kinematics technology; According to the trunk hip joint angle, the knee joint angle, and the ankle joint angle, the moments of each joint of the lower limbs are iteratively solved through Newton-Euler method to obtain the knee joint moment and the hip joint moment; According to the knee joint moment and the hip joint moment, the required motor moment of the underactuated walking assist exoskeleton robot is calculated, a finite state machine is introduced to detect the foot contact of the motor moment, and the command moment input to the motor is obtained; According to the current coefficient of the motor, the command moment is converted into a command current, and the command current is input into the controller of the motor to control the underactuated walking assist exoskeleton robot.

[0059] The underactuated walking assist exoskeleton robot is constructed, the assistance strategy is determined according to the assistance needs of the elderly, and the underactuated walking assist exoskeleton robot is simplified according to the assistance strategy to obtain a four-bar system, specifically comprising: The underactuated walking assist exoskeleton robot is constructed based on the musculoskeletal and artificial muscle system, and the assistance strategy is determined according to the assistance needs of the elderly; The assistance strategy is to produce a centrifugal contraction assistance effect in the early support phase, a centripetal contraction assistance effect in the late support phase, and no impact on the swing of the lower limbs in the swing phase; According to the assistance strategy, the underactuated walking assist exoskeleton robot is simplified to a four-bar system, and the four-bar system includes a trunk link, a thigh link, a shank link, a foot link, an inertial measurement unit, and a pressure shoe pad.

[0060] The trunk hip joint angle, the knee joint angle and the ankle joint angle in the four-bar system are obtained by an inertial measurement unit and inverse kinematics technology, and specifically include the following steps: Inertial measurement units are installed at the trunk, the upper leg, the lower leg and the foot, and the angle values of the trunk, the upper leg, the lower leg and the foot in the inertial measurement unit sagittal plane are obtained by the inertial measurement units; The trunk hip joint angle, the knee joint angle and the ankle joint angle are calculated by inverse kinematics technology according to the angle values of the trunk, the upper leg, the lower leg and the foot in the inertial measurement unit sagittal plane: ; ; ; Wherein, represents the trunk hip joint angle, represents the knee joint angle, represents the ankle joint angle, represents the angle value of the trunk in the inertial measurement unit sagittal plane, represents the angle value of the upper leg in the inertial measurement unit sagittal plane, represents the angle value of the lower leg in the inertial measurement unit sagittal plane, represents the angle value of the foot in the inertial measurement unit sagittal plane.

[0061] The moments of each joint of the lower limbs are iteratively solved by Newton-Euler method according to the trunk hip joint angle, the knee joint angle and the ankle joint angle, and the knee joint moment and the hip joint moment are obtained, and specifically include the following steps: The ground reaction force vector in the three-dimensional space is measured by the pressure insole, and the ankle joint moment is obtained by Newton-Euler method: ; Wherein, represents the ankle joint moment, represents the position vector of the center of pressure of the sole relative to the ankle joint, represents the ground reaction force vector in the three-dimensional space; The knee joint moment under three-dimensional problem is obtained by Newton-Euler method according to the ankle joint moment, the ankle joint angle and the knee joint angle, the lower leg is regarded as a rigid body, the midpoint of the lower leg link is regarded as the first mass center position, the knee joint moment under three-dimensional problem is simplified based on the first mass center position, and the knee joint moment under two-dimensional problem is obtained. Based on the knee joint torque, the trunk hip joint angle, and the knee joint angle, the hip joint torque in the three-dimensional problem is obtained using the Newton-Euler method. The thigh is assumed to be a rigid body, and the midpoint of the thigh link is taken as the second center of mass. The hip joint torque in the three-dimensional problem is simplified based on the second center of mass position to obtain the hip joint torque in the two-dimensional problem.

[0062] Specifically, the knee joint torque in the three-dimensional problem is obtained using the Newton-Euler method based on the ankle joint torque, the ankle joint angle, and the knee joint angle. The lower leg is considered a rigid body, and the midpoint of the lower leg link is taken as the first center of mass. The knee joint torque in the three-dimensional problem is simplified based on this first center of mass position to obtain the knee joint torque in the two-dimensional problem. This process includes: Based on the ankle joint torque, the ankle joint angle, and the knee joint angle, the knee joint torque in the three-dimensional problem is obtained using the Newton-Euler method: ; in, This represents the knee joint torque in a three-dimensional problem. and These represent the position vectors of the ankle and knee joints relative to the center of mass of the lower leg, respectively. This represents the reaction force acting on the ankle joint. This represents the reaction force acting on the knee joint. Indicates the length of the lower leg. This represents the magnitude of the moment of inertia of the lower leg rotating about the first center of mass. This is expressed as the angular acceleration of the center of mass of the lower leg; Taking the sagittal plane as the sole consideration, assuming the lower leg is a rigid body, and the midpoint of the lower leg link as the first center of mass, the knee joint torque in the three-dimensional problem is simplified based on the first center of mass position to obtain the knee joint torque in the two-dimensional problem: ; in, This represents the knee joint torque in a two-dimensional problem. This indicates the length of the lower leg.

[0063] Among them, the reaction force on the ankle joint Equivalent to ground reaction force; The angular acceleration of the center of mass of the lower leg Measured by an inertial measurement unit placed on the calf; The reaction force on the knee joint The equilibrium equations based on the lower leg are obtained as follows: ; in, , The mass of the lower leg is derived from the body weight. represents the body weight of the human body; the shank rod length is obtained from the body height of the human body: ; wherein, represents the body height of the human body; the rotational inertia of the shank rotating around the first center of mass position is obtained from the body height of the human body and the body weight of the human body: .

[0064] wherein, the motor torque required by the underactuated walking exoskeleton robot is calculated according to the knee joint torque and the hip joint torque, the finite state machine is introduced for foot contact detection of the motor torque to obtain the command torque input to the motor, specifically including: the hip joint angular velocity vector and the knee joint angular velocity vector are obtained through the inertial measurement unit, and the exoskeleton motor angular velocity vector is obtained through the motor encoder; the motor torque required by the underactuated walking exoskeleton robot is calculated according to the hip joint angular velocity vector, the knee joint angular velocity vector, the exoskeleton motor angular velocity vector, the knee joint torque and the hip joint torque: ; wherein, represents the motor torque, represents the hip joint torque, , and respectively represent the hip joint angular velocity vector, the knee joint angular velocity vector and the exoskeleton motor angular velocity vector, represents the damping attenuation coefficient; the ground reaction force size at the moment is obtained through the pressure shoe pad , and the ground reaction force size is taken as the finite state machine: ; wherein, represents the finite state machine, represents the ground reaction force size at the moment; the foot contact detection of the motor torque is performed according to the finite state machine, to obtain the command torque input to the motor: ; wherein, represents the command torque input to the motor, represents the motor torque at the moment, represents the motor torque size during the swing phase.

[0065] In summary, the application provides an underactuated walking exoskeleton robot control method, system and terminal for body ascending scenes, the method comprising: constructing an underactuated walking exoskeleton robot, simplifying the underactuated walking exoskeleton robot to obtain a four-bar system, obtaining a trunk hip joint angle, a knee joint angle and an ankle joint angle in the four-bar system through an inertial measurement unit and inverse kinematics technology, iteratively solving a moment of each joint of the lower limb through a Newton-Euler method to obtain a knee joint moment and a hip joint moment, calculating a required motor moment according to the knee joint moment and the hip joint moment, performing foot contact detection on the motor moment to obtain a command moment; converting the command moment into a command current according to a current coefficient of the motor, and inputting the command current into a controller of the motor to control the underactuated walking exoskeleton robot. The application makes the control and assistance of the multi-joint exoskeleton more robust and stable.

[0066] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, so that processes, methods, articles or terminals including a series of elements not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such processes, methods, articles or terminals. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or terminal including the element.

[0067] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the computer program can include the processes of the above-mentioned embodiments of the method. Any reference to memory, storage, database or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0068] It should be understood that the application is not limited to the above examples, and those skilled in the art can make improvements or changes according to the above description, and all these improvements and changes shall fall within the protection scope of the appended claims of the present application.

Claims

1. A control method for an underactuated assisted walking exoskeleton robot used in body-rising scenarios, characterized in that, The underactuated assisted walking exoskeleton robot control method for body ascent scenarios includes: An underactuated walking assistive exoskeleton robot is constructed. An assistive strategy is determined based on the assistive needs of the elderly. The underactuated walking assistive exoskeleton robot is then simplified based on the assistive strategy to obtain a four-bar system. When the elderly are in a rising scenario, the hip joint angle, knee joint angle and ankle joint angle of the trunk in the four-bar system are obtained through inertial measurement unit and inverse kinematics technology; Based on the hip joint angle, knee joint angle, and ankle joint angle, the torques of each joint of the lower limb are iteratively solved using the Newton-Euler method to obtain the knee joint torque and hip joint torque. The required motor torque for the underactuated walking exoskeleton robot is calculated based on the knee joint torque and the hip joint torque. A finite state machine is introduced to perform foot contact detection on the motor torque to obtain the command torque input to the motor. Based on the current coefficient of the motor, the command torque is converted into a command current, and the command current is input into the controller of the motor to control the underactuated walking exoskeleton robot.

2. The control method for an underactuated assisted walking exoskeleton robot for body ascent scenarios according to claim 1, characterized in that, The construction of the underactuated walking assistive exoskeleton robot involves determining an assistive strategy based on the elderly person's needs, and simplifying the underactuated walking assistive exoskeleton robot according to the assistive strategy to obtain a four-bar system, specifically including: An underactuated walking exoskeleton robot was constructed based on musculoskeletal and artificial muscle systems, and the assistive strategy was determined according to the assistive needs of the elderly. The auxiliary strategy is as follows: it generates an eccentric contraction auxiliary effect in the early stage of the support phase, generates a centripetal contraction auxiliary effect in the late stage of the support phase, and does not affect the swinging of the lower limbs during the swinging phase. According to the aforementioned assistance strategy, the underactuated walking exoskeleton robot is simplified into a four-bar system, which includes: a torso link, a thigh link, a lower leg link, a foot link, an inertial measurement unit, and a pressure insole.

3. The control method for an underactuated assisted walking exoskeleton robot for body ascent scenarios according to claim 1, characterized in that, The acquisition of the trunk hip joint angle, knee joint angle, and ankle joint angle in the four-bar linkage system using an inertial measurement unit and inverse kinematics technology specifically includes: An inertial measurement unit is installed at the torso, thigh, calf, and foot, and the angle values ​​of the torso, thigh, calf, and foot in the sagittal plane of the inertial measurement unit are obtained through the inertial measurement unit. Based on the angle values ​​of the trunk, thigh, lower leg, and foot in the sagittal plane of the inertial measurement unit, the hip joint angle, knee joint angle, and ankle joint angle of the trunk are calculated using inverse kinematics techniques: ； ； ； in, Indicates the angle of the hip joint in the torso. Indicates the knee joint angle. Indicates the ankle joint angle. This represents the angle value of the torso in the sagittal plane of the inertial measurement unit. This represents the angle of the thigh in the sagittal plane of the inertial measurement unit. This represents the angle value of the lower leg in the sagittal plane of the inertial measurement unit. This indicates the angle value of the foot in the sagittal plane of the inertial measurement unit.

4. The control method for an underactuated assisted walking exoskeleton robot for body ascent scenarios according to claim 3, characterized in that, The process involves iteratively solving for the torques of each joint in the lower limb using the Newton-Euler method based on the hip joint angle, knee joint angle, and ankle joint angle to obtain the knee joint torque and hip joint torque. Specifically, this includes: The ground reaction force vector in three-dimensional space is obtained by measuring the pressure of the insole, and the ankle joint torque is obtained by Newton-Euler method: ； in, Indicates ankle joint torque. This represents the position vector of the center of plantar pressure relative to the ankle joint. Represents the ground reaction force vector in three-dimensional space; Based on the ankle joint torque, the ankle joint angle, and the knee joint angle, the knee joint torque in the three-dimensional problem is obtained using the Newton-Euler method. The lower leg is assumed to be a rigid body, and the midpoint of the lower leg link is taken as the first center of mass. The knee joint torque in the three-dimensional problem is simplified based on the first center of mass position to obtain the knee joint torque in the two-dimensional problem. Based on the knee joint torque, the trunk hip joint angle, and the knee joint angle, the hip joint torque in the three-dimensional problem is obtained using the Newton-Euler method. The thigh is assumed to be a rigid body, and the midpoint of the thigh link is taken as the second center of mass. The hip joint torque in the three-dimensional problem is simplified based on the second center of mass position to obtain the hip joint torque in the two-dimensional problem.

5. The control method for an underactuated assisted walking exoskeleton robot for body ascent scenarios according to claim 4, characterized in that, The knee joint torque in the three-dimensional problem is obtained using the Newton-Euler method based on the ankle joint torque, ankle joint angle, and knee joint angle. The lower leg is considered a rigid body, and the midpoint of the lower leg link is taken as the first center of mass. The knee joint torque in the three-dimensional problem is simplified based on this first center of mass to obtain the knee joint torque in the two-dimensional problem. Specifically, this includes: Based on the ankle joint torque, the ankle joint angle, and the knee joint angle, the knee joint torque in the three-dimensional problem is obtained using the Newton-Euler method: ； in, This represents the knee joint torque in a three-dimensional problem. and These represent the position vectors of the ankle and knee joints relative to the center of mass of the lower leg, respectively. This represents the reaction force acting on the ankle joint. This represents the reaction force acting on the knee joint. This represents the magnitude of the moment of inertia of the lower leg rotating about the first center of mass. This is expressed as the angular acceleration of the center of mass of the lower leg; Taking the sagittal plane as the sole consideration, assuming the lower leg is a rigid body, and the midpoint of the lower leg link as the first center of mass, the knee joint torque in the three-dimensional problem is simplified based on the first center of mass position to obtain the knee joint torque in the two-dimensional problem: ； in, This represents the knee joint torque in a two-dimensional problem. This indicates the length of the lower leg.

6. The control method for an underactuated assisted walking exoskeleton robot for body ascent scenarios according to claim 5, characterized in that, The reaction force on the ankle joint Equivalent to ground reaction force; The angular acceleration of the center of mass of the lower leg Measured by an inertial measurement unit placed on the calf; The reaction force on the knee joint The equilibrium equations based on the lower leg are obtained as follows: ； in, , The mass of the lower leg is derived from the body weight. Indicates body weight; The length of the lower leg bar Derived from human height: ； in, Indicates human height; The magnitude of the moment of inertia of the lower leg rotating about the first center of mass position It is derived from human height and weight: 。 7. The control method for an underactuated assisted walking exoskeleton robot for body ascent scenarios according to claim 6, characterized in that, The step involves calculating the required motor torque for the underactuated walking exoskeleton robot based on the knee joint torque and the hip joint torque, and then using a finite state machine to perform foot contact detection on the motor torque to obtain the command torque input to the motor. Specifically, this includes: The hip joint speed vector and knee joint speed vector are obtained through an inertial measurement unit, and the exoskeleton motor speed vector is obtained through a motor encoder; The required motor torque for the underactuated walking exoskeleton robot is calculated based on the hip joint rotational speed vector, the knee joint rotational speed vector, the exoskeleton motor rotational speed vector, the knee joint torque, and the hip joint torque. ； in, Indicates motor torque. Indicates hip joint torque. , and These represent the hip joint speed vector, knee joint speed vector, and exoskeleton motor speed vector, respectively. Indicates the damping attenuation coefficient; Obtained through pressure insoles The magnitude of the ground reaction force at time t is used as a finite state machine: ； in, This represents a finite state machine. express The magnitude of the ground reaction force at any given moment; The command torque input to the motor is obtained by performing foot contact detection on the motor using the finite state machine. ； in, This indicates the command torque input to the motor. express Motor torque at any given moment This indicates the magnitude of the motor torque during the oscillating phase.

8. A control system for an underactuated assisted walking exoskeleton robot for body ascent scenarios, characterized in that, The underactuated walking exoskeleton robot control system for body ascent scenarios includes: The target simplification module is used to construct an underactuated walking assistive exoskeleton robot, determine the assistive strategy according to the assistive needs of the elderly, and simplify the underactuated walking assistive exoskeleton robot according to the assistive strategy to obtain a four-bar system. The parameter acquisition module is used to acquire the hip joint angle, knee joint angle and ankle joint angle of the trunk in the four-bar system when the elderly are in a rising scenario, through the inertial measurement unit and inverse kinematics technology. The torque calculation module is used to iteratively calculate the torque of each joint of the lower limb using the Newton-Euler method based on the hip joint angle, the knee joint angle, and the ankle joint angle of the torso; The command torque acquisition module is used to calculate the motor torque required by the underactuated walking exoskeleton robot based on the knee joint torque and the hip joint torque, and introduces a finite state machine to perform foot contact detection on the motor torque to obtain the command torque input to the motor. The robot control module is used to convert the command torque into a command current based on the current coefficient of the motor, and input the command current into the controller of the motor to control the underactuated walking exoskeleton robot.

9. A terminal, characterized in that, The terminal includes: a memory, a processor, and an underactuated assistive exoskeleton robot control program for body ascent scenarios stored in the memory and executable on the processor. When the underactuated assistive exoskeleton robot control program for body ascent scenarios is executed by the processor, it implements the steps of the underactuated assistive exoskeleton robot control method for body ascent scenarios as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an underactuated assistive exoskeleton robot control program for a body-ascending scenario, which, when executed by a processor, implements the steps of the underactuated assistive exoskeleton robot control method for a body-ascending scenario as described in any one of claims 1-7.

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