Control method, system and terminal for underactuated walking assist exoskeleton robot for body ascending scene

Abstract

The application relates to the technical field of robot control, and discloses an underactuated walking exoskeleton robot control method, system and terminal for a body ascending scene, the method comprising the following steps: constructing an underactuated walking exoskeleton robot, simplifying the underactuated walking exoskeleton robot to obtain a four-bar system, 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, iteratively solving the moments of each joint of a lower limb through a Newton-Euler method to obtain a knee joint moment and a hip joint moment, calculating required motor moments according to the knee joint moment and the hip joint moment, performing foot contact detection on the motor moments to obtain a command moment; and 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 assistance of a multi-joint exoskeleton more robust and stable.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a control method, system, terminal, and storage medium for an underactuated assisted walking exoskeleton robot used in body-rising scenarios. Background Technology

[0002] Due to the degeneration of their musculoskeletal system, older adults alter their walking strategies, a strategy known as a protective gait strategy. This strategy manifests as increased trunk flexion during walking, requiring increased mechanical output from the hip extensors to stabilize the trunk; increased hip and knee flexion, leading to increased joint load; and a shift in joint torque from distal to proximal, thus reducing reliance on the ankle joint. In conclusion, providing hip and knee extension assistance for daily walking in older adults is of great importance.

[0003] Exoskeletons, as a convenient wearable device, can apply controllable auxiliary torques to human joints and are expected to be applied in daily travel assistance scenarios.

[0004] However, current multi-joint assisted exoskeletons basically rely on predefined torque curves or mapping models for control. The limitations of historical angle information of a single joint or terrain classification priors make the assistance of multi-joint exoskeletons not stable enough. At the same time, the center of mass state is difficult to be directly measured by sensors, which also makes it difficult to apply this type of method to body ascent scenarios.

[0005] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0006] The main objective of this invention is to provide a control method, system, terminal, and computer-readable storage medium for an underactuated assisted walking exoskeleton robot for body ascent scenarios. This invention aims to address the limitations of prior knowledge of historical angle information and terrain classification in existing technologies, which makes the assistance of multi-joint exoskeletons unstable. At the same time, the center of mass state is difficult to directly measure through sensors, making it difficult to apply the exoskeleton robot control method to body ascent scenarios.

[0007] To achieve the above objectives, the present invention provides a control method for an underactuated assistive exoskeleton robot for body ascent scenarios, the method comprising the following steps:

[0008] 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.

[0009] 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;

[0010] 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.

[0011] 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.

[0012] 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.

[0013] Optionally, the control method for the underactuated walking assistive exoskeleton robot for body ascent scenarios, wherein constructing the underactuated walking assistive exoskeleton robot, determining an assistance strategy based on the elderly person's assistance needs, and simplifying the underactuated walking assistive exoskeleton robot according to the assistance strategy to obtain a four-bar system, specifically includes:

[0014] 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.

[0015] 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.

[0016] 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.

[0017] Optionally, the control method for the underactuated walking exoskeleton robot used in body-ascending scenarios, wherein obtaining the torso hip joint angle, knee joint angle, and ankle joint angle in the four-bar system through an inertial measurement unit and inverse kinematics techniques specifically includes:

[0018] 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.

[0019] 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:

[0020] ;

[0021] ;

[0022] ;

[0023] 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.

[0024] Optionally, the control method for the underactuated walking exoskeleton robot used in body-ascending scenarios, wherein the step of iteratively solving for the torques 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 to obtain the knee joint torque and hip joint torque, specifically includes:

[0025] 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:

[0026] ;

[0027] 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;

[0028] 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.

[0029] 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.

[0030] Optionally, the control method for the underactuated walking exoskeleton robot used in body ascent scenarios, wherein 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, assuming the lower leg as a rigid body and the midpoint of the lower leg link as the first center of mass position, and 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, specifically includes:

[0031] 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:

[0032] ;

[0033] 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;

[0034] 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:

[0035] ;

[0036] in, This represents the knee joint torque in a two-dimensional problem. This indicates the length of the lower leg.

[0037] Optionally, in the underactuated walking exoskeleton robot control method for body ascent scenarios, the reaction force on the ankle joint... Equivalent to ground reaction force;

[0038] The angular acceleration of the center of mass of the lower leg Measured by an inertial measurement unit placed on the calf;

[0039] The reaction force on the knee joint The equilibrium equations based on the lower leg are obtained as follows:

[0040] ;

[0041] in, , The mass of the lower leg is derived from the body weight. Indicates body weight;

[0042] The length of the lower leg bar Derived from human height:

[0043] ;

[0044] in, Indicates human height;

[0045] 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:

[0046] .

[0047] Optionally, the control method for the underactuated walking exoskeleton robot used in body-rising scenarios, wherein calculating the required motor torque for the underactuated walking exoskeleton robot based on the knee joint torque and the hip joint torque, and introducing a finite state machine to perform foot contact detection on the motor torque to obtain the command torque input to the motor, specifically includes:

[0048] 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;

[0049] 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.

[0050] ;

[0051] 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;

[0052] Obtained through pressure insoles The magnitude of the ground reaction force at time t is used as a finite state machine:

[0053] ;

[0054] in, This represents a finite state machine. express The magnitude of the ground reaction force at any given moment;

[0055] The command torque input to the motor is obtained by performing foot contact detection on the motor using the finite state machine.

[0056] ;

[0057] 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.

[0058] Furthermore, to achieve the above objectives, the present invention also provides an underactuated assistive walking exoskeleton robot control system for body ascent scenarios, wherein the underactuated assistive walking exoskeleton robot control system for body ascent scenarios includes:

[0059] 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.

[0060] 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.

[0061] 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;

[0062] 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.

[0063] 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.

[0064] Furthermore, to achieve the above objectives, the present invention also provides a terminal, wherein 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 above.

[0065] Furthermore, to achieve the above objectives, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a control program for an underactuated assistive exoskeleton robot for a body-ascending scenario, and the control program for the underactuated assistive exoskeleton robot for a body-ascending scenario, when executed by a processor, implements the steps of the control method for the underactuated assistive exoskeleton robot for a body-ascending scenario as described above.

[0066] In this invention, an underactuated walking assistive exoskeleton robot is constructed. The robot is simplified to a four-bar system. The hip, knee, and ankle joint angles of the torso are obtained using an inertial measurement unit (IMU) and inverse kinematics techniques. The torques of each lower limb joint are iteratively solved using the Newton-Euler method to obtain the knee and hip joint torques. The required motor torque is calculated based on these torques. Foot contact detection is performed on the motor torque to obtain the command torque. Based on the motor's current coefficient, the command torque is converted into a command current, which is then input into the motor's controller to control the underactuated walking assistive exoskeleton robot. The multi-joint exoskeleton control method based on centroid state estimation proposed in this invention overcomes the limitations of traditional methods that rely on single-joint historical angle information or terrain classification priors, thus making the assistance provided by multi-joint exoskeletons more robust and stable. Attached Figure Description

[0067] Figure 1 This is a flowchart of a preferred embodiment of the control method for an underactuated assisted walking exoskeleton robot for body ascent scenarios according to the present invention;

[0068] Figure 2 This is a schematic diagram of some biomechanical data of an elderly person climbing a slope in the underactuated walking assistive exoskeleton robot control method for body ascent scenarios of the present invention;

[0069] Figure 3This is a schematic diagram of the musculoskeletal system and assistive strategies in the underactuated assistive exoskeleton robot control method for body ascent scenarios of the present invention.

[0070] Figure 4 This is a schematic diagram of the human-exoskeleton system modeling and controller in the underactuated assistive exoskeleton robot control method for body ascent scenarios of the present invention;

[0071] Figure 5 This is a structural diagram of a preferred embodiment of the underactuated assisted walking exoskeleton robot control system of the present invention for use in body ascent scenarios;

[0072] Figure 6 This is a structural diagram of a preferred embodiment of the terminal of the present invention. Detailed Implementation

[0073] This application provides a control method, system, terminal, and storage medium for an underactuated assistive exoskeleton robot used in body-ascending scenarios. To make the objectives, technical solutions, and effects of this application clearer and more explicit, the following detailed description is provided with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit this application.

[0074] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0075] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0076] The preferred embodiment of the present invention describes a control method for an underactuated assistive exoskeleton robot used in body-ascending scenarios, such as... Figure 1 As shown, the control method for the underactuated assisted walking exoskeleton robot used in body-rising scenarios includes the following steps:

[0077] Step S10: 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.

[0078] Understandably, in daily walking, scenarios such as going uphill or up stairs are most likely to cause fatigue and even falls in the elderly. This is because these upward movements require not only the lower limb joints to provide the work needed for forward movement, but also the work needed to overcome gravity, with the latter often being the primary effort. In contrast, on flat ground, the work required to overcome gravity is less due to the shorter distance of ascent. Furthermore, according to biomechanical data on the elderly when going uphill (such as…),… Figure 2 As shown in the diagram, older adults primarily rely on the coordinated work of their hip and knee joints to achieve upward movement, while the ankle joint does almost no work. Therefore, we can conclude that:

[0079] ;

[0080] in, This represents the power required to overcome its own weight. and These represent the power of the hip and knee joints, respectively. and These represent the torques at the hip and knee joints, respectively. and These represent the rotational speed vectors of the hip and knee joints, respectively.

[0081] 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. The assistance strategy is as follows: an eccentric contraction assistance effect is generated in the early support phase, a centripetal contraction assistance effect is generated in the late support phase, and no impact is placed on the swinging phase of the lower limbs.

[0082] In this embodiment, to achieve coordinated extension assistance of the hip and knee joints, an artificial muscle is introduced for the elderly, such as... Figure 3 The diagram illustrates the musculoskeletal system and assistive strategies, showing a muscle that, when tensed, generates extensional torques simultaneously at the hip and knee joints. Based on the assistive needs of older adults, the following assistive strategies can be defined: During the stance phase, the artificial muscle tenses, providing eccentric contraction assistance in the early stance phase and concentric contraction assistance in the later stance phase. During the swing phase, the muscle relaxes, not affecting the swing of the lower limbs. Here, the artificial muscle is implemented using an underactuated exoskeleton system. This system primarily consists of a motor generating tension, which is then transmitted to the hip and knee joints via a steel cable.

[0083] Furthermore, 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.

[0084] Understandably, for the control of the aforementioned underactuated walking exoskeleton robot, estimating the power of the hip and knee joints to determine the power required to overcome its own gravity is crucial. Figure 4 As shown, the underactuated walking exoskeleton robot (human-exoskeleton) is first simplified into a four-bar system, mainly including torso links, thigh links, lower leg links, foot links, inertial measurement unit (IMU) and pressure insoles, and the kinematics and dynamics of the system in the sagittal plane are of primary concern.

[0085] Step S20: When the elderly person is in a rising motion scenario, the hip joint angle, knee joint angle, and ankle joint angle of the torso in the four-bar system are obtained through the inertial measurement unit and inverse kinematics technology.

[0086] Specifically, inertial measurement units are 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 units.

[0087] In this embodiment, by installing inertial measurement units (IMUs) at the torso, thigh, lower leg, and foot, the angular values ​​of each location in the sagittal plane of the IMU are obtained (the installation direction of the IMU is as follows). Figure 4 (As shown).

[0088] Furthermore, 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:

[0089] ;

[0090] ;

[0091] ;

[0092] 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.

[0093] Step S30: Based on the hip joint angle, knee joint angle and ankle joint angle, the torque of each joint of the lower limb is iteratively solved using the Newton-Euler method to obtain the knee joint torque and hip joint torque.

[0094] Specifically, 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:

[0095] ;

[0096] in, Indicates ankle joint torque. This represents the position vector of the center of plantar pressure relative to the ankle joint. This represents the ground reaction force vector in three-dimensional space.

[0097] Furthermore, 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 position. Based on the first center of mass position, the knee joint torque in the three-dimensional problem is simplified to obtain the knee joint torque in the two-dimensional problem.

[0098] 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:

[0099] 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:

[0100] ;

[0101] 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;

[0102] 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:

[0103] ;

[0104] in, This represents the knee joint torque in a two-dimensional problem. This indicates the length of the lower leg.

[0105] Understandably, in order to simplify the calculation, this invention only considers the sagittal plane, assumes that the lower leg is a rigid body with its center of mass located at the midpoint of the lower leg rod, and simplifies the three-dimensional problem into a two-dimensional problem, thereby improving the calculation efficiency while maintaining packaging accuracy.

[0106] Among them, the angular acceleration of the center of mass of the lower leg Measured by an inertial measurement unit placed on the calf;

[0107] The reaction force on the knee joint The equilibrium equations based on the lower leg are obtained as follows:

[0108] ;

[0109] in, , The mass of the lower leg is derived from the body weight. Indicates body weight;

[0110] The length of the lower leg bar Derived from human height:

[0111] ;

[0112] in, Indicates human height;

[0113] 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:

[0114] .

[0115] It should be noted that human body weight And the constant before human height, such as , and These values ​​are all estimated and are only used here as preferred values; they are not restricted to being fixed values.

[0116] Furthermore, 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.

[0117] Understandably, the solution for hip joint torque is similar to that for knee joint torque. This embodiment only lists the balance equation based on the thigh and the calculation process for related parameters; the specific process will not be detailed here.

[0118] ;

[0119] ;

[0120] Assuming the thigh is a rigid body and the midpoint of the thigh link is the second center of mass, we simplify the hip joint torque problem in three dimensions based on this second center of mass location, reducing the problem to a two-dimensional problem, as follows:

[0121] ;

[0122] Thigh length and mass parameters are also estimated based on human height and weight:

[0123] ;

[0124] ;

[0125] ;

[0126] in, This indicates the reaction force acting on the hip joint. This indicates the acceleration of the thigh. and These represent the position vectors of the knee and hip joints relative to the center of mass of the thigh, respectively. Indicates the quality of the thigh. Indicates the length of the thigh bar. This indicates the magnitude of the moment of inertia of the thigh rotating about its center of mass. This represents the angular acceleration of the thigh's center of mass. 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.

[0127] 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.

[0128] 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;

[0129] 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.

[0130] ;

[0131] 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;

[0132] Obtained through pressure insoles The magnitude of the ground reaction force at time t is used as a finite state machine:

[0133] ;

[0134] in, This represents a finite state machine. express The magnitude of the ground reaction force at any given moment;

[0135] The command torque input to the motor is obtained by performing foot contact detection on the motor using the finite state machine.

[0136] ;

[0137] 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.

[0138] Understandably, based on the above analysis, the power required to be injected into the exoskeleton can be determined as follows:

[0139] ;

[0140] in, This represents the torque vector of the exoskeleton motor. This represents the speed vector of the exoskeleton motor. This indicates the power required to power the exoskeleton.

[0141] Therefore, the torque required for the exoskeleton motor is:

[0142]

[0143] in, The magnitude of the torque vector of the exoskeleton motor. 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. This represents the damping attenuation coefficient.

[0144] Furthermore, to ensure that the exoskeleton does not affect the normal swinging of the wearer's lower limbs during the swinging phase, this invention uses a pressure insole for foot contact detection, introducing a finite state machine:

[0145] ;

[0146] in, This represents a finite state machine. express The magnitude of the ground reaction force at any given moment.

[0147] Finally, the magnitude of the command torque input to the motor is:

[0148] ;

[0149] in, express Motor torque at any given moment This indicates the magnitude of the motor torque during the swing phase. It is set to a fixed value here to prevent the wire rope from slackening and to provide a certain preload without affecting the normal swinging of the lower limbs.

[0150] Step S50: 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.

[0151] Specifically, in this embodiment, the command torque is converted into a command current based on the motor's current coefficient and input to the motor controller. The motor controller is implemented using a proportional-integral control.

[0152] The current coefficient, acting as a bridge between torque and current, is determined by the electromagnetic characteristics of the motor. It transforms abstract torque requirements into current signals that can be recognized by the controller. The controller then uses a proportional element to quickly respond to the deviation between the command current and the actual current, instantly outputting an adjustment to reduce the error. The integral element is used to eliminate steady-state deviations in the system, ensuring the stability of the current output during long-term operation.

[0153] Through this transformation and control process, the motor controller can continuously correct its output based on the real-time feedback 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 both dynamic and static conditions.

[0154] It is understandable that the center of mass state is an indispensable component of this invention. Since the center of mass state is difficult to measure directly through sensors, this invention indirectly estimates it by observing the state of the lower limb joints. Essentially, regardless of the type of movement, walking ultimately results in a corresponding movement of the center of mass. For scenarios involving upward movement, such as climbing a slope, ascending stairs, or transitioning from sitting to standing, the core effect is essentially the raising of the body's center of mass. The multi-joint exoskeleton control method based on center of mass state estimation proposed in this invention overcomes the limitations of traditional methods that rely on historical angle information from a single joint or terrain classification priors, thereby making the assistance provided by the multi-joint exoskeleton more robust and stable.

[0155] Furthermore, such as Figure 5 As shown, based on the above-described control method for an underactuated assistive exoskeleton robot for body ascent scenarios, this invention also provides a control system for an underactuated assistive exoskeleton robot for body ascent scenarios, wherein the control system for the underactuated assistive exoskeleton robot for body ascent scenarios includes:

[0156] The target simplification module 51 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.

[0157] The parameter acquisition module 52 is used to acquire the trunk hip joint angle, knee joint angle and ankle joint angle in the four-bar system through the inertial measurement unit and inverse kinematics technology when the elderly are in a rising scenario.

[0158] The torque calculation module 53 is used to iteratively solve 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 trunk, to obtain the knee joint torque and the hip joint torque.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display 30 is used to display information about the vehicle and to display a visual user interface. The components of the vehicle communicate with each other via a system bus.

[0165] In one embodiment, when the processor 10 executes the underactuated assisted walking exoskeleton robot control program 40 for a body-ascending scenario in the memory 20, the following steps are performed:

[0166] 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.

[0167] 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;

[0168] 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.

[0169] 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.

[0170] 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.

[0171] The construction of the underactuated walking exoskeleton robot involves determining an assistance strategy based on the elderly person's needs, and simplifying the underactuated walking exoskeleton robot according to the assistance strategy to obtain a four-bar system, specifically including:

[0172] 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.

[0173] 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.

[0174] 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.

[0175] Specifically, obtaining the hip, knee, and ankle joint angles of the torso in the four-bar linkage system using an inertial measurement unit and inverse kinematics technology includes:

[0176] 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.

[0177] 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:

[0178] ;

[0179] ;

[0180] ;

[0181] 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.

[0182] Specifically, the step of iteratively solving for the torques of each joint of the lower limb using Newton-Euler's method based on the hip joint angle, knee joint angle, and ankle joint angle to obtain the knee joint torque and hip joint torque includes:

[0183] 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:

[0184] ;

[0185] 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;

[0186] 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.

[0187] 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.

[0188] 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:

[0189] 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:

[0190] ;

[0191] 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;

[0192] 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:

[0193] ;

[0194] in, This represents the knee joint torque in a two-dimensional problem. This indicates the length of the lower leg.

[0195] Among them, the reaction force on the ankle joint Equivalent to ground reaction force;

[0196] The angular acceleration of the center of mass of the lower leg Measured by an inertial measurement unit placed on the calf;

[0197] The reaction force on the knee joint The equilibrium equations based on the lower leg are obtained as follows:

[0198] ;

[0199] in, , The mass of the lower leg is derived from the body weight. Indicates body weight;

[0200] The length of the lower leg bar Derived from human height:

[0201] ;

[0202] in, Indicates human height;

[0203] 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:

[0204] .

[0205] Specifically, the step of 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, includes:

[0206] 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;

[0207] 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.

[0208] ;

[0209] 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;

[0210] Obtained through pressure insoles The magnitude of the ground reaction force at time t is used as a finite state machine:

[0211] ;

[0212] in, This represents a finite state machine. express The magnitude of the ground reaction force at any given moment;

[0213] The command torque input to the motor is obtained by performing foot contact detection on the motor using the finite state machine.

[0214] ;

[0215] 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.

[0216] In summary, this invention provides a control method, system, and terminal for an underactuated assistive exoskeleton robot used in body-ascending scenarios. The method includes: constructing an underactuated assistive exoskeleton robot; simplifying the robot to obtain a four-bar linkage; acquiring the hip, knee, and ankle joint angles of the torso in the four-bar linkage system using an inertial measurement unit and inverse kinematics techniques; iteratively solving for the torques of each joint in the lower limbs using the Newton-Euler method to obtain the knee and hip joint torques; calculating the required motor torque based on the knee and hip joint torques; performing foot contact detection on the motor torque to obtain the command torque; converting the command torque into a command current based on the motor's current coefficient; and inputting the command current into the motor's controller to control the underactuated assistive exoskeleton robot. This invention makes the control and assistance of multi-joint exoskeletons more robust and stable.

[0217] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0218] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention 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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0219] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. An underactuated walking assist exoskeleton robot control method for a body ascending scenario, characterized by, The control method of the underactuated walking exoskeleton robot for the body rising scene comprises the following steps: An underactuated walking exoskeleton robot is constructed, an assistance strategy is determined according to the assistance demand of the elderly, and the underactuated walking exoskeleton robot is simplified according to the assistance strategy to obtain a four-bar system; When the elderly is in the body rising 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 limb is 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 exoskeleton robot is calculated, the finite state machine is introduced to detect the foot contact of the motor moment to obtain the command moment input to the motor; According to the current coefficient of the motor, the command moment is converted into the command current, and the command current is input into the controller of the motor to control the underactuated walking exoskeleton robot; The underactuated walking exoskeleton robot is constructed, an assistance strategy is determined according to the assistance demand of the elderly, and the underactuated walking exoskeleton robot is simplified according to the assistance strategy to obtain a four-bar system, which specifically comprises: 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 demand of the elderly; The assistance strategy is that a centrifugal contraction assistance effect is generated in the early stage of the support phase, a centripetal contraction assistance effect is generated in the late stage of the support phase, and the swing of the lower limb is not affected in the 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; According to the trunk hip joint angle, the knee joint angle and the ankle joint angle, the moment of each joint of the lower limb is iteratively solved through Newton Euler method to obtain the knee joint moment and the hip joint moment, which specifically comprises: 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 torque, represents a position vector of the center of pressure of the foot sole with respect to the ankle joint, represents a ground reaction force vector in a three-dimensional space; According to the ankle joint moment, the ankle joint angle and the knee joint angle, the knee joint moment under the three-dimensional problem is obtained through Newton Euler method, 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; According to the knee joint moment, the trunk hip joint angle and the knee joint angle, the hip joint moment under the three-dimensional problem is obtained through Newton Euler method, the thigh is regarded as a rigid body, the midpoint of the thigh link is regarded as the 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.

2. The underactuated exoskeleton robot control method for body ascent scenarios of claim 1, 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, which specifically comprises: Inertial measurement units are installed at the torso, thigh, shank and foot, and the angle values of the torso, thigh, shank and foot in the sagittal plane of the inertial measurement unit are obtained through the inertial measurement units; The torso hip joint angle, knee joint angle and ankle joint angle are calculated through inverse kinematics technology according to the angle values of the torso, thigh, shank and foot in the sagittal plane of the inertial measurement unit; ； ； ； wherein, represents the torso hip joint angle, represents the knee joint angle, represents the ankle joint angle, represents the torso angle in the IMU sagittal plane, represents the thigh angle in the IMU sagittal plane, represents the shank angle in the IMU sagittal plane, represents the foot angle in the IMU sagittal plane.

3. The underactuated exoskeleton robot control method for body ascent scenarios of claim 1, wherein, The knee joint torque under the three-dimensional problem is obtained through Newton Euler method according to the ankle joint torque, ankle joint angle and 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 torque under the three-dimensional problem is simplified based on the first mass center position, and the knee joint torque under the two-dimensional problem is obtained, and the knee joint torque under the two-dimensional problem specifically includes: The knee joint torque under the three-dimensional problem is obtained through Newton Euler method according to the ankle joint torque, ankle joint angle and knee joint angle: ； wherein, represents the knee torque under three-dimensional problem, and respectively represent the position vectors of the ankle joint and the knee joint relative to the mass center of the lower leg, represents the reaction force on the ankle joint, represents the reaction force on the knee joint, represents the rotational inertia of the lower leg rotating around the first mass center position, represents the angular acceleration of the mass center of the lower leg; The sagittal plane is taken as the only considered element, 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 torque under the three-dimensional problem is simplified based on the first mass center position, and the knee joint torque under the two-dimensional problem is obtained: ； wherein, represents the knee moment under two-dimensional problem, represents the shank bar length.

4. The underactuated exoskeleton robot control method for body ascent scenarios of claim 3, wherein, Counterforce experienced by the ankle joint Equivalent to ground reaction force; angular acceleration of the shank centroid measured by an inertial measurement unit placed on the shank Counterforce on the knee From the balance equation based on the shank: ； wherein, , represents the mass of the lower leg, which is derived from the body weight of the person, represents the body weight of the person; The shank length From the body height: ； wherein, represents the height of the human body; A size of a rotational inertia of the lower leg rotating around the first center of mass position From the height of the human body and the weight of the human body: 。 5. The underactuated exoskeleton robot control method for body ascent scenarios of claim 4, 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 to detect the foot contact of the motor torque, and the command torque input to the motor is obtained, and the command torque input to the motor 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: ； wherein, represents the motor torque, represents the hip joint torque, , and represent the hip joint angular velocity vector, the knee joint angular velocity vector, and the exoskeleton motor angular velocity vector, respectively, represents the damping attenuation coefficient; Obtained by pressure insole The ground reaction force size at the moment, taking the ground reaction force size as a finite state machine: ； wherein, represents a finite state machine, represents a ground reaction force at the instant The foot contact of the motor torque is detected according to the finite state machine, and the command torque input to the motor is obtained: ； wherein, represents a command torque input to the motor, represents the motor torque at the time instant, represents the motor torque magnitude during the swing phase.

6. An underactuated walking assist exoskeleton robot control system for a body ascending scenario, characterized by, The underactuated walking exoskeleton robot control system for the body lifting scene is used to realize the underactuated walking exoskeleton robot control method for the body lifting scene in any one of claims 1-5, and the underactuated walking exoskeleton robot control system for the body lifting scene includes: A target simplification module is configured 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 to obtain a four-bar system; A parameter acquisition module is configured to acquire the torso hip joint angle, knee joint angle and 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 scene. A torque solving module is configured to iteratively solve the torque of each joint of the lower limb through Newton Euler method according to the torso hip joint angle, knee joint angle and ankle joint angle to obtain the knee joint torque and hip joint torque. The command torque acquisition module is configured to calculate the motor torque required by the underactuated walking exoskeleton robot according to the knee joint torque and the hip joint torque, introduce a finite state machine to detect the foot contact of the motor torque, and obtain the command torque input to the motor. The robot control module is configured to convert the command torque into 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.

7. A terminal, characterized by comprising: The terminal comprises a memory, a processor, and an underactuated walking exoskeleton robot control program for a body lifting scenario stored on the memory and executable on the processor, and the underactuated walking exoskeleton robot control program for the body lifting scenario, when executed by the processor, implements the steps of the underactuated walking exoskeleton robot control method for the body lifting scenario according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores an underactuated walking exoskeleton robot control program for a body lifting scenario, and the underactuated walking exoskeleton robot control program for the body lifting scenario, when executed by the processor, implements the steps of the underactuated walking exoskeleton robot control method for the body lifting scenario according to any one of claims 1-5.

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