Self-adaptive walking assisting electronic exoskeleton based on multi-sensor fusion

Abstract

The invention relates to a self-adaptive walking assisting electronic exoskeleton based on multi-sensor fusion, and belongs to the technical field of exoskeletons. The device comprises a rack, a first telescopic cavity is formed in a first rotating seat, a first extending seat is arranged in the first telescopic cavity, a first hydraulic telescopic device is arranged on one side of the outer portion of the first rotating seat and one side of the outer portion of the first extending seat, and a second rotating cavity is formed in the lower end of the first extending seat. And a second rotating seat is arranged in the second rotating cavity, a second telescopic cavity is formed in the second rotating seat, a second extending seat is arranged in the second telescopic cavity, and a second hydraulic telescopic device is arranged on one side of the outer portion of the second rotating seat and one side of the outer portion of the second extending seat. According to the device, the size of the whole exoskeleton can be adjusted, so that the adaptability of the exoskeleton is improved, meanwhile, the adjusting condition of the exoskeleton is known by observing the corresponding position of the indicator board on the scale marks, and therefore the adjusting precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeletons, and particularly relates to an adaptive walking assistance electronic exoskeleton based on multi-sensor fusion. BACKGROUND

[0002] The adaptive walking assistance electronic exoskeleton based on multi-sensor fusion is a wearable assistance device integrating sensing detection, data fusion, intelligent control and mechanical execution, and the device is composed of a frame and a fitting component, a sensing system, a driving execution system and the like, and before use, the device needs to be adjusted according to the body shape of the user, in the use process, each sensor synchronously collects data at a sampling frequency of 100 Hz, finally, the main control module outputs control instructions according to the optimized parameters, adjusts the rotating speed and driving force of each driving motor, realizes precise assistance of joint movement, and simultaneously dynamically iteratively optimizes according to the new data fed back by the sensor, so as to ensure gait coherence and adaptability, and the exoskeleton device is widely used in rehabilitation medical treatment, old-age assistance, outdoor operation and the like.

[0003] Although the prior art can realize the use of the exoskeleton, in actual use, on the one hand, it is difficult to adjust the exoskeleton, usually the size of the exoskeleton is fixedly set, so that different users are difficult to adapt to the exoskeleton for training, thereby affecting the training effect of the user, and on the other hand, the binding band is not flexible enough, usually the binding band is used to fix the legs of the user and the exoskeleton, so that the binding band in an inappropriate position affects the experience of the user.

[0004] Therefore, the present application provides an adaptive walking assistance electronic exoskeleton based on multi-sensor fusion. SUMMARY

[0005] Therefore, in order to overcome the common problems that it is difficult to adjust the exoskeleton and the binding band is not flexible enough.

[0006] The technical scheme of the present application is: a self-adaptive walking auxiliary electronic exoskeleton based on multi-sensor fusion, comprising a rack, first rotating seats are arranged below the two sides outside the rack, a first telescopic cavity is arranged in the first rotating seat, a first extension seat is arranged in the first telescopic cavity, the lower end of the first extension seat extends to the lower side of the first rotating seat, and the first extension seat and the first telescopic cavity are in sliding fit, a first hydraulic telescopic device is arranged on one side outside the first rotating seat and the first extension seat, a second rotating cavity is arranged in the lower end of the first extension seat, a second rotating seat is arranged in the second rotating cavity, the second rotating seat is in rotating fit with the second rotating cavity, and the second rotating seat extends to the outside of the second rotating cavity, a second telescopic cavity is arranged in the second rotating seat, a second extension seat is arranged in the second telescopic cavity, the second extension seat and the second telescopic cavity are in sliding fit, and the second extension seat extends to the outside of the second telescopic cavity, and a second hydraulic telescopic device is arranged on one side outside the second rotating seat and the second extension seat.

[0007] As preferred, the telescopic end of the first hydraulic telescopic device is fixedly connected with the first extension seat, the fixed end of the first hydraulic telescopic device is fixedly connected with the first rotating seat, the fixed end of the second hydraulic telescopic device is fixedly connected with the second rotating seat, and the telescopic end of the second hydraulic telescopic device is fixedly connected with the second extension seat, and fixed seats are fixedly arranged on the two sides outside the rack, a first rotating cavity is arranged in the fixed seat, and the first rotating seat extends to the inside of the first rotating cavity and is in rotating fit with the first rotating cavity.

[0008] As preferred, the front ends of the first telescopic cavity and the second telescopic cavity are open structures, indicating plates are fixedly arranged at the front ends of the first extension seat and the second extension seat, and the indicating plates extend to the outside of the first rotating seat and the second rotating seat respectively, and scale lines are arranged at the front ends outside the first rotating seat and the second rotating seat, and the scale lines correspond to the positions of the indicating plates.

[0009] As preferred, a mounting rack is fixedly arranged on the other side outside the second rotating seat, a sliding groove is arranged in the mounting rack, the sliding groove is an open structure, a connecting seat is arranged in the sliding groove, the connecting seat is in sliding fit with the sliding groove and extends to the outside of the sliding groove, a bolt is arranged at the front end of the mounting rack at the opening position of the sliding groove, one end of the bolt penetrates through the connecting seat and extends to the rear end of the mounting rack, a nut is arranged outside one end of the bolt, and the nut is in contact with the mounting rack.

[0010] As preferred, fixed bands are fixedly arranged on one side outside the connecting seat and the other side outside the first rotating seat, and the fixed bands have a certain elasticity.

[0011] As preferred, the inside of the second extension base is provided with a third rotating cavity, the inside of the third rotating cavity is provided with a third rotating base, the third rotating base is in rotating cooperation with the third rotating cavity, and the third rotating base extends to the outside of the third rotating cavity, and the lower end of the third rotating base is fixedly provided with a foot assembly, and the lower end of the foot assembly is fixedly provided with a pressure sensor.

[0012] As preferred, one side of the outside of the fixed base is fixedly provided with a first driving motor, the output shaft of the first driving motor penetrates the first rotating base and extends to the other side of the fixed base, the other side of the outside of the fixed base is fixedly provided with a first angle sensor, the measuring shaft of the first angle sensor is fixedly connected with the output shaft of the first driving motor, the second driving motor is fixedly arranged outside the lower side of the first hydraulic telescopic device, the output shaft of the second driving motor penetrates the second rotating base and extends to the other side of the first extension base, the other side of the outside of the first extension base is fixedly provided with a second angle sensor, and the measuring shaft of the second angle sensor is fixedly connected with the output shaft of the second driving motor, the third driving motor is fixedly arranged outside the lower side of the second hydraulic telescopic device, the output shaft of the third driving motor penetrates the third rotating base and extends to the other side of the second extension base, the other side of the outside of the second extension base is fixedly provided with a third angle sensor, and the measuring shaft of the third angle sensor is fixedly connected with the output shaft of the third driving motor.

[0013] As preferred, the inside of the side wall of the rack is provided with a limiting groove, and the limiting groove is of an open structure, the rear end of the inside of the rack is provided with a waist support, both sides of the outside of the waist support are fixedly provided with a connecting block, one side of the connecting block extends to the inside of the limiting groove, and the connecting block is in sliding limiting cooperation with the limiting groove, both sides of the rear end of the outside of the rack are provided with a threaded rod, and the front end of the threaded rod penetrates the rack and is in rotating connection with the waist support.

[0014] As preferred, the rear end of the waist support is fixedly provided with a posture sensor, the center position of the rear end of the outside of the rack is fixedly provided with a main control module, and the main control module is electrically connected with the first driving motor, the first hydraulic telescopic device, the first angle sensor, the second driving motor, the second angle sensor, the second hydraulic telescopic device, the third driving motor, the third angle sensor, the pressure sensor and the posture sensor respectively.

[0015] The beneficial effects of the present application are as follows:

[0016] 1、The adaptive walking auxiliary electronic exoskeleton in use, through the first hydraulic telescopic device and the second hydraulic telescopic device, the size of the whole exoskeleton can be adjusted, before using the exoskeleton, first adjust according to the user's body type, at this time the user stands inside the exoskeleton and the operator issues instructions through the external controller, at this time the main control module starts the second hydraulic telescopic device and the first hydraulic telescopic device in turn, first through the extension of the telescopic end of the second hydraulic telescopic device to push the second rotating seat to move upwards, until the second rotating seat is moved to the appropriate position, at this time the second drive motor corresponds to the user's knee joint, then through the extension of the telescopic end of the first hydraulic telescopic device to push the first rotating seat to move upwards, until the first rotating seat is moved to the appropriate position, at this time the first drive motor corresponds to the user's hip joint, and the waist support position corresponds to the user's waist, thereby improving the adaptability of the exoskeleton to users of different body types, in this process, the first drive motor, the second drive motor and the third drive motor are all in the locked state, at the same time, the operator can observe the corresponding position of the indicator plate on the scale line to understand the adjustment of the exoskeleton, thereby improving the accuracy of the adjustment;

[0017] 2、The adaptive walking auxiliary electronic exoskeleton in use, through the bolt and the nut, the position of the fixing belt is adjusted, when the user's lower limbs are fixed with the exoskeleton, the exoskeleton has been adjusted to the appropriate height, at this time the operator rotates the nut, so that the nut and the mounting frame are loose, then the operator pulls the connecting seat up and down, so that the connecting seat moves in the sliding groove, until the connecting seat is adjusted to the appropriate position, at this time the operator rotates the nut again, so that the nut moves outside the bolt, until the nut is attached to the mounting frame, the connecting seat is fixed at the appropriate position through the friction between the bolt, the nut and the mounting frame, then the user's thighs, calves and feet are fixed through the fixing belt, thereby improving the fixing effect of the exoskeleton;

[0018] 3、The adaptive walking auxiliary electronic exoskeleton in use, through the attitude sensor and the pressure sensor, the user's motion data can be collected, at this time the operator rotates the threaded rod, so that the threaded rod pushes the waist support to move on the rack, at the same time, the connecting block fixedly connected with the waist support moves in the limiting groove, until the waist support is attached to the user's waist, when using the exoskeleton, when the user makes a lifting foot action through the first drive motor, the second drive motor and the third drive motor, the pressure sensor will change the data, and it is detected that the user is in the lifting foot posture, at the same time, the attitude sensor will also change the data, at the same time, when the output shaft of the first drive motor, the second drive motor and the third drive motor rotates, the first angle sensor, the second angle sensor and the third angle sensor will collect angle data, in this process, the data is transmitted to the main control module, and the motion state is adjusted through the main control module. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0020] Figure 1 The overall structure of the present application is shown in the perspective view.

[0021] Figure 2 The internal structure of the present application is shown in the front view.

[0022] Figure 3 The internal structure of the foot assembly of the present application is shown in the side view.

[0023] Figure 4 The internal structure of the main control module of the present application is shown in the side view.

[0024] Figure 5 The foot assembly of the present application is shown in the perspective view. Figure 2 The A area in the figure is shown in the enlarged view.

[0025] Figure 6 The foot assembly of the present application is shown in the perspective view. Figure 3 The B area in the figure is shown in the enlarged view.

[0026] Marked as follows: 1, rack; 2, waist support; 3, limiting groove; 4, connecting block; 5, threaded rod; 6, fixed seat; 7, first rotating cavity; 8, first driving motor; 9, first rotating seat; 10, first hydraulic telescopic device; 11, first telescopic cavity; 12, indicator plate; 13, scale line; 14, first angle sensor; 15, first extension seat; 16, second rotating cavity; 17, second rotating seat; 18, second driving motor; 19, second angle sensor; 20, second hydraulic telescopic device; 21, second extension seat; 22, second telescopic cavity; 23, third rotating cavity; 24, third rotating seat; 25, third driving motor; 26, third angle sensor; 27, foot assembly; 28, mounting frame; 29, sliding groove; 30, connecting seat; 31, bolt; 32, fixing belt; 33, pressure sensor; 34, nut; 35, main control module; 36, attitude sensor. DETAILED DESCRIPTION

[0027] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely explain the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0028] It should be noted that when a component is referred to as being "fixed" or "set" on another component, it can be directly on the other component or there can be a middle component. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be a middle component. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar expressions used in the description of the present application are for the purpose of illustration only and are not intended to be the only implementation.

[0029] Unless otherwise defined, all technical and scientific terms used in the specification of the present application have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the specification of the present application includes any and all combinations of one or more related listed items.

[0030] Please refer to Figures 1-6 The present application provides a technical solution: an adaptive walking assistance electronic exoskeleton based on multi-sensor fusion, comprising a rack 1, a first rotating seat 9 is arranged below the outer two sides of the rack 1, a first telescopic cavity 11 is arranged in the inside of the first rotating seat 9, a first extension seat 15 is arranged in the inside of the first telescopic cavity 11, the lower end of the first extension seat 15 extends to the lower side of the first rotating seat 9, and the first extension seat 15 and the first telescopic cavity 11 are in sliding fit, a first hydraulic telescopic device 10 is arranged on one side of the outside of the first rotating seat 9 and the first extension seat 15, a second rotating cavity 16 is arranged in the inside of the lower end of the first extension seat 15, a second rotating seat 17 is arranged in the inside of the second rotating cavity 16, the second rotating seat 17 and the second rotating cavity 16 are in rotating fit, and the second rotating seat 17 extends to the outside of the second rotating cavity 16, a second telescopic cavity 22 is arranged in the inside of the second rotating seat 17, a second extension seat 21 is arranged in the inside of the second telescopic cavity 22, the second extension seat 21 and the second telescopic cavity 22 are in sliding fit, and the second extension seat 21 extends to the outside of the second telescopic cavity 22, a second hydraulic telescopic device 20 is arranged on one side of the outside of the second rotating seat 17 and the second extension seat 21.

[0031] Here, the entire exoskeleton is adjusted by the first hydraulic telescopic device 10 and the second hydraulic telescopic device 20, so as to be suitable for users of different body types.

[0032] The telescopic end of the first hydraulic telescopic device 10 is fixedly connected with the first extension base 15, and the fixed end of the first hydraulic telescopic device 10 is fixedly connected with the first rotating base 9. The fixed end of the second hydraulic telescopic device 20 is fixedly connected with the second rotating base 17, and the telescopic end of the second hydraulic telescopic device 20 is fixedly connected with the second extension base 21. Both sides of the outside of the frame 1 are fixedly provided with fixed bases 6. The inside of each fixed base 6 is provided with a first rotating cavity 7. The first rotating base 9 extends into the inside of the first rotating cavity 7, and the first rotating base 9 is rotationally matched with the first rotating cavity 7.

[0033] Here, the telescopic end of the first hydraulic telescopic device 10 can push the first extension base 15 to move, and the telescopic end of the second hydraulic telescopic device 20 can push the second extension base 21 to move.

[0034] The front end of each of the first telescopic cavity 11 and the second telescopic cavity 22 is of an open structure. The front end of each of the first extension base 15 and the second extension base 21 is fixedly provided with an indicating plate 12, and the indicating plate 12 extends to the outside of the first rotating base 9 and the second rotating base 17 respectively. The front end of each of the first rotating base 9 and the second rotating base 17 outside is provided with a scale line 13, and the scale line 13 is positionally corresponding to the indicating plate 12.

[0035] Here, during the extension of the first extension base 15 and the second extension base 21, the position of the indicating plate 12 on the scale line 13 can be observed by the operator to understand the adjustment of the first extension base 15 and the second extension base 21.

[0036] The other side of the outside of the second rotating base 17 is fixedly provided with a mounting bracket 28. The inside of the mounting bracket 28 is provided with a sliding groove 29, and the sliding groove 29 is of an open structure. The inside of the sliding groove 29 is provided with a connecting base 30, the connecting base 30 is slidingly matched with the sliding groove 29, and the connecting base 30 extends to the outside of the sliding groove 29. The front end of the mounting bracket 28 at the opening position of the sliding groove 29 is provided with a bolt 31, one end of the bolt 31 penetrates through the connecting base 30 and extends to the rear end of the mounting bracket 28. The outside of one end of the bolt 31 is sleeved with a nut 34, and the nut 34 is in contact with the mounting bracket 28.

[0037] Here, the connecting base 30 is fixed at a suitable position by the friction force between the nut 34, the bolt 31 and the mounting bracket 28.

[0038] One side of the outside of the connecting base 30 and the other side of the outside of the first rotating base 9 are both fixedly provided with a fixed band 32, and the fixed band 32 has a certain elasticity.

[0039] Here, the fixing band 32 is sewn with a magic tape structure, and the fixing band 32 is wound around the user's leg through the magic tape structure. How to fix through the magic tape structure is described with reference to the existing magic tape structure, and no improvement is made, so it is not described here.

[0040] The inside of the second extension seat 21 is provided with a third rotating cavity 23, and the inside of the third rotating cavity 23 is provided with a third rotating seat 24. The third rotating seat 24 is in rotating cooperation with the third rotating cavity 23, and the third rotating seat 24 extends to the outside of the third rotating cavity 23. The lower end of the third rotating seat 24 is fixedly provided with a foot assembly 27, and the lower end of the foot assembly 27 is fixedly provided with a pressure sensor 33.

[0041] Here, the user's leg posture is understood through the data change of the pressure sensor 33.

[0042] The outside of the fixed seat 6 is fixedly provided with a first drive motor 8, and the output shaft of the first drive motor 8 penetrates the first rotating seat 9 and extends to the other side of the fixed seat 6. The other side of the outside of the fixed seat 6 is fixedly provided with a first angle sensor 14, and the measuring shaft of the first angle sensor 14 is fixedly connected with the output shaft of the first drive motor 8. The second drive motor 18 is fixedly arranged outside the first hydraulic telescopic device 10 below the first extension seat 15, and the output shaft of the second drive motor 18 penetrates the second rotating seat 17 and extends to the other side of the first extension seat 15. The other side of the outside of the first extension seat 15 is fixedly provided with a second angle sensor 19, and the measuring shaft of the second angle sensor 19 is fixedly connected with the output shaft of the second drive motor 18. The third drive motor 25 is fixedly arranged outside the second hydraulic telescopic device 20 below the second extension seat 21, and the output shaft of the third drive motor 25 penetrates the third rotating seat 24 and extends to the other side of the second extension seat 21. The other side of the outside of the second extension seat 21 is fixedly provided with a third angle sensor 26, and the measuring shaft of the third angle sensor 26 is fixedly connected with the output shaft of the third drive motor 25.

[0043] Here, the rotating data of the first drive motor 8 is collected by the first angle sensor 14, the rotating data of the second drive motor 18 is collected by the second angle sensor 19, and the rotating data of the third drive motor 25 is collected by the third angle sensor 26. The first drive motor 8, the second drive motor 18 and the third drive motor 25 are all connected with a speed reduction mechanism, and the rotating speed of the output shaft of the first drive motor 8, the second drive motor 18 and the third drive motor 25 is reduced through the speed reduction mechanism. How to adjust through the speed reduction mechanism is described with reference to the existing magic tape structure, and no improvement is made, so it is not described here.

[0044] The side wall of the frame 1 is provided with a limiting groove 3, and the limiting groove 3 is an open structure. The rear end of the frame 1 is provided with a waist support 2. Both sides of the waist support 2 are fixedly provided with connecting blocks 4. One side of the connecting block 4 extends into the interior of the limiting groove 3, and the connecting block 4 slides and limits the limiting groove 3. Both sides of the rear end of the frame 1 are provided with threaded rods 5, and the front end of the threaded rod 5 passes through the frame 1 and is rotatably connected to the waist support 2.

[0045] Here, the lumbar support 2 is moved by the threaded rod 5 until it fits against the user's waist.

[0046] An attitude sensor 36 is fixedly installed at the rear end of the waist support 2. A main control module 35 is fixedly installed at the center of the rear end of the frame 1. The main control module 35 is electrically connected to the first drive motor 8, the first hydraulic telescopic device 10, the first angle sensor 14, the second drive motor 18, the second angle sensor 19, the second hydraulic telescopic device 20, the third drive motor 25, the third angle sensor 26, the pressure sensor 33, and the attitude sensor 36.

[0047] Here, the main control module 35 can process the data and adjust the rotation of the first drive motor 8, the second drive motor 18 and the third drive motor 25 through the main control module 35;

[0048] First, the angle data collected by the first angle sensor 14 Angle data collected by the second angle sensor 19 Angle data collected by the third angle sensor 26 Pressure data collected by pressure sensor 33 Attitude data collected by attitude sensor 36 The data is transmitted to the main control module 35, where the collected dataset is merged and integrated. The function is as follows:

[0049]

[0050]

[0051] in, In order to be in At that moment, the A collection of data collected by a sensor; In order to be in The fusion results of multiple sensors at any given time; In order to be in At that moment, the The fusion weights of the individual sensors;

[0052] Next, construct the user's stride length and cadence calculation functions, as follows:

[0053]

[0054]

[0055] in, In order to be in The stride of a moment; In order to be in Step frequency at any given moment; For stride mapping, the SVR model can be selected as the mapping function; This is the step frequency mapping function, based on the joint angle change period of the angle sensor, with the step frequency being the reciprocal of the period;

[0056] Then, gait phase is calculated based on step frequency, using the following function:

[0057]

[0058] in, In order to be in Gait phase at any given moment; For the fractional part of the function, convert the integral result to a value between 0 and 1; For gait period, ; To The previous gait cycle Step frequency within integral;

[0059] Reconstruct Gait patterns The pattern is represented as follows:

[0060]

[0061] in, Pheromones for each gait pattern; In order to be in The optimal gait pattern is selected at all times through ant colony optimization. For all candidate gait patterns The pattern with the highest pheromone concentration;

[0062] When updating pheromones, the update function is as follows:

[0063]

[0064] in, In order to be in The latest update Gait patterns; The pheromone evaporation coefficient; For the first The pheromone increment of gait patterns; In order to be in The cost function at time step;

[0065] The function for calculating the desired joint angle is as follows:

[0066]

[0067]

[0068] in, In order to be in Time of the first The desired joint angle corresponding to each drive motor; For the first One drive motor Angular amplitude coefficient in gait mode; Let be a periodic function of the desired joint angle as a function of gait phase. For the first One drive motor Phase offset in gait mode; For the first One drive motor Angular offset in gait mode; In order to be in Time of the first Joint angle error of each drive motor; The actual joint angle was measured.

[0069] Secondly, a cost function is constructed that minimizes the cost through the parameters to be optimized while satisfying safety constraints. The function is as follows:

[0070]

[0071] in, In order to be in The cost function at time step; Weighting coefficients for tracking error; In order to be in Time of the first The absolute value of the joint angle error of each drive motor; Weighting coefficients for controlling energy consumption; In order to be in Time of the first Control signals for each drive motor (control inputs include the voltage and current of the drive motor);

[0072] The quality of the fusion weights for various motion metrics is evaluated and recorded using a particle algorithm. This process is repeated iteratively until convergence, resulting in the optimized fusion weights. The algorithm is as follows:

[0073]

[0074]

[0075] wherein, is the new velocity of the i-th particle at time t; is the inertia weight; is the velocity of the i-th particle at time t; is the inertia weight; is the velocity of the i-th particle at time t; is the inertia weight; is the current position of the i-th particle at time t; is the global optimal position; is the learning factor; is a random number between 0 and 1; is the individual optimal position of the i-th particle; is the global optimal position; is the current position of the i-th particle at time t; is the global optimal position; is the new position of the i-th particle at time t; is the current position of the i-th particle at time t; is the new position of the i-th particle at time t; each particle represents a different combination of fusion weights; Based on the wolf swarm algorithm, the aggregated to-be-optimized parameters are calculated, and the algorithm is as follows:

[0076]

[0077] wherein, is the aggregated to-be-optimized parameter; ,

[0078] and are optimal solutions filtered according to a cost function, is a minimum candidate solution of the cost function, is a second-smallest candidate solution of the cost function, is a third-smallest candidate solution of the cost function; the to-be-optimized parameters include a proportional coefficient of driving motor control and a differential coefficient of driving motor control . Based on the bat algorithm, the optimal to-be-optimized parameters are calculated, and the optimized proportional coefficient of driving motor control and the optimized differential coefficient of driving motor control are obtained, and the algorithm is as follows:

[0079]

[0080]

[0081] ​​​

[0082]

[0083] in, For the first The frequency of each "bat"; and These are the minimum and maximum values ​​of the frequency; A random number between 0 and 1; For the first The velocity vector of each "bat"; For the first The position of each "bat" indicates the parameter to be optimized.

[0084] Finally, the optimized parameters are used to regulate each drive motor to generate the latest control signal for the drive motor. Each drive motor adjusts its target speed based on the latest control signal, as shown in the following function:

[0085]

[0086]

[0087] in, In order to be in Time of the first The latest control signal for the drive motor; In order to be in Time of the first The rate of change of joint angle error of each drive motor; In order to be in Time of the first Target speed of each drive motor;

[0088] At this point, new angle data is generated on each angle sensor. .

[0089] Example:

[0090] Gait patterns

[0091] First, record the data collected by each sensor, as shown in the table below:

[0092] 0.5 17.8 14.3 6.9 680 0.8 1.5 25.6 21.7 9.2 530 8.5 2.5 12.4 10.8 5.3 720 -6.3

[0093] After 120 iterations and convergence, the fusion weights are optimized to obtain the optimized fusion weights:

[0094]

[0095]

[0096]

[0097] When performing multi-sensor data fusion:

[0098]

[0099] When calculating stride length and stride frequency:

[0100]

[0101]

[0102]

[0103] When calculating gait phase from stride frequency:

[0104]

[0105] When calculating desired joint angles during uphill and downhill:

[0106]

[0107]

[0108]

[0109]

[0110]

[0111]

[0112] When calculating cost function:

[0113]

[0114]

[0115] When calculating the latest control signals for each drive motor:

[0116]

[0117]

[0118]

[0119]

[0120]

[0121]

[0122] At this time, new angle data is generated on each angle sensor, and the stride and step frequency are calculated:

[0123]

[0124]

[0125]

[0126]

[0127] Working principle: refer to Figures 1-4 As shown in FIG. 1, before the exoskeleton is used, the exoskeleton is adjusted according to the body size of the user. At this time, the user stands inside the exoskeleton, and an operator issues an instruction through an external controller. At this time, the main control module 35 starts the second hydraulic telescopic device 20 and the first hydraulic telescopic device 10 in turn. The extension of the telescopic end of the second hydraulic telescopic device 20 pushes the second rotating seat 17 to move upwards until the second rotating seat 17 is moved to a suitable position. At this time, the second drive motor 18 corresponds to the knee joint of the user. Then the extension of the telescopic end of the first hydraulic telescopic device 10 pushes the first rotating seat 9 to move upwards until the first rotating seat 9 is moved to a suitable position. At this time, the first drive motor 8 corresponds to the hip joint of the user, and the waist support 2 position corresponds to the waist of the user. In this process, the first drive motor 8, the second drive motor 18, and the third drive motor 25 are all in a locked state. At the same time, the operator can observe the corresponding position of the indicator plate 12 on the scale line 13 to understand the adjustment of the exoskeleton.

[0128] Refer to Figures 1-3 , Figure 5 , Figure 6 As shown in FIG. 2, when the lower limbs of the user are fixed with the exoskeleton, the exoskeleton has been adjusted to a suitable height. At this time, the operator rotates the nut 34 so that the nut 34 and the mounting frame 28 are loose. Then the operator pulls the connecting seat 30 up and down so that the connecting seat 30 moves inside the sliding groove 29 until the connecting seat 30 is adjusted to a suitable position. At this time, the operator rotates the nut 34 again so that the nut 34 moves outside the bolt 31 until the nut 34 is attached to the mounting frame 28. The connecting seat 30 is fixed at a suitable position through the friction force between the bolt 31, the nut 34, and the mounting frame 28. Then the user's thighs, calves, and feet are fixed through the fixing belt 32.

[0129] Refer to Figure 1 , Figure 2 , Figure 4As shown, when the user's waist is fixed with the exoskeleton, the operator rotates the threaded rod 5 at this time, so that the threaded rod 5 pushes the waist support 2 to move on the frame 1, and the connecting block 4 fixedly connected with the waist support 2 moves in the limiting groove 3 until the waist support 2 is attached to the user's waist.

[0130] Referring to Figures 1-4 As shown, when the exoskeleton is used, when the user makes a lifting foot action through the first drive motor 8, the second drive motor 18 and the third drive motor 25, the pressure sensor 33 will change the data, and it is detected that the user is in the lifting foot posture, and the attitude sensor 36 will also change the data, and when the output shaft of the first drive motor 8, the second drive motor 18 and the third drive motor 25 rotates, the first angle sensor 14, the second angle sensor 19 and the third angle sensor 26 will collect angle data, in this process, the data is transmitted to the main control module 35, and the motion state is adjusted through the main control module 35.

[0131] It is noted here that the above-mentioned main control module 35, first drive motor 8, first hydraulic telescopic device 10, first angle sensor 14, second drive motor 18, second angle sensor 19, second hydraulic telescopic device 20, third drive motor 25, third angle sensor 26, pressure sensor 33 and attitude sensor 36 can be powered according to existing operation technology means, whether using power supply or external power supply, all belong to existing conventional operation technology means, which will not be described in detail here.

[0132] The above is the working process of the entire device, and the contents not described in detail in the specification all belong to the existing technology known to those skilled in the art.

[0133] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An adaptive walking assistance electronic exoskeleton based on multi-sensor fusion, comprising a frame (1), characterized in that: The lower part of the both sides of the frame (1) is provided with a first rotating seat (9), the inside of the first rotating seat (9) is provided with a first telescopic cavity (11), the inside of the first telescopic cavity (11) is provided with a first extension seat (15), the lower end of the first extension seat (15) extends to the lower part of the first rotating seat (9), and the first extension seat (15) is in sliding fit with the first telescopic cavity (11), one side of the outside of the first rotating seat (9) and the first extension seat (15) is provided with a first hydraulic telescopic device (10), the inside of the lower end of the first extension seat (15) is provided with a second rotating cavity (16), the inside of the second rotating cavity (16) is provided with a second rotating seat (17), the second rotating seat (17) is in rotating fit with the second rotating cavity (16), and the second rotating seat (17) extends to the outside of the second rotating cavity (16), the inside of the second rotating seat (17) is provided with a second telescopic cavity (22), the inside of the second telescopic cavity (22) is provided with a second extension seat (21), the second extension seat (21) is in sliding fit with the second telescopic cavity (22), and the second extension seat (21) extends to the outside of the second telescopic cavity (22), one side of the outside of the second rotating seat (17) and the second extension seat (21) is provided with a second hydraulic telescopic device (20).

2. The adaptive walking assistance electronic exoskeleton based on multi-sensor fusion of claim 1, wherein: The telescopic end of the first hydraulic telescopic device (10) is fixedly connected with the first extension seat (15), the fixed end of the first hydraulic telescopic device (10) is fixedly connected with the first rotating seat (9), the fixed end of the second hydraulic telescopic device (20) is fixedly connected with the second rotating seat (17), and the telescopic end of the second hydraulic telescopic device (20) is fixedly connected with the second extension seat (21), the both sides of the outside of the frame (1) are fixedly provided with a fixed seat (6), the inside of the fixed seat (6) is provided with a first rotating cavity (7), the first rotating seat (9) extends to the inside of the first rotating cavity (7), and the first rotating seat (9) is in rotating fit with the first rotating cavity (7).

3. The adaptive walking assistance electronic exoskeleton based on multi-sensor fusion of claim 1, wherein: The front end of the first telescopic cavity (11) and the second telescopic cavity (22) is of an open structure, the front end of the first extension seat (15) and the second extension seat (21) is fixedly provided with an indicating plate (12), and the indicating plate (12) extends to the outside of the first rotating seat (9) and the second rotating seat (17) respectively, the front end of the outside of the first rotating seat (9) and the second rotating seat (17) is provided with a scale line (13), and the scale line (13) corresponds in position to the indicating plate (12).

4. The adaptive walking assistance electronic exoskeleton based on multi-sensor fusion of claim 1, wherein: The other side of the second rotating seat (17) is fixedly provided with a mounting rack (28), the inside of the mounting rack (28) is provided with a sliding groove (29), the sliding groove (29) is an open structure, the inside of the sliding groove (29) is provided with a connecting seat (30), the connecting seat (30) is in sliding fit with the sliding groove (29), and the connecting seat (30) extends to the outside of the sliding groove (29), the front end of the mounting rack (28) located at the opening position of the sliding groove (29) is provided with a bolt (31), one end of the bolt (31) penetrates through the connecting seat (30) and extends to the rear end of the mounting rack (28), and the outside of the one end of the bolt (31) is provided with a nut (34) in a sleeved mode, and the nut (34) is in contact with the mounting rack (28).

5. The adaptive walking assistance electronic exoskeleton based on multi-sensor fusion of claim 4, wherein: The other side of the second rotating seat (17) is fixedly provided with a mounting rack (28), the inside of the mounting rack (28) is provided with a sliding groove (29), the sliding groove (29) is an open structure, the inside of the sliding groove (29) is provided with a connecting seat (30), the connecting seat (30) is in sliding fit with the sliding groove (29), and the connecting seat (30) extends to the outside of the sliding groove (29), the front end of the mounting rack (28) located at the opening position of the sliding groove (29) is provided with a bolt (31), one end of the bolt (31) penetrates through the connecting seat (30) and extends to the rear end of the mounting rack (28), and the outside of the one end of the bolt (31) is provided with a nut (34) in a sleeved mode, and the nut (34) is in contact with the mounting rack (28).

6. The adaptive walking assistance electronic exoskeleton based on multi-sensor fusion of claim 1, wherein: The inside of the second extending seat (21) is provided with a third rotating cavity (23), the inside of the third rotating cavity (23) is provided with a third rotating seat (24), the third rotating seat (24) is in rotating fit with the third rotating cavity (23), and the third rotating seat (24) extends to the outside of the third rotating cavity (23), and the lower end of the third rotating seat (24) is fixedly provided with a foot assembly (27), and the lower end of the foot assembly (27) is fixedly provided with a pressure sensor (33).

7. The adaptive walking assistance electronic exoskeleton based on multi-sensor fusion of claim 2, wherein: One side of the fixed seat (6) is fixedly provided with a first driving motor (8), an output shaft of the first driving motor (8) penetrates through the first rotating seat (9) and extends to the other side of the fixed seat (6), the other side of the fixed seat (6) is fixedly provided with a first angle sensor (14), a measuring shaft of the first angle sensor (14) is fixedly connected with the output shaft of the first driving motor (8), the first extending seat (15) is fixedly provided with a second driving motor (18) outside the first hydraulic telescopic device (10), an output shaft of the second driving motor (18) penetrates through the second rotating seat (17) and extends to the other side of the first extending seat (15), the other side of the first extending seat (15) is fixedly provided with a second angle sensor (19), and a measuring shaft of the second angle sensor (19) is fixedly connected with the output shaft of the second driving motor (18), the second extending seat (21) is fixedly provided with a third driving motor (25) outside the second hydraulic telescopic device (20), an output shaft of the third driving motor (25) penetrates through the third rotating seat (24) and extends to the other side of the second extending seat (21), and the other side of the second extending seat (21) is fixedly provided with a third angle sensor (26), and a measuring shaft of the third angle sensor (26) is fixedly connected with the output shaft of the third driving motor (25).

8. The adaptive walking assistance electronic exoskeleton based on multi-sensor fusion of claim 4, wherein: The inside of the side wall of the frame (1) is provided with a limiting groove (3), and the limiting groove (3) is an open structure, the rear end of the inside of the frame (1) is provided with a waist support (2), both sides of the outside of the waist support (2) are fixedly provided with a connecting block (4), one side of the connecting block (4) extends to the inside of the limiting groove (3), and the connecting block (4) and the limiting groove (3) are in sliding limiting, both sides of the rear end of the outside of the frame (1) are provided with a threaded rod (5), and the front end of the threaded rod (5) penetrates the frame (1) and is rotationally connected with the waist support (2).

9. The adaptive walking assistance electronic exoskeleton based on multi-sensor fusion of claim 6 or 7 or 8, characterized in that: The rear end of the waist support (2) is fixedly provided with a posture sensor (36), and the center position of the rear end of the outside of the frame (1) is fixedly provided with a main control module (35), and the main control module (35) is electrically connected with the first driving motor (8), the first hydraulic telescopic device (10), the first angle sensor (14), the second driving motor (18), the second angle sensor (19), the second hydraulic telescopic device (20), the third driving motor (25), the third angle sensor (26), the pressure sensor (33) and the posture sensor (36).

10. A method for using a self-adapting walking assistance electronic exoskeleton based on multi-sensor fusion, characterized in that, The method comprises the following steps: Step one: after starting the device, the angle data collected by the first angle sensor (14) , the angle data collected by the second angle sensor (19) , the angle data collected by the third angle sensor (26) , the pressure data collected by the pressure sensor (33) , and the posture data collected by the posture sensor (36) are transmitted to the main control module (35), and the collected data set is reconstructed and functions as follows: wherein, for each of the plurality of sensors, at a time instant, a data set collected by a first sensor; Step two: in the main control module (35), the data collected by each sensor is fused by a fusion algorithm, and the algorithm is as follows: in, In order to be in The fusion results of multiple sensors at any time; In order to be in At that moment, the The fusion weights of the individual sensors; And based on the preset SVR model, the step of the fusion result is calculated, and the model is as follows: in, In order to be in The stride of a moment; This is a pre-defined SVR model; And based on the preset SVR model, the step of the fusion result is calculated, and the model is as follows: wherein, is the step size at time t; is the step size at time t; is the step size mapping function; Step three: calculate the gait phase according to the step frequency, and the function is as follows: wherein, is the gait phase at the time instant is the gait phase at the time instant is the fractional part function; is the gait cycle; is the step frequency within the previous gait cycle is the step frequency within the previous gait cycle is the step frequency within the previous gait cycle is the integral; And based on the preset SVR model, the step of the fusion result is calculated, and the model is as follows: wherein, the pheromone for each gait pattern; the optimal gait pattern selected by the ant colony algorithm at the time instant the optimal gait pattern selected by the ant colony algorithm at the time instant the gait pattern with the highest pheromone concentration among all candidate gait patterns the gait pattern with the highest pheromone concentration among all candidate gait patterns Step four: when calculating the expected joint angle, the function is as follows: in, In order to be in Time of the first The desired joint angle corresponding to each drive motor; For the first One drive motor Angular amplitude coefficient in gait mode; Let be a periodic function of the desired joint angle as a function of gait phase. For the first One drive motor Phase offset in gait mode; For the first One drive motor Angular offset in gait mode; In order to be in Time of the first Joint angle error of each drive motor; The actual joint angle was measured. Step five: evaluate the pros and cons of the fusion weight of each motion index based on the particle algorithm and record, repeat iteration until convergence, and get the optimized fusion weight The algorithm is as follows: in, In order to be in Time of the first The new velocity of each particle; Inertial weight; In order to be in Time of the first The velocity of each particle; and For learning factors; and A random number between 0 and 1; For the first The optimal position of each individual particle; The globally optimal position; for Time of the first The current position of each particle; each particle represents a different combination of fusion weights; Based on the wolf swarm algorithm, the aggregated optimization parameters are calculated, and the algorithm is as follows: wherein, is the parameter to be optimized after the aggregation; , and is the optimal solution filtered by the cost function; the parameter to be optimized includes a proportional coefficient for driving motor control and a differential coefficient for driving motor control ; Based on the bat algorithm to calculate the optimal optimization parameters, get the optimized proportion coefficient And the optimized differential coefficient ; Step six: the optimized parameters are used to control each driving motor to generate the latest control signal of the driving motor, and each driving motor adjusts the target rotating speed based on the latest control signal, and the function is as follows: wherein, is the latest control signal for the drive motor at the time instant ; is the joint angle error rate of change for the drive motor at the time instant ; At this time, new angle data is generated on each angle sensor .

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