Lower limb movement assisting system, control method thereof, computer equipment and computer readable storage medium

Abstract

The invention discloses a lower limb movement assisting system and a control method thereof, computer equipment and a computer readable storage medium. The lower limb movement assisting system comprises an artificial leg, a knee joint exoskeleton and a controller; the artificial leg comprises a shell, a rotating body, a receiving body and a hydraulic damping cylinder; the knee joint exoskeleton comprises a first connecting assembly, a driving assembly, a second connecting assembly and a motion sensor. The accepting body and the first connecting assembly are connected with the broken leg; the second connecting assembly is connected with the shell; and the controller predicts to obtain intention motion information according to the previous motion information, controls the driving assembly to drive the second connecting assembly to rotate according to the intention motion information, and adjusts the damping value of the hydraulic damping cylinder. Relative rotation of the first connecting assembly and the second connecting assembly can be achieved through the driving assembly in the knee joint exoskeleton, namely bending and stretching of the artificial leg are achieved, the damping value of the hydraulic damping cylinder in the artificial leg is adjustable, control of the driving assembly and control of the hydraulic damping cylinder are matched with each other, and a user is assisted to move in more scenes.

Description

Technical Field

[0001] This invention relates to the field of limb assistive technology, and more particularly to a lower limb movement assistive system and its control method, computer equipment, and computer-readable storage medium. Background Technology

[0002] Prostheses can compensate for the physical deficiencies of disabled individuals, thus presenting a complete human form. Prostheses are divided into fixed prostheses and movable prostheses; movable prostheses are usually used for the more mobile lower limbs. Movable prostheses achieve movement by being equipped with a telescopic structure, such as a hydraulic cylinder.

[0003] In existing technologies, movable prosthetic legs mainly adopt a passive movement mode and are applied to flat ground scenarios. However, in sloping ground scenarios, it is difficult to passively extend and retract, indicating that prosthetic legs have the problem of a narrow range of movement.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a lower limb activity assistive system and its control method, computer equipment and computer-readable storage medium, in order to address the above-mentioned defects of the prior art, and to solve the problem that the prosthetic leg in the prior art has a narrow range of activity.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows: A lower limb mobility assist system includes: a prosthetic leg, a knee joint exoskeleton, and a controller; the prosthetic leg includes: case; A rotating body, rotatably mounted on the housing; The receiving body is disposed on the top of the rotating body; A hydraulic damping cylinder, with its two ends rotatably connected to the rotating body and the housing, respectively; The knee exoskeleton includes: First connection component; The driver component is located in the first connection component; The second connecting component is connected to the output shaft of the drive component; Motion sensors are configured to detect past movement information of the amputated leg; Both the receiver and the first connecting component are configured to connect the broken leg; The second connection component is configured to connect to the housing; The hydraulic damping cylinder and the drive assembly are both electrically connected to the controller. The controller predicts the intended motion information based on the past motion information, and controls the drive component to drive the second connecting component to rotate based on the intended motion information, and adjusts the damping value of the hydraulic damping cylinder.

[0007] In the lower limb movement assist system, the rotation axis of the rotating body is collinear with the rotation axis of the output shaft.

[0008] The lower limb mobility assist system, wherein the housing is provided with an assembly structure, the assembly structure being configured to assemble the drive component.

[0009] The lower limb movement assist system, wherein the receiver includes a cover, and the first connecting component includes a strap, which is strapped to the outside of the cover.

[0010] The lower limb movement assistance system, wherein the hydraulic damping cylinder comprises: The cylinder body is rotatably connected to the housing; The piston rod passes through the top of the cylinder and is rotatably connected to the rotating body. The first check valve is connected to the first half-chamber of the cylinder; The second check valve is connected to the second half-chamber of the cylinder; The first damper is connected to the first one-way valve and the second half-chamber of the cylinder, respectively. The second damper is connected to the second one-way valve and the first half-chamber of the cylinder, respectively. The flow direction of the first check valve is opposite to that of the second check valve.

[0011] A control method for a lower limb movement assistive system as described in any of the above claims, wherein the control method includes the following steps: Based on motion sensors, determine the past movement information of the amputated leg; Based on the aforementioned past movement information, the intended movement information is predicted. Based on the intended motion information, the drive assembly is controlled to drive the second connecting assembly to rotate, and the damping value of the hydraulic damping cylinder is adjusted.

[0012] The control method for the lower limb movement assist system, wherein the intended movement information includes: intended forward movement information and intended upward movement information; the step of controlling the drive component to drive the second connecting component to rotate and adjusting the damping value of the hydraulic damping cylinder according to the intended movement information includes: Based on the intended forward motion information or the intended upward motion information, after controlling the drive component to drive the second connecting component to rotate to the buckling angle, the damping value of the second damper is adjusted to the maximum damping value and the damping value of the first damper is adjusted to the minimum damping value; when controlling the drive component to drive the second connecting component to rotate from the extension angle to decrease, the damping value of the second damper is adjusted to the minimum damping value and the damping value of the first damper is maintained at the minimum damping value.

[0013] The control method for the lower limb movement assist system, wherein the intended movement information includes: intended downward movement information; and the step of controlling the drive component to drive the second connecting component to rotate and adjusting the damping value of the hydraulic damping cylinder according to the intended movement information includes: Based on the intended downward motion information, the drive component is controlled to drive the second connecting component to rotate, the damping value of the second damper is adjusted to a medium damping value and the damping value of the first damper is adjusted to a minimum damping value.

[0014] A computer device includes a memory and a processor, the memory storing a computer program, wherein the processor executes the computer program to implement the steps of any of the control methods described above.

[0015] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the control methods described above.

[0016] Beneficial effects: The drive component in the knee exoskeleton can realize the relative rotation of the first connecting component and the second connecting component, that is, to realize the bending and extension of the prosthetic leg. The damping value of the hydraulic damping cylinder in the prosthetic leg is adjustable. The control of the drive component and the hydraulic damping cylinder works together to assist users in activities in more scenarios. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the lower limb mobility assist system in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the prosthetic leg in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the hydraulic damping cylinder in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the knee exoskeleton in an embodiment of the present invention.

[0021] Figure 5 This is a side view of the knee exoskeleton in an embodiment of the present invention.

[0022] Figure 6 yes Figure 5 Sectional view along line A.

[0023] Figure 7 yes Figure 5 Sectional view along line B.

[0024] Figure 8 This is a schematic diagram of the structure of the mounting plate and rotating component in an embodiment of the present invention.

[0025] Figure 9 This is a cross-sectional view of the mounting plate and rotating component in an embodiment of the present invention.

[0026] Figure 10 This is a schematic diagram of the mounting plate in an embodiment of the present invention.

[0027] Figure 11 This is a schematic diagram of the rotating ring in an embodiment of the present invention.

[0028] Figure 12 This is a schematic diagram of the rotating disk in an embodiment of the present invention.

[0029] Figure 13 This is a flowchart of the control method of the lower limb activity assistive system in an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures: 10. Prosthetic leg; 11. Shell; 111. Assembly structure; 12. Rotating body; 13. Receiving body; 131. Cover; 14. Hydraulic damping cylinder; 141. Cylinder body; 142. Piston rod; 143. First check valve; 144. Second check valve; 145. First damper; 146. Second damper; 20. Knee exoskeleton; 21. First connecting assembly; 211. Strap; 212. Fixing plate; 213. Fitting; 22. Drive assembly; 221. Mounting plate; 2211. Protruding ring; 2212. Notch; 2213. Through hole; 222. Drive component; 223. Rotating component; 2231. Rotating disk; 2232. Rotating ring; 2234. Limiting protrusion; 2235. Limiting groove; 2236. Opening; 2237. Groove structure; 224. Bearing; 23. Second connecting assembly. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0032] Please also refer to Figures 1-12 The present invention provides some embodiments of a lower limb mobility assistive system.

[0033] like Figure 1 , Figure 2 and Figure 4 As shown, the lower limb mobility assist system of the present invention includes: a prosthetic leg 10, a knee joint exoskeleton 20, and a controller; the prosthetic leg 10 includes: Casing 11; Rotating body 12 is rotatably mounted on the housing 11; The receiving body 13 is disposed on the top of the rotating body 12; The hydraulic damping cylinder 14 is rotatably connected at both ends to the rotating body 12 and the housing 11, respectively. The knee exoskeleton 20 includes: First connecting component 21; The driver component 22 is disposed on the first connection component 21; The second connecting component 23 is connected to the output shaft of the driving component 22; Motion sensors are configured to detect past movement information of the amputated leg; The receiver 13 and the first connecting component 21 are both configured to connect the broken leg; the second connecting component 23 is configured to connect the housing 11; the hydraulic damping cylinder 14 and the drive component 22 are both electrically connected to the controller; the controller predicts the intended movement information based on the past movement information, and controls the drive component 22 to drive the second connecting component 23 to rotate based on the intended movement information, and adjusts the damping value of the hydraulic damping cylinder 14.

[0034] Specifically, the prosthetic leg 10 is fitted onto the user's amputated leg, assisting the user in walking. The knee exoskeleton 20 is fitted onto both the prosthetic leg 10 and the amputated leg, enabling the prosthetic leg 10 to flex and extend autonomously. The drive component 22 in the knee exoskeleton 20 allows for relative rotation between the first connecting component 21 and the second connecting component 23, thus enabling the bending and extension of the prosthetic leg 10. The damping value of the hydraulic damping cylinder 14 in the prosthetic leg 10 is adjustable. The control of the drive component 22 and the hydraulic damping cylinder 14 works in tandem to assist the user in activities in a wider range of scenarios.

[0035] Specifically, the knee exoskeleton 20 can provide support and assistance to the user, reducing the load on the knee joint. For example, when the user is standing, the knee exoskeleton 20 can maintain an upright position to support the user's legs in an upright position; similarly, when the user is walking, the knee exoskeleton 20 can assist the user's leg in bending or extending, reducing the force exerted by the user's legs and making walking easier. The hydraulic damping cylinder 14 of the prosthetic leg 10 can adjust the damping value, changing the ease of bending and extending the prosthetic leg 10 to adapt to different application scenarios. The knee exoskeleton 20 and the prosthetic leg 10 can work together. When walking upwards (such as climbing mountains or stairs), the knee exoskeleton 20 needs to first bend the prosthetic leg 10 to make the foot contact the ground above, and then extend the prosthetic leg 10 to move the user upwards. The hydraulic damping cylinder 14 also needs to be in a state where it can extend but cannot shorten so that the prosthetic leg 10 does not bend to prevent the user from moving downwards. When walking downhill (downhill or down stairs), the knee exoskeleton 20 needs to first extend the prosthetic leg 10 so that the foot contacts the ground below. Then, the hydraulic damping cylinder 14 needs to be in a state of slow shortening and not being able to extend, so that the prosthetic leg 10 slowly bends and the user slowly moves downhill.

[0036] The motion sensor includes at least one of a force sensor, an electromyography (EMG) sensor, and an inertial measurement unit. The motion sensor can detect past movement information of the amputated leg. Based on this past movement information, intended movement information can be predicted. Then, based on this intended movement information, the drive assembly 22 can be controlled to drive the second connecting assembly 23 to rotate, and the damping value of the hydraulic damping cylinder 14 can be adjusted to achieve matching between the prosthetic leg 10 and the knee exoskeleton 20.

[0037] In a preferred implementation of this invention, such as Figure 1 As shown, the rotation axis of the rotating body 12 is collinear with the rotation axis of the output shaft.

[0038] Specifically, when the output shaft of the drive assembly 22 rotates, it will cause the rotating body 12 to rotate relative to the housing 11. When the rotation of the output shaft and the rotation of the rotating body 12 are coaxial, the resistance is small.

[0039] In a preferred implementation of this invention, such as Figure 1 and Figure 2 As shown, the housing 11 is provided with an assembly structure 111, which is configured to assemble the drive assembly 22.

[0040] Specifically, to ensure that the rotation axis of the rotating body 12 and the rotation axis of the output shaft are collinear, an assembly structure 111 (which may be detachably mounted on the housing 11) is configured on the housing 11. The rotating body 12 corresponds to the center position of the assembly structure 111. The assembly structure 111 is used to assemble the drive assembly 22, so that the output shaft of the drive assembly 22 corresponds to the center position of the assembly structure 111, thus achieving collinearity between the rotation axis of the rotating body 12 and the rotation axis of the output shaft. The assembly structure 111 can be an arc-shaped structure or a structure with multiple protrusions arranged in an arc. The assembly structure 111 can also be a ring-shaped structure or a structure with multiple protrusions arranged in a ring. The output end of the drive assembly 22 can be inserted into a mating position; for example, the output end of the drive assembly 22 can be surrounded by an arc-shaped structure or protrusions.

[0041] In a preferred implementation of this invention, such as Figures 5-7 As shown, the driving component 22 includes: Mounting plate 221 is rotatably connected to first connecting assembly 21; Drive unit 222 is mounted on mounting plate 221; Rotating component 223 is disposed on the output shaft of driving component 222 and is rotatably connected to the second connecting assembly 23; The direction of rotation of the mounting plate 221 relative to the rotating member 223 is different from the direction of rotation of the second connecting assembly 23 relative to the rotating member 223; a protruding ring 2211 is formed on the mounting plate 221, and the protruding ring 2211 is arranged around the rotating member 223; the protruding ring 2211 is inserted into the assembly structure 111.

[0042] Specifically, the rotating member 223 rotates within the convex ring 2211. A bearing 224 can be configured between the convex ring 2211 and the rotating member 223 to achieve a rotatable connection between the rotating member 223 and the convex ring 2211. The axis of the convex ring 2211 is collinear with the rotation axis of the output shaft. When the convex ring 2211 is inserted into the assembly structure 111, the rotation axis of the output shaft and the rotation axis of the rotating body 12 can be made collinear. After the convex ring 2211 is inserted into the assembly structure 111, a notch 2212 is formed on the convex ring 2211, and the rotating member 223 extends out from the notch 2212 and is rotatably connected to the second connecting assembly 23.

[0043] In a preferred implementation of this invention, such as Figures 8-12 As shown, the rotating component 223 includes: Rotary disk 2231 is connected to the output shaft of drive component 222; Rotating ring 2232 is engaged with rotating disk 2231; The rotating disk 2231 is rotatably connected to the convex ring 2211.

[0044] Specifically, a bearing 224 is disposed between the rotating disk 2231 and the convex ring 2211 to achieve a rotatable connection between the rotating disk 2231 and the convex ring 2211. The rotating ring 2232 has an extension that extends from the notch 2212 and is rotatably connected to the second connecting assembly 23. The rotating disk 2231 and the rotating ring 2232 are engaged by forming a limiting protrusion 2234 on the rotating disk 2231 (or a groove structure 2237 can be formed on the rotating disk 2231, in which the limiting protrusion 2234 can be placed), and a limiting groove 2235 is formed on the rotating ring 2232. The limiting protrusion 2234 is inserted into the limiting groove 2235 to achieve the engagement between the rotating ring 2232 and the rotating disk 2231. The limiting groove 2235 has an opening 2236 on the side facing the driving member 222, and the limiting protrusion 2234 is inserted into the limiting groove 2235 through the opening 2236. A through hole 2213 is formed on the mounting plate 221, through which the rotating disk 2231 passes to reach the convex ring 2211. The central angle of the notch 2212 relative to the convex ring 2211 is greater than or equal to 180°, allowing the rotating ring 2232 to pass through. During installation, the rotating ring 2232 is first inserted into the convex ring 2211 through the notch 2212, and then the rotating disk 2231 is inserted through the through hole 2213 into the annular hole of the rotating ring 2232, with the limiting protrusion 2234 inserted into the limiting groove 2235 from the opening 2236. The driving component 222 drives the rotating disk 2231 to rotate, which in turn drives the rotating ring 2232 to rotate, thus driving the second connecting assembly 23 to rotate. The height of the assembly structure 111 is greater than or equal to the height of the convex ring 2211, allowing the assembly structure 111 to contact the mounting plate 221, while the rotating disk 2231 does not contact the housing 11.

[0045] In a preferred implementation of this invention, such as Figure 1 and Figure 2 As shown, the receiver 13 includes a cover 131, and the first connecting component 21 includes a strap 211, which is tied to the outside of the cover 131.

[0046] Specifically, the cover 131 is used to wrap the severed leg, and the straps 211 are used to tie it to the severed leg. First, the cover 131 is wrapped around the severed leg, and then the straps 211 are tied around the cover 131, so that the cover 131 is fixed to the severed leg.

[0047] In a preferred implementation of this invention, such as Figures 4-6 As shown, the first connection component 21 further includes: The fixed plate 212 is rotatably connected to the drive assembly 22; The adapter 213 is mounted on the fixing plate 212 and is compatible with the broken leg. The strap 211 is connected to the adapter 213.

[0048] Specifically, the fixing plate 212 is rotatably connected to the mounting plate 221. The straps 211 and the adapter 213 surround the cover 131 and the severed leg. The straps 211 can be of adjustable length to accommodate severed legs of different thicknesses. The adapter 213 is arc-shaped to fit the shape of the severed leg. There can be two adapters 213, each equipped with one strap 211.

[0049] In a preferred implementation of this invention, such as Figures 4-6 As shown, the second connecting component 23 can refer to the first connecting component 21, and is configured with a strap 211, a fixing plate 212, and an adapter 213. To further facilitate the assembly of the convex ring 2211 in the assembly structure 111, a first compensation plate is configured between the first connecting component 21 and the mounting plate 221, with both ends of the first compensation plate rotatably connected to the first connecting component 21 and the mounting plate 221, respectively; a second compensation plate is configured between the second connecting component 23 and the rotating component 223, with both ends of the second compensation plate rotatably connected to the second connecting component 23 and the rotating component 223, respectively. Specifically, both ends of the second compensation plate are rotatably connected to the second connecting component 23 and the rotating ring 2232, respectively.

[0050] In a preferred implementation of this invention, such as Figure 2 and Figure 3 As shown, the hydraulic damping cylinder 14 includes: Cylinder body 141 is rotatably connected to housing 11; The piston rod 142 passes through the top of the cylinder 141 and is rotatably connected to the rotating body 12; The first one-way valve 143 is connected to the first half-chamber of the cylinder 141; The second one-way valve 144 is connected to the second half-chamber of the cylinder 141; The first damper 145 is connected to the first one-way valve 143 and the second half-chamber of the cylinder 141, respectively. The second damper 146 is connected to the second one-way valve 144 and the first half-chamber of the cylinder 141, respectively. The flow direction of the first check valve 143 is opposite to that of the second check valve 144.

[0051] Specifically, the flow resistance of the hydraulic oil in the hydraulic damping cylinder 14 is changed by adjusting the damping value of the damper. The hydraulic oil in the cylinder body 141 can flow from the first half-chamber to the second half-chamber, or from the second half-chamber to the first half-chamber. The flow direction of the hydraulic oil in the check valve is unidirectional, which restricts the flow direction of the hydraulic oil in the hydraulic damping cylinder 14. The hydraulic oil flows from the first half-chamber to the second half-chamber, and vice versa, through the check valve. The hydraulic damping cylinder 14 is a dual-damper cylinder, with two dampers: a first damper 145 and a second damper 146. The first damper 145 adjusts the resistance encountered when flowing from the first half-chamber to the second half-chamber, and the second damper 146 adjusts the resistance encountered when flowing from the second half-chamber to the first half-chamber.

[0052] The hydraulic damping cylinder 14 can have various structures. For example, it may have two check valves: a first check valve 143 and a second check valve 144. The flow direction of the first check valve 143 and the second check valve 144 differs from that of the cylinder body 141. The first check valve 143 flows from the first half-chamber to the second half-chamber, while the second check valve 144 flows from the second half-chamber to the first half-chamber.

[0053] A piston rod 142 is connected to a piston, which can move within the cylinder 141. When the rotating body 12 rotates, it drives the piston rod 142 and the piston to move, thereby pushing the hydraulic oil in the cylinder 141 to flow between the first and second half-chambers. The flow direction of the hydraulic oil is restricted by a check valve, and the flow resistance of the hydraulic oil is adjusted by a damper.

[0054] Based on the lower limb movement assist system described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for the lower limb movement assist system.

[0055] like Figure 13 As shown, the control method of this invention includes the following steps: Step S100: Based on the motion sensor, determine the past movement information of the broken leg; Step S200: Based on the previous motion information, predict the intended motion information; Step S300: Based on the intended motion information, control the drive component to drive the second connecting component to rotate, and adjust the damping value of the hydraulic damping cylinder.

[0056] Specifically, motion sensors can acquire past motion information, which refers to motion information from the current time and prior to it. This past motion information is the collected, actual motion information. Intended motion information can be predicted from this past motion information. Intended motion information is not actual motion information, but rather a predicted upcoming motion. Intended motion information and past motion information can be largely consistent; the intended motion information maintains and continues the past motion information. For example, if the motion speed remains constant in the past motion information, then the motion speed in the intended motion information will also remain constant. Intended motion information can also continue the trend of change in the past motion information. For example, if the motion speed is continuously increasing in the past motion information, then the motion speed in the intended motion information can continue to increase. If the motion speed is continuously increasing in the past motion information and the acceleration remains stable, then the motion speed in the intended motion information can continue to increase while maintaining a stable acceleration.

[0057] During movement, the environment can be flat ground or a slope. A slope can be a road slope, a mountain path slope, stairs, stone steps, etc. Depending on the environment, past movement information is categorized into past stationary information, past forward movement information, past uphill movement information, and past downhill movement information. Past forward movement information refers to past movement on flat ground, past uphill movement information refers to past movement up a slope, and past downhill movement information refers to past movement down a slope. In contrast to past movement information, intended movement information includes at least one of the following: intended stationary information, intended forward movement information, intended uphill movement information, and intended downhill movement information. Intended stationary information is predicted from past stationary information, intended forward movement information is predicted from past forward movement information, intended uphill movement information is predicted from past uphill movement information, and intended downhill movement information is predicted from past downhill movement information.

[0058] Step S300 specifically includes: Step S310: Based on the intended forward motion information or the intended upward motion information, control the drive component to drive the second connecting component to rotate to the buckling angle, then adjust the damping value of the second damper to the maximum damping value and adjust the damping value of the first damper to the minimum damping value; when the drive component drives the second connecting component to rotate from the extension angle to decrease, adjust the damping value of the second damper to the minimum damping value and maintain the damping value of the first damper at the minimum damping value.

[0059] Specifically, the movement of the prosthetic leg is periodic, with each cycle divided into two phases: the swing phase and the support phase. The swing phase is when the prosthetic leg leaves the ground. The angle of the prosthetic leg refers to the angle between the receiver and the shell. During the swing phase, the angle of the prosthetic leg first decreases and then increases. The swing phase can be further divided into a pre-swing phase and a post-swing phase. In the pre-swing phase, the angle of the prosthetic leg decreases to the flexion angle; in the post-swing phase, the angle of the prosthetic leg increases from the flexion angle. The flexion angle is the minimum angle when the prosthetic leg is flexed at the knee, typically ranging from 15° to 150°. The support phase is when the prosthetic leg contacts the ground. During the support phase, the angle of the prosthetic leg first increases and then decreases. The support phase can be further divided into a pre-support phase and a post-support phase. In the pre-support phase, the angle of the prosthetic leg increases to the extension angle; in the post-support phase, the angle of the prosthetic leg decreases from the extension angle. The extension angle is the maximum angle when the prosthetic leg is extended, typically 180° or close to 180°, for example, an extension angle of 160° to 180°.

[0060] In forward and upward motion environments, the control methods and extension angles are similar, but the specific values ​​of the flexion angle differ. The flexion angle is determined by the angle of the ground, which refers to the angle between the ground and the horizontal plane. The larger the ground angle, the smaller the flexion angle, facilitating upward movement. The first half-chamber of the cylinder can be the upper half-chamber, and the second half-chamber is the lower half-chamber. The flow direction of the first one-way valve can be from the first half-chamber to the second half-chamber, i.e., from the upper half-chamber to the lower half-chamber. The flow direction of the second one-way valve is from the second half-chamber to the first half-chamber, i.e., from the lower half-chamber to the upper half-chamber. In forward and upward motion environments, after the prosthetic leg reaches its flexion angle, it will contact the ground and reach the early support phase after the late swing phase. During the late swing phase and the early support phase, the angle of the prosthetic leg continuously increases. In the early support phase, to allow the prosthetic leg to support the body upwards, it is necessary to avoid further flexion of the prosthetic leg, that is, to prevent the hydraulic oil in the lower half of the cavity from flowing into the upper half of the cavity. Therefore, after entering the later swing phase (i.e., when the second connecting component rotates to the flexion angle), the damping value of the second damper can be configured to the maximum damping value. In order to cooperate with the drive component to drive the second connecting component to rotate and extend the prosthetic leg, it is necessary to allow the hydraulic oil in the upper half of the cavity to flow into the lower half of the cavity. Therefore, after entering the later swing phase (i.e., when the second connecting component rotates to the flexion angle), the damping value of the first damper can be configured to the minimum damping value.

[0061] In the initial support phase, the drive assembly employs an intermittent drive method, extending the prosthetic leg through multiple small-amplitude drives. After the drive assembly rotates the second connecting assembly by a small angle, a small amount of hydraulic oil in the upper chamber easily flows to the lower chamber through the first check valve and the first damper. Even if the drive assembly stops working, the hydraulic oil in the lower chamber has difficulty flowing to the upper chamber through the second check valve and the second damper, thus maintaining the prosthetic leg's angle at a constant level. The drive assembly can achieve the rotation of the second connecting assembly with a relatively small torque.

[0062] During the later support phase and the early swing phase, the angle of the prosthetic leg continuously decreases. In order to coordinate with the drive assembly to drive the second connecting assembly to rotate and bend the prosthetic leg, the hydraulic oil in the lower half of the chamber needs to flow to the upper half of the chamber. Therefore, after entering the later support phase (i.e., when the second connecting assembly rotates to the extension angle), the damping value of the second damper can be configured to the minimum damping value, and the damping value of the first damper does not need to be adjusted and remains at the minimum damping value.

[0063] Step S300 specifically includes: Step S320: According to the intended downward motion information, control the drive component to drive the second connecting component to rotate, adjust the damping value of the second damper to a medium damping value and adjust the damping value of the first damper to a minimum damping value.

[0064] Specifically, during the later stages of support in a downward motion environment, the body needs to descend. Gravity can be used to reduce the angle of the prosthetic leg from its extension angle. To control the descent speed, the second damper is configured with a medium damping value, which is less than the maximum damping value and greater than the minimum damping value. The medium damping value is determined based on the user's weight; the greater the weight, the larger the medium damping value; the smaller the weight, the smaller the medium damping value. Using an appropriate medium damping value allows for control of the descent speed; a larger medium damping value results in a slower descent speed, and a smaller medium damping value results in a faster descent speed. Multiple medium damping values ​​can be used to vary the descent speed.

[0065] Step S300 specifically includes: Step S330: Based on the intention to remain still information, control the drive component to stop driving the second connection component, adjust the damping value of the second damper to the maximum damping value, and adjust the damping value of the first damper to the maximum damping value.

[0066] Specifically, in some environments, it is necessary to maintain the angle of the prosthetic leg, such as maintaining a standing posture, a semi-squatting posture, or a squatting posture. By configuring the damping values ​​of the first and second dampers to their maximum damping values, the piston rod does not move, and the angle of the prosthetic leg does not change.

[0067] Based on the control method described in any of the above embodiments, the present invention also provides an embodiment of a computer device.

[0068] The computer device of the present invention includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the control method as described in any of the above embodiments.

[0069] Based on the control method described in any of the above embodiments, the present invention also provides an embodiment of a computer-readable storage medium.

[0070] The present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method as described in any of the above embodiments.

[0071] 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. A lower extremity activity assistance system characterized by, The application relates to a prosthetic leg, a knee joint exoskeleton and a controller. The prosthetic leg comprises: a shell; a rotating body rotatably arranged on the shell; a receiving body arranged on the top of the rotating body; a hydraulic damping cylinder, the two ends of which are rotatably connected with the rotating body and the shell respectively; the knee joint exoskeleton comprises: a first connecting assembly; a driving assembly arranged on the first connecting assembly; a second connecting assembly connected with the output shaft of the driving assembly; a motion sensor configured to detect previous motion information of the amputated leg; wherein the receiving body and the first connecting assembly are both configured to connect the amputated leg; the second connecting assembly is configured to connect the shell; the hydraulic damping cylinder and the driving assembly are both electrically connected with the controller; the controller predicts intended motion information according to the previous motion information, and controls the driving assembly to drive the second connecting assembly to rotate and adjust the damping value of the hydraulic damping cylinder according to the intended motion information.

2. The lower extremity motion assist system according to claim 1, characterized by, The rotation axis of the rotating body is collinear with the rotation axis of the output shaft.

3. The lower extremity motion assist system according to claim 2, characterized by, The shell is provided with an assembling structure configured to assemble the driving assembly.

4. The lower extremity motion assist system according to any one of claims 1 to 3, characterized by, The receiving body comprises a cover body, and the first connecting assembly comprises a bandage which is buckled outside the cover body.

5. The lower extremity motion assist system according to any one of claims 1 to 3, characterized by, The hydraulic damping cylinder comprises: a cylinder body rotatably connected with the shell; a piston rod penetrating through the top of the cylinder body and rotatably connected with the rotating body; a first one-way valve in communication with the first half cavity of the cylinder body; a second one-way valve in communication with the second half cavity of the cylinder body; a first damper in communication with the first one-way valve and the second half cavity of the cylinder body respectively; a second damper in communication with the second one-way valve and the first half cavity of the cylinder body respectively; wherein the flow direction of the first one-way valve is opposite to that of the second one-way valve.

6. A control method for the lower extremity movement assist system according to any one of claims 1 to 5, characterized by, The control method comprises the following steps: determining the previous motion information of the amputated leg based on the motion sensor; predicting intended motion information according to the previous motion information; controlling the driving assembly to drive the second connecting assembly to rotate and adjusting the damping value of the hydraulic damping cylinder according to the intended motion information.

7. The control method of the lower extremity motion assist system according to claim 6, wherein The intended motion information comprises intended forward motion information and intended upward motion information; and the step of controlling the driving assembly to drive the second connecting assembly to rotate and adjusting the damping value of the hydraulic damping cylinder according to the intended motion information comprises: controlling the driving assembly to drive the second connecting assembly to rotate to a flexion angle, then adjusting the damping value of the second damper to a maximum damping value and the damping value of the first damper to a minimum damping value according to the intended forward motion information or the intended upward motion information; and controlling the driving assembly to drive the second connecting assembly to rotate from an extension angle, then adjusting the damping value of the second damper to a minimum damping value and maintaining the damping value of the first damper to a minimum damping value.

8. The control method of the lower extremity motion assist system according to claim 6, wherein The intended motion information comprises intended downward motion information; and the step of controlling the driving assembly to drive the second connecting assembly to rotate and adjusting the damping value of the hydraulic damping cylinder according to the intended motion information comprises: According to the intention down movement information, the driving assembly is controlled to drive the second connecting assembly to rotate, the damping value of the second damper is adjusted to be a medium damping value, and the damping value of the first damper is adjusted to be a minimum damping value. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-7. The computer program is executed by the processor to implement the steps of the control method in any one of claims 6-8.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the control method in any one of claims 6-8.

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