An exoskeleton multi-component cooperative communication method and system based on adaptive codebook

Abstract

The application provides an exoskeleton multi-component cooperative communication method and system based on an adaptive codebook, relates to the technical field of exoskeleton communication, and comprises the following steps: acquiring user gait intention and device environment perception data, constructing a spatial topology relationship graph among components according to the environment perception data; combining the gait intention and the topology graph, evaluating the key level of each communication node and the adjacent link quality, and exchanging the information; each node generates an initial codebook distribution proposal according to the information, and revises the inconsistent link proposal according to the key level rule; through multiple rounds of iteration, all link proposals are unified to form a target codebook distribution scheme; finally, the cooperative signal processing parameters are calculated and distributed according to the scheme and the topology graph, each node cooperatively adjusts and synchronously transmits signals according to the parameters, the exoskeleton multi-component cooperative control communication is realized, efficient cooperative communication among the exoskeleton multi-components adapting to the gait and the spatial topology can be realized, and the accuracy of cooperative control is ensured.

Description

Technical Field

[0001] This application relates to the field of exoskeleton communication technology, and in particular to a method and system for collaborative communication of multiple exoskeleton components based on an adaptive codebook. Background Technology

[0002] Multi-component collaborative communication methods for exoskeletons are a core supporting technology for exoskeleton devices, directly determining the effectiveness of collaborative control. This technology has extremely high application value and broad development prospects in fields such as rehabilitation medicine, industrial assistance, and special operations.

[0003] Currently, existing collaborative communication methods for exoskeleton components based on adaptive codebooks mostly employ fixed codebook allocation strategies, complete codebook configuration according to preset device parameters, and then achieve communication and collaborative control between components through unified signal processing parameters.

[0004] However, such methods do not consider changes in the wearer's motion state, nor do they dynamically adjust the codebook allocation based on the actual spatial position and link status of each component of the device. This can easily lead to insufficient communication link adaptability, affecting the stability of signal transmission and the accuracy of collaborative control. Therefore, existing technologies suffer from poor adaptability and coordination in multi-component collaborative communication of exoskeletons. Summary of the Invention

[0005] The purpose of this application is to provide a method and system for collaborative communication of multiple exoskeleton components based on an adaptive codebook, so as to solve the problem of poor adaptability and coordination of collaborative communication of multiple exoskeleton components in the prior art.

[0006] To address the aforementioned technical problems, in a first aspect, this application provides a multi-component collaborative communication method for exoskeletons based on an adaptive codebook, applied to a user-wearable exoskeleton device. The exoskeleton device comprises multiple components, each corresponding to a communication node, including:

[0007] The user's gait intention of the exoskeleton device wearer is obtained, and the environmental perception data of the exoskeleton device is obtained simultaneously. Based on the environmental perception data, the spatial positional relationship between the components in the exoskeleton device is determined to construct a spatial topology diagram.

[0008] Based on the user's gait intention and the spatial topology graph, the criticality level of the communication node corresponding to each component and the quality of the communication link with the adjacent communication node are evaluated, and the criticality level and the quality of the communication link are sent to the adjacent communication node.

[0009] Each communication node generates an initial codebook allocation proposal based on its own criticality level and the quality of the communication link with the neighboring communication nodes it receives from; when the initial codebook allocation proposals of each communication node and its neighboring communication nodes for the same link are inconsistent, the node corrects its own proposal according to the preset criticality level rules.

[0010] Each communication node uses the revised proposal as the basis for a new round of interaction, exchanges it with neighboring communication nodes again, and iteratively modifies it until the proposal is consistent across all links, thus forming the target codebook allocation scheme.

[0011] Based on the target codebook allocation scheme and the spatial topology diagram, the collaborative signal processing parameters are calculated and distributed to each communication node. Each communication node uses the collaborative signal processing parameters to collaboratively adjust the waveform of the signal to be transmitted and transmit it synchronously, so as to realize collaborative control among multiple exoskeleton components.

[0012] Optionally, each communication node generates an initial codebook allocation proposal based on its own criticality level and the communication link quality of its neighboring communication nodes; when the initial codebook allocation proposals of each communication node and its neighboring communication nodes for the same link are inconsistent, the node corrects its own proposal according to a preset criticality level rule, including:

[0013] Based on the criticality level and communication link quality, each communication node selects a set of signal coding rules as an initial codebook allocation proposal for the communication links with each neighboring communication node.

[0014] Each communication node sends the signal encoding rules to the other communication node of the corresponding link;

[0015] When a communication node discovers that the signal coding rule it has selected for a certain link is inconsistent with the signal coding rule selected by another communication node for the same link, it compares its own criticality level with that of the other communication node.

[0016] If its own signal encoding is higher, it maintains its chosen signal encoding rule; if its own signal encoding is lower, it modifies its own signal encoding rule to be the same as the other end of the communication node; if both are the same, it selects the signal encoding rule proposed by the one with higher communication link quality.

[0017] Optionally, each communication node, based on the criticality level and communication link quality, selects a set of signal coding rules as an initial codebook allocation proposal for communication links with neighboring communication nodes, including:

[0018] Each communication node calculates a weighting factor based on its own and neighboring communication nodes' criticality levels, as well as the quality of the communication link between itself and its neighboring communication nodes.

[0019] Based on the weighting factor, a specific set of signal encoding rules is dynamically selected from the predefined rule base, and the signal encoding rules of all communication nodes are integrated to form an initial codebook allocation proposal.

[0020] Optionally, each communication node uses the revised proposal as the basis for a new round of interaction, exchanges it with neighboring communication nodes again, and iteratively modifies it until the proposal is consistent across all links, forming a target codebook allocation scheme, including:

[0021] Each communication node will submit the compared and modified signal coding rules as the current version proposal, and send the current version proposal to all neighboring communication nodes;

[0022] Each communication node receives the current version proposal sent by all neighboring communication nodes and checks whether its own signal coding rule proposal for the same link is consistent with the proposals received from neighboring communication nodes.

[0023] If inconsistencies are found, the rules will be revised again according to the preset criticality level rules to form an updated signal coding rule proposal.

[0024] Repeat all the above steps until each communication node is completely consistent with the current version proposal proposed by all its neighboring communication nodes for the same link. Record the signal coding rules at this time as the target codebook allocation scheme.

[0025] Optionally, based on the user's gait intention and the spatial topology graph, the criticality level of each component's corresponding communication node and the quality of its communication links with neighboring communication nodes are evaluated, and the criticality level and communication link quality are sent to the neighboring communication nodes, including:

[0026] Based on the user's gait intention, the criticality level of the communication node corresponding to each component is evaluated, and the communication node corresponding to the component that plays a major functional role is assigned a higher criticality level.

[0027] Based on the spatial connection status in the spatial topology diagram, determine the adjacent communication nodes that each communication node needs to maintain communication with;

[0028] Between each communication node and its adjacent communication nodes, the stability of signal transmission and the transmission delay time are measured by interactive test signals. Based on the stability and transmission delay time, the quality of the communication link is determined.

[0029] Each communication node sends its criticality level and the quality of the communication link between itself and each of its neighboring communication nodes to the corresponding neighboring communication nodes.

[0030] Optionally, based on the target codebook allocation scheme and the spatial topology diagram, cooperative signal processing parameters are calculated and distributed to each communication node. Each communication node then uses these parameters to collaboratively adjust the waveform of the signal to be transmitted and transmits it synchronously, thereby achieving cooperative control among multiple exoskeleton components. This includes:

[0031] Based on the target codebook allocation scheme and the spatial positional relationships and intervals between the components in the spatial topology diagram, the signal adjustment parameters that each communication node needs to apply when transmitting signals are calculated as cooperative signal processing parameters; the signal adjustment parameters include the signal transmission time offset, the signal amplitude scaling ratio, and the signal phase rotation angle.

[0032] The signal adjustment parameters corresponding to each communication node are sent to the corresponding communication node. Each communication node adjusts the time offset, amplitude scaling, and phase rotation of the original command signal waveform according to the signal adjustment parameters.

[0033] After all communication nodes have completed their respective signal waveform adjustments, they will synchronously transmit the adjusted signal waveforms at a predetermined unified time point to achieve coordinated control among multiple exoskeleton components.

[0034] Optionally, the user's gait intention of the exoskeleton device wearer is acquired, and environmental perception data of the exoskeleton device is acquired simultaneously. Based on the environmental perception data, the spatial positional relationships between the components of the exoskeleton device are determined to construct a spatial topology map, including:

[0035] By attaching an exoskeleton device to a specific part of the user's body, raw measurement signals reflecting the user's limb movements are continuously collected. The raw measurement signals are then processed to identify the basic movement pattern that the user currently intends to perform, as the user's gait intention.

[0036] At the same time, the detection devices installed on the exoskeleton device acquire environmental perception data reflecting the surrounding environment of each component;

[0037] Using the relative orientation information between components in the environmental perception data, the spatial positional relationship between the components in the exoskeleton device is determined;

[0038] Based on the spatial location relationships, a spatial topology diagram describing the spatial connection status between components is established.

[0039] Secondly, this application provides a multi-component collaborative communication system for exoskeletons based on an adaptive codebook, comprising:

[0040] The module is used to acquire the user's gait intention of the exoskeleton device wearer, simultaneously acquire the environmental perception data of the exoskeleton device, and determine the spatial positional relationship between the components in the exoskeleton device based on the environmental perception data, so as to construct a spatial topology relationship map.

[0041] The evaluation module is used to evaluate the criticality level of each component's corresponding communication node and the quality of its communication link with neighboring communication nodes based on the user's gait intention and the spatial topology graph, and to send the criticality level and communication link quality to the neighboring communication nodes.

[0042] The generation module is used to generate an initial codebook allocation proposal by each communication node based on its own criticality level and the quality of the communication link with the neighboring communication nodes it receives; when the initial codebook allocation proposals of each communication node and the neighboring communication nodes for the same link are inconsistent, the proposal is modified according to the preset criticality level rules.

[0043] The iterative correction module is used by each communication node to take the corrected proposal as the basis for a new round of interaction, exchange it with adjacent communication nodes again and iteratively correct it until the proposal is consistent across all links, forming the target codebook allocation scheme.

[0044] The calculation module is used to calculate the cooperative signal processing parameters according to the target codebook allocation scheme and the spatial topology relationship diagram, and distribute them to each communication node. Each communication node uses the cooperative signal processing parameters to coordinately adjust the waveform of the signal to be transmitted and transmit it synchronously, so as to realize the cooperative control between multiple exoskeleton components.

[0045] Thirdly, this application provides an electronic device, comprising:

[0046] Memory, used to store computer programs;

[0047] A processor, used to execute the computer program to implement the steps of the adaptive codebook-based multi-component collaborative communication method for exoskeletons as described in the first aspect above.

[0048] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps of the exoskeleton multi-component collaborative communication method based on an adaptive codebook as described in the first aspect above.

[0049] This application provides a collaborative communication method for multiple exoskeleton components based on adaptive codebooks. By acquiring user gait intentions and environmental perception data and constructing a spatial topology graph, it can accurately capture the usage scenarios of the exoskeleton device and the spatial relationships between components. By combining gait intentions and the topology graph to evaluate the criticality level of nodes and link quality and interact with information, it can provide a reference basis that fits the actual usage state for subsequent codebook allocation. By generating initial codebook allocation proposals by each node and correcting inconsistent proposals according to rules, the codebook allocation can initially adapt to the actual situation of nodes and links. By iteratively exchanging and correcting proposals by each node until all link proposals are consistent, a target codebook allocation scheme that adapts to the entire link state can be formed. By calculating and distributing collaborative signal processing parameters according to the target scheme and the topology graph, each node can coordinately adjust and synchronously transmit signals, enabling precise collaborative control of multiple exoskeleton components.

[0050] Furthermore, each communication node first selects a signal encoding rule for adjacent links based on their criticality level and link quality as an initial codebook allocation proposal and sends it to the corresponding node. If the two nodes choose different rules for the same link, they compare the node criticality levels. The rule of the node with the higher criticality level is retained; if the levels are the same, the rule of the node with the higher link quality is selected, and the rule of the node with the lower criticality level is modified accordingly. Through explicit codebook allocation proposal correction rules, the codebook allocation proposals of each node can quickly reach a consensus, ensuring the rationality and efficiency of codebook allocation. At the same time, the codebook allocation result fully reflects the actual state of node criticality and link quality, laying a reliable codebook foundation for subsequent collaborative communication. Attached Figure Description

[0051] To more clearly illustrate the technical solutions of the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 A flowchart illustrating a multi-component collaborative communication method for exoskeletons based on an adaptive codebook, provided in an embodiment of this application;

[0053] Figure 2 A flowchart illustrating a specific implementation of another exoskeleton multi-component collaborative communication method based on an adaptive codebook, provided in this application embodiment;

[0054] Figure 3 A schematic diagram of the structure of a multi-component collaborative communication system for exoskeletons based on an adaptive codebook, provided in an embodiment of this application; Detailed Implementation

[0055] Existing multi-component collaborative communication methods for exoskeletons employ a fixed codebook allocation strategy, which only completes the configuration based on preset device parameters. It does not take into account the wearer's actual movement state, nor does it consider the real-time spatial position and communication link status of each component of the device for dynamic adjustment. This can easily lead to a mismatch between the communication link and the actual use scenario, resulting in insufficient signal transmission stability and a significant reduction in the accuracy of collaborative control of each component of the exoskeleton. The core problem is that the fixed codebook allocation method cannot adapt to the dynamic usage requirements of exoskeleton devices.

[0056] To address the aforementioned issues, this application proposes a collaborative communication method for multiple exoskeleton components based on an adaptive codebook. The core of this method is to construct a spatial topology relationship between components by combining the wearer's gait intention and the device's environmental perception data. Based on this, the criticality level of each communication node and the quality of adjacent links are evaluated. Through information interaction, proposal generation, and iterative correction between nodes, a target codebook allocation scheme adapted to the actual usage state is formed. Finally, based on this scheme, collaborative signal processing parameters are calculated and distributed to achieve collaborative adjustment and synchronous transmission of signals from each component.

[0057] This method abandons the fixed codebook allocation mode, allowing the codebook configuration to dynamically match the actual changes in the wearer's movement state, component spatial position, and link quality. It fundamentally solves the problem of poor adaptability and coordination in existing technologies, and effectively improves the stability of signal transmission between multiple components of the exoskeleton and the accuracy of collaborative control.

[0058] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0059] The core of this application is to provide a collaborative communication method for multiple components of an exoskeleton based on an adaptive codebook, and a flowchart of one specific implementation is shown below. Figure 1 As shown, this method is applied to a user-wearable exoskeleton device, which contains multiple components, each corresponding to a communication node.

[0060] The method includes:

[0061] S101. Obtain the user's gait intention of the exoskeleton device wearer, simultaneously obtain the environmental perception data of the exoskeleton device, and determine the spatial positional relationship between the components in the exoskeleton device based on the environmental perception data, so as to construct a spatial topology relationship map.

[0062] Among them, gait intention refers to the limb movement pattern that the user wants to perform when wearing the exoskeleton device, such as lifting the leg or accelerating walking. It is the core reference for the exoskeleton device to achieve coordinated control. Environmental perception data includes spatial information such as the relative orientation and distance of each component of the exoskeleton. It is the basic data for determining the spatial position of the components. The spatial topology diagram is used to intuitively describe the spatial connection status between each component of the exoskeleton and clearly reflect the relative positional relationship of the components.

[0063] Optionally, step S101 may specifically include the following steps:

[0064] S1011. By attaching an exoskeleton device to a specific part of the user's body, the original measurement signals reflecting the user's limb movements are continuously collected, and the original measurement signals are comprehensively processed to identify the basic movement pattern that the user currently expects to perform, as the user's gait intention.

[0065] The raw measurement signals include physical signals reflecting limb movements, such as limb angles, movement speeds, and force amplitudes, collected by the exoskeleton sensors. These are the raw data for identifying gait intentions.

[0066] S1012. Simultaneously, by using a detection device installed on the exoskeleton device, environmental perception data reflecting the surrounding environment of each component is acquired.

[0067] S1013. Using the relative orientation information between components in the environmental perception data, determine the spatial positional relationship between the components in the exoskeleton device.

[0068] S1014. Based on the spatial location relationship, establish a spatial topology diagram describing the spatial connection status between components.

[0069] In this embodiment, the user's gait intention is obtained sequentially, environmental perception data of each component of the exoskeleton is collected synchronously, the spatial positional relationship of the components is determined, and finally a spatial topology diagram is constructed, forming a coherent process for basic data acquisition and spatial framework construction.

[0070] As an example, in step S1011, an exoskeleton device attached to a specific part of the user's body is used to collect various raw measurement signals that reflect limb movements. The collected raw signals are preprocessed by filtering and noise reduction to remove interference signals and ensure data accuracy. The preprocessed signals are then input into a pre-trained gait recognition model. Through model analysis and matching, the basic movement pattern that the user currently expects to perform is finally identified, thus completing the acquisition of gait intention.

[0071] For example, exoskeleton devices can be attached to key limbs such as the legs and hips of the wearer. These devices, equipped with gyroscopes, force sensors, and other components, collect raw measurement signals in real time, including leg swing angles, hip joint rotation speeds, and the magnitude of force exerted during each step. These signals are then filtered and noise-reduced to remove invalid data caused by environmental interference before being input into a gait recognition model. This model is trained using a large amount of signal data from various gait patterns, such as walking on flat ground, climbing stairs, and squatting, and can accurately match various basic movement patterns to ultimately identify the user's current gait intention to perform "walking on flat ground."

[0072] Secondly, through step S1012, while acquiring the user's gait intention, the detection devices mounted on each component of the exoskeleton device are activated. These devices capture relevant spatial information around each component in real time, focusing on collecting relative spatial data between components, thereby completing the synchronous acquisition of environmental perception data and ensuring the timeliness and relevance of both types of data. For example, while acquiring the "walking on flat ground" gait intention, ultrasonic ranging, infrared positioning, and other detection devices mounted on each component of the exoskeleton are activated. These devices work in real time, capturing and collecting spatial information such as the relative distance and azimuth angle between the leg component and the hip component, and between the hip component and the waist component, simultaneously acquiring complete environmental perception data.

[0073] Next, through step S1013, key information reflecting the relative positions of each component is filtered and extracted from the synchronously acquired environmental perception data. Combined with a mature coordinate positioning algorithm, the extracted information is analyzed and calculated to clarify the actual spatial layout and relative positions of each component of the exoskeleton, thereby determining the spatial positional relationship of all components.

[0074] In practical applications, key information such as the relative orientation and distance between the legs and hips, and between the hips and waist, is extracted from the environmental perception data obtained above. Combined with coordinate positioning algorithms, the analysis and calculation are performed to determine that the leg components are located below the hip components and the waist components are located above the hip components, as well as the specific relative distances and orientations between each component. Finally, the actual spatial positional relationship of all components of this exoskeleton device is determined.

[0075] Finally, through step S1014, based on the determined spatial positional relationships of each component of the exoskeleton, a graph theory modeling method is adopted, with each exoskeleton component corresponding to a node and the spatial relationships between components corresponding to edges between nodes. By modeling and sorting out the relationships between each node and edge, a spatial topology graph that can clearly describe the spatial connection state of all components is finally constructed.

[0076] For example, based on the established spatial relationships of components such as legs, hips, and waist, a graph theory modeling method is used to treat the leg components, hip components, and waist components as independent nodes, and the spatial relationships between the legs and hips, and between the hips and waist as edges between nodes. By sorting out the correspondence between each node and edge, a complete spatial topology graph is finally established, which can intuitively present the spatial connection status of each component of the exoskeleton device.

[0077] The above example is only one example of this application. In practical applications, different sensors, detection devices and modeling methods can be selected according to the needs. This application does not limit them.

[0078] This application obtains basic data support that fits the actual use scenario by accurately capturing the user's movement needs and the actual spatial state of the exoskeleton device, so that the communication strategy can adapt to the user's gait and changes in the device space, thereby improving the fit between communication and control.

[0079] S102. Based on the user's gait intention and spatial topology relationship diagram, evaluate the criticality level of the communication node corresponding to each component and the quality of the communication link with the adjacent communication node, and send the criticality level and communication link quality to the adjacent communication node.

[0080] Among them, communication nodes are the communication carriers corresponding to each component of the exoskeleton, used to realize signal interaction and data transmission between components. Each exoskeleton component corresponds to an independent communication node. The criticality level is used to measure the importance of each communication node. The higher the level, the higher the functional priority of the corresponding component in the current gait. The communication link quality reflects the reliability of signal transmission between two adjacent communication nodes and is an important reference for subsequent codebook allocation. Adjacent communication nodes refer to nodes in the spatial topology graph that have a direct spatial connection with the current communication node and need to maintain communication.

[0081] Optionally, step S102 may specifically include the following steps:

[0082] S1021. Based on the user's gait intention, assess the criticality level of the communication nodes corresponding to each component, and assign a higher criticality level to the communication nodes corresponding to the components that play a major functional role.

[0083] Among them, the function refers to the specific tasks undertaken by the exoskeleton component in the current user's gait, such as support, stepping, coordination, and stability, which directly determines the priority of the corresponding communication node.

[0084] S1022. Based on the spatial connection status in the spatial topology diagram, determine the adjacent communication nodes that each communication node needs to maintain communication connection with.

[0085] Among them, spatial connection status refers to the direct association between each communication node and the corresponding exoskeleton component in the spatial topology diagram, including whether they are adjacent and the degree of connection; communication connection maintenance refers to the continuous signal interaction state that the nodes need to maintain in order to ensure collaborative control, which is not a temporary connection.

[0086] S1023. Between each communication node and its adjacent communication nodes, the stability of signal transmission and the transmission delay time are measured by interactive test signals. Based on the stability and transmission delay time, the quality of the communication link is determined.

[0087] Among them, the interactive test signal refers to the preset signal used by each communication node to detect the link status. It has a fixed frequency and clear identification, and can accurately capture anomalies in the transmission process; the transmission stability refers to the probability of no distortion and no interruption in the signal transmission process; the transmission delay time refers to the total time taken for the test signal to travel from the sending node to the receiving node, which is one of the core indicators for measuring link quality.

[0088] S1024. Each communication node sends its own criticality level and the quality of the communication link between itself and each of its neighboring communication nodes to the corresponding neighboring communication nodes.

[0089] Among them, the preset communication channel refers to a dedicated channel inside the exoskeleton device used to transmit core reference information such as node criticality level and link quality. It is different from ordinary signal transmission channels and has the characteristics of high priority and stable transmission. Information transmission adopts a synchronous transmission method to ensure that adjacent nodes obtain complete information synchronously and avoid information lag.

[0090] In this embodiment, the key steps of communication node criticality assessment, neighbor node determination, and link quality measurement are sequentially completed by combining user gait intent and spatial topology diagram. This ultimately enables the exchange of relevant information, providing a basis for subsequent collaborative communication configuration. The specific implementation and practical application examples of each sub-step are as follows:

[0091] As an example, firstly, through step S1021, combined with the user's current gait intention, the functional roles of each component of the exoskeleton under this gait are analyzed, the functional priority of each component is determined, and the functional weight is quantified by the node criticality level evaluation algorithm. The core formula (1) of this algorithm is:

[0092] (1)

[0093] in, For the first The criticality level of each communication node ranges from 1 to 5, with higher values ​​indicating higher levels. For the first The functional weight of each component in the current gait is determined by the gait intention and the value ranges from 0 to 1. For the first The basic functional score for each component is a fixed value, set according to the component type: 8 points for support components, 6 points for coordination components, and 4 points for stability components.

[0094] The formula is used to assign a criticality level to the communication nodes corresponding to each component. The core logic is to combine the functional weight determined by gait intention with the basic functional score of the component to perform quantitative calculation. The communication nodes corresponding to the components that undertake the main functions and play a key role in gait realization are given a higher criticality level, while the communication nodes corresponding to the secondary functional components are given a relatively lower level. Finally, the criticality level evaluation of all communication nodes is completed.

[0095] For example, considering the user's current gait intention while walking on flat ground, the functions of each exoskeleton component are analyzed: the leg component primarily supports the body and completes the stepping motion; the hip component primarily coordinates leg movements; and the lumbar component mainly provides stability, with a lower functional priority. This embodiment uses a node criticality level evaluation algorithm for precise assignment. Based on the algorithm formula given in the process explanation, the leg component belongs to the support category, with a basic functional score of... Functional weights in flat walking gait Substituting the data into formula (1) yields the following result. After normalizing the calculation results, the integer value of 5 is taken as the highest level; the hip component belongs to the coordination category, and the functional basic score is... Functional weight Substituting into the formula, we get After normalization, it is 4, which is the medium level; the waist component belongs to the stable category, and its basic functional score is 4. Functional weight Substituting into the formula, we get After normalization, it becomes 2, which is the lowest level. Based on this, the criticality level assessment of the corresponding communication nodes of all components is completed.

[0096] Secondly, through step S1022, based on the constructed spatial topology diagram, the spatial connection status of each communication node is sorted out, and the communication nodes that have a direct spatial relationship with each communication node and are necessary to realize the current gait cooperative control are identified. These nodes are determined as the adjacent communication nodes that the node needs to maintain communication connection with, and the communication association objects of each node are clarified.

[0097] For example, based on the constructed spatial topology diagram, the connection status of each communication node is analyzed: leg communication nodes and hip communication nodes have direct spatial connections, and they must work together to complete limb movements when walking on flat ground; hip communication nodes have direct spatial connections with both leg and waist communication nodes; waist communication nodes have direct connections only with hip communication nodes. Based on this, the adjacent communication nodes of each node are determined: the adjacent nodes of leg communication nodes are hip communication nodes, the adjacent nodes of hip communication nodes are both leg and waist communication nodes, and the adjacent nodes of waist communication nodes are hip communication nodes.

[0098] Next, through step S1023, a bidirectional interactive test is initiated for each communication node and its identified neighboring communication nodes. The two neighboring nodes send test signals to each other, and the stability and transmission delay time during the signal transmission process are measured synchronously. The link quality comprehensive evaluation algorithm is adopted to quantify the reliability of communication between nodes by combining these two core indicators. The algorithm formula (2) is as follows:

[0099] (2)

[0100] in, For the first The and the first Link quality score between adjacent communication nodes, with a value range The higher the score, the better the quality; The value is 0.6, which is used as the stability weight and can be adjusted according to actual needs. For the first The signal transmission stability of the link is rated from 0 to 10, with 10 for distortion-free transmission and a lower score for higher interruption probability. For the first The transmission delay time of the link, measured in milliseconds (ms). The smaller the delay, the faster the transmission delay. The larger the value, the better. This formula can be used to accurately quantify the link quality between adjacent communication nodes, and the results can be combined to comprehensively judge and determine the communication link quality between adjacent nodes.

[0101] In practical applications, interactive tests were initiated for adjacent communication node pairs between the leg and hip, and between the hip and waist: The leg and hip communication nodes sent test signals to each other, and the measurements showed high signal transmission stability and short transmission delay; the hip and waist communication nodes sent test signals to each other, and the measurements showed moderate signal transmission stability and slightly longer transmission delay. Combining the link quality comprehensive evaluation algorithm formula given in the process explanation, and substituting the measurement data for specific calculations, the leg-hip link measurement results were... Substituting these data into formula (2) yields the following results: This rating corresponds to an excellent link quality level; the hip-lumbar link measurement yielded... Substitute the data into the formula to calculate... The score corresponds to a good link quality level. Based on the combined results of the two calculations, the communication link quality between the leg and the hip is determined to be excellent, and the communication link quality between the hip and the waist is determined to be good.

[0102] Finally, in step S1024, each communication node organizes its own criticality level and the communication link quality information between itself and each adjacent communication node, and sends this information to the corresponding adjacent communication nodes through a preset communication channel to ensure that each node can obtain the core communication reference information of itself and its adjacent nodes.

[0103] For example, each communication node sends relevant information: the leg communication node sends its highest criticality level and the high-quality link with the hip node to the hip communication node; the hip communication node sends its medium criticality level, the high-quality link with the leg node, and the good link with the waist node to the leg and waist communication nodes respectively; the waist communication node sends its lowest criticality level and the good link with the hip node to the hip communication node, completing the exchange of all information.

[0104] The above example is only one example of this application. In practical applications, the criticality level evaluation criteria and link quality measurement methods can be adjusted according to different time states and device component layouts. This application does not limit this.

[0105] This application accurately assesses the importance of each communication node and the reliability of communication between adjacent nodes, clearly identifies the communication associated objects of each node, realizes the effective exchange of core communication reference information, and ensures the rationality and adaptability of subsequent collaborative communication strategies.

[0106] S103. Each communication node generates an initial codebook allocation proposal based on its own criticality level and the quality of the communication link with the neighboring communication nodes it receives; when the initial codebook allocation proposals of each communication node and the neighboring communication nodes for the same link are inconsistent, the node corrects its own proposal according to the preset criticality level rules.

[0107] The initial codebook allocation proposal is a combination of signal coding rules initially selected by each communication node for each adjacent communication link, based on its own and neighboring node information. It forms the basis for subsequent codebook optimization. The preset criticality level rules are the criteria for resolving inconsistencies in codebook proposals between adjacent nodes. They are formulated around the criticality level of nodes and link quality to ensure that the revised proposals reasonably adapt to actual communication needs. The codebook is essentially a set of signal coding rules used to standardize the signal transmission format between communication nodes and ensure the accuracy of signal interaction.

[0108] Optionally, such as Figure 2 As shown, step S103 may specifically include the following steps:

[0109] S1031. Based on the criticality level and communication link quality, each communication node selects a set of signal coding rules as an initial codebook allocation proposal for the communication links with each adjacent communication node.

[0110] Specifically, step S1031 may include the following process: each communication node calculates a weight factor for itself based on its own and neighboring communication nodes' criticality levels, as well as the quality of the communication link between itself and neighboring communication nodes; according to the weight factor, a set of specific signal coding rules are dynamically selected from a predefined rule base, and the signal coding rules of all communication nodes are integrated to form an initial codebook allocation proposal.

[0111] In the above steps, signal coding rules are specific guidelines for standardizing the signal transmission format and coding method between communication nodes. Different rules correspond to different transmission efficiencies and anti-interference capabilities, adapting to communication links of different qualities. The weight factor is a quantitative value calculated by combining the criticality level of the node and the link quality, used to measure the priority of each communication node in the selection of the link codebook. The predefined rule base is a set of multiple signal coding rules stored in advance, covering different adaptation scenarios. It can be dynamically selected according to the weight factor without regenerating the rules.

[0112] S1032. Each communication node sends the signal encoding rules to the other communication node of the corresponding link.

[0113] The other end of the corresponding link is the adjacent node that forms a communication link with the current node, that is, the two endpoint nodes of each communication link. The signal encoding rules need to be sent to the endpoint node to ensure that both parties know each other's codebook proposal.

[0114] S1033. When a communication node discovers that the signal coding rule it has selected for a certain link is inconsistent with the signal coding rule selected by another communication node for the same link, it compares its own criticality level with that of the other communication node.

[0115] Among them, proposal inconsistency refers to two endpoint nodes of the same communication link choosing different signal coding rules for the link, which cannot achieve normal signal interaction and needs to be corrected through subsequent steps; the criticality level comparison is the core operation for determining the priority of codebook proposals, which directly determines the direction of retention and modification of subsequent proposals, and prioritizes the ranking of nodes according to their criticality level.

[0116] S1034. If its own signal encoding is higher, it maintains its own selected signal encoding rule; if its own signal encoding is lower, it modifies its own signal encoding rule to be the same as the other end of the communication node; if both are the same, it selects the signal encoding rule proposed by the one with higher communication link quality.

[0117] Among them, "maintaining its own rule" means that when the current node has a higher criticality level, its codebook proposal is more suitable for the core requirements of the link and does not need to be modified; "modifying its own rule" means that when the current node has a lower criticality level, it adapts to the proposal of nodes with higher criticality levels to ensure that the codebook proposal fits the link priority requirements; "link quality priority judgment" is a supplementary criterion when the node levels are the same to ensure that the codebook proposal adapts to the actual transmission status of the link and improves the reliability of signal transmission.

[0118] As an example, this step mainly revolves around the generation of initial codebook allocation proposals for each communication node, proposal interaction, divergence detection, and divergence correction. It sequentially completes the initial proposal generation, proposal transmission, rank comparison, and rule correction, ultimately resolving the inconsistency between proposals from adjacent nodes and forming a corrected codebook allocation proposal. The specific implementation and practical application examples of each sub-step are as follows:

[0119] First, through step S1031, each communication node, in conjunction with its own and its neighboring communication nodes' criticality levels, as well as the quality of the communication link between the two parties, calculates the weight factor using its self-developed codebook selection weight calculation algorithm. The core formula (3) of this algorithm is:

[0120] (3)

[0121] in, Let be the weight factor of the i-th communication node in the link formed with the j-th neighboring node, and let its value range be [value range missing]. The larger the value, the higher the priority of codebook selection; This is the criticality level weight, with a value of 0.7. It can be adjusted according to actual needs, prioritizing the proposals of higher-level nodes. The criticality level of the i-th communication node; The link quality score between the i-th and j-th adjacent communication nodes is calculated. After calculating the weight factor, each node dynamically selects an appropriate signal coding rule from a predefined rule base based on the factor. Then, the signal coding rules of all nodes are integrated to form an initial codebook allocation proposal, thus completing the generation of the initial codebook proposal for each link.

[0122] For example, combining the node level and link quality data from the previous flat-ground walking gait scenario, weight factors are calculated for each communication node, and encoding rules are selected: the leg communication node level is 5, and its link quality score with the hip node is 5.57; the hip communication node level is 4, with a link quality score of 5.57 with the leg node and 4.71 with the waist node; the waist communication node level is 2, and its link quality score with the hip node is... The value is 0.7.

[0123] Substituting the data into the weighting factor calculation formula (3), the weighting factor of the leg node in the leg-hip link is... Weighting factor of hip nodes in the hip-leg link Similarly, the weighting factor in the hip-lumbar link Weighting factor of lumbar nodes in the lumbar-hip link In the predefined rule base, a weight factor of 5.0 or higher corresponds to rule A, which offers high transmission efficiency and high interference resistance. Rule B corresponds to medium transmission efficiency and medium interference resistance, while rule C corresponds to basic transmission efficiency and basic interference resistance for systems below 4.0. Accordingly, leg nodes use rule A for leg-hip links, hip nodes use rule B for both leg-hip and hip-lumbar links, and lumbar nodes use rule C for hip-lumbar links. Each node integrates its selected rules to form an initial codebook allocation proposal.

[0124] Secondly, through step S1032, each communication node sends the signal encoding rules it has selected for each adjacent link to the other end communication node of the corresponding link through the preset communication channel inside the exoskeleton device, ensuring that both endpoint nodes of each link can obtain the signal encoding rules selected by the other for that link, thus preparing for subsequent divergence detection.

[0125] For example, the leg communication node sends rule A, selected for the leg-hip link, to the hip communication node; the hip communication node sends rule B, selected for the leg-hip link, and rule B, selected for the hip-lumbar link, to the leg communication node and the lumbar communication node, respectively; the lumbar communication node sends rule C, selected for the hip-lumbar link, to the hip communication node, completing the interaction of all signal encoding rules. At this time, each node can obtain the codebook proposal from its neighboring nodes.

[0126] Next, in step S1033, after each communication node receives the signal encoding rules sent by the neighboring node, it compares its own rules with those of the neighboring node for the same link to detect whether there is any inconsistency in the proposals. If it finds that the rules selected by the two ends of the same link are different, it immediately extracts its own criticality level with that of the neighboring node, compares the levels, and clarifies the direction of the disagreement correction.

[0127] In practical applications, two discrepancies were found when comparing the link coding rules of each node: In the leg-hip link, the leg node chose rule A, while the hip node chose rule B. The two proposals were inconsistent. In this case, the criticality levels of the leg node and the hip node were extracted, with the leg node having a level of 5 and the hip node having a level of 4. The two levels were then compared. In the hip-waist link, the hip node chose rule B, while the waist node chose rule C. The two proposals were inconsistent. The criticality levels of the hip node and the waist node were extracted, with the hip node having a level of 4 and the waist node having a level of 2. The two levels were then compared.

[0128] Finally, in step S1034, based on the level comparison results of step S1033, the signal coding rules of the node itself are modified according to preset rules: if the node itself has a higher level, the rules it has chosen are maintained; if the node itself has a lower level, the rules it has chosen are modified to the rules chosen by the other party; if the levels are the same, the rules proposed by the party with higher link quality are selected, and all disagreements are corrected.

[0129] For example, corrections are made to address two points of divergence: In the leg-hip link, the leg node's level 5 is higher than the hip node's level 4. Therefore, the hip node changes its chosen rule B for the leg-hip link to the rule A chosen by the leg node, while keeping the leg node's rule A unchanged. In the hip-lumbar link, the hip node's level 4 is higher than the lumbar node's level 2. Therefore, the lumbar node changes its chosen rule C for the hip-lumbar link to the rule B chosen by the hip node, while keeping the hip node's rule B unchanged. After the corrections, the leg-hip link uniformly adopts rule A, and the hip-lumbar link uniformly adopts rule B, resolving the codebook proposal divergence between all adjacent nodes.

[0130] The above example is only one example of this application. In practical applications, the weight values ​​in the weight factor calculation formula and the rule types in the predefined rule base can be adjusted according to different time states, node levels, and link quality. This application does not limit this.

[0131] This application accurately generates initial codebook allocation proposals that are adapted to the level and link quality of each communication node, realizes effective interaction and divergence detection of codebook proposals, resolves proposal divergences between adjacent nodes through clear correction rules, ensures that the codebook proposals for each communication link are unified and reasonable, fit the actual communication scenario requirements, and improves the adaptability and rationality of codebook allocation.

[0132] S104. Each communication node uses the revised proposal as the basis for a new round of interaction, exchanges it with adjacent communication nodes again, and iteratively modifies it until the proposal is consistent across all links, thus forming the target codebook allocation scheme.

[0133] The new round of interaction is based on the revised codebook proposal and involves a process of proposal exchange and disagreement correction between nodes, which is a further optimization of the initial correction results. Iterative correction is the process of repeatedly executing proposal exchange, disagreement detection, and rule correction until all link proposals are undisputed, ensuring the uniformity of the scheme. The target codebook allocation scheme is a set of signal coding rules that all communication nodes agree on for all links after multiple rounds of iterative correction.

[0134] Optionally, step S104 may specifically include the following steps:

[0135] S1041. Each communication node will send the compared and modified signal coding rules as the current version proposal to all adjacent communication nodes.

[0136] The current version proposal is the latest signal coding rule proposal determined by each communication node after the previous round of comparison and correction. Each iteration round corresponds to a version, which is used to distinguish the proposals in different iteration stages. All adjacent communication nodes refer to all the adjacent communication nodes that the current node has identified. They need to send the current version proposal synchronously to ensure that all adjacent nodes obtain the latest proposal content and avoid iteration deviations caused by information asymmetry.

[0137] S1042. Each communication node receives the current version proposal sent by all neighboring communication nodes and checks whether its own signal coding rule proposal for the same link is consistent with the proposals received from neighboring communication nodes.

[0138] Among them, the proposal consistency check compares each communication link one by one to confirm whether the current version proposals of the nodes at both ends of the link are completely identical. This is the core operation for determining whether to continue iterating. The comparison scope covers all adjacent links of the current node to ensure that no link is missed and to avoid the failure to detect some link divergences, which could lead to subsequent communication anomalies.

[0139] S1043. If an inconsistency is found, the rules shall be revised again according to the preset criticality level rules to form an updated signal coding rule proposal.

[0140] The second revision uses the preset criticality level rules to correct the differences detected this time, ensuring the consistency of the correction logic, without adding new correction rules; the updated proposal is the new current version proposal formed after the correction, which will serve as the basis for the next round of iteration interaction, realizing the gradual optimization of the proposal until consensus is reached.

[0141] S1044. Repeat all the above steps until each communication node's current version proposal for the same link is completely consistent with that of all adjacent communication nodes. Record the signal coding rules at this time as the target codebook allocation scheme.

[0142] Among them, repeated execution is to execute steps S1041 to S1043 in a loop until the consistency condition is met. The number of iterations can be dynamically adjusted according to the actual divergence situation, with no fixed upper limit. Recording the consistent proposal means that when all link proposals are consistent, all signal encoding rules at this time are uniformly recorded to form a complete target codebook allocation scheme, which serves as the final basis for subsequent cooperative signal processing.

[0143] In this embodiment, the focus is on the iterative optimization of the revised proposal. The process involves sequentially sending the current version proposal, checking for consistency, and correcting divergences. This process is repeated until all link proposals are completely consistent, ultimately forming the target codebook allocation scheme. The specific implementation and practical application examples of each sub-step are as follows:

[0144] As an example, in step S1041, each communication node first determines the current version proposal by comparing and modifying the signal encoding rules, ensuring that the proposal is the latest version after the previous round of correction. Then, through the preset communication channel inside the exoskeleton device, the current version proposal is synchronously sent to all its neighboring communication nodes to ensure that all neighboring nodes can obtain the latest proposal content, thus preparing for subsequent consistency checks.

[0145] For example, based on the revised results, the current version of the leg communication node proposes rule A for the leg-hip link; the current version of the hip communication node proposes rule A for the leg-hip link and rule B for the hip-lumbar link; the current version of the lumbar communication node proposes rule B for the hip-lumbar link. Each node synchronously sends its current version proposal: the leg node sends leg-hip link rule A to the hip node; the hip node sends leg-hip link rule A and hip-lumbar link rule B to the leg node and lumbar node respectively; the lumbar node sends hip-lumbar link rule B to the hip node.

[0146] Secondly, in step S1042, each communication node receives the current version proposal sent by all adjacent communication nodes and uses a self-developed link proposal consistency detection algorithm to check the proposal consistency of each communication link one by one. The core logic of this algorithm is to set a proposal consistency flag for each communication link to determine whether the proposals of the nodes at both ends of the link are consistent. If the current version proposals proposed by the nodes at both ends of the link are exactly the same, the consistency flag is consistent; if the proposals of the nodes at both ends are different, the consistency flag is inconsistent. Through this link-by-link detection method, all links are comprehensively judged to determine whether there are proposal inconsistencies. If a link with an inconsistent consistency flag is detected, the link is marked as a divergent link, and subsequent corrections are required for such links.

[0147] In practical applications, after each node receives the current version proposal from its neighboring nodes, it compares the proposals link by link using the aforementioned consistency detection algorithm: the leg node receives the leg-hip link proposal sent by the hip node and finds that the rule proposed by the hip node is exactly the same as its own rule A for the leg-hip link proposal, so it determines that the leg-hip link proposal is consistent; the hip node receives proposals sent by the leg node and the waist node respectively, where the leg node's proposal for the leg-hip link is consistent with its own rule A, and the waist node's proposal for the hip-waist link is consistent with its own rule B, so it determines that the proposals for these two links are consistent; the waist node receives the hip-waist link proposal sent by the hip node and finds that it is exactly the same as its own rule B, so it determines that the hip-waist link proposal is consistent.

[0148] Next, in step S1043, each communication node, based on the consistency check results, if a divergent link with inconsistent proposals is detected, will again modify its current version proposal according to the preset criticality level rule, that is, the rule used in S103. After the modification is completed, an updated signal coding rule proposal is formed, which will serve as the basis for the next round of iteration interaction. If no divergent link is detected after the consistency check, there is no need to modify its own proposal, and the current version proposal can remain unchanged.

[0149] For example, suppose that in this iteration, due to signal delay, the waist node sends the current version proposal as the uncorrected rule C instead of the corrected rule B. During the consistency check, the hip node receives and compares the proposal sent by the waist node, and finds that the waist node's rule C for the hip-waist link is different from its own rule B for the same link, thus detecting a discrepancy in this link. At this point, the preset criticality level rule is used for correction. Since the hip node's criticality level 4 is higher than the waist node's criticality level 2, the waist node corrects its own proposal for the hip-waist link to rule B, forming the updated current version proposal, ready to enter the next iteration.

[0150] Finally, through step S1044, steps S1041 to S1043 are repeated cyclically. After each iteration, a consistency check is performed. If there are still discrepancies, the process continues to be corrected and iterated until all communication nodes are completely consistent with the current version proposals for all adjacent links. At this point, the signal encoding rules of all links are recorded uniformly to form a complete target codebook allocation scheme.

[0151] For example, in the hypothetical divergence scenario described above, the second iteration begins: the waist node sends the revised rule B as the new current version proposal to the hip node; upon receiving it, the hip node compares the hip-waist link proposal again and finds that both its own and the waist node's rules for this link proposal are rule B, thus determining that their proposals are consistent and there is no divergence; simultaneously, the leg and hip nodes' proposals for the leg-hip link remain rule A, and their proposals are also consistent. At this point, all link proposals are consistent, and all rules are recorded: the leg-hip link uses rule A, and the hip-waist link uses rule B, forming the target codebook allocation scheme for this iteration.

[0152] The above example is only one example of this application. In practical applications, the number of iterations and the details of the consistency detection algorithm can be adjusted according to different divergence situations and node layouts. This application does not limit this.

[0153] This application, through multiple rounds of iterative interaction and correction, completely eliminates codebook proposal disagreements in all communication links, forming a unified target codebook allocation scheme that adapts to the criticality level and link quality of each node. This ensures the rationality and uniformity of codebook allocation, avoids communication anomalies caused by proposal disagreements, and guarantees the smoothness and stability of communication between multiple components of the exoskeleton.

[0154] S105. Based on the target codebook allocation scheme and spatial topology diagram, calculate the collaborative signal processing parameters and distribute them to each communication node. Each communication node then uses the collaborative signal processing parameters to collaboratively adjust the waveform of the signal to be transmitted and transmit it synchronously, so as to achieve collaborative control among multiple exoskeleton components.

[0155] Among them, the collaborative signal processing parameters are the core parameters used to adjust the signal waveform to adapt to the target codebook scheme and component spatial state, ensuring synchronous signal adaptation; the signal waveform to be transmitted is the original command signal waveform of each node that has not adapted to the collaborative requirements; collaborative adjustment is the synchronous adjustment of the waveform by each node according to unified parameters; the collaborative control of multiple exoskeleton components is to achieve component movement coordination and fit the user's gait through synchronization signals.

[0156] Optionally, step S105 may include the following steps:

[0157] S1051. Based on the target codebook allocation scheme and the spatial positional relationship and interval distance between each component in the spatial topology diagram, calculate the signal adjustment parameters that each communication node needs to apply when sending signals, as cooperative signal processing parameters.

[0158] The signal adjustment parameters include the signal transmission time offset, signal amplitude scaling ratio, and signal phase rotation angle. The spacing distance is the actual physical distance between components and directly affects the parameter calculation.

[0159] S1052. Send the signal adjustment parameters corresponding to each communication node to the corresponding communication node. Each communication node adjusts the time offset, amplitude scaling, and phase rotation of the original command signal waveform according to the signal adjustment parameters.

[0160] The original command signal waveform is an unadjusted basic control signal that does not meet the coordination requirements. The time offset, amplitude scaling, and phase rotation adjustments are used to compensate for time differences, make up for amplitude loss, avoid signal interference, and ensure signal synchronization of multiple nodes, respectively.

[0161] S1053. After all communication nodes have completed their respective signal waveform adjustments, they will synchronously transmit the adjusted signal waveforms at a predetermined unified time point to achieve coordinated control among multiple exoskeleton components.

[0162] The predetermined unified time point is the reference time for signal transmission, and synchronous transmission means that all nodes transmit signals on time to avoid control disorder, ultimately achieving coordinated control of exoskeleton components to accurately respond to the user's gait.

[0163] In this embodiment, the steps sequentially complete the calculation, distribution, waveform adjustment, and synchronous transmission of collaborative signal parameters, ultimately achieving collaborative control of the exoskeleton. Specific examples of each sub-step are as follows:

[0164] As an example, firstly, in step S1051, combining the target codebook scheme and the component positions and spacing distances in the spatial topology diagram, the cooperative signal parameter calculation logic is used to calculate the three types of signal adjustment parameters for each node. The time offset is determined based on the spacing distance and signal transmission speed, the amplitude scaling ratio is determined based on the distance and link quality, and the phase rotation angle is adapted to the differences between the target codebook and the node space, thus completing the calculation of all parameters.

[0165] For example, in the flat ground walking scenario described earlier, the target codebook uses leg-hip link rule A and hip-waist link rule B, with a 30cm interval between the leg and hip and a 40cm interval between the hip and waist. Leg node parameters are adapted to the 30cm distance and rule A, with small values ​​for time offset and amplitude scaling, and the phase rotation angle conforming to rule A. Hip nodes are adapted to the distances to the leg and waist and their corresponding rules, with slightly larger parameter values ​​for the waist node. Waist node parameters are adapted to the 40cm distance and rule B, ensuring synchronization with the hip nodes and completing all parameter calculations.

[0166] Secondly, in step S1052, the calculated parameters are distributed to each node through a preset communication channel. Each node adjusts the original command signal waveform in the order of time offset, amplitude scaling ratio, and phase rotation angle to ensure synchronization with other nodes and complete the waveform collaborative adjustment.

[0167] For example, the leg node adjusts the waveform of the flat walking command according to the parameters to adapt to the leg-hip link rule A; the hip node adjusts the signal waveform of the corresponding two links respectively to take into account both rules A and B; the waist node adjusts the waveform to adapt to the hip-waist link rule B, and all nodes complete the waveform adjustment.

[0168] Next, through step S1053, after all nodes complete waveform adjustment, they synchronously wait for a preset unified time point. At this time point, they simultaneously transmit the adjusted signals, ensuring no time difference or phase deviation, thus achieving synchronous transmission. In a flat-ground walking scenario, after each node synchronously transmits its signal, the signals between the legs and hips, and between the hips and waist, are transmitted synchronously without interference. The exoskeleton's leg, hip, and waist components accurately receive commands, coordinating to complete stepping, coordination, and stabilization movements, adapting to the user's gait, and achieving collaborative control. The above example is only one implementation method; in practice, the parameter calculation standards and unified time point settings can be adjusted according to gait, distance, and link quality. This application does not limit this.

[0169] This application accurately calculates the collaborative signal parameters that adapt to the target codebook and the spatial state of the components, completes parameter distribution and waveform adjustment, solves the problems of transmission time difference, amplitude attenuation and phase deviation by synchronously transmitting signals, avoids signal interference, realizes efficient collaborative control of exoskeleton components, ensures consistent actions and timely response, and improves the control accuracy of the equipment and the user experience.

[0170] Figure 3 This application provides a schematic diagram of a specific implementation of an exoskeleton multi-component collaborative communication system based on an adaptive codebook, referring to... Figure 3 The system may include:

[0171] Module 31 is used to acquire the user's gait intention of the exoskeleton device wearer, synchronously acquire the environmental perception data of the exoskeleton device, and determine the spatial positional relationship between the components in the exoskeleton device based on the environmental perception data, so as to construct a spatial topology relationship diagram.

[0172] Evaluation module 32 is used to evaluate the criticality level of the communication node corresponding to each component and the quality of the communication link with the neighboring communication node based on the user's gait intention and spatial topology relationship graph, and send the criticality level and communication link quality to the neighboring communication node.

[0173] The generation module 33 is used to generate an initial codebook allocation proposal by each communication node based on its own criticality level and the quality of the communication link with the neighboring communication nodes it receives; when the initial codebook allocation proposals of each communication node and the neighboring communication nodes for the same link are inconsistent, the proposal is corrected according to the preset criticality level rules.

[0174] The iterative correction module 34 is used by each communication node to take the corrected proposal as the basis for a new round of interaction, exchange it with adjacent communication nodes again and iteratively correct it until the proposal is consistent across all links, forming the target codebook allocation scheme.

[0175] The calculation module 35 is used to calculate the cooperative signal processing parameters according to the target codebook allocation scheme and the spatial topology relationship diagram, and distribute them to each communication node. Each communication node uses the cooperative signal processing parameters to coordinately adjust the waveform of the signal to be transmitted and transmit it synchronously, so as to realize the cooperative control between multiple exoskeleton components.

[0176] The adaptive codebook-based exoskeleton multi-component collaborative communication system of this application embodiment is used to implement the aforementioned adaptive codebook-based exoskeleton multi-component collaborative communication method. Therefore, the specific implementation of the adaptive codebook-based exoskeleton multi-component collaborative communication system can be found in the embodiment section of the adaptive codebook-based exoskeleton multi-component collaborative communication method above. The specific implementation can be referred to the description of the corresponding embodiment, and will not be repeated here.

[0177] This application also provides an electronic device, including: a memory for storing a computer program; and a processor for implementing the steps of the above-described adaptive codebook-based exoskeleton multi-component collaborative communication method when executing the computer program.

[0178] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of any of the above-described adaptive codebook-based exoskeleton multi-component collaborative communication methods.

[0179] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory, random access memory, portable hard drives, magnetic disks, or optical disks.

[0180] Embodiments of the present invention also provide a computer program product, which includes a computer program that, when executed by a processor, implements the steps in any of the embodiments of the exoskeleton multi-component collaborative communication method based on an adaptive codebook.

[0181] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0182] The above provides a detailed description of the exoskeleton multi-component collaborative communication method and system based on an adaptive codebook provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A multi-component collaborative communication method for exoskeletons based on an adaptive codebook, characterized in that, An exoskeleton device for user wear, the exoskeleton device comprising multiple components, each component corresponding to a communication node, including: The user's gait intention of the exoskeleton device wearer is obtained, and the environmental perception data of the exoskeleton device is obtained simultaneously. Based on the environmental perception data, the spatial positional relationship between the components in the exoskeleton device is determined to construct a spatial topology diagram. Based on the user's gait intention and the spatial topology graph, the criticality level of the communication node corresponding to each component and the quality of the communication link with the adjacent communication node are evaluated, and the criticality level and the quality of the communication link are sent to the adjacent communication node. Each communication node generates an initial codebook allocation proposal based on its own criticality level and the quality of the communication link with the neighboring communication nodes it receives from; when the initial codebook allocation proposals of each communication node and its neighboring communication nodes for the same link are inconsistent, the node corrects its own proposal according to the preset criticality level rules. Each communication node uses the revised proposal as the basis for a new round of interaction, exchanges it with neighboring communication nodes again, and iteratively modifies it until the proposal is consistent across all links, thus forming the target codebook allocation scheme. Based on the target codebook allocation scheme and the spatial topology diagram, the collaborative signal processing parameters are calculated and distributed to each communication node. Each communication node uses the collaborative signal processing parameters to collaboratively adjust the waveform of the signal to be transmitted and transmit it synchronously, so as to realize collaborative control among multiple exoskeleton components.

2. The method according to claim 1, characterized in that, Each communication node generates an initial codebook allocation proposal based on its own criticality level and the quality of the communication link with its neighboring communication nodes. When the initial codebook allocation proposals of each communication node and its neighboring communication nodes for the same link are inconsistent, the node corrects its own proposal according to a preset criticality level rule, including: Based on the criticality level and communication link quality, each communication node selects a set of signal coding rules as an initial codebook allocation proposal for the communication links with each neighboring communication node. Each communication node sends the signal encoding rules to the other communication node of the corresponding link; When a communication node discovers that the signal coding rule it has selected for a certain link is inconsistent with the signal coding rule selected by another communication node for the same link, it compares its own criticality level with that of the other communication node. If its own signal encoding is higher, it maintains its chosen signal encoding rule; if its own signal encoding is lower, it modifies its own signal encoding rule to be the same as the other end of the communication node; if both are the same, it selects the signal encoding rule proposed by the one with higher communication link quality.

3. The method according to claim 2, characterized in that, Based on the criticality level and communication link quality, each communication node selects a set of signal coding rules as an initial codebook allocation proposal for communication links with its neighboring communication nodes, including: Each communication node calculates a weighting factor based on its own and neighboring communication nodes' criticality levels, as well as the quality of the communication link between itself and its neighboring communication nodes. Based on the weighting factor, a specific set of signal encoding rules is dynamically selected from the predefined rule base, and the signal encoding rules of all communication nodes are integrated to form an initial codebook allocation proposal.

4. The method according to claim 1, characterized in that, Each communication node uses the revised proposal as the basis for a new round of interaction, exchanging and iteratively revising it with neighboring communication nodes until the proposal is consistent across all links, forming the target codebook allocation scheme, including: Each communication node will submit the compared and modified signal coding rules as the current version proposal, and send the current version proposal to all neighboring communication nodes; Each communication node receives the current version proposal sent by all neighboring communication nodes and checks whether its own signal coding rule proposal for the same link is consistent with the proposals received from neighboring communication nodes. If inconsistencies are found, the rules will be revised again according to the preset criticality level rules to form an updated signal coding rule proposal. Repeat all the above steps until each communication node is completely consistent with the current version proposal proposed by all its neighboring communication nodes for the same link. Record the signal coding rules at this time as the target codebook allocation scheme.

5. The method according to claim 1, characterized in that, Based on the user's gait intent and the spatial topology graph, the criticality level of each component's corresponding communication node and the quality of its communication links with neighboring communication nodes are evaluated, and the criticality level and communication link quality are sent to the neighboring communication nodes, including: Based on the user's gait intention, the criticality level of the communication node corresponding to each component is evaluated, and the communication node corresponding to the component that plays a major functional role is assigned a higher criticality level. Based on the spatial connection status in the spatial topology diagram, determine the adjacent communication nodes that each communication node needs to maintain communication with; Between each communication node and its adjacent communication nodes, the stability of signal transmission and the transmission delay time are measured by interactive test signals. Based on the stability and transmission delay time, the quality of the communication link is determined. Each communication node sends its criticality level and the quality of the communication link between itself and each of its neighboring communication nodes to the corresponding neighboring communication nodes.

6. The method according to claim 1, characterized in that, Based on the target codebook allocation scheme and the spatial topology diagram, cooperative signal processing parameters are calculated and distributed to each communication node. Each communication node then uses these parameters to collaboratively adjust the waveform of the signal to be transmitted and transmits it synchronously, thereby achieving cooperative control among multiple exoskeleton components. This includes: Based on the target codebook allocation scheme and the spatial positional relationships and intervals between the components in the spatial topology diagram, the signal adjustment parameters that each communication node needs to apply when transmitting signals are calculated as cooperative signal processing parameters; the signal adjustment parameters include the signal transmission time offset, the signal amplitude scaling ratio, and the signal phase rotation angle. The signal adjustment parameters corresponding to each communication node are sent to the corresponding communication node. Each communication node adjusts the time offset, amplitude scaling, and phase rotation of the original command signal waveform according to the signal adjustment parameters. After all communication nodes have completed their respective signal waveform adjustments, they will synchronously transmit the adjusted signal waveforms at a predetermined unified time point to achieve coordinated control among multiple exoskeleton components.

7. The method according to claim 1, characterized in that, The system acquires the gait intentions of the exoskeleton wearer and simultaneously acquires environmental perception data from the exoskeleton device. Based on this environmental perception data, it determines the spatial relationships between the components of the exoskeleton device to construct a spatial topology graph, including: By attaching an exoskeleton device to a specific part of the user's body, raw measurement signals reflecting the user's limb movements are continuously collected. The raw measurement signals are then processed to identify the basic movement pattern that the user currently intends to perform, as the user's gait intention. At the same time, the detection devices installed on the exoskeleton device acquire environmental perception data reflecting the surrounding environment of each component; Using the relative orientation information between components in the environmental perception data, the spatial positional relationship between the components in the exoskeleton device is determined; Based on the spatial location relationships, a spatial topology diagram describing the spatial connection status between components is established.

8. A multi-component collaborative communication system for exoskeletons based on an adaptive codebook, characterized in that, An exoskeleton device for user wear, the exoskeleton device comprising multiple components, each component corresponding to a communication node, including: The module is used to acquire the user's gait intention of the exoskeleton device wearer, simultaneously acquire the environmental perception data of the exoskeleton device, and determine the spatial positional relationship between the components in the exoskeleton device based on the environmental perception data, so as to construct a spatial topology relationship map. The evaluation module is used to evaluate the criticality level of each component's corresponding communication node and the quality of its communication link with neighboring communication nodes based on the user's gait intention and the spatial topology graph, and to send the criticality level and communication link quality to the neighboring communication nodes. The generation module is used to generate an initial codebook allocation proposal by each communication node based on its own criticality level and the quality of the communication link with the neighboring communication nodes it receives; when the initial codebook allocation proposals of each communication node and the neighboring communication nodes for the same link are inconsistent, the proposal is modified according to the preset criticality level rules. The iterative correction module is used by each communication node to take the corrected proposal as the basis for a new round of interaction, exchange it with adjacent communication nodes again and iteratively correct it until the proposal is consistent across all links, forming the target codebook allocation scheme. The calculation module is used to calculate the cooperative signal processing parameters according to the target codebook allocation scheme and the spatial topology relationship diagram, and distribute them to each communication node. Each communication node uses the cooperative signal processing parameters to coordinately adjust the waveform of the signal to be transmitted and transmit it synchronously, so as to realize the cooperative control between multiple exoskeleton components.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the adaptive codebook-based multi-component collaborative communication method for exoskeletons as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, enables the implementation of the steps of the exoskeleton multi-component collaborative communication method based on an adaptive codebook as described in any one of claims 1 to 7.

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