Transition control method for exoskeleton operation mode switching

Abstract

The invention provides a transition control method for exoskeleton operation mode switching. The transition control method comprises a first control strategy enabling an exoskeleton to act in a first operation state and a second control strategy enabling the exoskeleton to act in a second operation state. And continuously acquiring a first variable and a second variable which represent the state of the exoskeleton, and respectively determining the control weights of the first control strategy and the second control strategy according to the first variable and the second variable so as to continuously adjust the control output proportion of the first control strategy and the second control strategy. The control strategy can be smoothly switched when the exoskeleton form changes, and stable operation when the exoskeleton form changes complexly is achieved.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton operation mode switching control technology, and specifically to a transition control method for exoskeleton operation mode switching. Background Technology

[0002] As the pivot of lower limb movement and one of the main joints in the process of walking, the knee joint is subjected to excessive force and exertion for a long time during walking. Therefore, the knee joint is prone to fatigue and injury during lower limb movement.

[0003] In existing technologies, knee-joint variable-cell exoskeletons are designed to fit the variable-axis motion of the human knee joint by utilizing the variable-cell topology characteristics of the variable-cell mechanism, thereby improving coordination with the human knee joint. However, in the field of exoskeleton control, most current research focuses on controlling a single configuration to ensure the motion stability of the exoskeleton under a fixed configuration. Research on multi-mode collaborative control when the exoskeleton configuration changes is still relatively insufficient. Summary of the Invention

[0004] In view of this, the problem to be solved by the present invention is to provide a transition control method for switching exoskeleton operating modes, which can smoothly switch control strategies when the exoskeleton shape changes, and achieve stable operation when the exoskeleton shape changes in a complex manner.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A transition control method for switching operating modes of an exoskeleton includes a first control strategy for causing the exoskeleton to move in a first operating state and a second control strategy for causing the exoskeleton to move in a second operating state. The system continuously acquires a first variable and a second variable representing the state of the exoskeleton, and determines the control weights of the first control strategy and the second control strategy based on the first variable and the second variable, so as to continuously adjust the control output ratio of the first control strategy and the second control strategy.

[0006] Furthermore, the expressions for the control outputs of the first and second control strategies are adjusted as follows: , in, This indicates the control output of the first control strategy. This indicates the control output of the second control strategy. This indicates the control weight of the first control strategy.

[0007] Furthermore, the control weights are determined using a fuzzy control method.

[0008] Furthermore, the fuzzy control method includes constructing a fuzzy database: setting a first fuzzy subset including several first elements and corresponding first variable value intervals, a second fuzzy subset including several second elements and corresponding second variable value intervals, and an output fuzzy subset including several output elements and corresponding control weight value intervals; and constructing a rule table based on the first fuzzy subset, the second fuzzy subset, and the output fuzzy subset. Fuzzification: Collect the first and second variables during exoskeleton operation. The membership function calculates the first membership degree corresponding to each first element based on the numerical range of each first element and the first variable. The membership function calculates the second membership degree corresponding to each second element based on the numerical range of each second element and the second variable. Fuzzy reasoning: Based on the first membership degree corresponding to each first element, the second membership degree corresponding to each second element, and the rule table, the activation degree of each rule in the rule table is determined and fuzzy output is generated. Defuzzification: The defuzzification function solves the fuzzy output to determine the control weights.

[0009] Furthermore, the defuzzification function is: , in, This represents the control weight, and n represents the number of rules in the rule table. This represents the median of the output element corresponding to the i-th rule. This indicates the activation level of the i-th rule.

[0010] Furthermore, the activation degree is the minimum value between the first membership degree and the second membership degree corresponding to the output element.

[0011] Furthermore, the membership function is a triangular membership function.

[0012] Furthermore, the exoskeleton includes a thigh binding assembly, which is fixedly connected to a first driving member via an inner side plate. The output end of the first driving member is connected to the driving ends of the first rod and the second rod. The transmission end of the second rod is connected to one end of the third rod, and the other end of the third rod and the transmission end of the first rod are connected to the two ends of the fourth rod respectively through a staggered transmission rod. A calf binding assembly is installed in the middle section of the fourth rod. The middle section of the third rod is connected to the inner side plate via the fifth rod, and a second driving component is provided at the connection between the fifth rod and the third rod for transmission.

[0013] Furthermore, the angle between the second rod and the inner side plate along its length is the first variable, and the angle between the third rod and the fifth rod is the second variable.

[0014] The beneficial effects of this invention are: During the exoskeleton's mode switching process, the fuzzy control method continuously determines the control weights of the first control strategy before switching and the second control strategy after switching, thereby achieving a continuous transition of the control outputs of the two control strategies. This enables smooth switching of control strategies when the exoskeleton's shape changes, and stable operation when the exoskeleton's shape undergoes complex changes. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a variable exoskeleton; Figure 2 This is a schematic diagram of the structure of the variable exoskeleton in the first phase; Figure 3 This is a schematic diagram of the structure of the variable exoblast in the second phase. Figure 4 This is a schematic diagram of the first driving structure; Figure 5 This is a flowchart of a fuzzy control method for a transition control method for switching exoskeleton operating modes according to the present invention; In the diagram: 11. Inner side plate; 12. First rod; 13. Second rod; 14. Third rod; 15. Fourth rod; 151. First base; 152. Second base; 16. Fifth rod; 17. Offset transmission rod; 21. Thigh binding assembly; 22. Lower leg binding assembly; 23. Mounting position; 3. First drive structure; 31. First drive component; 311. Drive plate; 32. Transmission mechanism; 321. First transmission assembly; 3211. Connecting shaft; 3212. Bevel gear; 322. Second transmission assembly; 3221. Output shaft; 3222. Spur gear; 4. Second drive structure; 41. Second drive component; 42. Transmission shaft. Detailed Implementation

[0016] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is described as "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is described as "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed terms.

[0019] This invention provides a transition control method for switching operating modes of an exoskeleton. Figure 1 The diagram shows the structure of a variable-cell exoskeleton. The knee joint variable-cell exoskeleton based on variable-cell point collaborative driving includes an inner plate 11. The inner plate 11 is provided with a thigh binding assembly 21 and a first driving structure 3. The output end of the first driving structure 3 is rotatably connected to a first rod 12 and a second rod 13. The end of the first rod 12 that is not connected to the output end of the first driving structure 3 is rotatably connected to a fourth rod 15. The end of the second rod 13 that is not connected to the output end of the first driving structure 3 is rotatably connected to a third rod 14. The third rod 14 and the fourth rod 15 are hinged to each other. The fourth rod 15 is provided with a lower leg binding assembly 22. The knee joint variable-cell exoskeleton based on variable-cell point collaborative driving also includes a fifth rod 16. One end of the fifth rod 16 is rotatably connected to the middle position of the third rod 14, and the other end is rotatably connected to the inner plate 11. The connection position between the fifth rod 16 and the third rod 14 is provided with a second driving structure 4. The knee joint variable-cell exoskeleton based on variable-cell point collaborative driving includes a first phase and a second phase, wherein, Figure 2 This is a schematic diagram of the structure of the variable exoskeleton in the first phase; when in the first phase, the third rod 14 and the fifth rod 16 are not coplanar; Figure 3 This is a schematic diagram of the structure of the variable exoskeleton in the second phase; as shown. Figure 3 As shown, when in the second phase, the third rod 14 rotates to a position coplanar with the fifth rod 16.

[0020] By optimizing the structure, the configuration only needs to change from a four-bar configuration to a six-bar configuration and then back to a four-bar configuration. This requires two configuration changes within one assist cycle. Furthermore, through the coordinated drive of two motors, the position of the variable cell is accurately identified. At the variable cell point, the second drive component 41 is introduced to drive two of the links so that they are no longer coplanar, thus realizing the change from a four-bar configuration to a six-bar configuration. At the same time, by locking the second drive component 41, the two links remain coplanar in the following steps, thus realizing the change from a six-bar configuration back to a four-bar configuration. Therefore, the variable cell assist exoskeleton can achieve fully autonomous cell change without the user needing to be ready to turn the power on and off at any time, realizing the topological change of the knee joint variable cell component.

[0021] Furthermore, the thigh binding assembly 21 and the first drive structure 3 are respectively disposed on both sides of the inner side plate 11. The thigh binding assembly 21 and the first drive structure 3 are disposed on both sides of the inner side plate 11 to avoid excessive weight on one side causing imbalance in the exoskeleton and improve wearing comfort; the drive components and binding assembly are arranged in layers to reduce the thickness of the mechanism and avoid movement interference.

[0022] Furthermore, the first drive structure 3 includes a first drive member 31 and a transmission mechanism 32 disposed at the output end of the first drive member 31. The output end of the transmission mechanism 32 is rotatably connected to a first rod 12 and a second rod 13. The first drive member 31 drives the first rod 12 to rotate through the transmission mechanism 32. The transmission mechanism 32 converts the rotational motion of the first drive member 31 into the rotation of the first rod 12, ensuring the continuity of knee flexion and extension movements. The dual-rod linkage design distributes the force on the knee joint and extends the life of the drive member.

[0023] Furthermore, the transmission mechanism 32 includes a first transmission component 321 and a second transmission component 322 rotatably connected. The first transmission component 321 is disposed at the output end of the first drive member 31, and the output end of the second transmission component 322 is rotatably connected to a first rod 12 and a second rod 13. The first transmission component 321 and the second transmission component 322 are rotatably connected. The bevel gear set realizes a 90° change in the power direction, and the spur gear set ensures coplanar output, adapting to the space constraints of the exoskeleton.

[0024] Specifically, the first driving member 31 includes a driving plate 311, and the first driving member 31 is disposed on the inner side plate 11 via the driving plate 311.

[0025] Figure 4 This is a schematic diagram of the first driving structure.

[0026] Furthermore, such as Figure 1 and Figure 4As shown, the first transmission assembly 321 includes a connecting shaft 3211 and a pair of bevel gears 3212, and the second transmission assembly 322 includes an output shaft 3221 and a pair of spur gears 3222. One end of the connecting shaft 3211 is provided with a bevel gear 3212, and the other end is provided with a spur gear 3222. One end of the output shaft 3221 is connected to the first rod 12 and the second rod 13, and the other end is provided with a spur gear 3222. The connecting shaft 3211 integrates the bevel gear 3212 and the spur gear 3222, reducing the transmission chain length and lowering weight and inertia.

[0027] Furthermore, the fourth rod 15 includes a first base 151 and a second base 152. One end of the first base 151 is connected to the first rod 12, and the other end is connected to the third rod 14. The second base 152 has an L-shaped structure, with one end connected to the middle part of the first base 151 and the other end connected to the calf binding assembly 22. The first base 151 is responsible for transmitting power, and the second base 152 (L-shaped) is connected to the calf binding assembly 22 to optimize the lever arm and enhance the torque.

[0028] In some embodiments, the first base 151 and the second base 152 are made of the same material, both being aluminum alloy, and during manufacturing, the two form a complete connecting rod. On the other hand, the separate structure of the first base 151 and the second base 152 can be made of different materials for different components, such as using high-strength steel for the first base 151 and aluminum alloy for the second base 152, without specific limitations here.

[0029] Furthermore, the knee joint variable-cell exoskeleton based on variable-cell point collaborative drive also includes misaligned transmission rods 17. Two misaligned transmission rods 17 are provided. The first base 151 is connected to the first rod 12 and the third rod 14 via the misaligned transmission rods 17. The misaligned transmission rods 17 are perpendicular to the first rod 12, the third rod 14, and the fourth rod 15. The length of the misaligned transmission rods 17 is configured to keep the thigh binding assembly 21 and the calf binding assembly 22 on the same horizontal plane. The vertically arranged misaligned transmission rods 17 ensure that the thigh binding assembly 21 and the calf binding assembly 22 are always on the same horizontal plane, avoiding torsional torque during movement and reducing user fatigue. The multiple vertically intersecting rods form a spatially stable structure, suppressing lateral swaying.

[0030] Furthermore, both the thigh binding assembly 21 and the calf binding assembly 22 are provided with multiple sets of mounting positions 23, allowing the distance between them to be adjusted through different mounting positions 23. The multiple mounting positions 23 allow for adjustment of the binding spacing according to the user's leg length, accommodating different body types (such as children / adults).

[0031] Furthermore, the thigh binding assembly 21 includes a thigh binding member and a thigh binding connector, with one side of the thigh binding member binding the thigh and the other side connected to the thigh binding connector; the calf binding assembly 22 includes a calf binding member and a calf binding connector, with one side of the calf binding member binding the calf and the other side connected to the calf binding connector.

[0032] The modular design, meaning that the leg straps and connectors are designed to be easy to replace or clean, improves maintenance convenience.

[0033] Furthermore, the second drive structure 4 includes a second drive member 41 and a transmission shaft 42. The second drive member 41 is located at the connection position between the fifth rod 16 and the third rod 14, and the transmission shaft 42 is located at the output end of the second drive member 41. The second drive member 41 can drive the third rod 14 and the fifth rod 16 to rotate relative to each other through the rotation shaft 42.

[0034] Specifically, the knee joint variable cell exoskeleton based on variable cell point collaborative drive also includes a connecting longitudinal axis, which is set at the connection between the inner side plate 11 and the fifth rod 16, so that the fifth rod 16 can rotate relative to the inner side plate 11.

[0035] The second drive element 41 acts directly on the hinge point between the fifth rod 16 and the third rod 14, and is locked or released via the transmission shaft 42 to ensure rapid switching between collinear and non-collinear states with an error of less than 1°. The connecting longitudinal shaft drives the inner side plate 11 to rotate relative to the fifth rod 16, so that the basic function of the mechanism can be maintained even if the drive element fails.

[0036] Initially, the mechanism is in a four-bar configuration, moving under the drive of the first drive member 31. When it reaches the variable point, the second drive member 41 begins to drive, causing the third link 14 and the fifth link 16 to rotate in opposite directions, thus breaking their coplanar state and achieving the transition from a four-bar configuration to a six-bar configuration. When it reaches the extreme position, the first drive member 31 provides the opposite driving force, and the entire mechanism begins to move in the opposite direction. When it reaches the variable point again, the second drive member 41 changes from driving to locking, causing the third link 14 and the fifth link 16 to remain coplanar, achieving the transition from a six-bar configuration back to a four-bar configuration. The entire configuration switching process no longer relies on the original electromagnet engagement method, but achieves a stable transformation of the knee exoskeleton topology through the drive and locking of dual motors. By precisely driving the linkage angles with motors, the timing and position control of the configuration transition are more precise, avoiding the non-contact failure and engagement delay that may exist with electromagnet engagement, and improving the consistency and stability of the configuration transition.

[0037] When the legs are standing or slightly bent, the second drive member 41 causes the third rod 14 and the fifth rod 16 to overlap and lock in the longitudinal direction. The connection between the fifth rod 16 and the thigh binding assembly 21 is a pivot point, and the third rod 14 rotates around the pivot point. The four-bar configuration forms a support force when the legs are standing, thus saving the knee stress when walking.

[0038] When the leg is bent at a large angle, the second drive member 41 is in an unlocked state, and the length directions of the third rod 14 and the fifth rod 16 form an angle. The six-rod configuration synchronously transmits the rotational force when the leg is bent and the supporting force between the two legs, saving the knee force when the human body is climbing.

[0039] In the four-bar linkage configuration, the exoskeleton is in its first operating state; in the six-bar linkage configuration, it is in its second operating state. During a person's climb, the significant bending and straightening of the legs cause the two states to alternate (the first and second operating states also alternate). If the two operating states switch directly, the force transmitted on the exoskeleton is prone to abrupt changes, affecting the continuity and stability of the exoskeleton's operation.

[0040] The first control strategy enables the exoskeleton to move in the first operating state, and the second control strategy enables the exoskeleton to move in the second operating state. One embodiment of this application is as follows: In a four-bar configuration, the first drive member 31 is controlled by an input torque via a nonlinear fast terminal sliding mode control strategy; in a six-bar configuration, the first drive member 31 is controlled by an input torque via an adaptive robust PD control strategy to achieve position trajectory tracking.

[0041] like Figure 5 As shown, the control method for the transition between the first control strategy and the second control strategy includes: continuously acquiring a first variable and a second variable representing the state of the exoskeleton, determining the control weights of the first control strategy and the second control strategy based on the first variable and the second variable respectively, so as to continuously adjust the control output ratio of the first control strategy and the second control strategy.

[0042] One embodiment of this application is as follows: the first variable is the angle between the second rod 13 and the length direction of the inner side plate, which can be determined by the operating state of the first driving member 31; the second variable is the angle between the third rod 14 and the fifth rod 16, which can be determined by the operating state of the second driving member 41.

[0043] The expressions for the control outputs of the first and second control strategies are adjusted as follows: , in, This indicates the control output of the first control strategy. This indicates the control output of the second control strategy. This indicates the control weight of the first control strategy.

[0044] During the use of the exoskeleton, the first and second variables are continuously acquired, and the control weights of the first control strategy are continuously updated. It can enable two control strategies to run independently and switch smoothly, improving the performance of the exoskeleton.

[0045] The control weights are determined by a fuzzy control method, which includes constructing a fuzzy database: constructing a first fuzzy subset containing several first elements and corresponding first variable value intervals, a second fuzzy subset containing several second elements and corresponding second variable value intervals, and an output fuzzy subset containing several output elements and corresponding control weight value intervals; and constructing a rule table based on the first fuzzy subset, the second fuzzy subset, and the output fuzzy subset.

[0046] The first element of the first fuzzy subset includes five values: negative large, negative small, zero, positive small, and positive large, with the corresponding numerical range set based on experience. The second element of the second fuzzy subset also includes five values: negative large, negative small, zero, positive small, and positive large, with the corresponding numerical range set based on experience. The output elements of the output fuzzy subset include negative, zero, and positive, with the corresponding numerical range set based on experience.

[0047] The table for the first fuzzy subset is as follows: The table for the second fuzzy subset is as follows: The table for outputting fuzzy subsets is as follows: The fuzzy subset of the rule table is: The rule table includes the number of rules for the first element × the number of rules for the second element (5 × 5 = 25 rules). The first fuzzy subset, the second fuzzy subset, the output fuzzy subset, and the rule table are all constructed based on expert experience and follow the changing trend of the four-six bar configuration.

[0048] Fuzzification: Collect the first and second variables during exoskeleton operation. The membership function calculates the first membership degree corresponding to each first element based on the numerical range of each first element and the first variable. The membership function calculates the second membership degree corresponding to each second element based on the numerical range of each second element and the second variable.

[0049] The membership function is a triangular membership function, with membership degrees ranging from 0 to 1. When the variable is x, and the numerical range includes {a, b, c}, the mathematical expression of the membership function is: The membership degree is 0 when x ≤ a or x ≥ c; When a < x ≤ b, the membership degree increases linearly, and the calculation formula is (x - a) / (b - a); When b < x < c, the membership degree decreases linearly, and the calculation formula is (c - x) / (c - b).

[0050] One embodiment of this application is as follows: when the second variable is 0.3, the second membership degrees corresponding to negative large, negative small, zero, positive small, and positive large are (0.4-0.3) / (0.4-0)=0.25, (0.3-0.2) / (0.6-0.2)=0.25, 0, and 0, respectively.

[0051] Fuzzy reasoning: Based on the first membership degree corresponding to each first element, the second membership degree corresponding to each second element, and the matching with the rule table, the activation degree of each rule in the rule table is determined and fuzzy output is generated.

[0052] The activation level of a rule is the minimum of the first membership degree and the second membership degree corresponding to the rule. In one embodiment of this application, when the first element is negative, the first membership degree is 0.4, and the second membership degree of the second variable is negative, the second rule output is negative, and the rule activation level is 0.4.

[0053] One embodiment of this application is as follows: when the first element is positive, the first membership degree is 0.2, and when the second variable is negative, the second membership degree is 0, the matched rule output is zero, and the rule activation degree is 0.

[0054] One embodiment of this application is as follows: when the first element is positive and the first membership degree is 0.2, and the second membership degree of the second variable is 0.1, the matched rule output is positive and the rule activation degree is 0.1.

[0055] Defuzzification: The defuzzification function solves the fuzzy output to determine the control weights.

[0056] The defuzzy function is: , in, This represents the control weight, and n represents the number of rules in the rule table (n=25). This represents the median of the output element corresponding to the i-th rule. This indicates the activation level of the i-th rule.

[0057] The output elements include positive, zero, and negative. Based on the output fuzzy subset, the median values ​​of positive, zero, and negative are 0.0, 0.5, and 1.0, respectively.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A transition control method for switching operating modes of an exoskeleton, characterized in that, This includes a first control strategy that causes the exoskeleton to move in a first operating state and a second control strategy that causes the exoskeleton to move in a second operating state; The system continuously acquires a first variable and a second variable representing the state of the exoskeleton, and determines the control weights of the first control strategy and the second control strategy based on the first variable and the second variable, so as to continuously adjust the control output ratio of the first control strategy and the second control strategy.

2. The transition control method for switching operating modes of an exoskeleton according to claim 1, characterized in that, The expressions for adjusting the control outputs of the first and second control strategies are as follows: ， in, This indicates the control output of the first control strategy. This indicates the control output of the second control strategy. This indicates the control weight of the first control strategy.

3. The transition control method for switching operating modes of an exoskeleton according to claim 1, characterized in that, The control weights are determined using a fuzzy control method.

4. The transition control method for switching operating modes of an exoskeleton according to claim 3, characterized in that, The fuzzy control method includes constructing a fuzzy database: setting a first fuzzy subset including several first elements and corresponding first variable value intervals, a second fuzzy subset including several second elements and corresponding second variable value intervals, and an output fuzzy subset including several output elements and corresponding control weight value intervals; and constructing a rule table based on the first fuzzy subset, the second fuzzy subset, and the output fuzzy subset. Fuzzification: Collect the first and second variables during exoskeleton operation. The membership function calculates the first membership degree corresponding to each first element based on the numerical range of each first element and the first variable. The membership function calculates the second membership degree corresponding to each second element based on the numerical range of each second element and the second variable. Fuzzy reasoning: Based on the first membership degree corresponding to each first element, the second membership degree corresponding to each second element, and the rule table, the activation degree of each rule in the rule table is determined and fuzzy output is generated; Defuzzification: The defuzzification function solves the fuzzy output to determine the control weights.

5. The transition control method for switching operating modes of an exoskeleton according to claim 4, characterized in that, The defuzzy function is: ， in, This represents the control weight, and n represents the number of rules in the rule table. This represents the median of the output element corresponding to the i-th rule. This indicates the activation level of the i-th rule.

6. The transition control method for switching operating modes of an exoskeleton according to claim 4, characterized in that, The activation level is the minimum value between the first membership degree and the second membership degree corresponding to the output element.

7. The transition control method for switching operating modes of an exoskeleton according to claim 4, characterized in that, The membership function is a triangular membership function.

8. The transition control method for switching operating modes of an exoskeleton according to claim 1, characterized in that, The exoskeleton includes a thigh binding assembly, which is fixedly connected to a first driving member via an inner side plate. The output end of the first driving member is connected to the driving ends of the first rod and the second rod. The transmission end of the second rod is connected to one end of the third rod, and the other end of the third rod and the transmission end of the first rod are connected to the two ends of the fourth rod respectively through a staggered transmission rod. A calf binding assembly is installed in the middle section of the fourth rod. The middle section of the third rod is connected to the inner side plate via the fifth rod, and a second driving component is provided at the connection between the fifth rod and the third rod for transmission.

9. A transition control method for switching operating modes of an exoskeleton according to claim 8, characterized in that, The angle between the second rod and the inner side plate along its length is the first variable, and the angle between the third rod and the fifth rod is the second variable.

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