Wearable bionic attachment device for assisting astronaut in exercising and control method

Abstract

The invention relates to the technical field of aerospace exercise equipment, and discloses a wearable bionic attachment device for assisting an astronaut in exercising and a control method. The wearable bionic attachment device for assisting the astronaut in exercising comprises a shoe cover main body, an adsorption unit array, a multi-dimensional sensing module and a control module, the adsorption unit array is arranged at the bottom of the shoe cover main body, the adsorption unit array comprises a plurality of independently controlled adsorption units, and the plurality of adsorption units are arranged into a plurality of non-uniform function subareas according to sole function subareas; the multi-dimensional sensing module is used for collecting interactive state parameters of the foot sole and the contact surface in real time. Through the design of the non-uniform matrix type adsorption unit array, the adsorption units are differentially arranged according to sole function partitions, and the adsorption units of different function partitions are different in size, arrangement density and rated adhesive force, so that the adsorption characteristics are accurately matched with the sole pressure distribution rule and gait biomechanical characteristics of a human body.

Description

Technical Field

[0001] This invention relates to the field of aerospace exercise equipment technology, and more specifically, to a wearable bionic attachment device and control method for assisting astronauts in exercise. Background Technology

[0002] As long-term manned space station stays become routine, astronauts exposed to weightlessness for more than six months in orbit will experience severe disuse muscle atrophy and bone loss, directly threatening their physical and mental health and on-orbit operational safety. Physical exercise is the core means to counteract the physiological effects of weightlessness, and foot immobilization and resistance loading are the core prerequisites for on-orbit training.

[0003] In existing technologies, such as the special space shoes for astronauts disclosed in CN105029820B, a prefabricated, solidified adsorption structure is used. The number, position, and size of the adsorption units are fixed, making it impossible to adjust them according to the astronaut's gait characteristics or exercise needs during in-orbit use. Specifically, when astronauts exercise at different paces, with different ground contact sequences, or at different foot lift angles, the adsorption and detachment timing of existing devices cannot match the astronaut's current posture, easily leading to adsorption response lag and detachment timing misalignment, affecting the continuity and stability of exercise. Furthermore, different astronauts have different needs for foot fixation force during exercise, and existing devices lack a mechanism for personalized adjustment of adhesion force, making it difficult to provide precisely matched exercise loads for astronauts with different muscle strength levels in a microgravity environment.

[0004] Therefore, there is an urgent need for a wearable bionic attachment device and control method that can accurately adapt foot fixation and resistance load during exercise based on individual differences among astronauts. Summary of the Invention

[0005] The purpose of this invention is to provide a wearable bionic attachment device and control method to assist astronauts in training, in order to solve the aforementioned technical problems.

[0006] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0007] In a first aspect, the present invention provides a wearable biomimetic attachment device to assist astronauts in training, comprising:

[0008] The main body of the shoe cover;

[0009] An adsorption unit array is disposed at the bottom of the shoe cover body. The adsorption unit array includes multiple independently controlled adsorption units, and the multiple adsorption units are arranged into multiple non-uniform functional zones according to the functional zones of the sole of the foot.

[0010] A multi-dimensional sensing module is used to collect the interaction state parameters between the sole of the foot and the contact surface in real time;

[0011] The control module is communicatively connected to each adsorption unit and the multi-dimensional sensing module, and is configured as follows:

[0012] It receives interaction status parameters collected by multi-dimensional sensing modules and identifies real-time gait phase;

[0013] During the foot contact and support phases, the opening and closing and vacuum degree of each functional zone adsorption unit are dynamically adjusted based on real-time gait phase and adsorption strategy to match the training goal with the total adhesion force.

[0014] Based on real-time gait phase and preset desorption strategy, during the foot-off phase, the adsorption units in each functional zone are controlled to desorb sequentially according to the timing sequence matched with the current gait phase.

[0015] Preferably, each adsorption unit includes an adsorption body and a miniature bidirectional solenoid valve for controlling the adsorption and desorption actions of the adsorption body; the control module is communicatively connected to each miniature bidirectional solenoid valve.

[0016] Preferably, the non-uniform functional zones include at least a heel contact area corresponding to the heel contact phase, a full-foot contact area corresponding to the full-foot support phase, and a forefoot push-off area corresponding to the forefoot push-off phase.

[0017] Preferably, the multi-dimensional sensing module includes multiple pressure sensors, multiple vacuum sensors, and multiple attitude sensors; the multiple pressure sensors are correspondingly disposed in each adsorption unit in the heel contact area to detect the pre-pressure of the sole contacting the ground; the multiple vacuum sensors are disposed in each adsorption unit in the full-sole contact area to detect the negative pressure value of the sealed cavity of the adsorption unit; the multiple attitude sensors are correspondingly disposed in each adsorption unit in the forefoot push-off area to detect the foot lift-off angle, angular velocity, and attitude changes.

[0018] Preferably, each of the adsorption units is a modular unit, which is installed on the bottom of the shoe cover body in a quick-release manner, and the air paths between each adsorption unit are isolated.

[0019] Preferably, the preset adsorption strategy executed by the control module specifically includes:

[0020] Obtain the ground contact pre-pressure of each adsorption unit;

[0021] When the ground contact preload is within the preset optimal preload range, the corresponding adsorption unit is controlled to perform adsorption action;

[0022] When the ground contact preload is lower than the lower limit of the optimal preload range, the system will be re-evaluated after a preset delay. If the target is still not met, the adsorption unit will be shut down.

[0023] When the ground contact pre-pressure is higher than the upper limit of the optimal pre-pressure range, the corresponding adsorption unit is controlled to release part of the negative pressure and emit a tactile feedback signal.

[0024] Preferably, the preset desorption strategy executed by the control module specifically includes:

[0025] Based on a preset personalized gait model, a desorption sequence matching the foot lifting action is generated in advance. The desorption sequence specifies the desorption order and interval time of the adsorption units in each functional zone.

[0026] The disengagement interval in the disengagement sequence is dynamically adjusted based on the foot lift speed in the real-time gait phase.

[0027] When an interruption of the foot lifting action is detected, the current debonding sequence is paused.

[0028] Secondly, the present invention also provides a control method for a wearable bionic attachment device, applied to the aforementioned wearable bionic attachment device for assisting astronaut training, comprising the following steps:

[0029] S1, Gait Recognition and Triggering: Real-time acquisition of interaction state parameters between the sole of the foot and the contact surface to identify the real-time gait phase;

[0030] S2, Adaptive Adsorption Closed-Loop Control: During the foot contact phase, based on the real-time gait phase and the preset adsorption strategy, the adsorption units are controlled to dynamically adjust the adsorption state of independent adsorption units in multiple non-uniform functional zones to form a total adhesion force that matches the training target.

[0031] S3, Sequential Desorption Control: During the foot-off-ground phase, based on the real-time gait phase and the preset desorption strategy, each adsorption unit is controlled to desorb sequentially according to the timing matched with the current gait phase.

[0032] Preferably, step S2 further includes:

[0033] Obtain the ground contact pre-pressure of each adsorption unit;

[0034] Determine whether the ground contact preload is within the preset optimal preload range;

[0035] If so, then control the adsorption unit to perform the adsorption action;

[0036] If the pressure is below the lower limit of the optimal pre-compression range, the system will be re-evaluated after a preset time. If the pressure is still not met, the adsorption unit will be shut down.

[0037] If the pressure exceeds the upper limit of the optimal pre-pressure range, the adsorption unit will release some negative pressure and emit a tactile feedback signal.

[0038] The total adhesion force of all effective adsorption units is calculated in real time and compared with the preset target load. By dynamically adjusting the number of effective adsorption units or the vacuum degree of each adsorption unit, the total adhesion force is controlled within the preset fluctuation range of the target load.

[0039] Preferably, step S3 further includes:

[0040] Based on a preset personalized gait model, a desorption sequence matching the foot lifting action is generated in advance. The desorption sequence specifies the desorption order and interval time of the adsorption units in each functional zone.

[0041] The disengagement interval in the disengagement sequence is dynamically adjusted based on the foot lift speed in the real-time gait phase.

[0042] When an interruption of the foot lifting action is detected, the current debonding sequence is paused.

[0043] The beneficial effects of this invention are as follows:

[0044] This invention employs a non-uniform matrix array design, arranging the adsorption units differently according to functional zones on the sole of the foot. Adsorption units in different functional zones vary in size, density, and rated adhesion, ensuring a precise match between adsorption characteristics and the pressure distribution patterns and gait biomechanical features of the human foot. Simultaneously, by establishing a personalized gait model through gait calibration, the system can automatically adapt to the gait characteristics of different astronauts and dynamically update the model during training to accommodate fatigue or movement variations. This solves the problem of existing devices having rigid structures and being unable to adapt to individual differences. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the overall structure of a wearable bionic attachment device for assisting astronauts in training, according to the present invention.

[0046] Figure 2 This is a schematic diagram of the bottom of the sole in a wearable bionic attachment device for assisting astronauts in their exercise, according to the present invention.

[0047] Figure 3 This is a cross-sectional view of a portion of the sole of a wearable biomimetic attachment device for assisting astronauts in their training, according to the present invention.

[0048] Figure 4 This is a control logic block diagram of a wearable bionic attachment device for assisting astronauts in training, according to the present invention.

[0049] Figure 5 This is a flowchart of the control method for a wearable biomimetic attachment device according to the present invention.

[0050] In the diagram: 10, main body of the shoe cover; 101, sole; 1011, heel contact area; 1012, full-length contact area; 1013, forefoot push-off area; 102, upper; 20, adsorption unit array; 201, adsorption body; 202, miniature bidirectional solenoid valve; 30, pressure sensor; 40, vacuum sensor; 50, posture sensor. Detailed Implementation

[0051] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0052] Example 1

[0053] Please refer to the following: Figures 1 to 4 This embodiment provides a specific wearable bionic attachment device to assist astronauts in their training, which includes: a shoe cover body 10, an adsorption unit array 20, a multi-dimensional sensing module, and a control module.

[0054] The main body 10 of the shoe cover consists of two parts: the sole 101 and the upper 102. The sole 101 is integrally formed by a mold, and its surface has slots for mounting the adsorption unit. The upper 102 has an adjustable fixing structure to accommodate different foot sizes. In addition, LED status indicator lights and voice broadcasting devices are integrated on both sides of the upper 102 to convey prompts to the astronauts.

[0055] The adsorption unit array 20 is disposed at the bottom of the sole 101 of the shoe cover body 10. In this embodiment, the adsorption unit array includes 35 independently controlled adsorption units. These adsorption units are arranged into three non-uniform functional zones according to the functional zones of the sole: heel contact area 1011, full-length contact area 1012 and forefoot push-off area 1013.

[0056] Specifically, the heel contact area 1011 is located at the rear of the sole 101, corresponding to the heel contact phase in the human gait cycle. This area contains nine adsorption units arranged in a 3x3 matrix, each unit being a circular, flat-bottomed suction cup. The main function of this area is to serve as the core area for triggering gait contact. When the astronaut's heel contacts the cabin surface, this area is the first to sense the pre-contact pressure, triggering the subsequent adsorption process.

[0057] The full-length fit area 1012 is located in the middle of the sole 101, corresponding to the full-length fit support phase in the gait cycle. This area contains 20 absorbent units arranged in a 5-row × 4-column matrix. This area is the main absorbent force-bearing zone, providing resistance load for core training and bearing most of the tensile loads during astronaut training.

[0058] The forefoot push-off zone 1013 is located at the front of the sole 101, corresponding to the forefoot push-off phase in the gait cycle. This zone contains six adsorption units arranged in a 2x3 matrix. The main function of these units is to serve as the core trigger area for gait push-off. When the astronaut prepares to lift their foot, these units detect the lift angle and angular velocity, triggering the desorption process.

[0059] By setting up adsorption units with different functional zones, which vary in size, arrangement density, and rated adhesion, this non-uniform design is based entirely on the distribution law of human foot pressure and gait biomechanical characteristics, so that the adsorption characteristics of the device match the natural movement law of the human body.

[0060] Each adsorption unit is a modular unit that can be quickly installed into a slot in the sole 101 base, allowing for tool-free replacement. The adsorption units are completely air-isolated to prevent mutual interference due to air leakage or damage.

[0061] Each adsorption unit adopts a variable modulus flat-bottom design, mainly composed of an adsorption body 201 and a miniature bidirectional solenoid valve 202. The adsorption body 201 includes a main body and a lip. The main body has a sealed cavity inside, which is connected to the bidirectional solenoid valve through a miniature gas passage. The lip has excellent flexibility and sealing performance, and can form a good seal with the contact surface even under low pre-pressure conditions.

[0062] The miniature bidirectional solenoid valve 202 is a two-position, two-way valve with two operating states: when energized, the valve core actuates, connecting the sealing chamber to a negative pressure source (or atmosphere) to achieve adsorption or desorption; when de-energized, the valve core resets, maintaining the current state. This miniature bidirectional solenoid valve 202 is integrated with the main body of the adsorption unit and connected to the main control module via a flexible circuit board.

[0063] The multi-dimensional sensing module is configured with different sensor types according to different functional zones, so as to realize full-dimensional perception of each stage of the gait cycle.

[0064] Each adsorption unit in the heel contact area 1011 has a built-in pressure sensor 30 for measuring the pre-pressure applied to the adsorption unit when the astronaut steps on it.

[0065] Each adsorption unit in the full-palm adhesion area 1012 has a built-in vacuum sensor 40 for real-time detection of the absolute pressure value within the sealed cavity. The control module calculates the actual adhesion force of the unit based on the difference between this pressure value and the atmospheric pressure inside the chamber. The calculation formula is as follows: ,in, The internal and external pressure difference This represents the effective contact area of ​​the unit.

[0066] Each adsorption unit in the forefoot push-off zone 1013 has a built-in attitude sensor 50, which integrates a three-axis accelerometer and a three-axis gyroscope to detect the foot lift-off angle (roll angle, pitch angle, yaw angle), angular velocity (three-axis), and spatial attitude changes in real time. The control module obtains the trend of the foot lift-off angle by integrating the angular velocity and determines the start and end of the foot lift-off action by combining the acceleration data.

[0067] The control module is a conventional industrial MCU, equipped with a real-time operating system, and has core functions such as multi-channel sensor data synchronous acquisition, filtering and preprocessing, gait recognition algorithm operation, adsorption closed-loop control algorithm operation, desorption timing control algorithm operation, solenoid valve drive control, and fault detection.

[0068] Example 2

[0069] Additionally, please refer to the following: Figure 5 The present invention also provides a control method for a wearable bionic attachment device, applied to a wearable bionic attachment device to assist astronauts in training, specifically including the following steps:

[0070] S0, Gait calibration and personalized model establishment (preliminary preparation stage):

[0071] When an astronaut first puts on the device, the system automatically enters calibration mode. The system guides the astronaut to complete a preset number of standard stepping actions (usually three times) through prompts and status indicator lights. First, the astronaut stands still for a few seconds, and the system collects the zero points of the pressure sensor 30 and the attitude sensor 50, and determines the reference values ​​through calibration algorithms.

[0072] Subsequently, the system prompts the astronauts to complete the full steps, steps, and foot lifts according to their daily exercise habits. The system records and analyzes the data characteristics of this step, including the ground contact sequence (heel before toe or toe before heel), single step cycle duration, peak heel contact pressure, peak forefoot lift angle, peak lift angular velocity, and pressure distribution patterns in each area. After repeating the above process to complete a preset number of steps, the system performs statistical analysis on each data set, removes outliers, takes the average value, and establishes a personalized gait model.

[0073] S1, Gait Recognition and Triggering:

[0074] During the exercise, the system collects data from each sensor in real time at a preset sampling frequency and identifies the gait phase, which includes four states: standby, ground contact, support, and push-off.

[0075] When any pressure sensor 30 in the heel contact area 1011 detects that the pressure has reached the preset ground contact threshold, the system determines that the heel has touched the ground and the state jumps from the standby state to the ground contact state. At this time, the system records the ground contact timestamp and immediately executes the "adsorption preparation process": wakes up the vacuum sensor 40 and solenoid valve in the full palm contact area 1012 and completes the initialization before adsorption (solenoid valve reset, vacuum sensor 40 zeroed and calibrated).

[0076] When the pressure in the heel contact area 1011 continuously reaches the preset threshold and the posture sensor 50 in the forefoot push-off area 1013 detects that the foot lift angle is less than the preset angle threshold, the system determines that the foot has entered the full-foot support stage, the state jumps to the support state, and begins to execute adaptive adsorption closed-loop control.

[0077] When the current push-off zone 1013 posture sensor 50 detects that the foot lift angle reaches the preset angle threshold or the foot lift angular velocity reaches the preset speed threshold, the system determines that the foot is preparing to leave the ground and the state jumps to the push-off state; at this time, the system records the push-off timestamp and immediately executes the "disengagement preparation process": based on the current gait parameters (step frequency, foot lift speed, etc.), a disengagement sequence matching the foot lift action is pre-generated.

[0078] When all pressure sensors 30 detect that the pressure is less than the preset release threshold and the posture sensor 50 detects that the foot lift angle continues to decrease to less than the preset angle threshold, the system determines that the foot has completely left the ground and completed one gait cycle, and the state jumps back to the standby state, waiting for the next ground contact.

[0079] S2, Adaptive adsorption closed-loop control:

[0080] Adaptive adsorption closed-loop control is the core element to ensure precise matching of training load, which includes two levels: individual unit hierarchical adsorption control and total adhesion closed-loop stability control.

[0081] Individual unit graded adsorption control: The system collects the ground contact pre-pressure of each adsorption unit in real time (for the full palm contact area 1012 and the forefoot push-off area 1013, the pre-pressure can be estimated by spatial interpolation through the pressure value of the adjacent heel area unit), and performs adsorption control in three preset intervals.

[0082] For units whose pre-pressure is within the preset optimal pre-pressure range (e.g., 3-10N), the system immediately locks the miniature bidirectional solenoid valve 202 of the unit, connecting the sealed cavity to the negative pressure source, and the gas in the cavity is extracted to form a negative pressure; the vacuum sensor 40 detects the pressure of the sealed cavity in real time, and when the vacuum reaches the preset effective threshold, the unit is marked as an "effective adsorption unit" and included in the total adhesion calculation.

[0083] For units with pre-pressure below the lower limit of the optimal pre-pressure range, the system delays for a first preset time to lock the solenoid valve, waiting for the astronaut to further compact the pressure to reach the target level. During the delay, the system prompts the astronaut to increase the pressure by using status indicator lights and vibration motors. If the pre-pressure still does not reach the target level after a second preset time, the system shuts down the unit (abandons adsorption) and it is no longer included in the total adhesion calculation.

[0084] For units with pre-pressure higher than the upper limit of the optimal pre-pressure range, the system immediately triggers the solenoid valve to slightly open to the preset degree and continue for a preset time to release some of the air in the cavity, so that the vacuum level drops to the preset value, thus avoiding excessive deformation of the lip and resulting in seal failure.

[0085] Total adhesion closed-loop stability control: The system is based on the formula The total adhesion of all effective adsorption units is calculated in real time and compared with the target load set in the current exercise prescription at a preset cycle to perform closed-loop control.

[0086] When the total adhesion is lower than the target value, the system attempts to activate more adsorption units that have not yet been activated; if all units are currently activated, the current state is maintained, and the adhesion is fine-tuned by adjusting the target vacuum level; the system adjusts as needed until the total adhesion reaches the target value, and the control precision is kept within the preset range.

[0087] When the total adhesion force is higher than the target value, the system adjusts the opening of the solenoid valve to appropriately reduce the vacuum level of some units, so that the total adhesion force is reduced to the target value.

[0088] When the total adhesion stabilizes within the preset fluctuation range of the target value, the system enters a steady-state maintenance mode, detecting the total adhesion at a lower frequency and adjusting only when the deviation exceeds the threshold, in order to reduce power consumption.

[0089] S3, time-sequential desorption control:

[0090] Sequential desorption control ensures precise synchronization between desorption timing and foot lifting action, including three levels: personalized desorption sequence pre-generation, dynamic real-time adjustment of desorption sequence, and emergency desorption in abnormal postures.

[0091] Personalized Desorption Sequence Pre-generation: Based on the astronaut's personalized gait model, the system automatically generates a desorption sequence that perfectly matches the foot lifting action. For the standard gait of "heel first, toe second", the desorption sequence is: heel contact area 1011, full-foot contact area 1012, forefoot push-off area 1013, with the interval being the preset first desorption interval. The specific execution process is as follows: After the attitude sensor 50 in the forefoot push-off area 1013 detects that the foot lifting angle has reached the preset threshold and triggers the desorption process, all effective units in the heel contact area 1011 simultaneously break the vacuum and desorb (the solenoid valve activates to connect the sealed cavity to the atmosphere, and the pressure inside the cavity recovers to atmospheric pressure within a preset time). Then, the effective units in the full-foot contact area 1012 desorb simultaneously, and finally, the effective units in the forefoot push-off area 1013 desorb simultaneously.

[0092] For the special gait of "synchronous lifting of the entire palm", the system generates a synchronous disengagement sequence of all units. All effective units complete synchronous disengagement within a preset time to ensure that the foot leaves the ground smoothly. For the gait of "toe first, then heel", the disengagement sequence is: forefoot push-off zone 1013, full palm contact zone 1012, and heel contact zone 1011, with the interval being the preset second disengagement interval.

[0093] The system dynamically adjusts the detachment timing in real time: Based on real-time data from the attitude sensor 50 in the forefoot push-off zone 1013, the system dynamically adjusts the detachment parameters. The system calculates the angular velocity of the forefoot lift in real time and compares it with the baseline value in the calibration model. When the system detects an increase in the lift speed (angular velocity higher than the preset high-speed threshold), it determines that the astronaut's movement is accelerating and automatically shortens the detachment interval to the preset fast interval to avoid detachment lag that could cause the foot to be "stuck" to the ground. When the system detects a decrease in the lift speed (angular velocity lower than the preset low-speed threshold), it determines that the astronaut's movement is slowing down (possibly due to fatigue or deliberate slowing down) and automatically extends the detachment interval to the preset slow interval to avoid premature detachment that could lead to loss of adhesion and foot instability.

[0094] When the system detects an interruption in the foot-lifting action (angular velocity changes from positive to negative and continues for more than a preset time), it immediately pauses the desorption process, maintaining the adsorption state of the remaining undesorbed units until the angular velocity turns positive again (the action continues) before resuming desorption. For example, if an astronaut suddenly pauses to adjust their posture during foot-lifting, the system will immediately pause desorption after detecting that the angular velocity has returned to zero. When the astronaut continues to lift their foot, the remaining units will be desorbed according to the original sequence to avoid sudden imbalance.

[0095] Emergency Debonding in Abnormal Attitudes: The system monitors ankle joint attitude and plantar pressure distribution in real time. When it detects that the ankle joint torsion angle exceeds the preset safety threshold (the roll angle and yaw angle of the ankle joint are calculated by attitude sensor 50), the plantar pressure distribution is severely uneven (the pressure ratio between the heel area and the entire palm area exceeds the preset range), or the attitude angular velocity exceeds the preset danger threshold (predicting that an imbalance and fall may occur), it immediately triggers synchronous emergency debonding of all units. The emergency debonding command is sent directly from the control module to all miniature bidirectional solenoid valves 202, and all units break the vacuum synchronously, with a very short debonding time. At the same time, the system issues an audible and visual alarm through status indicator lights and a buzzer to alert astronauts and surrounding personnel.

[0096] The embodiments of the present invention have been described above, but the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention, all of which are within the protection scope of the present invention.

Claims

1. A wearable biomimetic attachment device to assist astronauts in training, characterized in that, include: The main body of the shoe cover; An adsorption unit array is disposed at the bottom of the shoe cover body. The adsorption unit array includes multiple independently controlled adsorption units, and the multiple adsorption units are arranged into multiple non-uniform functional zones according to the functional zones of the sole of the foot. A multi-dimensional sensing module is used to collect the interaction state parameters between the sole of the foot and the contact surface in real time; The control module is communicatively connected to each adsorption unit and the multi-dimensional sensing module, and is configured as follows: It receives interaction status parameters collected by multi-dimensional sensing modules and identifies real-time gait phase; During the foot contact and support phases, the opening and closing and vacuum levels of the adsorption units in each functional zone are dynamically adjusted based on real-time gait phase and adsorption strategy to match the training objectives with the total adhesion force. Based on real-time gait phase and preset desorption strategy, during the foot-off phase, the adsorption units in each functional zone are controlled to desorb sequentially according to the timing sequence matched with the current gait phase.

2. The wearable bionic attachment device for assisting astronauts in training according to claim 1, characterized in that, Each adsorption unit includes an adsorption body and a miniature bidirectional solenoid valve for controlling the adsorption and desorption actions of the adsorption body; the control module is communicatively connected to each miniature bidirectional solenoid valve.

3. The wearable bionic attachment device for assisting astronauts in training according to claim 1, characterized in that, The non-uniform functional zones include at least the heel contact area corresponding to the heel contact phase, the full-foot contact area corresponding to the full-foot support phase, and the forefoot push-off area corresponding to the forefoot push-off phase.

4. A wearable bionic attachment device for assisting astronauts in training according to claim 3, characterized in that, The multi-dimensional sensing module includes multiple pressure sensors, multiple vacuum sensors, and multiple attitude sensors. The multiple pressure sensors are correspondingly disposed in each adsorption unit in the heel contact area to detect the pre-pressure of the sole contacting the ground. The multiple vacuum sensors are disposed in each adsorption unit in the full-sole contact area to detect the negative pressure value of the sealed cavity of the adsorption unit. The multiple attitude sensors are correspondingly disposed in each adsorption unit in the forefoot push-off area to detect the foot lift-off angle, angular velocity, and attitude changes.

5. A wearable bionic attachment device for assisting astronauts in training according to claim 1, characterized in that, Each of the adsorption units is a modular unit, which is installed on the bottom of the shoe cover body in a quick-release manner, and the air paths between each adsorption unit are isolated.

6. A wearable bionic attachment device for assisting astronauts in training according to claim 1, characterized in that, The preset adsorption strategy executed by the control module specifically includes: Obtain the ground contact pre-pressure of each adsorption unit; When the ground contact preload is within the preset optimal preload range, the corresponding adsorption unit is controlled to perform adsorption action; When the ground contact preload is lower than the lower limit of the optimal preload range, the system will be re-evaluated after a preset delay. If the target is still not met, the adsorption unit will be shut down. When the ground contact pre-pressure is higher than the upper limit of the optimal pre-pressure range, the corresponding adsorption unit is controlled to release part of the negative pressure and emit a tactile feedback signal.

7. A wearable bionic attachment device for assisting astronauts in training according to claim 1, characterized in that, The preset desorption strategy executed by the control module specifically includes: Based on a preset personalized gait model, a desorption sequence matching the foot lifting action is generated in advance. The desorption sequence specifies the desorption order and interval time of the adsorption units in each functional zone. The disengagement interval in the disengagement sequence is dynamically adjusted based on the foot lift speed in the real-time gait phase. When an interruption of the foot lifting action is detected, the current debonding sequence is paused.

8. A control method for a wearable bionic attachment device, applied to the wearable bionic attachment device for assisting astronaut training as described in any one of claims 1-7, characterized in that, Includes the following steps: S1, Gait Recognition and Triggering: Real-time acquisition of interaction state parameters between the sole of the foot and the contact surface to identify the real-time gait phase; S2, Adaptive Adsorption Closed-Loop Control: During the foot contact phase, based on the real-time gait phase and the preset adsorption strategy, the adsorption units are controlled to dynamically adjust the adsorption state of independent adsorption units in multiple non-uniform functional zones to form a total adhesion force that matches the training target. S3, Sequential Desorption Control: During the foot-off-ground phase, based on the real-time gait phase and the preset desorption strategy, each adsorption unit is controlled to desorb sequentially according to the timing matched with the current gait phase.

9. The control method for a wearable bionic attachment device according to claim 8, characterized in that, Step S2 further includes: Obtain the ground contact pre-pressure of each adsorption unit; Determine whether the ground contact preload is within the preset optimal preload range; If so, then control the adsorption unit to perform the adsorption action; If the pressure is below the lower limit of the optimal pre-compression range, the system will be re-evaluated after a preset time. If the pressure is still not met, the adsorption unit will be shut down. If the pressure exceeds the upper limit of the optimal pre-pressure range, the adsorption unit will release some negative pressure and emit a tactile feedback signal. The total adhesion force of all effective adsorption units is calculated in real time and compared with the preset target load. By dynamically adjusting the number of effective adsorption units or the vacuum degree of each adsorption unit, the total adhesion force is controlled within the preset fluctuation range of the target load.

10. The control method for a wearable bionic attachment device according to claim 8, characterized in that, Step S3 further includes: Based on a preset personalized gait model, a desorption sequence matching the foot lifting action is generated in advance. The desorption sequence specifies the desorption order and interval time of the adsorption units in each functional zone. The disengagement interval in the disengagement sequence is dynamically adjusted based on the foot lift speed in the real-time gait phase. When an interruption of the foot lifting action is detected, the current debonding sequence is paused.

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