Self-adaptive multi-terrain lower limb exoskeleton power-assisted control method and device

By using an adaptive multi-terrain lower limb exoskeleton assistive device, combined with bionic tendon drive and deep learning model, continuous adaptive distribution of hip and knee joint torque is achieved. This solves the problems of motion lag and energy waste in complex terrain of existing exoskeleton systems, improves assistive efficiency and comfort, and enhances adaptability in multi-terrain environments.

CN122274983APending Publication Date: 2026-06-26JIANGNAN UNIV
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Patent Information

Application Number
CN202610580743.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-04-29
Publication Date
2026-06-26

AI Technical Summary

Technical Problem

Existing lower limb exoskeleton systems are ill-suited to the dynamic coordination requirements of the hip and knee joints during the human gait cycle. They are inefficient, uncomfortable to wear, and lack the ability to perceive and adapt to human movement intentions in real time. They are also prone to movement sluggishness and energy waste, especially in complex terrain.

Method used

An adaptive multi-terrain lower limb exoskeleton assistive device is adopted, which combines a bionic tendon drive structure and a deep learning model. Through a two-layer control architecture of structural adaptive allocation layer and prediction adjustment layer, continuous adaptive allocation of hip and knee joint torque is achieved. The bionic transmission system simulates the cross-joint collaborative mechanical characteristics of human muscles, and real-time torque prediction and allocation are performed through a customized TCN network topology.

Benefits of technology

It improves the efficiency and comfort of assistive devices, enhances their adaptability and practicality in complex sports scenarios, reduces the metabolic load on human muscles, achieves adaptive assistance for gait in various terrains, reduces response delay and torque jumps, and improves the intelligence level and assistive effect of the device.

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Abstract

The invention provides a self-adaptive multi-terrain lower limb exoskeleton power-assisted control method and device, the device comprises a back plate, a driving structure, a lower limb structure, a sensor, a hip and knee joint transmission system and a control system, and the back plate provides stable support and reduces the weight of the device; the lower limb structure realizes natural gaits; the sensor monitors in real time to provide data for precise assistance; the hip and knee joint transmission system realizes dynamic torque distribution through a movable pulley and a cam, so that the power-assisted efficiency is improved; the control system comprises a structure self-adaptive distribution layer and a prediction adjustment layer which are electrically connected, a time sequence convolutional network TCN torque prediction model after offline training is built in the prediction adjustment layer, and the structure self-adaptive distribution layer is electrically connected with the hip and knee joint transmission system. According to the lower limb exoskeleton power assisting device, the lower limb exoskeleton power assisting device can better adapt to the natural gaits of the human body, dynamic distribution of hip and knee joint torque is achieved, the power assisting efficiency and comfort are improved, and the adaptability and practicability in complex motion scenes are enhanced.
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