A method for force distribution in exoskeletons used in collaborative operations in mountainous areas

Abstract

This invention relates to the technical field of exoskeleton force distribution, and discloses an exoskeleton force distribution method for collaborative operations in mountainous areas. The method includes: when the first high-frequency component of any exoskeleton exceeds a trigger threshold; determining a first total disturbance resultant force based on the first high-frequency components of each exoskeleton, and determining a first total disturbance resultant torque based on the end-effector coordinates of each exoskeleton and the first high-frequency components; determining a first load-bearing coefficient for each exoskeleton using an individual capability factor, and determining a translational compensation force for each exoskeleton based on the first load-bearing coefficient and the first total disturbance resultant force; determining a rotational compensation force for each exoskeleton based on the end-effector coordinates and the first total disturbance resultant torque; and summing the translational compensation force, rotational compensation force, and the first total disturbance resultant force to obtain the target compensation force to be performed by the end-effectors of each exoskeleton. This exoskeleton force distribution method can simultaneously achieve group collaborative suppression of sudden impacts and load balancing adjustment for continuous operations.

Description

Technical Field

[0001] This invention relates to the technical field of exoskeleton force distribution, and in particular to an exoskeleton force distribution method for collaborative operations in mountainous areas. Background Technology

[0002] In emergency rescue operations in mountainous areas and field construction projects, multiple workers wearing exoskeletons often need to work together to move the same heavy object, such as I-beams, precast concrete slabs, or large rescue equipment containers. Exoskeletons provide workers with additional limb assistance, thereby reducing the burden on the human musculoskeletal system. When multiple exoskeletons are jointly secured to the same rigid body of the heavy object using grippers or hooks at the ends of their respective upper limb auxiliary arms, the following problems arise:

[0003] Mountainous terrain is rugged and uneven, featuring irregular features such as exposed rocks, sunken pits, and discontinuous steep slopes. During coordinated movement, a worker at the edge or front of the group may be the first to step on a protruding rock or the edge of a depression. The end effector of their exoskeleton will then bear a high-frequency impact force caused by the abrupt change in terrain within a very short time. This high-frequency impact force is instantly transmitted through the rigid body of the transported load to the end effectors of all exoskeletons in the group, disrupting the original quasi-static mechanical equilibrium of the load. If each exoskeleton continues to output end effector force according to the strategy before the impact, the entire impact load will be almost entirely borne by the worker who first encountered the terrain and their exoskeleton, causing the equipment to be instantly overloaded. This will not only rapidly accelerate muscle fatigue in the worker and increase the risk of joint and soft tissue damage, but may also cause the load to slip, tilt, or even overturn due to insufficient support at a single point, leading to a serious safety accident.

[0004] Furthermore, in collaborative handling tasks lasting tens of minutes or even hours, there are significant differences in the initial physical reserves, real-time muscle fatigue accumulation rates, and remaining battery power of the active exoskeleton among the workers. If workers with weaker physical strength or those already experiencing significant muscle fatigue are assigned excessive loads that are disproportionate to their current capacity, while their physically fit and in-good condition teammates fail to fully utilize their assisting potential, the overall fatigue accumulation rate of the work team is artificially accelerated over time. This significantly shortens the effective safe working time, and some personnel, due to prolonged overload, experience a substantial increase in the occupational health risk of musculoskeletal injuries. Summary of the Invention

[0005] To address the challenges of instantaneous imbalance due to terrain impact and persistent unevenness in individual operations during long-term collaborative transport in mountainous areas, this invention proposes an exoskeleton force distribution method for collaborative operations in mountainous regions. This method decomposes terrain impact force into translational and rotational components and distributes them differentially based on individual ability factors that integrate muscle fatigue and battery power. This simultaneously achieves group collaborative suppression of sudden impacts and load balancing adjustment for continuous operations.

[0006] To address the aforementioned technical problems, this invention provides a method for force distribution in an exoskeleton used in collaborative operations in mountainous areas, comprising:

[0007] When the first high-frequency component of the force exerted on the weight by the end point of any exoskeleton exceeds the trigger threshold:

[0008] The first total disturbance resultant force is determined based on the first high-frequency component of each exoskeleton, and the first total disturbance resultant torque is determined based on the end coordinates of each exoskeleton and the first high-frequency component.

[0009] The first load factor of each exoskeleton is determined by using individual capability factors, and the translational compensation force of each exoskeleton is determined based on the first load factor and the first total disturbance resultant force; wherein, the individual capability factors include at least: muscle fatigue degree factor and battery remaining power factor.

[0010] Based on the end coordinates and the first total disturbance resultant torque, determine the rotational compensation force of each exoskeleton;

[0011] The translational compensation force, rotational compensation force, and first total disturbance resultant force are accumulated to obtain the target compensation force that each exoskeleton end needs to perform.

[0012] Preferably, the method for extracting the first high-frequency component includes:

[0013] The force is input into a filter to obtain the first high-frequency component; wherein the sampling frequency of the filter is 1000Hz, the low-end cutoff frequency is 3Hz, and the high-end cutoff frequency is 50Hz.

[0014] The method for determining the trigger threshold includes:

[0015] The first low-frequency component is determined based on the difference between the applied force and the first high-frequency component, and one-fifth of the current amplitude of the first low-frequency component is used as the trigger threshold.

[0016] Preferably, the first total disturbance resultant force includes: accumulating the first high-frequency components of each exoskeleton to obtain the first total disturbance resultant force;

[0017] The first total disturbance resultant torque includes the following formula:

[0018] ;

[0019] In the formula, This is the first total resultant disturbance torque; N represents the exoskeleton number; N represents the total number of exoskeletons used in the transport. For the first The coordinates of the end effector point of the exoskeleton; The coordinates of the center of gravity of the object; For the first The first high-frequency component of the exoskeleton.

[0020] Preferably, the method for determining the first bearing coefficient includes:

[0021] The muscle fatigue factor and the remaining battery power factor are weighted and summed to obtain the comprehensive ability score of each exoskeleton and its operator.

[0022] The reciprocal sum of the comprehensive ability scores of each exoskeleton and its operators is obtained by reversing and summing the scores.

[0023] The first transition coefficient for each exoskeleton is determined by the ratio of the reciprocal of the comprehensive ability score to the sum of the reciprocals of the total ability scores.

[0024] The inverse sum of the first transition coefficients of each exoskeleton is obtained by taking the inverse of the total transition coefficients.

[0025] The first bearing coefficient of each exoskeleton is determined by the ratio of the reciprocal of the first excess coefficient to the sum of the reciprocals of the total excess coefficients.

[0026] Preferably, the method for determining the muscle fatigue level factor includes:

[0027] The median frequency of the surface electromyography (EMG) signal and the trunk pitch angle of the worker were acquired.

[0028] Based on the torso pitch angle, obtain the corresponding compensation coefficient from the pitch angle compensation coefficient mapping table;

[0029] The corrected median frequency is obtained based on the median frequency and the compensation coefficient.

[0030] The muscle fatigue factor is determined based on the ratio of the corrected median frequency to the baseline median frequency.

[0031] The method for determining the remaining battery capacity factor includes:

[0032] The current state of charge percentage of the exoskeleton is used as the remaining battery power factor.

[0033] Preferably, the translational compensation force includes the following formula:

[0034] ;

[0035] In the formula, The exoskeleton is numbered; For the first Translational compensating force of the exoskeleton; For the first The first bearing coefficient of the exoskeleton; This is the first total resultant disturbance force.

[0036] Preferably, the method for determining the rotational compensation force includes:

[0037] If the current exoskeleton's end is located on the axis of the first total disturbance resultant torque, then let ;

[0038] Otherwise, let ;

[0039] In the formula, The exoskeleton is numbered; For the first Rotational compensating force of the exoskeleton; This is the first total resultant disturbance torque; Let be the modulus of the first total resultant disturbance moment; For the first The first bearing coefficient of the exoskeleton; For the first The position vector of the end of the exoskeleton relative to the center of gravity of the weight; for and The modulus of the product; It is a unit direction vector; ; for and The modulus of the product.

[0040] Preferably, when the first high-frequency component of the force exerted on the weight by all exoskeleton end points is less than or equal to the trigger threshold:

[0041] The first total basic load force of the group is determined based on the first low-frequency component of the force exerted on the weight by the end action points of each exoskeleton.

[0042] The second load factor of each exoskeleton was determined using individual ability factors.

[0043] The target basic load capacity of each exoskeleton is determined based on the second bearing coefficient, the first total basic load capacity, and the first low-frequency component of each exoskeleton.

[0044] Preferably, the second bearing coefficient includes:

[0045] The muscle fatigue factor and the remaining battery power factor are weighted and summed to obtain the comprehensive ability score of each exoskeleton and its operator.

[0046] The total ability score is obtained by summing the comprehensive ability scores of each exoskeleton and its operators.

[0047] The second bearing coefficient of each exoskeleton is determined based on the ratio of the comprehensive ability score to the total ability score.

[0048] Preferably, the target basic load capacity includes the following formula:

[0049] ;

[0050] In the formula, The exoskeleton is numbered; For the first The target basic load-bearing capacity of the exoskeleton; For the first The second load-bearing coefficient of the exoskeleton; The modulus of the first total basic load capacity; For the first The first low-frequency component of the exoskeleton; For the first The modulus of the first low-frequency component of the exoskeleton.

[0051] Compared with the prior art, the above-described technical solution of the present invention has the following advantages:

[0052] The exoskeleton force distribution method for collaborative operations in mountainous areas described in this invention decomposes terrain impact forces into translational and rotational components, and distributes them differentially based on individual ability factors that integrate muscle fatigue and battery power. This simultaneously achieves group-based collaborative suppression of sudden impacts and load balancing adjustment for continuous operations. Specifically:

[0053] When the high-frequency component of any exoskeleton exceeds the dynamic trigger threshold, a group coordinated response is triggered: based on the synchronously collected disturbance data, the target compensation force that each should bear is calculated in a distributed manner, so that the impact load that was originally concentrated on a single device is distributed to all members in the group to bear together, effectively protecting the wearer who first encounters the terrain and reducing the probability of safety accidents caused by excessive local force.

[0054] Furthermore, this invention decomposes disturbance compensation into two independent parts: translational compensation and rotational compensation. This ensures the integrity and effectiveness of disturbance cancellation and avoids the potential for heavy objects to overturn if only resultant force compensation is performed. Specifically, the translational compensation force is used to cancel the total resultant disturbance force, ensuring that the center of gravity of the heavy object does not undergo accelerated translation; the rotational compensation force is used to cancel the total resultant disturbance torque, ensuring that the heavy object does not rotate.

[0055] Furthermore, this invention introduces an individual capability factor (combining muscle fatigue level and remaining battery power) to quantitatively assess the real-time available capabilities of each worker and their exoskeleton. In disturbance compensation allocation, those with stronger capabilities bear more compensation output; those with weaker capabilities bear a smaller coefficient, thus reducing their burden and helping to balance the overall fatigue level of the team, thereby extending the safe working time. Attached Figure Description

[0056] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0057] Figure 1 This is a schematic diagram of one embodiment of the exoskeleton force distribution method for collaborative operations in mountainous areas according to the present invention.

[0058] Figure 2 This is a schematic diagram of another embodiment of the exoskeleton force distribution method for collaborative operations in mountainous areas according to the present invention. Detailed Implementation

[0059] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0060] Example 1: This example discloses an exoskeleton force distribution method for collaborative operations in mountainous areas.

[0061] The exoskeleton force distribution method for collaborative operations in mountainous areas in this embodiment includes: comparing the first high-frequency component of the force applied to the weight by the end point of the exoskeleton with the magnitude of the trigger threshold.

[0062] The exoskeleton force distribution method in this embodiment is executed in a distributed manner by controllers on N sets of exoskeleton devices. Here, N is a positive integer greater than or equal to 3.

[0063] In application, each exoskeleton includes lower limb hip and knee joint assist structures, a back support frame, and upper limb assist arms. The upper limb assist arms are equipped with end effectors, which can be electric or pneumatic grippers or mechanical hooks.

[0064] In practical applications, in collaborative handling scenarios, each exoskeleton is jointly fixed to the heavy object being handled via end effectors. The heavy object can be an I-beam, a precast concrete slab, or a rescue supply box. After fixing, the end effector points of each exoskeleton and the corresponding connection points on the heavy object do not slide or rotate relative to each other throughout the operation, thus forming a rigid connection constraint in a kinematic sense.

[0065] In actual implementation, a reference coordinate system is established based on the horizontal ground. The reference coordinate system takes the starting point of the transportation as the origin, the X-axis points due east, the Y-axis points due north, and the Z-axis is perpendicular to the ground and upward.

[0066] In this embodiment, during the transport process, the three-dimensional force sensor installed at the end of each exoskeleton upper limb auxiliary arm measures the force applied to the heavy object at the end point of action in real time at a sampling frequency of 1000Hz.

[0067] In application, the force is a three-dimensional column vector, with its three components corresponding to the force values ​​along the X, Y, and Z axes of the reference coordinate system, respectively. Specifically, the force includes three components from different sources: the static distribution force of the weight of the object itself at each support point, the low-frequency force actively applied by the operator to maintain the movement of the object, and the high-frequency impact force instantaneously generated by stepping on stones or recessed edges.

[0068] In practical applications, to extract the high-frequency impact force reflecting the impact of terrain undulations from the applied force, filters are run inside the controllers of each exoskeleton. These filters can be second-order Butterworth bandpass digital filters.

[0069] The difference equations for the filter include: In the formula: k is the sampling point number, which is a positive integer; The number is the exoskeleton number, ranging from 1 to N, where N is the total number of exoskeletons used for transport. For the first The first sample point filtered output High-frequency components of the exoskeleton; For the first Sampling point number The force exerted on the weight by the end point of the exoskeleton; For the first -1 sampling point The force exerted on the weight by the end point of the exoskeleton; For the first Sampling point number The force exerted on the weight by the end point of the exoskeleton; For the first -1 sampling point filtered output of the first High-frequency components of the exoskeleton; For the first -2 sampling points filtered output of the first High-frequency components of the exoskeleton; , , , , All of these are filter coefficients.

[0070] In practical implementation, the filter's sampling frequency can be 1000Hz, the low-end cutoff frequency can be 3Hz, and the high-end cutoff frequency can be 50Hz. When a person walks with weight, the frequency of the force signal changes generated by actively and consciously adjusting muscle exertion is mainly concentrated below 2Hz. Setting the low-end cutoff frequency to 3Hz ensures that the low-frequency components generated by stable force exertion are effectively suppressed, preventing them from entering the high-frequency channel and causing misjudgment. The current sampling noise of the exoskeleton joint drive motor and the electromagnetic interference generated by the pulse width modulation power driver typically have frequency components above 100Hz. Setting the high-end cutoff frequency to 50Hz can keep out such high-frequency electrical noise. Based on the analysis of mechanical measurement data from field tests in mountainous areas, the force signals generated by typical terrain impact events such as stepping on the edge of exposed rocks or stepping into sunken pits have their main frequency components concentrated between 5Hz and 30Hz. Therefore, the 50Hz high-end cutoff frequency can completely cover and retain all useful information from 5Hz to 30Hz.

[0071] In this embodiment, the trigger threshold is determined based on the modulus of the current low-frequency component. According to data statistics, when the impact force reaches one-fifth of the low-frequency component, the quasi-static balance of the heavy object has already shown a visible instantaneous disturbance.

[0072] In application, the low-frequency component is obtained by the difference between the original signal and the high-frequency component. It is worth noting that the low-frequency component mainly reflects the superposition of two parts during the stable movement phase: the static force of the weight of the object itself at the point of action of the exoskeleton, and the low-frequency force actively applied by the operator to overcome the inertia of the object, the resistance of the ground slope, and the frictional resistance.

[0073] In practical applications, the low-frequency force exerted at the exoskeleton end varies when moving objects of different masses. The greater the mass of the object, the greater the overall inertia of the system; a small impact force is insufficient to significantly alter the system's motion state, thus eliminating the need for group intervention.

[0074] Example 2: Based on Example 1, this example discloses an exoskeleton force distribution method for collaborative operations in mountainous areas.

[0075] The exoskeleton force distribution method for collaborative operations in mountainous areas in this embodiment includes: Step SS1: Compare the first high-frequency component of the force applied to the weight by the end point of the exoskeleton with the magnitude of the trigger threshold.

[0076] In application, the method for extracting the first high-frequency component includes: inputting the applied force into a filter to obtain the first high-frequency component. The filter has a sampling frequency of 1000 Hz, a low-end cutoff frequency of 3 Hz, and a high-end cutoff frequency of 50 Hz.

[0077] In practical applications, the method for determining the trigger threshold includes: determining the first low-frequency component based on the difference between the applied force and the first high-frequency component, and taking one-fifth of the current amplitude of the first low-frequency component as the trigger threshold.

[0078] Step SS1 includes step SS11: when the first high-frequency component of the force applied to the weight by any exoskeleton end point is greater than the trigger threshold, steps SS111 to SS114 are executed, referencing... Figure 1 .

[0079] In application, to effectively filter out single false triggers caused by instantaneous spike noise from sensors or sudden interference in wireless communication, the trigger period is set to three consecutive sampling periods. That is, when the modulus of a high-frequency component of an exoskeleton is within three consecutive sampling periods, for example, the [missing information - likely a specific sampling period]... Sampling point, number Sampling point, number If all sampling points exceed the trigger threshold, the exoskeleton is identified as having encountered a terrain change event requiring group collaborative intervention, and is used as a trigger device to initiate a distributed response process.

[0080] In practical applications, the triggering device broadcasts a synchronization event trigger signal to all exoskeletons in the group via a wireless network. The data frame of the synchronization event trigger signal includes at least: a trigger event timestamp, which records the moment when the trigger condition is met, for example, the trigger event timestamp. The time corresponding to the sampling point.

[0081] In actual implementation, each exoskeleton's controller has a local buffer. This local buffer continuously stores the state data of each sampling point within the past 500 milliseconds in a first-in, first-out queue. The state data includes at least: the timestamp of the sampling point, the first high-frequency component, and the first low-frequency component.

[0082] Upon receiving a synchronization event trigger signal, the controller of each exoskeleton retrieves the corresponding status data from the local cache based on the trigger event timestamp.

[0083] Step SS111: Determine the first total disturbance resultant force based on the first high-frequency component of each exoskeleton, and determine the first total disturbance resultant torque based on the end coordinates of each exoskeleton and the first high-frequency component.

[0084] In application, the method for determining the first total disturbance resultant force includes: accumulating the first high-frequency components of each exoskeleton to obtain the first total disturbance resultant force.

[0085] In practical applications, the first total disturbance resultant torque includes the following formula:

[0086] ;

[0087] In the formula, This is the first total resultant disturbance torque; The number is the exoskeleton number, ranging from 1 to N; N is the total number of exoskeletons used in the transport, and N≥3; For the first The coordinates of the end effector point of the exoskeleton; The coordinates of the center of gravity of the object; For the first The first high-frequency component of the exoskeleton.

[0088] In actual implementation, and All coordinates are in the reference coordinate system.

[0089] Step SS112: Determine the first bearing coefficient of each exoskeleton using the individual capability factor, and determine the translational compensation force of each exoskeleton based on the first bearing coefficient and the first total disturbance resultant force.

[0090] When applied, the individual ability factors include at least: muscle fatigue level factor and battery remaining power factor.

[0091] When working in mountainous areas, workers need to frequently and significantly lean forward, backward, or sideways to traverse low obstacles or adapt to steep slopes. These postural changes alter the fiber length and contraction patterns of the muscles being measured, causing a significant shift in the median frequency of the surface electromyography (EMG) signal unrelated to physiological fatigue. Failure to correct for these posture-induced spurious frequency changes will distort the assessment of worker fatigue levels. For example, a worker in good physical condition but in a bent-over posture might be incorrectly classified as highly fatigued, leading to an incorrect reduction in load allocation; conversely, a truly fatigued worker in an upright posture might be assigned a heavier load. Therefore, the method for determining the muscle fatigue level factor in this embodiment includes steps SS11211 to SS11214.

[0092] Step SS11211: Obtain the median frequency of the surface electromyography signal and the trunk pitch angle of the worker.

[0093] In collaborative transport operations in mountainous areas, the main exertion movements of workers include: trunk extension movements to resist the vertical downward pressure of the heavy object, lower limb extension movements to propel the body and the heavy object forward, and trunk posture adjustment movements to adapt to terrain undulations. Therefore, the target muscle groups involved in assessing muscle fatigue levels should include at least one or more of the following: trunk extension muscles, lower limb extension muscles, and lower limb posterior propulsive muscles.

[0094] The trunk extensor muscle group includes at least the erector spinae muscles of the lumbar region, which are used to maintain the upright posture of the trunk and resist the pull or downward force torque transmitted by the weight through the upper limbs; the lower limb extension muscle group includes at least the rectus femoris and / or the vastus lateralis of the quadriceps femoris, which are used to provide knee joint extension torque; the lower limb posterior propulsive muscle group includes at least the gluteus maximus and / or the hamstrings, which are used to provide hip joint extension torque.

[0095] In practical applications, a pair of surface electromyography electrodes can be placed on each of the target muscle groups of each worker to obtain the surface electromyography signals of the target muscle groups and calculate the median frequency based on the surface electromyography signals.

[0096] The useful energy of surface electromyography (EMG) signals is mainly concentrated in the 20Hz to 450Hz frequency band. Components below 20Hz primarily originate from artifacts related to relative movement at the electrode-skin interface and ECG interference; components above 450Hz have extremely low signal-to-noise ratios and are mainly thermal noise. The human gait cycle is approximately 1 to 1.2 seconds, and a 1-second window can fully cover the main EMG activities during a force exertion phase. A fatigue score update rate of 100Hz is sufficient to track the fatigue accumulation process without placing excessive computational burden on the embedded processor.

[0097] Therefore, after amplification and bandpass filtering from 20Hz to 450Hz, the median frequency of the surface electromyography (EMG) signal within the current window is calculated using a sliding window with a length of 1 second and a step size of 0.1 seconds.

[0098] In actual implementation, the pitch angle of the operator's torso is obtained by using the inertial measurement unit on the back of the exoskeleton.

[0099] The trunk pitch angle is the angle between the worker's trunk longitudinal axis and the vertical line of gravity projected onto the sagittal plane (a cross-section of the human body in the anteroposterior direction). Specifically, when the worker is naturally upright and the trunk longitudinal axis is parallel to the line of gravity, the pitch angle is 0°. When the trunk tilts forward around the coronal axis passing through the hip joint, i.e., bending forward, the trunk pitch angle is positive. When the trunk tilts backward, i.e., leaning backward, the trunk pitch angle is negative.

[0100] Step SS11212: Based on the torso pitch angle, obtain the corresponding compensation coefficient from the pitch angle compensation coefficient mapping table.

[0101] When applying this method, the establishment of the pitch angle compensation coefficient mapping table includes steps A1 to A2.

[0102] Step A1: Have the worker, without applying any external load, sequentially adjust their torso pitch angle to... , , , , The patient remained still in the posture and the second surface electromyography (EMG) signals were collected at each trunk pitch angle. The second median frequency was calculated based on the second surface EMG signals.

[0103] Step A2: At the torso pitch angle The second median frequency under the posture is used as the electromyographic reference value, and the compensation coefficient for the corresponding trunk pitch angle is determined based on the ratio of the second median frequency under the posture and the electromyographic reference value for each trunk pitch angle.

[0104] When applied, the compensation coefficient includes: Q In the formula, Q pitch angle of the torso The compensation coefficient can be between 0.8 and 1.2. This is the baseline value for electromyography; pitch angle of the torso The second median frequency under the attitude.

[0105] In practical applications, angles not directly listed in the table are obtained by linear interpolation using the compensation coefficients of two adjacent nodes, which will not be elaborated here.

[0106] Step SS11213: Obtain the corrected median frequency based on the median frequency and the compensation coefficient.

[0107] In application, the product of the median frequency and the compensation coefficient is determined as the corrected median frequency.

[0108] Step SS11214: Determine the muscle fatigue factor based on the ratio of the corrected median frequency to the baseline median frequency.

[0109] When applied, the reference median frequency is the median frequency measured before the task begins, when the worker is not under any external load, that is, when there is no force from any weight on the upper limbs and the worker is in an upright and relaxed state.

[0110] In practical applications, the closer the muscle fatigue factor is to 1, the closer the muscle is to a non-fatigue state; the closer it is to 0, the more severe the fatigue.

[0111] The method for determining the remaining battery capacity factor includes step SS1122.

[0112] Step SS1122: Use the current state of charge percentage of the exoskeleton as the remaining battery power factor.

[0113] The method for determining the first bearing coefficient includes: step SS11231.

[0114] Step SS11231: Weighted summation of the muscle fatigue factor and the remaining battery power factor to obtain the comprehensive ability score of each exoskeleton and its operator.

[0115] When applying the application, the overall ability score includes: In the formula, The number is the exoskeleton number, ranging from 1 to N; N is the total number of exoskeletons used in the transport, and N≥3; For the first The overall ability score of the exoskeleton and its operators; This represents the coefficient of muscle fatigue. This represents the remaining battery capacity coefficient. A factor for muscle fatigue levels; This is the remaining battery capacity factor.

[0116] In practical applications, , ,and Furthermore, when the average slope of the terrain is less than or equal to 15°, , When the average slope of the terrain is greater than 15°, =0.7, =0.3.

[0117] Step SS11232: Calculate the reciprocal of the comprehensive ability scores of each exoskeleton and its operators, and sum them to obtain the reciprocal sum of the total ability scores.

[0118] Step SS11233: Determine the first transition coefficient for each exoskeleton based on the ratio of the reciprocal of the comprehensive ability score to the sum of the reciprocals of the total ability scores.

[0119] Step SS11234: Calculate the inverse and sum of the first transition coefficients of each exoskeleton to obtain the sum of the inverses of the total transition coefficients.

[0120] Step SS11235: Determine the first bearing coefficient of each exoskeleton based on the ratio of the reciprocal of the first transition coefficient to the sum of the reciprocals of the total transition coefficients.

[0121] The method for determining translational compensation force includes step SS11236.

[0122] Step SS11236: The product of the first bearing coefficient and the first total disturbance resultant force is determined as the translational compensation force.

[0123] When applied, the translational compensation force includes the following formula:

[0124] ;

[0125] In the formula, The exoskeleton is numbered; For the first Translational compensating force of the exoskeleton; For the first The first bearing coefficient of the exoskeleton; This is the first total resultant disturbance force.

[0126] Step SS113: Determine the rotational compensation force of each exoskeleton based on the end coordinates and the first total disturbance resultant torque.

[0127] In application, the method for determining the rotational compensation force includes: if the current exoskeleton's end is located on the axis of the first total disturbance resultant torque, then let... Otherwise, let .

[0128] In the formula, The exoskeleton is numbered; For the first Rotational compensating force of the exoskeleton; This is the first total resultant disturbance torque; Let be the modulus of the first total resultant disturbance moment; For the first The first bearing coefficient of the exoskeleton; For the first The position vector of the exoskeleton's end relative to the center of gravity of the weight, further... ; for and The modulus of the product, i.e., the length of the first product. The effective lever arm length of the exoskeleton; For the unit direction vector, further, The direction of the unit direction vector is the first... The most effective direction for applying force to the end of the exoskeleton to generate the required compensating torque; for and The modulus of the product.

[0129] In practical applications, when When the value is 0, it means that the end of the exoskeleton is located on the axis of the first total disturbance resultant torque; otherwise, the end of the exoskeleton is not located on the axis of the first total disturbance resultant torque.

[0130] Step SS114: Accumulate the translational compensation force, rotational compensation force, and the first total disturbance resultant force to obtain the target compensation force to be performed by each exoskeleton end.

[0131] Example 3: Based on Example 1 or Example 2, this example discloses an exoskeleton force distribution method for collaborative operations in mountainous areas.

[0132] The exoskeleton force distribution method for collaborative operations in mountainous areas in this embodiment includes step SS12.

[0133] Step SS12: When the first high-frequency component of the force exerted on the weight by all exoskeleton end points is less than or equal to the trigger threshold, execute steps SS121 to SS123, refer to... Figure 2 .

[0134] Step SS121: Determine the first total basic load force of the group based on the first low-frequency component of the force applied to the weight by the end action points of each exoskeleton.

[0135] When applied, the first low-frequency component = the applied force - the first high-frequency component.

[0136] In practical applications, the first low-frequency component of the force exerted on the weight by the end action points of each exoskeleton is accumulated and determined as the first total basic load force.

[0137] Step SS122: Determine the second bearing coefficient of each exoskeleton using individual ability factors.

[0138] When applied, the method for determining the second bearing coefficient includes steps SS1221 to SS1223.

[0139] Step SS1221: Weighted summation of the muscle fatigue factor and the remaining battery power factor to obtain the comprehensive ability score of each exoskeleton and its operator. See step SS11231 for details, which will not be repeated here.

[0140] Step SS1222: Accumulate the comprehensive ability scores of each exoskeleton and its operators to obtain the total ability score.

[0141] Step SS1223: Determine the second bearing coefficient of each exoskeleton based on the ratio of the comprehensive ability score to the total ability score.

[0142] Step SS123: Determine the target basic load capacity of each exoskeleton based on the second bearing coefficient, the first total basic load capacity, and the first low-frequency component of each exoskeleton.

[0143] When applied, the target base load capacity includes the following formula:

[0144] ;

[0145] In the formula, The exoskeleton is numbered; For the first The target basic load-bearing capacity of the exoskeleton; For the first The second load-bearing coefficient of the exoskeleton; The modulus of the first total basic load capacity; For the first The first low-frequency component of the exoskeleton; For the first The modulus of the first low-frequency component of the exoskeleton.

[0146] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0147] In summary, the exoskeleton force distribution method for collaborative operations in mountainous areas described in this invention decomposes the impact force of terrain into translational and rotational components, and distributes it differentially based on individual ability factors that integrate muscle fatigue and battery power. This achieves both group-based collaborative suppression of sudden impacts and load balancing adjustment for continuous operations.

[0148] Specifically: When the high-frequency component of any exoskeleton exceeds the dynamic trigger threshold, a group coordinated response is triggered: Based on the synchronously collected disturbance data, the target compensation force that each should bear is calculated in a distributed manner, so that the impact load that was originally concentrated on a single device is distributed to all members in the group to bear together, effectively protecting the wearer who first encounters the terrain and reducing the probability of safety accidents caused by excessive local force.

[0149] Furthermore, this invention decomposes disturbance compensation into two independent parts: translational compensation and rotational compensation. This ensures the integrity and effectiveness of disturbance cancellation and avoids the potential for heavy objects to overturn if only resultant force compensation is performed. Specifically, the translational compensation force is used to cancel the total resultant disturbance force, ensuring that the center of gravity of the heavy object does not undergo accelerated translation; the rotational compensation force is used to cancel the total resultant disturbance torque, ensuring that the heavy object does not rotate.

[0150] Furthermore, this invention introduces an individual capability factor (combining muscle fatigue level and remaining battery power) to quantitatively assess the real-time available capabilities of each worker and their exoskeleton. In disturbance compensation allocation, those with stronger capabilities bear more compensation output; those with weaker capabilities bear a smaller coefficient, thus reducing their burden and helping to balance the overall fatigue level of the team, thereby extending the safe working time.

[0151] Furthermore, during long-term transport, by continuously monitoring the muscle fatigue level and battery power changes of each wearer, the basic load share that each exoskeleton end should bear is slowly adjusted, so that the burden on workers with increased fatigue or decreased battery power is gradually reduced, while those in good condition can take on more tasks.

[0152] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0153] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0154] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0155] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for force distribution in an exoskeleton used in collaborative operations in mountainous areas, characterized in that, include: When the first high-frequency component of the force exerted on the weight by the end point of any exoskeleton exceeds the trigger threshold: The first total disturbance resultant force is determined based on the first high-frequency component of each exoskeleton, and the first total disturbance resultant torque is determined based on the end coordinates of each exoskeleton and the first high-frequency component. The first load factor of each exoskeleton is determined using individual capability factors, and the translational compensation force of each exoskeleton is determined based on the first load factor and the first total disturbance resultant force; wherein, the individual capability factors include at least: muscle fatigue degree factor and battery remaining power factor. Based on the end coordinates and the first total disturbance resultant torque, determine the rotational compensation force of each exoskeleton; The translational compensation force, rotational compensation force, and first total disturbance resultant force are summed to obtain the target compensation force that each exoskeleton end needs to perform; The method for extracting the first high-frequency component includes: The force is input into a filter to obtain the first high-frequency component; wherein the sampling frequency of the filter is 1000Hz, the low-end cutoff frequency is 3Hz, and the high-end cutoff frequency is 50Hz. The method for determining the trigger threshold includes: The first low-frequency component is determined based on the difference between the applied force and the first high-frequency component, and one-fifth of the current amplitude of the first low-frequency component is used as the trigger threshold. The first total disturbance resultant force includes: summing the first high-frequency components of each exoskeleton to obtain the first total disturbance resultant force; The first total disturbance resultant torque includes the following formula: ； In the formula, This is the first total resultant disturbance torque; N represents the exoskeleton number; N represents the total number of exoskeletons used in the transport. For the first The coordinates of the end effector point of the exoskeleton; The coordinates of the center of gravity of the object; For the first The first high-frequency component of the exoskeleton; The translational compensation force includes the following formula: ； In the formula, The exoskeleton is numbered; For the first Translational compensating force of the exoskeleton; For the first The first bearing coefficient of the exoskeleton; This is the first total resultant disturbance force; The method for determining the rotational compensation force includes: If the current exoskeleton's end is located on the axis of the first total disturbance resultant torque, then let ; Otherwise, let ; In the formula, The exoskeleton is numbered; For the first Rotational compensating force of the exoskeleton; This is the first total resultant disturbance torque; Let be the modulus of the first total resultant disturbance moment; For the first The first bearing coefficient of the exoskeleton; For the first The position vector of the end of the exoskeleton relative to the center of gravity of the weight; for and The modulus of the product; It is a unit direction vector; ; for and The modulus of the product.

2. The exoskeleton force distribution method for collaborative operations in mountainous areas according to claim 1, characterized in that, The method for determining the first bearing coefficient includes: The muscle fatigue factor and the remaining battery power factor are weighted and summed to obtain the comprehensive ability score of each exoskeleton and its operator. The reciprocal sum of the comprehensive ability scores of each exoskeleton and its operators is obtained by reversing and summing the scores. The first transition coefficient for each exoskeleton is determined by the ratio of the reciprocal of the comprehensive ability score to the sum of the reciprocals of the total ability scores. The inverse sum of the first transition coefficients of each exoskeleton is obtained by taking the inverse of the total transition coefficients. The first bearing coefficient of each exoskeleton is determined by the ratio of the reciprocal of the first excess coefficient to the sum of the reciprocals of the total excess coefficients.

3. The exoskeleton force distribution method for collaborative operations in mountainous areas according to claim 2, characterized in that, The method for determining the muscle fatigue level factor includes: The median frequency of the surface electromyography (EMG) signal and the trunk pitch angle of the worker were acquired. Based on the torso pitch angle, obtain the corresponding compensation coefficient from the pitch angle compensation coefficient mapping table; The corrected median frequency is obtained based on the median frequency and the compensation coefficient. The muscle fatigue factor is determined based on the ratio of the corrected median frequency to the baseline median frequency. The method for determining the remaining battery capacity factor includes: The current state of charge percentage of the exoskeleton is used as the remaining battery power factor.

4. The exoskeleton force distribution method for collaborative operations in mountainous areas according to claim 1, characterized in that, When the first high-frequency component of the force exerted on the weight by all exoskeleton end points is less than or equal to the trigger threshold: The first total basic load force of the group is determined based on the first low-frequency component of the force exerted on the weight by the end action points of each exoskeleton. The second load factor of each exoskeleton was determined using individual ability factors. The target basic load capacity of each exoskeleton is determined based on the second bearing coefficient, the first total basic load capacity, and the first low-frequency component of each exoskeleton.

5. The exoskeleton force distribution method for collaborative operations in mountainous areas according to claim 4, characterized in that, The second bearing coefficient includes: The muscle fatigue factor and the remaining battery power factor are weighted and summed to obtain the comprehensive ability score of each exoskeleton and its operator. The total ability score is obtained by summing the comprehensive ability scores of each exoskeleton and its operators. The second bearing coefficient of each exoskeleton is determined based on the ratio of the comprehensive ability score to the total ability score.

6. The exoskeleton force distribution method for collaborative operations in mountainous areas according to claim 4, characterized in that, The target basic load capacity includes the following formula: ； In the formula, The exoskeleton is numbered; For the first The target basic load-bearing capacity of the exoskeleton; For the first The second load-bearing coefficient of the exoskeleton; The modulus of the first total basic load capacity; For the first The first low-frequency component of the exoskeleton; For the first The modulus of the first low-frequency component of the exoskeleton.

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