Control method, device, apparatus, medium and product of exoskeleton device

Abstract

The application discloses a control method and device of an exoskeleton device, equipment, a medium and a product, and relates to the technical field of exoskeletons. The exoskeleton device comprises an inertial measurement unit and at least two encoders, the at least two encoders comprising a first encoder mounted on a swing leg and a second encoder mounted on a support leg, and the method comprises: acquiring a first angle corresponding to the swing leg through the first encoder, and acquiring a second angle of the support leg through the second encoder; acquiring a pitch angle corresponding to a wearing object of the exoskeleton device through the inertial measurement unit; determining a movement state of the wearing object based on the first angle, the second angle and the pitch angle; and in the case that the movement state is a climbing state, controlling the exoskeleton device to provide movement assistance for the wearing object in a climbing state corresponding power assistance control mode. The method improves the matching of movement assistance provided by the exoskeleton device for the wearing object and the movement state, and the accuracy and comfort of the assistance provided.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and in particular to a control method, device, equipment, medium and product for an exoskeleton device. Background Technology

[0002] With the continuous advancement of technology, exoskeleton technology has gradually become an important assistive technology, especially in scenarios such as medical rehabilitation, elderly assistance, and wilderness exploration. Exoskeleton devices have broad application prospects. By mimicking the movement patterns of the human body, exoskeleton devices provide enhanced strength, thereby improving the wearer's mobility.

[0003] In the control scenarios of hip exoskeletons, for safety reasons, continuous assistance will be interrupted and the gait curve used for output torque will be reset if the wearer stays in the same gait for too long.

[0004] However, in scenarios such as climbing stairs or hiking, the aforementioned hip exoskeleton control method, when one leg steps up a high step while the other leg remains on a low step, if the wearer maintains this gait for a long time (e.g., taking a break during the climb), it can lead to a situation where, during the subsequent step from the low step to the high step, the assist from both legs has been interrupted due to the time-out and can no longer provide assistance. Summary of the Invention

[0005] This application provides a control method, device, equipment, medium, and product for an exoskeleton device. The technical solution provided by this application includes the following aspects.

[0006] According to one aspect of the embodiments of this application, a control method for an exoskeleton device is provided. The exoskeleton device includes an inertial measurement unit and at least two encoders, the at least two encoders including a first encoder mounted on a swing leg and a second encoder mounted on a support leg. The method includes:

[0007] The first angle corresponding to the swing leg is obtained through the first encoder, and the second angle of the supporting leg is obtained through the second encoder;

[0008] The pitch angle corresponding to the wearer of the exoskeleton device is obtained through the inertial measurement unit. The pitch angle is the angle between the longitudinal axis of the wearer and a preset horizontal plane.

[0009] Based on the first angle, the second angle, and the pitch angle, the action state of the wearer is determined;

[0010] When the action state is climbing, the exoskeleton device is controlled to provide movement assistance to the wearer in the assist control mode corresponding to the climbing state. The climbing state refers to the wearer being in an upward movement state.

[0011] According to one aspect of the embodiments of this application, a control device for an exoskeleton device is provided. The exoskeleton device includes an inertial measurement unit and at least two encoders, the at least two encoders including a first encoder mounted on a swing leg and a second encoder mounted on a support leg. The device includes:

[0012] The acquisition module is used to acquire a first angle corresponding to the swing leg through the first encoder, and to acquire a second angle of the supporting leg through the second encoder;

[0013] The acquisition module is further configured to acquire the pitch angle corresponding to the wearer of the exoskeleton device through the inertial measurement unit, wherein the pitch angle is the angle between the longitudinal axis of the wearer and a preset horizontal plane;

[0014] The determination module is used to determine the action state of the wearable object based on the first angle, the second angle, and the pitch angle;

[0015] The control module is used to control the exoskeleton device to provide movement assistance to the wearable object in the assistance control mode corresponding to the climbing state when the action state is climbing state, wherein the climbing state refers to the wearable object being in an upward movement state.

[0016] According to one aspect of the embodiments of this application, a computer device is provided, the computer device including a processor and a memory, the memory storing a computer program, the computer program being loaded and executed by the processor to implement the control method of the exoskeleton device described above.

[0017] According to one aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, the computer program being loaded and executed by a processor to implement the control method of the exoskeleton device described above.

[0018] According to one aspect of the embodiments of this application, a computer program product is provided, the computer program product including a computer program stored in a computer-readable storage medium, and a processor reading from the computer-readable storage medium and executing the computer program to implement the above-described control method for the exoskeleton device.

[0019] The technical solution provided in this application can bring the following beneficial effects:

[0020] During the movement of the wearer with the assistance of the exoskeleton device, the current action state of the wearer is determined by reading the first angle of the swing leg, the second angle of the supporting leg, and the wearer's pitch angle. If the action state is climbing, the action assistance provided by the exoskeleton device is controlled according to the assistant control mode corresponding to the climbing state. This allows the device to adaptively capture changes in the wearer's action state during the movement, enabling the exoskeleton device to provide reasonable assistance when the wearer is climbing. This avoids the problem of insufficient assistance in scenarios such as mountain climbing or stair climbing, where the swing leg stays on the steps for too long before continuing the climb. It improves the matching between the action assistance provided by the exoskeleton device and the wearer's action state, as well as the accuracy and comfort of the assistance provided. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a gait curve provided in one embodiment of this application;

[0022] Figure 2 This is a schematic diagram of a computer system provided in one embodiment of this application;

[0023] Figure 3 This is a flowchart of a control method for an exoskeleton device provided in one embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the first state stage provided in one embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the first state stage provided in one embodiment of this application;

[0026] Figure 6 This is a schematic diagram of a second gait period curve provided in one embodiment of this application;

[0027] Figure 7 This is a flowchart illustrating flag setting according to an embodiment of this application;

[0028] Figure 8 This is a flowchart of a control method for an exoskeleton device provided in one embodiment of this application;

[0029] Figure 9 This is a schematic diagram illustrating the process of determining the climbing status according to an embodiment of this application;

[0030] Figure 10 This is a schematic diagram of the process for determining the climbing status provided in one embodiment of this application;

[0031] Figure 11 This is a flowchart of a judgment process for assisting execution provided in one embodiment of this application;

[0032] Figure 12 This is a flowchart of a judgment process for assisting execution provided in one embodiment of this application;

[0033] Figure 13 This is a schematic diagram illustrating the setting and judgment process of a preset duration threshold provided in one embodiment of this application;

[0034] Figure 14 This is a flowchart of the preset duration threshold iterative update and timeout determination provided in one embodiment of this application;

[0035] Figure 15 This is a block diagram of the control device for an exoskeleton device provided in one embodiment of this application;

[0036] Figure 16 This is a structural block diagram of an exoskeleton device provided in one embodiment of this application. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0038] First, a brief introduction to the terms used in the embodiments of this application will be given.

[0039] Gait phase: refers to the temporal relationship between limb movements during walking or exercise, reflecting the characteristics of different stages in the gait performance cycle.

[0040] Exoskeleton technology is a wearable mechanical device that enhances a person's strength, endurance, and motor skills by integrating with the human body. It works by using sensors to collect motion signals from the body, which are then analyzed and converted into commands by a control system to drive the device and assist the body in performing actions. Exoskeleton technology is widely used in military, medical, and industrial fields. In the military, it can help soldiers carry loads and improve combat capabilities; in the medical field, it is used for rehabilitation therapy to help those with mobility impairments regain their ability to walk; and in industry, it can reduce the intensity of labor for workers. With technological advancements, exoskeletons are moving towards becoming lighter, smarter, and more efficient.

[0041] A hip exoskeleton is a wearable assistive device primarily used to enhance or assist the human hip joint's mobility. In some implementations, hip exoskeletons include encoders and inertial measurement units (IMUs). The encoders are mounted on both sides of the hip joint to measure leg angles and movement speeds in real time, while the IMUs detect the body's posture and acceleration.

[0042] In the flat-ground algorithm, the hip exoskeleton device uses the Adaptive Frequency Oscillator (AFO) algorithm. By collecting data from the encoders on both sides, it continuously adjusts the frequency and phase of the gait curve, thereby automatically adjusting the movement rhythm of the exoskeleton. Based on the gait curve, it generates an assist curve to control the exoskeleton to provide movement assistance to the wearer.

[0043] In one example, the gait curve generated when walking on flat ground is as follows: Figure 1 As shown, the gait curve 100 is a curve generated with phase as the horizontal axis and the output difference of the encoders on both sides as the vertical axis. The gait curve 100 also includes a pre-set first setting value 101 and a second setting value 102. The first setting value 101 and the second setting value 102 are thresholds that are set manually, with the same size and opposite direction, and are used to determine the start of the gait curve 100 and the switching of gait state.

[0044] In one example, taking the gait process of stepping out with the right leg first and then the left leg as an example, the gait performance cycle corresponding to gait curve 100 includes the following eight gait states:

[0045] Start of raising the right leg: Phase 0 to Phase 1 indicates the state of just starting to raise the right leg, that is, the state of raising the right leg to the set point corresponding to the first set value 101;

[0046] Continuous raising of the right leg: Phase 1 to Phase 2 represent the state of the right leg continuously raising until it reaches the highest point;

[0047] Continuous descent of the right leg: Phase 2 to Phase 3 represent the state of the right leg as it descends from the highest point to the set point corresponding to the first set value 101;

[0048] End of right leg descent: Phase 3 to Phase 4 indicate that the right leg is lowered from the set point corresponding to the first set value 101 to a state where it is level with the left leg;

[0049] Starting to lift the left leg: Phase 4 to Phase 5 indicate the state of just starting to lift the left leg, that is, the state of the left leg being lifted to the set point corresponding to the second set value 102;

[0050] Continuous raising of the left leg: Phase 5 to Phase 6 indicate the state of the left leg being continuously raised until it reaches the highest point;

[0051] Continuous descent of the left leg: Phase 6 to Phase 7 indicate the state of the left leg as it descends from the highest point to the set point corresponding to the second set value 102;

[0052] End of descent of left leg: Phase 7 to Phase 8 indicate that the left leg is lowered from the set point corresponding to the second set value 102 to a state where it is level with the left leg. Phase 8 can also be used as phase 0 of the next gait performance cycle.

[0053] The above eight gait states together constitute a complete gait phase change process.

[0054] In related technologies, for safety reasons, the flat-ground algorithm of hip exoskeleton devices sets a time limit for each gait state. Once this time limit is exceeded, the hip exoskeleton device will cut off the wearer's movement assistance and reset the gait state.

[0055] When the above processing logic is applied to scenarios such as climbing stairs or mountains, if the wearer maintains this gait for a long time (e.g., taking a break during the climb) while one leg is on a higher step and the other leg is on a lower step (phase 2 to phase 3 or phase 6 to phase 7), the hip exoskeleton device will cut off the wearer's movement assistance and reset the gait state due to the timeout. Consequently, the hip exoskeleton device cannot provide assistance when the lower leg steps up to a higher step, resulting in poor assistance effect of the hip exoskeleton device in scenarios such as climbing stairs or mountains.

[0056] In this embodiment, during the movement of the wearer with the assistance of the exoskeleton device, the current action state of the wearer is determined by reading the first angle of the swing leg, the second angle of the supporting leg, and the pitch angle of the wearer. If the action state is climbing, the action assistance provided by the exoskeleton device is controlled by the assistant control mode corresponding to the climbing state. This allows the exoskeleton device to adaptively capture changes in the wearer's action state during the movement, enabling it to provide reasonable assistance when the wearer is in a climbing state. This avoids the problem of insufficient assistance in climbing scenarios such as mountain climbing or stair climbing, where the swing leg stays on the steps for too long before continuing the climb. This improves the matching between the action assistance provided by the exoskeleton device and the wearer's action state, as well as the accuracy and comfort of the assistance provided.

[0057] Please refer to Figure 2 The diagram illustrates a computer system 200 provided in one embodiment of this application.

[0058] Optionally, the computer system 200 includes an exoskeleton device 210, or includes an exoskeleton device 210 and a server 220.

[0059] Among them, the exoskeleton device 210 is a wearable mechanical device realized through exoskeleton technology. Optionally, the exoskeleton device 210 includes a hip joint exoskeleton device, a lower limb exoskeleton device, a full-body exoskeleton device, etc., which are not limited here.

[0060] In some embodiments, the exoskeleton device 210 includes an assist device, a processor, and a memory. The processor is used to run an application program that implements at least one step of the control method for the exoskeleton device 210 provided in the embodiments of this application. The memory is used to store the program code of the application program. The assist device is used to provide assistance to the wearer of the exoskeleton device 210 according to the output of the processor.

[0061] In this embodiment of the application, the exoskeleton device 210 further includes an inertial measurement unit and at least two encoders, wherein the at least two encoders include a first encoder mounted on the swing leg and a second encoder mounted on the support leg.

[0062] Server 220 includes at least one of a single server, multiple servers, a cloud computing platform, and a virtualization center. Server 220 provides backend services for an application that implements at least one step of the control method for the exoskeleton device 210 provided in this embodiment. Optionally, server 220 undertakes the primary computational work, and exoskeleton device 210 undertakes secondary computational work; or, server 220 undertakes secondary computational work, and exoskeleton device 210 undertakes primary computational work; or, server 220 and exoskeleton device 210 collaborate on computation using a distributed computing architecture.

[0063] To illustrate, the exoskeleton device 210 and the server 220 are connected via a communication network.

[0064] It is worth noting that the aforementioned server 220 can be implemented as a physical server or as a cloud server in the cloud. In some embodiments, the aforementioned server 220 can also be implemented as a node in a blockchain system.

[0065] In one example, taking computer system 200 including exoskeleton device 210 as an example, schematically, exoskeleton device 210 obtains a first angle corresponding to the swing leg through a first encoder and a second angle of the support leg through a second encoder; obtains the pitch angle corresponding to the wearer of the exoskeleton device through an inertial measurement unit, the pitch angle being the angle between the longitudinal axis of the wearer and a preset horizontal plane; determines the action state of the wearer based on the first angle, the second angle, and the pitch angle; when the action state is a climbing state, controls the exoskeleton device to provide action assistance to the wearer using the assist control mode corresponding to the climbing state, the climbing state referring to the wearer being in an upward movement state.

[0066] In another example, taking a computer system 200 including an exoskeleton device 210 and a server 220 as an example, schematically, the exoskeleton device 210 obtains a first angle corresponding to the swing leg through a first encoder and a second angle of the supporting leg through a second encoder; it obtains the pitch angle corresponding to the wearer of the exoskeleton device through an inertial measurement unit; the exoskeleton device 210 synchronously transmits the obtained first angle, second angle and pitch angle to the server 220; the server 220 determines the action state of the wearer based on the first angle, second angle and pitch angle; when the action state is a climbing state, the server 220 instructs the exoskeleton device 210 to use the assist control mode corresponding to the climbing state, and controls the exoskeleton device to provide action assistance to the wearer.

[0067] Please refer to Figure 3 The diagram illustrates a flowchart of a control method for an exoskeleton device according to an embodiment of this application. In this embodiment, the method is described by... Figure 2 Taking the exoskeleton device 210 as an example, the exoskeleton device 210 includes an inertial measurement unit and at least two encoders, the at least two encoders including a first encoder mounted on the swing leg and a second encoder mounted on the support leg. The method may include at least one of the following steps (310-340).

[0068] Step 310: Obtain the first angle corresponding to the swing leg through the first encoder, and obtain the second angle of the supporting leg through the second encoder.

[0069] Optionally, exoskeleton devices include hip joint exoskeleton devices, lower limb exoskeleton devices, full-body exoskeleton devices, etc., without limitation.

[0070] In this embodiment of the application, taking a hip joint exoskeleton as an example, the hip joint exoskeleton includes an assist device, at least two encoders, and an inertial measurement unit (IMU). The at least two encoders are mounted on both sides of the hip joint, including a first encoder mounted on the swing leg and a second encoder mounted on the support leg, used to measure the angle and speed of the wearer's legs in real time; the inertial measurement unit can detect the wearer's posture and acceleration.

[0071] Optionally, the exoskeleton device can be worn by a human or an animal, without limitation.

[0072] The swing leg of the wearer is the leg that leaves the ground and swings in the air, used for movement in a designated direction and to prepare for the next landing. The support leg is the leg that corresponds to the swing leg; it is the leg that touches the ground and bears the weight of the wearer. The support leg is used to support the body and maintain balance, and to provide a stable foundation for the next movement.

[0073] The swing leg and the supporting leg are realized as different legs during different synchronic phase phases in the gait performance cycle. In one example, with Figure 1 Taking the gait performance cycle shown in the figure as an example, in the gait states corresponding to phases 0 to 4, the swing leg is the right leg and the supporting leg is the left leg; in the gait states corresponding to phases 4 to 8, the swing leg is the left leg and the supporting leg is the right leg.

[0074] The first angle corresponding to the swing leg is used to indicate the rotation angle of the wearer's current swing leg in the sagittal plane, and the second angle of the supporting leg is used to indicate the rotation angle of the wearer's current supporting leg in the sagittal plane. The sagittal plane is a longitudinal plane perpendicular to the horizontal plane, dividing the wearer of the exoskeleton device into left and right parts. In one example, when the wearer is a human, the sagittal plane is implemented as the human sagittal plane.

[0075] In some embodiments, the first angle can be read by a first encoder mounted on the swing leg, and the second angle can be read by a second encoder mounted on the support leg.

[0076] Step 320: Obtain the pitch angle corresponding to the wearer of the exoskeleton device through the inertial measurement unit.

[0077] An inertial measurement unit (IMU) is an electronic device used to measure and report motion information of an object, such as specific force, angular velocity, and orientation. It typically consists of three accelerometers and three gyroscopes, used to measure acceleration and angular velocity along three orthogonal axes, respectively. Through these sensors, the IMU can calculate the object's attitude, position, and trajectory in real time, without the need for external reference signals.

[0078] The aforementioned pitch angle is the angle between the longitudinal axis of the wearable object and the preset horizontal plane. In other words, it refers to the rotation angle of the wearable object about the preset axis (e.g., the Y-axis) relative to the coronal plane. For example, when the wearable object's torso (or head) is tilted forward, the pitch angle is positive; when the torso (or head) is tilted backward, the pitch angle is negative.

[0079] Optionally, the inertial measurement unit includes an accelerometer, which can measure acceleration along three axes, including gravitational acceleration. By analyzing the output of the accelerometer, the pitch angle can be calculated.

[0080] In one example, suppose the accelerometer output is a x a y and a z , where a z It is the acceleration along the vertical direction (usually the direction of gravity). The pitch angle θ (in radians) can then be calculated using the following formula.

[0081]

[0082] In one example, Formula 2 converts the pitch angle from radians to degrees.

[0083]

[0084] Optionally, the inertial measurement unit includes a gyroscope, which can measure angular velocity and calculate the pitch angle by integrating the angular velocity.

[0085] In one example, assuming the angular velocity measured by the gyroscope is ω, where ω is the angular velocity about a specified axis (e.g., the x-axis), then the pitch angle θ current It can be calculated using the following formula three.

[0086] Formula 3: θ current =θ0+∫ωdt

[0087] Where θ0 is the known initial pitch angle.

[0088] Step 330: Determine the action state of the wearer based on the first angle, the second angle, and the pitch angle.

[0089] In this embodiment, the action state of the wearer can be determined by the first angle of the swinging leg, the second angle of the supporting leg, and the pitch angle of the wearer. The action state indicates the state of the action performed by the wearer at the current moment. Optionally, the action state of the wearer includes walking on flat ground, standing still, climbing, jumping, etc.

[0090] In some embodiments, determining the action state of the wearable object based on the first angle, the second angle, and the pitch angle is implemented as follows: determining the third angle corresponding to the swing leg based on the first angle and the pitch angle, wherein the third angle is used to indicate the angle of the swing leg relative to the vertical direction; determining the fourth angle corresponding to the supporting leg based on the second angle and the pitch angle, wherein the fourth angle is used to indicate the angle of the supporting leg relative to the vertical direction; obtaining the first included angle between the first angle and the second angle; and determining the action state of the wearable object based on the third angle, the fourth angle, and the first included angle.

[0091] In one example, the aforementioned third angle a r The calculation method is shown in Formula 4, the fourth angle α l The calculation method is shown in Formula 5.

[0092] Formula 4: a r =-pitch+e r

[0093] Formula 5: a l =-pitch-e l

[0094] Among them, e r e represents the first angle corresponding to the swing leg. l The second angle corresponds to the supporting leg, and pitch is the tilt angle.

[0095] In some embodiments, when the third angle reaches the first angle threshold, the fourth angle reaches the second angle threshold, and the first included angle reaches the first included angle threshold, the action state of the wearable object is determined to be a climbing state.

[0096] The first angle threshold is the threshold corresponding to the swing leg, and the second angle threshold is the threshold corresponding to the supporting leg.

[0097] Optionally, the first angle threshold and the second angle threshold can be fixed values ​​preset by the system; or, the first angle threshold and the second angle threshold can be custom values ​​set by the wearable object, which are not limited here. Optionally, the first included angle threshold can be a fixed value preset by the system; or, the first included angle threshold can be a custom value set by the wearable object, which are not limited here.

[0098] In some embodiments, a preset reference angle threshold is obtained; and a reference gait cycle curve corresponding to the wearable object is obtained. The reference gait cycle curve is a gait cycle curve used as a reference. The reference gait cycle curve includes at least one gait performance cycle. The first gait phase in the at least one gait performance cycle includes a first phase node and a second phase node. The first phase node is used to indicate the starting gait phase of the first gait phase, and the second phase node is used to indicate the ending gait phase of the first gait phase. The first gait phase is the stage in which the swing leg descends within the gait performance cycle. Based on the reference angle threshold and the node angle value corresponding to the second phase node, the first angle threshold is obtained. The node angle value is used to indicate the difference in the rotation angle of the swing leg and the supporting leg in the sagittal plane at the ending gait phase in the reference gait cycle curve.

[0099] In one example, the baseline gait period curve is implemented as follows: Figure 1 Taking the gait cycle curve shown as an example, the node angle value corresponding to the second phase node can be implemented as a first set value 101 or a second set value 102.

[0100] Step 340: When the action state is climbing, control the exoskeleton device to provide movement assistance to the wearer using the assist control mode corresponding to the climbing state.

[0101] The climbing state refers to the state in which the wearable object is moving upward. Optionally, the upward movement mentioned above includes moving upward in a straight line (e.g., climbing a vertically placed ladder) or moving upward at an angle (e.g., climbing stairs or climbing a mountain).

[0102] In some embodiments, the gait performance cycle is divided according to the lifting and lowering of the wearer's legs. The gait phase phase corresponding to the wearer includes: the leg lifting phase and the leg lowering phase; wherein the leg lifting phase and the leg lowering phase are divided by the highest point of the leg lifting.

[0103] In other embodiments, set points are provided during the raising and lowering of the wearer's legs to further divide the raising and lowering processes. The gait phase stages corresponding to the wearer include: the start of the raising phase, the continuous raising phase, the continuous lowering phase, and the end of the lowering phase. The start of the raising phase and the continuous raising phase are separated by a first set point, the continuous raising phase and the continuous lowering phase are separated by the highest point of the leg raising, and the continuous lowering phase and the end of the lowering phase are separated by a second set point.

[0104] In some embodiments, the determination of the climbing state usually occurs when the gait phase of the wearer is in the first gait phase, wherein the first gait phase is the phase in which the swing leg of the wearer descends during the gait performance cycle. The first gait phase includes a first phase node and a second phase node. The first phase node is used to indicate the starting gait phase of the first gait phase, and the second phase node is used to indicate the ending gait phase of the first gait phase.

[0105] In some embodiments, when gait performance cycles are divided according to the rise and fall of the wearer's legs, such as Figure 4 As shown, it illustrates a schematic diagram of the first state stage provided by an exemplary embodiment of this application. In the gait cycle curve 400 corresponding to the gait performance cycle, the curve interval 401 and the curve interval 402 are the first state stages where timeout judgment is required to determine whether to provide assistance in the assist control mode corresponding to the climbing state. Taking the curve interval 401 as an example, phase 1 is the first phase node and phase 2 is the second phase node.

[0106] In other embodiments, when set points are provided during the lifting and lowering of the wearer's legs to divide the gait performance cycle, such as... Figure 5As shown, it illustrates a schematic diagram of the first state stage provided by an exemplary embodiment of this application. In the gait cycle curve 500 corresponding to the gait performance cycle, the curve interval 501 and the curve interval 502 are the first state stages where timeout judgment is required to determine whether to provide assistance in the assist control mode corresponding to the climbing state. Taking the curve interval 501 as an example, phase 2 is the first phase node and phase 3 is the second phase node.

[0107] In some embodiments, by adjusting the gait phase corresponding to the current moment in the gait cycle curve, the adjusted gait cycle curve is used as the gait cycle curve for the assist control mode corresponding to the climbing state, thereby controlling the exoskeleton device to provide mobility assistance to the wearer. Illustratively, the following steps are taken: obtaining the first gait cycle curve of the wearer; obtaining the corresponding baseline gait cycle curve of the wearer; predicting the curve change trend of the first gait cycle curve based on the baseline gait cycle curve to obtain the second gait cycle curve; adjusting the first gait phase corresponding to the current moment in the second gait cycle curve back to the target gait phase; and controlling the exoskeleton device to provide mobility assistance to the wearer using the second gait cycle curve.

[0108] The first step gait cycle curve is generated over a historical period, with the angle between the swing leg and the supporting leg in the sagittal plane as the independent variable and the gait phase of the wearer as the dependent variable. The historical period is the time interval starting from the first moment and ending at the current moment. The target gait phase mentioned above is the gait phase prior to the initial gait phase of the first step phase.

[0109] In some embodiments, the second gait period curve includes a fifth phase node, which is a phase node located before the first phase node. Optionally, the fifth phase node can be implemented as follows: Figure 1 The phase shown is either phase 0 or phase 1. Optionally, the target gait phase can be implemented as the fifth phase node, or a specified node between the fifth phase node and the first phase node, without limitation.

[0110] In some embodiments, in the second gait cycle curve predicted based on the reference gait cycle curve, the curve trend of the second gait cycle curve at future times matches the reference gait cycle curve, and the extreme value of the second gait cycle curve at future times matches the first gait cycle curve.

[0111] In some embodiments, the generated second gait cycle curve includes a third gait phase, which is the phase in the first gait phase that restarts the movement assistance to the wearer. The third gait phase includes a third phase node and a fourth phase node. The third phase node is used to indicate the starting gait phase of the third gait phase, and the fourth phase node is used to indicate the ending gait phase of the third gait phase.

[0112] like Figure 6 As shown, it illustrates a schematic diagram of a second gait cycle curve 600 provided in an exemplary embodiment of this application. The second gait cycle curve 600 includes a third gait stage 610. The third gait stage 610 includes a third phase node 611 and a fourth phase node 612. The third phase node 611 is the position corresponding to the first phase node 601 after determining that the assist control mode corresponding to the climbing state has been used for assist. The first phase node 601 is the phase node corresponding to the highest point in the first gait phase cycle.

[0113] Indicatively, under the target gait phase, the exoskeleton device's motion assistance to the wearer is controlled to decrease from a preset rate of change to a preset assistance threshold; when the swing leg is detected to begin moving, the exoskeleton device's motion assistance to the wearer is controlled by the curve changes from the third phase node to the fourth phase node in the second gait cycle curve.

[0114] Optionally, the preset change rate can be a fixed speed value or a changing speed value, and is not limited here. Optionally, the preset assistance threshold can be a fixed value preset by the system or a custom value set by the wearer.

[0115] In one example, the preset assistance threshold is 0, that is, the assistance provided by the exoskeleton device to the wearer decreases from a preset rate of change to 0 during the target gait phase.

[0116] The safety algorithm in the original walking state limits the height of the left and right legs. When the legs are raised too high, various soft and hard limiting measures in the algorithm restrict the output force. Therefore, the limiting threshold in the flat ground algorithm can cause the wearer to experience a mismatch between the output torque and the movement state when climbing stairs or ascending stairs. In some embodiments, based on the determined climbing state, the threshold of the soft and hard limiting measures in the algorithm is increased after the climbing state is determined. When the stair-climbing state ends, the soft and hard limiting measures are restored to the original threshold, thereby achieving a balance between the safety of walking on flat ground and the comfort of adaptive stair climbing. Illustratively, when the action state is climbing, the exoskeleton device is controlled to provide motion assistance to the wearer using a target limiting threshold. The target limiting threshold is used to indicate the limitation on the height of the swing leg raised by the exoskeleton device when providing motion assistance to the wearer. The target limiting threshold is greater than the initial limiting threshold, which is the limitation on the height of the swing leg raised by the wearer when moving in a flat ground scene.

[0117] In some embodiments, a flag is set to determine whether the target limit threshold is enabled, illustratively, as shown below. Figure 7The diagram illustrates a flowchart of a flag setting provided in an exemplary embodiment of this application. The process includes: 701, setting a flag S, where an initial limit threshold is used when the flag S is False, and a target limit threshold is used when the flag S is True; the flag S is False by default; 702, in the first step state phase, when it is determined that the swing leg is in a climbing state by a preset duration threshold, the flag S is set to True; 703, in the subsequent first step state phase, when it is determined that the gait is switching from the climbing state back to the flat ground state, the flag S is set to False; 704, when a gait reset occurs during the movement, the flag S is set to False.

[0118] In summary, during the movement of the wearer with the assistance of the exoskeleton device, the current action state of the wearer is determined by reading the first angle of the swing leg, the second angle of the supporting leg, and the wearer's pitch angle. When the action state is climbing, the action assistance provided by the exoskeleton device is controlled according to the assistant control mode corresponding to the climbing state. This allows the device to adaptively capture changes in the wearer's action state during the movement, enabling the exoskeleton device to provide reasonable assistance when the wearer is climbing. This avoids the problem of insufficient assistance in scenarios such as mountain climbing or stair climbing, where the swing leg stays on the steps for too long before continuing the climb. It improves the matching between the action assistance provided by the exoskeleton device and the wearer's action state, as well as the accuracy and comfort of the assistance provided.

[0119] In some optional embodiments, the determination of the action state is achieved by incorporating the gait phase phase of the swing leg. For illustrative purposes, please refer to [reference needed]. Figure 8 The diagram illustrates a flowchart of a control method for an exoskeleton device provided in an exemplary embodiment of this application, which may include at least one of the following steps (331-342).

[0120] Step 331: Obtain the gait phase phase corresponding to the swing leg.

[0121] The gait phase phase indicates the current gait phase of the swing leg within the gait performance cycle. The gait performance cycle indicates the lifting and landing of at least one leg during movement of the wearer.

[0122] Optionally, the gait performance cycle can be realized as a cycle consisting of the lifting and landing processes of the swing leg of the wearer. For example, the swing leg can be realized as the right leg or the left leg, and the gait performance cycle includes a cycle consisting of the lifting and landing processes of the right leg or the left leg.

[0123] Optionally, the gait performance cycle can be a cycle consisting of the alternating lifting and landing processes of at least two legs of the wearer as swing legs. That is, the gait performance cycle is the cycle formed from the heel of one side of the wearer landing until that side heel lands again. For example, if the right leg and left leg alternate as swing legs, the gait performance cycle includes the lifting and landing processes of the wearer's right leg and the lifting and landing processes of the left leg.

[0124] In some embodiments, the gait performance cycle is divided according to the lifting and lowering of the wearer's legs. The gait phase phase corresponding to the wearer includes: the leg lifting phase and the leg lowering phase; wherein the leg lifting phase and the leg lowering phase are divided by the highest point of the leg lifting.

[0125] In other embodiments, set points are provided during the raising and lowering of the wearer's legs to further divide the raising and lowering processes. The gait phase stages corresponding to the wearer include: the start of the raising phase, the continuous raising phase, the continuous lowering phase, and the end of the lowering phase. The start of the raising phase and the continuous raising phase are separated by a first set point, the continuous raising phase and the continuous lowering phase are separated by the highest point of the leg raising, and the continuous lowering phase and the end of the lowering phase are separated by a second set point.

[0126] Optionally, the gait phase phase can be obtained in at least one of the following ways:

[0127] The first method involves determining the current gait phase of the wearer based on the change in the angle between the swinging leg and the supporting leg.

[0128] Indicatively, the first angle between the swinging leg and the supporting leg of the wearer is obtained; and the angle change information corresponding to the swinging leg and the supporting leg is obtained respectively; based on the first angle and the angle change information, the gait phase stage corresponding to the wearer is determined.

[0129] The first included angle is used to indicate the difference in rotation angle between the swing leg and the supporting leg in the sagittal plane. That is, the first included angle information indicates the angle between the swing leg and the supporting leg in the sagittal plane, which can show the magnitude of the swing angle of the swing leg during the swinging process.

[0130] In some embodiments, the exoskeleton device includes at least two encoders, each mounted on one of the wearer's legs. The encoder outputs include the rotation angle of the corresponding leg in the sagittal plane. Illustratively, a first angle is output by a first encoder mounted on the swing leg, and a second angle is output by a second encoder mounted on the support leg; the difference between the first and second angles is used to obtain a first included angle.

[0131] In other embodiments, the exoskeleton device includes an image acquisition device that acquires a gait image corresponding to the wearer, identifies at least one first key point corresponding to the swing leg and at least one second key point corresponding to the supporting leg in the gait image, and obtains a first included angle through at least one first key point and at least one second key point.

[0132] Optionally, the first key point can be at least one of a point on the knee joint of the swinging leg and a point in the leg of the swinging leg, and the second key point can be at least one of a point on the knee joint of the supporting leg and a point in the leg of the supporting leg.

[0133] In one example, the first knee joint point corresponding to the swing leg, the second knee joint point corresponding to the supporting leg, and the pelvic center point of the wearer are identified in the gait image. The angle between the first ray pointing from the pelvic center to the first knee joint point and the second ray pointing from the pelvic center to the second knee joint point is calculated, and the calculation result is used as the first angle.

[0134] The angle change information is used to indicate the changing trend of the difference in the rotation angle between the swing leg and the support leg in the sagittal plane. That is, the angle change information indicates at least one of the following: the angle between the swing leg and the support leg in the sagittal plane shows an increasing trend, a decreasing trend, or a stagnant state.

[0135] In some embodiments, the angle change information is determined by the difference between the first angle corresponding to the current moment and the historical angle corresponding to the previous moment, wherein the previous moment is a historical moment prior to the current moment, a preset time interval away from the current moment. Illustratively, the exoskeleton device continuously records the angle between the swing leg and the supporting leg of the wearer at preset time intervals; when determining the gait phase corresponding to the current moment, it acquires the historical angle of the previous moment corresponding to the current moment; when the first angle is greater than the historical angle, it is determined that the angle between the swing leg and the supporting leg in the sagittal plane shows an increasing trend; when the first angle is less than the historical angle, it is determined that the angle between the swing leg and the supporting leg in the sagittal plane shows a decreasing trend; when the first angle is equal to the historical angle, it is determined that the angle between the swing leg and the supporting leg in the sagittal plane is in a stagnant state.

[0136] In other embodiments, the angle change information is determined by the first velocity direction corresponding to the swing leg at the current moment. Illustratively, when determining the gait phase at the current moment, the exoskeleton device detects the first velocity direction of the swing leg at that moment; when the first velocity direction is away from the supporting leg, it is determined that the angle between the swing leg and the supporting leg in the sagittal plane shows an increasing trend; when the first velocity direction is towards the supporting leg, it is determined that the angle between the swing leg and the supporting leg in the sagittal plane shows a decreasing trend.

[0137] In some embodiments, the gait performance cycle includes a first gait phase and a second gait phase, wherein the first gait phase is the stage in which the swing leg of the wearer descends during the gait performance cycle, and the second gait phase is the stage in which the swing leg of the wearer rises during the gait performance cycle. Illustratively, when the first angle is within a first angular range, and the angle change information indicates that the angle between the swing leg and the supporting leg is decreasing, the first gait phase is considered the gait phase phase; when the first angle is within a second angular range, and the angle change information indicates that the angle between the swing leg and the supporting leg is increasing, the second gait phase is considered the gait phase phase.

[0138] In some embodiments, when the gait phases in the gait performance cycle include a leg lift phase and a leg descent phase, the first gait phase is implemented as a leg descent phase and the second gait phase is implemented as a leg lift phase.

[0139] In other embodiments, when the gait phases in the gait performance cycle include an initial lifting phase, a continuous lifting phase, a continuous descent phase, and an end of the descent phase, the first gait phase is implemented as a continuous descent phase or an end of the descent phase, and the second gait phase is implemented as a continuous lifting phase or an initial lifting phase.

[0140] Optionally, the first angle range and the second angle range can be the same or different, and this is not limited here.

[0141] Optionally, the first angle range and the second angle range can be preset angle ranges by the system, or angle ranges determined based on the historical gait cycle curve of the wearer within a specified historical period.

[0142] In one example, a historical gait cycle curve is generated within a specified historical period, using the angle between the swing leg and the supporting leg of the wearer as the independent variable and the gait phase of the wearer as the dependent variable. A first angle range and a second angle range are then determined from the historical gait cycle curve. For example, if the angle range formed from when the swing leg and the supporting leg are aligned to when the swing leg swings to its highest point is [0°, 30°], then the first angle range and the second angle range can be set to [15°, 30°].

[0143] The second method involves determining the current gait phase of the wearer based on the matching between the first gait cycle curve formed by the swing leg and the supporting leg of the wearer during a historical period and the reference gait cycle curve.

[0144] In a schematic manner, based on the first included angle and the included angle change information, the first gait cycle curve of the wearable object is obtained; the reference gait cycle curve corresponding to the wearable object is obtained; and the gait phase stage corresponding to the wearable object is determined according to the curve trend matching between the first gait cycle curve and the reference gait cycle curve.

[0145] The first step gait cycle curve is a curve generated over a historical period with the angle between the swing leg and the supporting leg in the sagittal plane as the independent variable and the gait phase of the wearer as the dependent variable.

[0146] The historical time period is a time interval that starts at the first moment and ends at the current moment. Here, the first moment is the moment before the current moment. Optionally, the first moment can be at least one of the following: the initial moment of the gait performance cycle, the moment when the wearable object begins to move, or the moment when the exoskeleton device is activated. There is no limitation on this.

[0147] The baseline gait cycle curve is a gait cycle curve used for reference. In some embodiments, the baseline gait cycle curve can be implemented as the gait cycle curve of the wearable object used for motion assistance control in a flat terrain scenario; in other embodiments, the baseline gait curve can be implemented as the gait cycle curve of the wearable object's historical gait performance cycle, wherein the historical gait performance cycle is the gait performance cycle prior to the current gait performance cycle.

[0148] In some embodiments, the reference gait cycle curve includes at least one gait performance cycle, which includes a first gait phase and a second gait phase. Illustratively, if the curve trend of the first gait cycle curve at the current moment matches the curve trend in the first gait phase, the first gait phase is taken as the gait phase phase; if the curve trend of the first gait cycle curve at the current moment matches the curve trend in the second gait phase, the second gait phase is taken as the gait phase phase.

[0149] For example, when the first step phase curve is trending towards the level point between the swing leg and the supporting leg at the current moment, the first step phase is taken as the gait phase phase; when the first step phase curve is trending towards the highest point (positive or negative), the second step phase is taken as the gait phase phase.

[0150] The third method involves detecting the first step phase corresponding to the current moment of the wearer and taking the gait phase to which the first step phase belongs in the reference gait cycle curve as the gait phase phase.

[0151] The first step phase is used to indicate the time position corresponding to the gait of the wearable object at the current moment. In some embodiments, the exoskeleton device includes a preset sensor, or the exoskeleton device is connected to a preset sensor. Schematic, the first step phase corresponding to the wearable object at the current moment is detected by the sensor output of the preset sensor.

[0152] Optionally, the aforementioned preset sensor can be at least one of a plantar pressure sensor, an electromyography sensor, an IMU, a camera, etc.

[0153] In one example, when the preset sensor is implemented as a plantar pressure sensor, the plantar pressure corresponding to the supporting leg is detected by the plantar pressure sensor to determine the first step phase corresponding to the wearer at the current moment. Illustratively, a preset pressure change curve is obtained. This pressure change curve is generated with the plantar pressure of the supporting leg as the ordinate and the gait phase as the abscissa. Based on the plantar pressure at the current moment and the trend of plantar pressure change, the corresponding first step phase is found from the pressure change curve.

[0154] In another example, when the preset sensor is implemented as an electromyography (EMG) sensor, the EMG signals of the swing leg and / or supporting leg are detected by the EMG sensor, and the gait phase that matches the EMG signal is taken as the first gait phase.

[0155] Step 332: When the gait phase is the first gait phase, determine the action state of the wearer based on the first angle, the second angle, and the pitch angle.

[0156] In this embodiment of the application, when the gait phase is determined to be the first gait phase, the action state of the wearer is determined by the first angle, the second angle and the pitch angle.

[0157] In this embodiment, the action state of the wearer can be determined by the first angle of the swinging leg, the second angle of the supporting leg, and the pitch angle of the wearer. The action state indicates the state of the action performed by the wearer at the current moment. Optionally, the action state of the wearer includes walking on flat ground, standing still, climbing, jumping, etc.

[0158] In some embodiments, determining the action state of the wearable object based on the first angle, the second angle, and the pitch angle is implemented as follows: determining the third angle corresponding to the swing leg based on the first angle and the pitch angle, wherein the third angle is used to indicate the angle of the swing leg relative to the vertical direction; determining the fourth angle corresponding to the supporting leg based on the second angle and the pitch angle, wherein the fourth angle is used to indicate the angle of the supporting leg relative to the vertical direction; obtaining the first included angle between the first angle and the second angle; and determining the action state of the wearable object based on the third angle, the fourth angle, and the first included angle.

[0159] In some embodiments, when the third angle reaches the first angle threshold, the fourth angle reaches the second angle threshold, and the first included angle reaches the first included angle threshold, the action state of the wearable object is determined to be a climbing state.

[0160] The first angle threshold is the threshold corresponding to the swing leg, and the second angle threshold is the threshold corresponding to the supporting leg.

[0161] Optionally, the first angle threshold and the second angle threshold can be fixed values ​​preset by the system; or, the first angle threshold and the second angle threshold can be custom values ​​set by the wearable object, which are not limited here. Optionally, the first included angle threshold can be a fixed value preset by the system; or, the first included angle threshold can be a custom value set by the wearable object, which are not limited here.

[0162] Step 341: When the action state is climbing, obtain the first dwell time of the wearable object in the first step state.

[0163] In this embodiment of the application, when the current gait phase of the wearable object is the first gait phase, and it is determined to be in a climbing state by the first angle, the second angle and the pitch angle, the first dwell time of the wearable object in the first gait phase is obtained.

[0164] In some embodiments, the first dwell time can be obtained as follows: when the gait phase of the wearable object is detected to reach the first phase node, a timer is started; if the first gait phase of the wearable object at the current moment has not reached the second phase node, the timing result of the timer at the current moment is obtained as the first dwell time.

[0165] In some embodiments, whether the gait phase has reached the first phase node is determined by the velocity and acceleration direction of the swing leg. Illustratively, the first velocity and first acceleration of the swing leg of the wearer are acquired; when the first velocity is a first value and the acceleration direction of the first acceleration is the downward direction of the leg, a timer is started. Here, the first value is a preset velocity threshold. In one example, the first value is 0, that is, when the velocity of the swing leg is 0 and the acceleration direction of the first acceleration of the swing leg is the downward direction of the leg, it indicates that the swing leg has reached the highest point of the lifting process. At this phase, a timer is started to time the first gait phase and determine the timeout.

[0166] Step 342: When the first dwell time reaches a preset duration threshold, the exoskeleton device is controlled to provide mobility assistance to the wearable object in the assist control mode corresponding to the climbing state.

[0167] In this embodiment, when the first dwell time reaches a preset duration threshold, it indicates that the first state phase has timed out. In the case of the first state phase timeout, the exoskeleton device is controlled to provide mobility assistance to the wearer in the assist control mode corresponding to the climbing state.

[0168] Optionally, the preset duration threshold can be a fixed value preset by the system; or, the preset duration threshold can be a custom value set by the wearer; or, the preset duration threshold can be generated based on the wearer's historical motion data.

[0169] In one example, when the preset duration threshold is generated based on the wearer's historical motion data, the historical motion data may optionally include at least one of the following data from the wearer's historical usage records of the wearable exoskeleton device: cadence, gait cycle completeness, and gait speed. For example, the preset duration threshold may be negatively correlated with cadence in historical usage records; that is, the faster the cadence in historical usage records, the shorter the preset duration threshold, and vice versa. Similarly, the preset duration threshold may be negatively correlated with gait cycle completeness in historical usage records; that is, the higher the gait cycle completeness in historical usage records, the shorter the preset duration threshold, and vice versa. Furthermore, the preset duration threshold may be negatively correlated with gait speed in historical usage records; that is, the faster the gait speed in historical usage records, the shorter the preset duration threshold, and vice versa.

[0170] In some embodiments, if the first dwell time does not reach a preset time threshold, the exoskeleton device is controlled to provide movement assistance to the wearer in the assist control mode corresponding to the flat ground state; if the first dwell time reaches the preset time threshold, the exoskeleton device is controlled to provide movement assistance to the wearer in the assist control mode corresponding to the climbing state.

[0171] In some embodiments, when the first dwell time reaches a preset duration threshold, the exoskeleton device is controlled to provide motion assistance to the wearer in the assistance control mode corresponding to the climbing state. This is achieved by: when the first dwell time reaches the preset duration threshold, controlling the exoskeleton device to reduce the motion assistance to the wearer from a preset rate of change to a preset assistance threshold; and controlling the exoskeleton device to provide motion assistance to the wearer based on the detection result of whether the swing leg has started to move.

[0172] In a schematic example, during the assist control mode corresponding to the climbing state, the exoskeleton device provides mobility assistance to the wearer using a second gait cycle curve. This second gait cycle curve is the gait cycle curve that reverts the first gait phase corresponding to the timeout moment to the target gait phase, where the target gait phase is the gait phase preceding the initial gait phase of the first gait stage.

[0173] In some embodiments, the second gait period curve includes a fifth phase node, which is a phase node located before the first phase node. Optionally, the fifth phase node can be implemented as follows: Figure 1 The phase shown is either phase 0 or phase 1. Optionally, the target gait phase can be implemented as the fifth phase node, or a specified node between the fifth phase node and the first phase node, without limitation.

[0174] Optionally, the preset change rate can be a fixed speed value or a changing speed value, and is not limited here. Optionally, the preset assistance threshold can be a fixed value preset by the system or a custom value set by the wearer.

[0175] In one example, the preset assistance threshold is 0, that is, the assistance provided by the exoskeleton device to the wearer decreases from a preset rate of change to 0 during the target gait phase.

[0176] In other embodiments, the method provided in this application can also be executed as follows: obtaining a first angle corresponding to the swing leg through a first encoder, and obtaining a second angle of the supporting leg through a second encoder; obtaining the pitch angle corresponding to the wearer of the exoskeleton device through an inertial measurement unit; obtaining the gait phase stage corresponding to the swing leg; when the gait phase stage is the first gait stage, obtaining the first dwell time of the wearer in the first gait stage; when the first dwell time reaches a preset duration threshold, determining the action state of the wearer based on the first angle, the second angle, and the pitch angle; and controlling the exoskeleton device to provide action assistance to the wearer in an assist control mode corresponding to the climbing state.

[0177] For example, the process of determining the climbing state when the right leg is the swing leg is as follows: Figure 9 As shown, the process includes the following steps:

[0178] 901, if the wearer's gait phase is determined to be between phase 2 and phase 3 and a timeout has occurred, proceed to 902;

[0179] 902, determine a r >β&&a l >γ, Encoder>2α+H_DEF, execute 903, where a rLet a be the first included angle corresponding to the right leg. l The second included angle corresponds to the left leg, β is the first included angle threshold, γ is the second included angle threshold, Encoder is the encoder output, 2α is the second encoding threshold, and H_DEF is... Figure 1 The first setting value is 101;

[0180] 903. Confirm that the right leg is in a climbing state, and control the exoskeleton device to provide movement assistance to the wearer using the assist control mode corresponding to the climbing state.

[0181] For example, the process of determining the climbing state when the left leg is the swing leg is as follows: Figure 10 As shown, the process includes the following steps:

[0182] 1001, if the wearer's gait phase is determined to be between phase 6 and phase 7 and a timeout has occurred, proceed to 1002;

[0183] 1002, determine a l >β&&a r >γ, Encoder>2α-L_DEF, execute 1003, where a r Let a be the first included angle corresponding to the right leg. l The second included angle corresponds to the left leg, β is the first included angle threshold, γ is the second included angle threshold, Encoder is the encoder output, 2α is the second encoding threshold, and L_DEF is... Figure 1 The second setting value is 102;

[0184] 1003, confirm that the left leg is in a climbing state, and control the exoskeleton device to provide movement assistance to the wearer using the assist control mode corresponding to the climbing state.

[0185] In some embodiments, when it is identified that assistance control is needed in the climbing state, the speed and angle of the swing leg determine whether to restore assistance. Illustratively, a first speed and a fifth angle corresponding to the swing leg are obtained through a first encoder, and a sixth angle corresponding to the supporting leg is obtained through a second encoder; a second included angle between the fifth and sixth angles is obtained; if the first speed is greater than a first speed threshold and the second included angle is less than a second included angle threshold, it is determined that the swing leg begins to move, and the exoskeleton device is controlled to provide mobility assistance to the wearer.

[0186] Indicatively, the exoskeleton device includes at least two encoders, including a first encoder mounted on the swing leg and a second encoder mounted on the support leg. The device acquires the pulse change of the first encoder mounted on the swing leg within a preset time interval, and then calculates the first speed corresponding to the swing leg based on the encoder resolution and mechanical transmission ratio.

[0187] In some embodiments, after identifying that the swing leg is in a climbing state, there are two possibilities: one is that the wearer moves upward normally; the other is that the wearer puts the swing leg back to the ground. Therefore, different actions should be taken for these two different situations. In the first case, the exoskeleton device needs to continue to provide assistance, and the amount of assistance needs to be determined based on the gait frequency and gait amplitude at the timeout point, continuing the assistance that should have been provided. In the second case, for safety reasons, after quickly determining that the wearer has put the leg down, the assistance needs to be stopped in time, and the gait state needs to be reset.

[0188] In some embodiments, the motion trend of the swing leg is acquired, wherein the motion trend is used to indicate the direction of motion of the swing leg; when the motion trend is an upward motion trend, the exoskeleton device is controlled to provide motion assistance to the wearer.

[0189] In some embodiments, the motion trend is obtained by: obtaining the axial acceleration corresponding to the wearable object through an inertial measurement unit; determining the motion trend of the swinging leg as an upward motion trend when the axial acceleration reaches a first acceleration threshold; and determining the motion trend of the swinging leg as a downward motion trend when the axial acceleration does not reach the first acceleration threshold.

[0190] In one example, the baseline gait period curve is implemented as follows: Figure 6 Taking the gait cycle curve shown as an example, and exemplarily using the right leg as the swing leg, after determining that the right leg is in a climbing state, the judgment process for assist execution is as follows: Figure 11 As shown, the process includes the following steps:

[0191] 1101, confirm that the right leg is in a climbing position, proceed to 1102;

[0192] 1102, confirm V r >V stop And, Encoder <H max -α, execute 1103, where V r V represents the second velocity corresponding to the right leg. stop The preset second speed threshold, the Encoder is the output of the right leg encoder, α is the fourth encoding threshold, and H is... max for Figure 1 The encoder output difference corresponding to phase 2 in the figure;

[0193] 1103, Determine the phase 2 to 2' phase a z Is it greater than a? s If yes, then execute 1104; otherwise, execute 1105, where a z Let a be the axial acceleration of the wearer. s The preset first acceleration threshold;

[0194] 1104, continue climbing, providing movement assistance based on the gait cycle curve;

[0195] 1105, confirm that the right leg is down, stop providing movement assistance, and reset the gait phase.

[0196] For example, using the left leg as the swing leg, after determining that the left leg is in a climbing state, the process of determining the assistance execution is as follows: Figure 12 As shown, the process includes the following steps:

[0197] 1201, confirm that the left leg is in a climbing position, proceed to 1202;

[0198] 1202, confirm V l >V stop And, Encoder<α+L max Execute 1203, where V l V represents the second velocity corresponding to the right leg. stop The second speed threshold is preset, the encoder is the output of the left leg encoder, α is the fourth encoding threshold, and L is the second speed threshold preset. max for Figure 1 The encoder output difference corresponding to phase 6 in the figure;

[0199] 1203, determine the phase 6 to 6' stage a z Is it greater than a? s If yes, then execute 1204; otherwise, execute 1205, where a z Let a be the axial acceleration of the wearer. s The preset first acceleration threshold;

[0200] 1204, continue climbing, providing movement assistance based on the gait cycle curve;

[0201] 1205, confirm that the left leg is down, stop providing movement assistance, and reset the gait phase.

[0202] When the exoskeleton device provides assistance at each gait phase, a preset duration threshold is set for timeout detection. The setting of the preset duration threshold and the detection process are as follows: Figure 13As shown, the timeout judgment process is implemented schematically as follows: 1301, obtain Duration and sec, where Duration represents the duration of the current phase and sec is a preset duration threshold; 1302, determine if Duration < k*sec, if so, proceed to 1303, where k is a preset coefficient, a small value between 0 and 1; 1303, set kf = 1, where kf is the coefficient of the torque output by the exoskeleton device; 1304, determine if k*sec ≤ Duration < sec, if so, proceed to 1305; 1305, set kf = (sec - Duration) / (sec - k*sec); 1306, determine if Duration ≥ sec, if so, proceed to 1307; 1307, set kf = 0. In other words, when the duration of the gait phase is short, the torque output by the exoskeleton device will be generated exactly according to the gait cycle curve. When the duration is between k*sec and sec, the coefficient kf will have a transition from 1 to 0 to ensure the smoothness of the output force. When the duration reaches sec (i.e., timeout), the torque output by the exoskeleton device is 0.

[0203] In climbing scenarios such as mountaineering and stair climbing, during the process of the wearer lowering their swing leg, the swing leg may move too slowly, causing the timeout to occur before the leg has stopped moving. This can result in the exoskeleton device cutting off assistance halfway through the swing leg's movement, making it unsuitable for the wearer's motion. In some optional embodiments, to address this issue, the preset duration threshold used for determining the timeout in the first step phase is modulated.

[0204] Indicatively, when the gait phase is the first gait phase, the second acceleration and the second velocity corresponding to the swing leg are obtained; when the second acceleration reaches the second acceleration threshold and the second velocity reaches the second velocity threshold, the preset duration threshold corresponding to the first gait phase is iteratively updated based on the first dwell time to obtain the updated preset duration threshold; when the first dwell time reaches the updated preset duration threshold, the exoskeleton device is controlled to provide movement assistance to the wearer in the assist control mode corresponding to the climbing state.

[0205] In some embodiments, the first step state corresponds to an initially set preset duration threshold. When the second acceleration reaches the second acceleration threshold and the second velocity reaches the second velocity threshold, the updated preset duration threshold is obtained based on the initially set preset duration threshold.

[0206] In some embodiments, a preset coefficient and the first dwell time corresponding to the gait phase at the current time are obtained; the preset duration threshold is weighted by the preset coefficient to obtain a weighted preset duration threshold; the weighted preset duration threshold is added to the first dwell time to obtain an updated preset duration threshold.

[0207] In this embodiment, the preset duration threshold that has been iteratively updated is used to determine whether the gait phase phase has timed out. If the gait phase phase, which is the first gait phase, has timed out, the exoskeleton device is controlled to provide movement assistance to the wearer in the assist control mode corresponding to the climbing state.

[0208] In one example, such as Figure 14 The diagram illustrates a flowchart of a preset duration threshold iterative update and timeout determination provided in an exemplary embodiment of this application. The flowchart includes: 1401, obtaining Duration, sec, and sec0, where Duration represents the duration of the current phase, sec is the preset duration threshold used for timeout determination, and sec0 is the value of k*sec in the original walking state, which is also the initial value of sec; 1402, monitoring the axial acceleration a obtained through the IMU. z When there exists a z Greater than the preset value a s Set flag C to True; 1403, when flag C is True, determine the speed V of the swinging leg. z Is it greater than the preset value V? stop If yes, execute 1404; 1404, update sec = Duration + (1-k)*sec0, where k is a preset value between 0 and 1; 1405, determine if Duration < sec, if yes, execute 1406; 1406, set kf = 1, where kf is the coefficient of the torque output by the exoskeleton device; 1407, determine if sec ≤ Duration < sec + (1-k)*sec0, if yes, execute 1408; 1408, set kf = 1 - (Duration - sec) / (sec0 - k*sec0); 1409, determine if Duration ≥ sec + (1-k)*sec0, if yes, execute 1410; 1410, set kf = 0.

[0209] In other words, during the gait phase, if the detected axial acceleration exceeds a set value, it indicates that the wearer is climbing upwards, and assistance needs to be continuously supplied. As soon as acceleration exceeding the set value is confirmed, flag C is set to True. If the duration of the gait phase is less than sec, the system will adjust the flag based on the true / false value of C and whether the speed of the extended leg exceeds a preset value V. stopAs long as the extended leg does not stop, sec will be refreshed to the value of Duration + (1-k)*sec0. This ensures that the assist will not be interrupted during the climb, and the transition phase of kf will only begin when the speed of the extended leg is about to stop.

[0210] In summary, during the movement of the wearer with the assistance of the exoskeleton device, the current action state of the wearer is determined by reading the first angle of the swing leg, the second angle of the supporting leg, and the wearer's pitch angle. When the action state is climbing, the action assistance provided by the exoskeleton device is controlled according to the assistant control mode corresponding to the climbing state. This allows the device to adaptively capture changes in the wearer's action state during the movement, enabling the exoskeleton device to provide reasonable assistance when the wearer is climbing. This avoids the problem of insufficient assistance in scenarios such as mountain climbing or stair climbing, where the swing leg stays on the steps for too long before continuing the climb. It improves the matching between the action assistance provided by the exoskeleton device and the wearer's action state, as well as the accuracy and comfort of the assistance provided.

[0211] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0212] Please refer to Figure 15 The diagram illustrates a block diagram of a control device for an exoskeleton device according to an embodiment of this application. The exoskeleton device includes an inertial measurement unit and at least two encoders, including a first encoder mounted on a swing leg and a second encoder mounted on a support leg. The device includes:

[0213] The acquisition module 1510 is used to acquire the first angle corresponding to the swing leg through the first encoder, and to acquire the second angle of the support leg through the second encoder;

[0214] The acquisition module 1510 is also used to acquire the pitch angle corresponding to the wearer of the exoskeleton device through the inertial measurement unit, wherein the pitch angle is the angle between the longitudinal axis of the wearer and a preset horizontal plane.

[0215] The determining module 1520 is used to determine the action state of the wearable object based on the first angle, the second angle, and the pitch angle;

[0216] Control module 1530 is used to control the exoskeleton device to provide movement assistance to the wearable object in the assistance control mode corresponding to the climbing state when the action state is climbing state, wherein the climbing state refers to the wearable object being in an upward movement state.

[0217] In some optional embodiments, the determining module 1520 is further configured to determine a third angle corresponding to the swing leg based on the first angle and the pitch angle, the third angle being used to indicate the angle of the swing leg relative to the vertical direction;

[0218] The determining module 1520 is further configured to determine a fourth angle corresponding to the support leg based on the second angle and the pitch angle, wherein the fourth angle is used to indicate the angle of the support leg relative to the vertical direction;

[0219] The acquisition module 1510 is further configured to acquire the first included angle between the first angle and the second angle;

[0220] The determining module 1520 is further configured to determine the action state of the wearable object based on the third angle, the fourth angle and the first included angle.

[0221] In some optional embodiments, the determining module 1520 is further configured to determine the action state of the wearable object as the climbing state when the third angle reaches the first angle threshold, the fourth angle reaches the second angle threshold, and the first included angle reaches the first included angle threshold.

[0222] In some optional embodiments, the acquisition module 1510 is further configured to acquire the gait phase stage corresponding to the swing leg, wherein the gait phase stage is used to indicate the stage to which the current gait phase of the swing leg belongs within the gait performance cycle;

[0223] The determining module 1520 is further configured to determine the action state of the wearer based on the first angle, the second angle and the pitch angle when the gait phase phase is the first gait phase, wherein the first gait phase is the phase in which the swing leg descends during the gait performance cycle.

[0224] In some optional embodiments, the acquisition module 1510 is further configured to acquire the first dwell time of the wearable object in the first step state when the action state is the climbing state;

[0225] The control module 1530 is further configured to control the exoskeleton device to provide mobility assistance to the wearer in the assistance control mode corresponding to the climbing state when the first dwell time reaches a preset duration threshold.

[0226] In some optional embodiments, the control module 1530 is further configured to control the exoskeleton device to reduce the motion assistance provided to the wearer from a preset rate of change to a preset assistance threshold when the first dwell time reaches a preset duration threshold.

[0227] The control module 1530 is also used to control the exoskeleton device to provide mobility assistance to the wearer based on the detection result of whether the swinging leg has started to move.

[0228] In some optional embodiments, the acquisition module 1510 is further configured to acquire the first speed and fifth angle corresponding to the swing leg through the first encoder, and to acquire the sixth angle corresponding to the support leg through the second encoder;

[0229] The acquisition module 1510 is further configured to acquire the second included angle between the fifth angle and the sixth angle;

[0230] The control module 1530 is further configured to determine that the swing leg begins to move when the first speed is greater than the first speed threshold and the second included angle is less than the second included angle threshold, and control the exoskeleton device to provide movement assistance to the wearer.

[0231] In some optional embodiments, the acquisition module 1510 is further configured to acquire the motion trend of the swing leg, the motion trend being used to indicate the direction of motion of the swing leg;

[0232] The control module 1530 is also used to control the exoskeleton device to provide movement assistance to the wearer when the movement trend is an upward movement trend.

[0233] In some optional embodiments, the acquisition module 1510 is further configured to acquire the axial acceleration corresponding to the wearable object through the inertial measurement unit;

[0234] The determining module 1520 is further configured to determine the motion trend of the swing leg as the upward motion trend when the axial acceleration reaches the first acceleration threshold.

[0235] The determining module 1520 is further configured to determine that the movement trend of the swing leg is a downward movement trend when the upward acceleration does not reach the first acceleration threshold.

[0236] In some optional embodiments, the acquisition module 1510 is further configured to acquire the second acceleration and second velocity corresponding to the swing leg when the gait phase phase is the first gait phase;

[0237] The determining module 1520 is further configured to, when the second acceleration reaches the second acceleration threshold and the second speed reaches the second speed threshold, iteratively update the preset duration threshold corresponding to the first state stage based on the first dwell time, so as to obtain the updated preset duration threshold.

[0238] The control module 1530 is further configured to control the exoskeleton device to provide mobility assistance to the wearer in the assist control mode corresponding to the climbing state when the first dwell time reaches the updated preset time threshold.

[0239] In some optional embodiments, the control module 1530 is further configured to control the exoskeleton device to provide motion assistance to the wearer when the action state is a climbing state, with a target limiting threshold, wherein the target limiting threshold is used to indicate the limitation on the lifting height of the swing leg when the exoskeleton device provides motion assistance to the wearer, the target limiting threshold is greater than an initial limiting threshold, and the initial limiting threshold is the limitation on the lifting height of the swing leg when the wearer moves in a flat scene.

[0240] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0241] Please refer to Figure 16 This diagram illustrates a structural block diagram of an exoskeleton device 1600 according to an embodiment of this application. The exoskeleton device 1600 is used to implement the control method for the exoskeleton device provided in the above embodiments. Specifically:

[0242] Typically, the exoskeleton device 1600 includes a processor 1601 and a memory 1602.

[0243] Processor 1601 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1601 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1601 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1601 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 1601 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0244] The memory 1602 may include one or more computer-readable storage media, which may be non-transitory. The memory 1602 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1602 are used to store a computer program configured to be executed by one or more processors to implement the above-described information display method.

[0245] In some embodiments, the exoskeleton device 1600 may also optionally include other components 1603: a peripheral device interface and at least one peripheral device. The processor 1601, memory 1602, and peripheral device interface can be connected via a bus or signal lines. Each peripheral device can be connected to the peripheral device interface via a bus, signal lines, or a circuit board. Specifically, the peripheral device includes at least one of: radio frequency circuitry, a display screen, sensors, encoders, audio circuitry, and a power supply.

[0246] Those skilled in the art will understand that Figure 16 The structure shown does not constitute a limitation on the exoskeleton device 1600 and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0247] In an exemplary embodiment, a computer-readable storage medium is also provided, wherein a computer program is stored in the storage medium, and the computer program, when executed by a processor, implements the control method of the exoskeleton device described above. Optionally, the computer-readable storage medium may include: ROM (Read-Only Memory), RAM (Random Access Memory), SSD (Solid State Drives), or optical disc, etc. The random access memory may include ReRAM (Resistance Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0248] In an exemplary embodiment, a computer program product is also provided, the computer program product including a computer program stored in a computer-readable storage medium. A processor of a terminal device reads the computer program from the computer-readable storage medium, and the processor executes the computer program, causing the terminal device to perform the control method for the exoskeleton device described above.

[0249] It should be noted that the data collection and processing in this application should strictly comply with the requirements of relevant national laws and regulations, obtain the informed consent or separate consent of the personal information subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the personal information subject.

[0250] It should be understood that "multiple" as used herein refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, the step numbers described herein are merely illustrative of one possible execution order. In some other embodiments, the steps may not be executed in numerical order, such as two steps with different numbers being executed simultaneously, or two steps with different numbers being executed in the reverse order of the illustration. This application does not limit this.

[0251] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for an exoskeleton device, characterized in that, The exoskeleton device includes an inertial measurement unit and at least two encoders, the at least two encoders including a first encoder mounted on the swing leg and a second encoder mounted on the support leg, the method comprising: The first angle corresponding to the swing leg is obtained through the first encoder, and the second angle of the supporting leg is obtained through the second encoder; The pitch angle corresponding to the wearer of the exoskeleton device is obtained through the inertial measurement unit. The pitch angle is the angle between the longitudinal axis of the wearer and a preset horizontal plane. Based on the first angle, the second angle, and the pitch angle, the action state of the wearer is determined; When the action state is climbing, the exoskeleton device is controlled to provide movement assistance to the wearer in the assist control mode corresponding to the climbing state. The climbing state refers to the wearer being in an upward movement state.

2. The method according to claim 1, characterized in that, Determining the action state of the wearable object based on the first angle, the second angle, and the pitch angle includes: Based on the first angle and the pitch angle, a third angle corresponding to the swing leg is determined, and the third angle is used to indicate the angle of the swing leg relative to the vertical direction; Based on the second angle and the pitch angle, a fourth angle corresponding to the support leg is determined, the fourth angle being used to indicate the angle of the support leg relative to the vertical direction; Obtain the first included angle between the first angle and the second angle; The action state of the wearer is determined based on the third angle, the fourth angle, and the first included angle.

3. The method according to claim 2, characterized in that, Determining the action state of the wearable object based on the third angle, the fourth angle, and the first included angle includes: When the third angle reaches the first angle threshold, the fourth angle reaches the second angle threshold, and the first included angle reaches the first included angle threshold, the action state of the wearable object is determined to be the climbing state.

4. The method according to any one of claims 1 to 3, characterized in that, Determining the action state of the wearable object based on the first angle, the second angle, and the pitch angle includes: The gait phase stage corresponding to the swing leg is obtained, and the gait phase stage is used to indicate the stage to which the current gait phase of the swing leg belongs within the gait performance cycle; When the gait phase is the first gait phase, the action state of the wearer is determined based on the first angle, the second angle, and the pitch angle. The first gait phase is the stage in which the swing leg descends during the gait performance cycle.

5. The method according to claim 4, characterized in that, When the action state is climbing, the exoskeleton device is controlled to provide movement assistance to the wearer using the assist control mode corresponding to the climbing state, including: When the action state is the climbing state, the first dwell time of the wearable object in the first step state phase is obtained; When the first dwell time reaches a preset time threshold, the exoskeleton device is controlled to provide movement assistance to the wearer in the assist control mode corresponding to the climbing state.

6. The method according to claim 5, characterized in that, When the first dwell time reaches a preset duration threshold, the exoskeleton device is controlled to provide mobility assistance to the wearer using the assist control mode corresponding to the climbing state, including: When the first dwell time reaches a preset duration threshold, the exoskeleton device is controlled to reduce the movement assistance of the wearer from a preset rate of change to a preset assistance threshold. Based on the detection results of whether the swinging leg has started to move, the exoskeleton device is controlled to provide mobility assistance to the wearer.

7. The method according to claim 6, characterized in that, The step of controlling the exoskeleton device to provide mobility assistance to the wearer based on the detection result of whether the swinging leg has started to move includes: The first encoder obtains the first velocity and fifth angle corresponding to the swing leg, and the second encoder obtains the sixth angle corresponding to the supporting leg. Obtain the second included angle between the fifth angle and the sixth angle; When the first speed is greater than the first speed threshold and the second included angle is less than the second included angle threshold, it is determined that the swing leg starts to move, and the exoskeleton device is controlled to provide movement assistance to the wearer.

8. The method according to claim 7, characterized in that, The control of the exoskeleton device to provide mobility assistance to the wearer includes: The motion trend of the swing leg is obtained, and the motion trend is used to indicate the direction of motion of the swing leg; When the movement trend is upward, the exoskeleton device is controlled to provide movement assistance to the wearer.

9. The method according to claim 8, characterized in that, The process of obtaining the movement trend of the swing leg includes: The axial acceleration corresponding to the wearable object is obtained through the inertial measurement unit; When the upward acceleration reaches the first acceleration threshold, the motion trend of the swing leg is determined to be the upward motion trend; If the upward acceleration does not reach the first acceleration threshold, the motion trend of the swing leg is determined to be a downward motion trend.

10. The method according to claim 5, characterized in that, When the first dwell time reaches a preset duration threshold, the exoskeleton device is controlled to provide mobility assistance to the wearer using the assist control mode corresponding to the climbing state, including: When the gait phase is the first gait phase, the second acceleration and the second velocity corresponding to the swing leg are obtained; When the second acceleration reaches the second acceleration threshold and the second velocity reaches the second velocity threshold, the preset duration threshold corresponding to the first state stage is iteratively updated based on the first dwell time to obtain the updated preset duration threshold. When the first dwell time reaches the updated preset time threshold, the exoskeleton device is controlled to provide mobility assistance to the wearer in the assist control mode corresponding to the climbing state.

11. The method according to any one of claims 1 to 3, characterized in that, When the action state is a climbing state, the exoskeleton device is controlled to provide movement assistance to the wearer using the assist control mode corresponding to the climbing state, including: When the action state is climbing, the exoskeleton device is controlled to provide motion assistance to the wearer by a target limiting threshold. The target limiting threshold is used to indicate the limitation on the lifting height of the swing leg when the exoskeleton device provides motion assistance to the wearer. The target limiting threshold is greater than the initial limiting threshold, which is the limitation on the lifting height of the swing leg when the wearer moves in a flat scene.

12. A control device for an exoskeleton device, characterized in that, The exoskeleton device includes an inertial measurement unit and at least two encoders, the at least two encoders including a first encoder mounted on the swing leg and a second encoder mounted on the support leg, the device comprising: The acquisition module is used to acquire a first angle corresponding to the swing leg through the first encoder, and to acquire a second angle of the supporting leg through the second encoder; The acquisition module is further configured to acquire the pitch angle corresponding to the wearer of the exoskeleton device through the inertial measurement unit, wherein the pitch angle is the angle between the longitudinal axis of the wearer and a preset horizontal plane; The determination module is used to determine the action state of the wearable object based on the first angle, the second angle, and the pitch angle; The control module is used to control the exoskeleton device to provide movement assistance to the wearable object in the assistance control mode corresponding to the climbing state when the action state is climbing state, wherein the climbing state refers to the wearable object being in an upward movement state.

13. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing a computer program that is loaded and executed by the processor to implement the control method of the exoskeleton device as described in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the control method of the exoskeleton device as described in any one of claims 1 to 11.

15. A computer program product, characterized in that, The computer program product includes a computer program stored in a computer-readable storage medium, and a processor reads from and executes the computer program to implement the control method of the exoskeleton device as described in any one of claims 1 to 11.

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