A method, apparatus and device for assisting a hip exoskeleton device

Abstract

The application discloses a kind of hip exoskeleton equipment assisting method, device and equipment, the method comprises: real-time sampling the data of hip exoskeleton two sides encoder, according to the data generation mapping gait phase change gait curve, the data includes angle and speed;After entering high position gait phase, judge the angle difference of two sides encoder and / or speed whether it meets the condition of prolonging phase time, the high position gait phase represents the state that any side leg is lifted to the highest point position;If it meets the condition of prolonging phase time, the duration of current safety time threshold is prolonged;Before entering next gait phase, if the duration of entering high position gait phase does not exceed current safety time threshold, according to the gait curve determines the first assisting method of the drive hip exoskeleton device and related device.Solve the problem of how to assist in normal walking mode outside, design a low-speed stable walking mode assisting scheme.

Description

Technical Field

[0001] This application relates to the field of human exoskeleton walking assistance technology, and in particular to an assistive method, device and equipment for a hip joint exoskeleton device. Background Technology

[0002] With the continuous advancement of technology, exoskeleton technology has gradually become an important assistive technology, especially in 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, stability, and flexibility, thereby improving the wearer's mobility. However, in certain groups, such as the elderly, disabled, and those with leg mobility impairments, their movement characteristics differ from those of able-bodied individuals / young people, and their requirements for exoskeleton assistance also differ. Designing a low-speed walking assistive solution, in addition to assisting in normal walking modes (e.g., for able-bodied individuals / young people), to meet the needs of slow-walking individuals / the elderly / disabled individuals / those with leg mobility impairments, has become an urgent problem to be solved. Summary of the Invention

[0003] The purpose of this application is to provide a method, device, and apparatus for assisting hip exoskeleton devices. This addresses the existing problem of how to design a stable assistive solution for low-speed walking modes, in addition to assisting normal walking patterns such as those of healthy individuals or young adults.

[0004] In a first aspect, embodiments of this application provide an assistive method for a hip joint exoskeleton device, the method comprising:

[0005] Data from encoders on both sides of the hip exoskeleton is sampled in real time, and a gait curve mapping gait phase changes is generated based on the data, which includes angles and velocities.

[0006] After entering the high gait phase, it is determined whether the angle difference and / or speed of the encoders on both sides meet the conditions for extending the phase time. The high gait phase represents the state in which the leg on either side is raised to the highest point.

[0007] If the conditions for extending the phase time are met, the duration of the current safety time threshold will be extended.

[0008] Before entering the next gait phase, if the duration of entering the high gait phase does not exceed the current safe time threshold, the first assist of the driving hip exoskeleton device is determined according to the gait curve.

[0009] The assist method of the hip exoskeleton device provided in this application determines whether the conditions for extending the phase time are met based on the angle difference and / or speed of the encoders on both sides of the hip exoskeleton. If the conditions are met, the duration of the safe time threshold is extended. This solves the problem that when the user moves too slowly at low speeds, the pause time is too long and exceeds the safe time threshold, causing the assist to be cut off and the assist to be interrupted. This allows even the elderly or people with mobility impairments to receive continuous and stable assistance in low-speed walking mode.

[0010] In some possible embodiments, the next step gait phase is the mid-gait phase in the lowering direction, which represents the state of either leg being lowered to a set point, which is lower than the highest point.

[0011] This application defines the phases corresponding to different points when the leg is raised or lowered in a complete gait phase, thereby distinguishing the various gait phases corresponding to different points when the leg is raised.

[0012] In some possible embodiments, determining that the conditions for extending the phase time are met includes at least one of the following steps:

[0013] If the absolute value of the angle difference between the two encoders is greater than the absolute value of the angle difference corresponding to the high-position gait phase, it is determined that the angle difference between the two encoders meets the condition of extending the phase time.

[0014] If the speed of one encoder exceeds the set speed limit, it is determined that the speeds of both encoders meet the condition for extending the phase time.

[0015] In related technologies, changes in encoder data are used to determine whether a person has entered a high gait phase. However, for individuals with low-speed walking patterns, this may lead to premature misjudgment and entry into a high gait phase. In this embodiment, after entering a high gait phase, if the angle difference between the encoders on both sides increases, it indicates that the leg is still being lifted. Therefore, the change in the angle difference can be used to determine whether the conditions for extending the phase time are met. Alternatively, the speed of the encoders can be used. If the speed of one encoder exceeds the set speed limit, it indicates that walking is still continuing, and thus the conditions for extending the phase time are met.

[0016] In some possible embodiments, the duration of extending the current security time threshold includes:

[0017] If the angle difference between the two encoders meets the condition for extending the phase time, the duration of the current safety time threshold is extended according to the first delay method.

[0018] If the speeds of the encoders on both sides meet the conditions for extending the phase time, the duration of the current safe time threshold is extended according to the second delay method.

[0019] The hip exoskeleton device assistance method provided in this application embodiment can determine whether the condition for extending the phase time is met solely by the angle difference, solely by the encoder speed, or by combining the above two data. In combined implementation, if either data meets the condition for extending the phase time, the duration of the current safe time threshold can be extended according to the corresponding delay method. If both data meet the condition for extending the phase time, the duration of the current safe time threshold can be extended in the corresponding order, such as first according to the first delay method and then according to the second delay method, or first according to the first delay method and then according to the second delay method.

[0020] In some possible embodiments, the duration of extending the current security time threshold includes:

[0021] If the angle difference between the two encoders meets the condition for extending the phase time, the recorded duration of entering the high-position gait phase and the duration of the current safe time threshold are obtained.

[0022] Based on the duration of entering the high-level gait phase, extend the duration of the current safe time threshold, reset the duration of entering the gait phase to zero, and then restart recording.

[0023] The angle difference corresponding to the high-position gait phase is updated to the angle difference between the current two encoders.

[0024] In this embodiment, each time the encoder data is sampled, if the condition for extending the phase time is determined based on the angle difference, the current safe time threshold is delayed by combining the duration of entering the high-position gait phase, and the angle difference corresponding to the high-position gait phase is updated. This is equivalent to updating the time of entering the high-position gait phase. Therefore, the duration of entering the high-position gait phase will be re-timed to correctly determine whether the condition for extending the phase time is met at the next sampling moment.

[0025] In some possible embodiments, extending the duration of the current safety time threshold based on the duration of entering the high-level gait phase includes:

[0026] The first delay adjustment value is determined based on the preset gain coefficient and the duration of entering the high-position gait phase;

[0027] The duration of the current safe time threshold is extended according to the first delay adjustment value.

[0028] This application allows for the pre-setting of a gain coefficient, which enables the adjustment of the first delay value of the safety time threshold according to user needs, thus meeting the needs of different users in low-speed walking mode.

[0029] The duration for which the current security time threshold is extended includes:

[0030] If the speeds of the encoders on both sides meet the condition of extending the phase time, the speed of the first encoder is determined, and the first encoder is an encoder whose speed exceeds the speed limit.

[0031] Based on the preset relationship between speed and delay adjustment value, determine the second delay adjustment value corresponding to the speed of the first encoder;

[0032] The duration of the current safe time threshold is extended according to the second delay adjustment value.

[0033] The second delay adjustment value in this embodiment is related to speed, so that the delay can be adjusted according to the speed to achieve a safe time threshold.

[0034] In some possible embodiments, determining the second delay adjustment value corresponding to the speed of the first encoder includes:

[0035] Based on the functional relationship between speed and delay coefficient, the delay coefficient corresponding to the speed of the first encoder is determined, wherein the higher the speed, the closer the delay coefficient is to 1;

[0036] Based on the preset maximum delay duration and the determined delay coefficient, the second delay adjustment value corresponding to the speed of the first encoder is determined.

[0037] In this embodiment, when the encoder speed exceeds the speed limit, the higher the speed, the closer the corresponding delay coefficient is to 1, so the maximum delay time will not be exceeded.

[0038] In some possible embodiments, determining the first assist of the hip exoskeleton device based on the gait curve includes:

[0039] Obtain the parameters of the pre-set gait assist algorithm, including assist adjustment value, phase adjustment value, and gait duty cycle;

[0040] The adjusted parameters are obtained by increasing the assist adjustment value, increasing the phase delay of the phase adjustment value, and increasing the gait duty cycle.

[0041] The current gait phase is determined based on the currently generated gait curve. Based on the current gait phase and the adjusted parameters, the first assist of the driving hip joint exoskeleton device is calculated using a gait assist algorithm.

[0042] According to the embodiments of this application, the parameters of the gait assistance algorithm are adjusted in advance based on the gait curve generated in real time in the low-speed walking mode, so as to obtain assistance suitable for the low-speed walking mode and provide stable assistance for people who are suitable for low-speed walking.

[0043] In some possible embodiments, the method further includes:

[0044] If the duration of entering the high-gait phase exceeds the current safe time threshold before entering the next gait phase, the assist of the hip exoskeleton device shall be cut off.

[0045] In this embodiment of the application, if the duration of entering the high gait phase exceeds the current safe time threshold during walking, it indicates an abnormal walking condition and cuts off the assistance of the hip exoskeleton device, thereby ensuring walking safety.

[0046] In some possible embodiments, the method further includes:

[0047] After entering a high-level gait phase, if it is determined that the conditions for extending the phase time are not met, the duration of the current safe time threshold remains unchanged.

[0048] Before entering the next gait phase, if the duration of entering the high gait phase does not exceed the current safe time threshold, the second assist of the driving hip exoskeleton device is determined according to the gait curve.

[0049] In this embodiment of the application, after entering the high-position gait phase, if it is determined that the encoder data does not meet the conditions for extending the phase time, the current safe time threshold is maintained unchanged, and the assistance method in the normal walking mode is used for assistance.

[0050] In some possible embodiments, determining a second assist for the drive hip exoskeleton device based on the gait curve includes:

[0051] Obtain the parameters of the pre-set gait assist algorithm, including assist adjustment value, phase adjustment value, and gait duty cycle;

[0052] The current gait phase is determined based on the currently generated gait curve. Based on the current gait phase and the preset parameters, the second assist of the driving hip joint exoskeleton device is calculated using a gait assist algorithm.

[0053] This application implements gait assistance based on pre-set parameters and corresponding gait assistance algorithms to meet the assistance requirements of people with normal walking patterns.

[0054] In some possible embodiments, the method further includes:

[0055] When entering a high-level gait phase, determine the duration of the gait phases experienced before the high-level gait phase in the complete gait and the duration of different gait phases.

[0056] Based on the phase difference and duration in the sine curves of different phase phase mappings, estimate the time for at least one complete gait.

[0057] The duration of the current safe time threshold is determined based on the time taken for at least one complete gait.

[0058] In the process of generating a complete gait curve, this application embodiment can estimate the time taken for a complete gait phase based on the phase difference and duration of the sine curves mapped from different gait phases experienced previously, and thus determine the duration of the safe time threshold based on the time taken for the complete gait phase.

[0059] In some possible embodiments, determining whether the angle difference and / or speed of the two encoders meet the conditions for extending the phase time includes:

[0060] Whether to enter the low-speed stable walking mode is determined based on the user's action of activating the low-speed walking mode option on the page and / or gait frequency;

[0061] In low-speed stable walking mode, determine whether the angle difference and / or speed of the encoders on both sides meet the conditions for extending the phase time.

[0062] Secondly, embodiments of this application provide an assistive device for a hip joint exoskeleton, the device comprising:

[0063] The gait curve generation module is used to sample data from encoders on both sides of the hip exoskeleton in real time and generate a gait curve that maps gait phase changes based on the data, including angles and velocities.

[0064] The phase time extension determination module is used to determine whether the angle difference and / or speed of the encoders on both sides meet the conditions for extending the phase time after entering the high gait phase. The high gait phase represents the state in which the leg on either side is raised to the highest point.

[0065] The time safety threshold extension module is used to extend the duration of the current safety time threshold if the conditions for extending the phase time are met.

[0066] The device assistance module is used to determine the first assistance of the driving hip exoskeleton device based on the gait curve if the duration of entering the high gait phase does not exceed the current safe time threshold before entering the next gait phase.

[0067] Thirdly, another embodiment of this application also provides an assistive device for a hip exoskeleton, including encoders, a controller, a memory, and a drive actuator on both sides of the hip exoskeleton; wherein:

[0068] The memory stores instructions that can be executed by the controller. These instructions are executed by the controller to enable the controller to control the drive actuator to provide assistance based on the data from the encoders on both sides, according to any one of the methods provided in the embodiments of this application.

[0069] Fourthly, another embodiment of this application also provides a computer storage medium storing a computer program for causing a computer to execute an assistive method of any hip exoskeleton device provided in the embodiments of this application.

[0070] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0071] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0072] Figure 1 A gait curve diagram according to an embodiment of this application;

[0073] Figure 2 This is a schematic diagram of a method for assisting a hip exoskeleton device according to an embodiment of this application;

[0074] Figure 3 A schematic diagram illustrating the interface setting gain coefficient according to an embodiment of this application;

[0075] Figure 4 This is an overall flowchart of a hip exoskeleton device assistive method according to an embodiment of this application;

[0076] Figure 5 This is a schematic diagram of a gait assist algorithm according to an embodiment of this application;

[0077] Figure 6 This is a structural diagram of the assistive device of a hip exoskeleton device according to an embodiment of this application;

[0078] Figure 7 This is a structural diagram of an assistive device for a hip exoskeleton device according to an embodiment of this application. Detailed Implementation

[0079] To further illustrate the technical solutions provided in the embodiments of this application, a detailed description is provided below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiments of this application provide method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on conventional or non-inventive effort. For steps that do not logically have a necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this application. In actual processing or when the control device executes the method, it may be executed sequentially or in parallel according to the method shown in the embodiments or drawings.

[0080] In view of the problem in related technologies of how to design a low-speed walking assistance scheme in addition to normal walking modes, such as walking of normal people / young people, this application proposes an assistance method for a hip exoskeleton device with encoders on both sides. This method can achieve stable assistance suitable for low-speed walking modes, in addition to gait assistance algorithms in normal walking modes.

[0081] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0082] The assistive method of the hip exoskeleton device in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0083] Currently, hip exoskeleton devices continuously adjust the frequency and phase of the gait curve during flat walking based on gait algorithms such as AFO (Adaptive Frequency Oscillatot) and data input (including angle and speed) from encoders on both sides, generating a gait curve that maps gait phase changes in real time.

[0084] The following example illustrates the principle and process of generating a gait curve that maps gait phase changes in real time based on data from both encoders.

[0085] For a complete gait, gait phases corresponding to different points when the leg is lifted or lowered are predefined. These points can be understood as the position of the leg in the direction of lifting or lowering, such as its height above the ground. The angle difference between the two encoders reflects the leg angle, thus determining the corresponding gait phase. During the gait curve generation process, the gait phase is switched based on the angle difference between the two encoders, generating a gait curve with the gait phase on the horizontal axis and the angle difference on the vertical axis. The frequency of the gait curve is adjusted according to the changes in the angle difference between the two encoders and the encoder speed.

[0086] For example, such as Figure 1 As shown, a complete gait includes defined gait phases 0, 1, 2, 3, 4, 5, 6, and 7. Taking the movement of the right leg first, followed by the left leg (the direction can be switched), as an example, the meaning of each gait phase is as follows:

[0087] Gait phase 0 represents a state where the right and left legs are aligned and at zero points, with a corresponding angle difference of 0.

[0088] Gait phase 1 represents the state of the right leg being raised to a set point, and the corresponding angle difference is H_DEF;

[0089] Gait phase 2 represents the state of the right leg when it is raised to its highest point, and the corresponding angle difference is H. max ;

[0090] Gait phase 3 represents the state of the right leg as it descends to a set point, and the corresponding angle difference is H_DEF;

[0091] Gait phase 4 represents the state where the right leg is lowered to a zero position, with a corresponding angle difference of 0.

[0092] Gait phase 5 represents the state of the left leg being raised to a set point, and the corresponding angle difference is L_DEF;

[0093] Gait phase 6 represents the state of the left leg when it is raised to its highest point, and the corresponding angle difference is L. max ;

[0094] Gait phase 7 represents the state of the left leg as it descends to a set point, and the corresponding angle difference is L_DEF.

[0095] Based on the gait phase defined above, the phase of a complete gait includes the following eight nodes:

[0096] In gait phase, 0-1 represents the point at which the right leg just begins to lift upwards;

[0097] In gait phase, 1-2 represent the nodes where the right leg gradually rises to its highest point;

[0098] In gait phase, 2-3 represents the node where the right leg gradually lowers to the set point;

[0099] In gait phase 3-4, the right leg gradually lowers from the set point to the point where it is level with the left leg.

[0100] In gait phase, 4-5 represents the point at which the left leg begins to lift upwards;

[0101] In gait phase, 5-6 represents the node where the left leg gradually rises to its highest point;

[0102] In gait phase, 6-7 indicates the node where the left leg begins to descend to the set point;

[0103] In gait phase, 7 to 0 indicates that the left leg gradually lowers from the set point to the node where it is level with the right leg.

[0104] This embodiment defines gait phases including a high-position gait phase, which represents the state where either leg is raised to its highest point. The angle difference corresponding to other gait phases besides the high-position gait phase is a fixed value. When the angle difference reaches the corresponding fixed value, the gait phase corresponding to that fixed value is determined. For the high-position gait phase, based on the angles and speeds of the encoders on both sides, when the pre-set conditions for entering the high-position gait phase are met, the high-position gait phase is entered, and the angle deviation at this time is determined as H. max or L max The pre-set conditions for entering the high gait phase mentioned above may include, but are not limited to, an angle difference change below a certain threshold, or a speed change of the active leg below a certain threshold.

[0105] Through the above process, the sampling time for entering each gait phase can be determined based on the angle deviation of real-time sampling, and the frequency of the gait curve can be determined based on the speed of the encoders on both sides, thereby realizing the real-time generation of gait curves based on the data of the encoders on both sides of the hip exoskeleton.

[0106] In the example above, the high-level gait phases include gait phase 2 and gait phase 6. H_DEF and L_DEF are fixed values ​​with the same magnitude but opposite directions, used to determine the start of the gait curve and gait phase switching. When switching gait phases based on the angle difference between the two encoders, an angle difference of H_DEF indicates gait phase 1 or gait phase 3, an angle difference of L_DEF indicates gait phase 5 or gait phase 7, and an angle difference of 0 indicates gait phase 0 or gait phase 4. Based on the angle and speed of the two encoders, when the conditions for entering gait phase 2 or gait phase 6 are met, gait phase 2 or gait phase 6 is entered, and the angle deviation at this time is determined as H. max or L max .

[0107] In a complete gait, two adjacent gait phases constitute a node. Based on the example above, the eight nodes together form a complete gait phase flow. For safety reasons, the gait algorithm sets a safety time threshold T when entering a node. timeout Once the time spent in the node exceeds T timeout This will cut off the assist from the hip exoskeleton device and reset the gait phase state. If it does not exceed T... timeout The assist provided to the hip exoskeleton device is then determined based on the gait curve. According to the example above, this can be understood as resetting the gait phase to gait phase 0 or gait phase 4, and then continuing to assist the hip exoskeleton device once the condition for the next gait phase (gait phase 1 or gait phase 5) is triggered.

[0108] Gait curve and The shapes are very similar, so the gait curve of a complete gait can be regarded as a sine curve of a complete cycle. Thus, based on the phase difference and duration of the sine curve mapping two gait phases, the time for a complete gait can be estimated. After estimating the time for a complete gait, the time limit for the gait algorithm to determine the next node can be planned. If the user maintains a position at a certain node for a long time, even exceeding the time for a complete gait, the assistance of the hip exoskeleton device will be cut off for safety reasons. In this embodiment, this time is called the safe time threshold T for maintaining assistance. timeout .

[0109] In low-speed walking mode, such as for elderly wearers or those with mobility impairments, continuous and stable assistance is required, and the assistance methods described in normal walking mode may encounter problems. During the leg lift, due to mobility impairments, the time required will be longer than for normal wearers, and the gait curve will not be as smooth as the approximate sine curve of a normal wearer. There may be slow leg lifts, or even instances where elderly or mobility-impaired individuals stop halfway through the leg lift and then continue lifting. Based on the method for determining entry into the high gait phase, there may be a misjudgment of premature entry into the high gait phase, potentially causing the transition from entering the high gait phase to switching to the next gait phase to exceed T. timeout This situation causes the wearer to feel the leg-pressing assistance before they have fully lifted their leg.

[0110] To address the aforementioned technical problems, embodiments of this application provide an assistive method for a hip joint exoskeleton device, such as... Figure 2 As shown, the method mainly includes:

[0111] Step 201: Real-time sampling of data from encoders on both sides of the hip exoskeleton; generating a gait curve that maps gait phase changes based on the data, the data including angle and velocity.

[0112] The controller of the hip exoskeleton device samples data from the encoders on both sides of the hip exoskeleton in real time at a certain sampling frequency. This data includes the angle and speed of the encoders on both sides.

[0113] This embodiment predefines the gait phase corresponding to different points when the leg is raised or lowered. The gait phase is switched based on the angle difference between the encoders on both sides, generating a gait curve with the gait phase on the horizontal axis and the angle difference on the vertical axis. The frequency of the gait curve is adjusted according to the change in the angle difference between the encoders on both sides and the encoder speed. For details, please refer to the description in the above embodiment; it will not be elaborated here.

[0114] The gait phases defined in this embodiment may include, but are not limited to, the eight phases from gait phase 0 to gait phase 7 mentioned above. The method of switching gait phases based on the angle difference between the encoders on both sides can be as described in the above embodiments, and will not be detailed here.

[0115] Step 202: After entering the high-position gait phase, determine whether the angle difference and / or speed of the encoders on both sides meet the conditions for extending the phase time. The high-position gait phase represents the state in which the leg on either side is raised to the highest point.

[0116] As mentioned earlier, in normal walking mode, based on the angle and speed of the encoders on both sides, when the pre-set conditions for entering the high gait phase are met, the system enters the high gait phase, and the angle deviation at this time is defined as H. max or L max The high-position gait phase in the embodiments of this application may include, but is not limited to, gait phase 2 and gait phase 6 as defined above.

[0117] This application embodiment can utilize the aforementioned method for determining whether a person has entered a high-step gait phase. However, in low-speed walking mode, it may misjudge that the person has entered a high-step gait phase prematurely. This could result in the time between entering a high-step gait phase and switching to the next gait phase exceeding T. timeout The duration of the stretching causes the wearer to feel the leg-pressing assistance prematurely, before fully lifting their leg. Therefore, upon entering the high gait phase, it is further determined whether the angle difference and / or speed of the encoders on both sides meet the conditions for extending the phase time, in order to determine whether the safe time threshold T is appropriate. timeout Adjustments will be made.

[0118] In some possible embodiments, determining whether the angle difference and / or speed of the two encoders meet the conditions for extending the phase time includes:

[0119] Whether to enter the low-speed stable walking mode is determined based on the user's action of activating the low-speed walking mode option on the page and / or gait frequency;

[0120] In low-speed stable walking mode, determine whether the angle difference and / or speed of the encoders on both sides meet the conditions for extending the phase time.

[0121] Users can select whether to activate the low-speed walking mode on the page. Alternatively, activation can be determined by gait frequency: if the gait frequency in the previous few complete gaits is below a set threshold (e.g., less than 0.5 seconds), low-speed walking mode is activated. A combination of these two methods can also be used. Upon entering a higher gait phase, if low-speed walking mode is confirmed to be active, a determination is made as to whether the conditions for extending the phase time are met.

[0122] Step 203: If the conditions for extending the phase time are met, extend the duration of the current safe time threshold.

[0123] When the angular difference or speed between the two encoders meets the condition for extending the phase time, the current safety time threshold T is extended. timeout Duration.

[0124] Whether the condition for extending the phase time is met can be determined solely by the angle difference, solely by the velocity, or by examining both the angle difference and the velocity separately. If either value meets the condition for extending the phase time, then the phase time is extended by T. timeout The duration of T is determined by extending the phase time in a specific order and according to the corresponding methods when both data meet the conditions for extending the phase time. timeout Duration.

[0125] In some possible embodiments, the duration of extending the current security time threshold includes:

[0126] If the angle difference between the two encoders meets the condition for extending the phase time, the duration of the current safety time threshold is extended according to the first delay method.

[0127] If the speeds of the encoders on both sides meet the conditions for extending the phase time, the duration of the current safe time threshold is extended according to the second delay method.

[0128] It should be noted that when both data meet the conditions for extending the phase time, T can be extended first using the first delay method and then using the second delay method. timeoutThe duration, or first using the second delay method and then extending T using the first delay method. timeout Duration.

[0129] Step 204: Before entering the next gait phase, if the duration of entering the high gait phase does not exceed the current safe time threshold, determine the first assist of the driving hip exoskeleton device based on the gait curve.

[0130] The assistive method of the hip exoskeleton device provided in this application embodiment can realize a stable assistive scheme applicable to low-speed walking mode and coordinate with human movement. By analyzing the data sampled by the encoders on both sides, the function of stable assistance can be realized even in low-speed walking mode. The assistive scheme designed for the movement characteristics of the elderly / disabled / leg-impaired people is more in line with the low-speed walking mode, which can help people who walk slowly / the elderly / disabled / leg-impaired people to walk, climb stairs and other actions more efficiently, comfortably and safely.

[0131] In some possible embodiments, the next gait phase is the mid-position gait phase in the lowering direction, which represents the state of either leg being lowered to a set point, the set point being lower than the highest point. When the defined gait phases include the above-mentioned gait phases 0 to 7, the next gait phase is gait phase 3 or gait phase 7.

[0132] In some possible embodiments, if the duration of entering the high gait phase exceeds a current safe time threshold before entering the next gait phase, the assistive device of the hip exoskeleton is cut off. During walking, if it is determined that the duration of entering the high gait phase exceeds T... timeout This indicates abnormal walking, and from a safety perspective, the assistance provided by the hip exoskeleton device is cut off.

[0133] As mentioned earlier, the gait curve of a complete gait is considered as a sine curve of a complete cycle. This embodiment can estimate the time for a complete gait when entering a new gait phase (i.e., a new node), based on the phase difference and duration of the sine curves mapped from the two previously experienced gait phases, and then determine T based on the complete gait time. timeout The duration. T is determined based on the complete gait. timeout The duration is not limited in this embodiment; it can be multiplied by a corresponding coefficient, or increased or decreased by a set range as T. timeout Duration.

[0134] The following explains the principle and process of estimating the time taken for a complete gait based on the phase difference and duration of the sine curve mapped from the two experienced gait phases.

[0135] The gait phase defined for a complete gait corresponds to the phase of the sin curve in the range of [0, 2π] of a complete cycle. Any gait phase can be mapped to the phase in the sine curve.

[0136] According to the gait phases 0 to 7 defined above, gait phase 0 corresponds to phase 0 in the sin curve, gait phase 2 corresponds to phase π / 2 in the sin curve, gait phase 4 corresponds to phase π in the sin curve, and gait phase 6 corresponds to phase 3π / 2 in the sin curve.

[0137] The angle difference corresponding to gait phase 2 is H. max The angle difference corresponding to gait phase 6 is L. max These two values ​​can be determined from the data of the encoders on both sides, and they are different for each step, being real-time changing values. Since H_DEF and L_DEF are fixed values, the phases in the sine curves corresponding to gait phase 1, gait phase 3, gait phase 5, and gait phase 7 can be obtained by approximating the sine curves, thus obtaining the phases in the sine curves corresponding to all gait phases. The phase result in the sine curves corresponding to all gait phases is gait. p [i] is shown below:

[0138] gait p [0] = 0;

[0139]

[0140] gait p [4] = π;

[0141]

[0142] After obtaining the phase in the sine curve corresponding to each gait phase, the phase time required for the entire gait can be predicted by combining the duration of any two gait phases.

[0143] For example, if the time taken for gait phases i to j is t ij The phase difference δgait in the sine curve mapping gait phase i to gait phase j p =gait p [i]-gait p [j].

[0144] δgait p The time elapsed is t ij Then, the phase in the sine curve of the entire gait mapping is from 0 to 2π, and the corresponding complete gait time is...

[0145] Based on the example above, the total gait time of the first step from gait phase 0 to gait phase 1 can be estimated. Upon entering the node from gait phase 1 to gait phase 2, the estimated total gait time of the first step can be used to determine T as the sustaining assist. timeout In the second step, at the gait phase 0 to gait phase 1 nodes, assuming the wearer walks continuously, the duration of the complete gait in the second step can be estimated using the corresponding gait phase 7 to gait 0 duration from the previous step, thereby inferring the maintenance assist T. timeout By analogy, the T value of all nodes can be deduced. timeout Thus completing the T-wave during the entire walking assistance process. timeout The calculation.

[0146] In some possible embodiments, upon entering a high-level gait phase, the duration of the gait phases experienced prior to the high-level gait phase in the complete gait and the duration of different gait phases are determined.

[0147] Based on the phase difference and duration in the sine curves of different phase phase mappings, estimate the time for at least one complete gait.

[0148] The duration of the current safe time threshold is determined based on the time taken for at least one complete gait.

[0149] When the high-level gait phases include gait phase 2 and gait phase 6, upon entering the node between gait phases 2 and 3, the complete gait time T1 of the first step can be estimated using the duration experienced from gait phases 0 to gait phase 1, and the complete gait time T2 of the first step can be estimated using the duration experienced from gait phases 0 to gait phase 2. Based on T1 and T2, the maintenance assist T... timeout Make inferences, such as taking the maximum value between the two or using other methods to adjust T. timeout Make inferences.

[0150] The following describes the implementation method for determining whether the conditions for extending the phase time are met according to the embodiments of this application. At least one of the following methods can be used to determine whether the conditions for extending the phase time are met:

[0151] 1) If the absolute value of the angle difference between the two encoders is greater than the absolute value of the angle difference corresponding to the high-position gait phase, it is determined that the angle difference between the two encoders meets the condition of extending the phase time.

[0152] In low-speed walking mode, because the leg lift is slow or even stops, the method of determining the entry into the high gait phase may misjudge that the high gait phase has been entered prematurely. However, if the leg lift continues, the absolute value of the angle difference will continue to increase. Therefore, after entering the high gait phase, it can be determined whether it conforms to the characteristics of low-speed walking mode by whether the absolute value of the angle difference continues to increase.

[0153] 2) If the speed of one encoder side exceeds the set speed limit V limit It is determined that the speeds of the encoders on both sides meet the condition of extending the phase time;

[0154] In low-speed walking mode, if the slow leg lift causes an early determination of entering the high gait phase, and the leg lift continues, it indicates that there is still velocity. To prevent the time to complete this node from exceeding T due to slow velocity, [further measures are taken]. timeout Therefore, if the gait phase is entered at a higher position, the speed sampled by the encoder can be used to determine whether the condition for extending the phase time is met. The aforementioned speed limit V... limit This can be understood as determining whether the leg is still moving at a non-zero speed. If the speed exceeds this threshold, the leg is considered to be still moving. In this embodiment, the determination of whether v exceeds V can be made by checking if the motor speed of the actuator exceeds a speed threshold. limit The above-mentioned speed threshold may be, but is not limited to, 500 rpm or 1000 rpm, and the motor reduction ratio is 9.25.

[0155] The following gives the corresponding extension T when the conditions for extending the phase time are met based on the angle difference or velocity. timeout Implementation method for duration.

[0156] 1) When the angle difference between the two encoders meets the condition for extending the phase time, extend T. timeout Duration

[0157] If the angle difference between the two encoders meets the condition for extending the phase time, the recorded duration T for entering the high-position gait phase is obtained. duration and the current safe time threshold T timeout Duration; recording T begins after entering the high-level gait phase. duration Before switching to the next phase state, at each sampling time, the angle difference is sampled. If the absolute value of the angle difference is determined to be greater than |H| during the leg lifting process, the angle difference is then considered. max |or determine the absolute value of the angle difference during the leg placement process to be greater than |L max |, get T duration and T timeout Duration;

[0158] According to the duration T of entering the high-level gait phase duration Extend the current safe time threshold T timeout The duration of the gait phase is recorded, and the duration of entering the gait phase is reset to zero before recording resumes; this embodiment refers to T. duration For T timeout Extending this timeframe is equivalent to updating the time to enter the high-level gait phase, thus preventing the time from exceeding T due to low-speed walking. timeoutDisconnecting the hip exoskeleton device's assistance; since this is equivalent to updating the time to enter the high gait phase, therefore T... duration Reset to zero and start recording again;

[0159] The angle difference H corresponding to the high-position gait phase max / L max Updated to the current angle difference between the encoders on both sides; when the absolute value of the angle difference is detected to be greater than |H max / / L max In order to correctly determine whether the condition for extending the phase time is met at the next sampling time, H... max or L max The update is then performed. This update of the angle difference corresponding to the high-level gait phase ensures that the high-level gait phase ultimately corresponds to the maximum stride length in a single step.

[0160] In some possible embodiments, based on the duration T of entering the high-position gait phase duration Extend the current safe time threshold T timeout The duration includes:

[0161] According to the pre-set gain coefficient K LSSC The first delay adjustment value is determined based on the duration of entering the high-level gait phase; according to the preset gain coefficient K... LSSC and T duration The method for determining the first delay adjustment value can be, but is not limited to, K. LSSC *T duration In order to achieve LSSC (Low-Speed ​​Steady Control) assistance, the embodiments of this application can set K through the parameter setting interface. LSSC Specifically, K can be set in the parameter interface. LSSC The numeric input box, or the display settings K LSSC The drag bar determines K based on its position. LSSC The value of K LSSC The value range of can be, but is not limited to, 0 to 1. For example... Figure 3 As shown, in this embodiment of the application, entering the low-speed walking mode can be confirmed by turning on the Low-Speed ​​Steady Control button, and the drag bar of LSSC Gain Adjustment can be activated. This drag bar represents the K corresponding to the low-speed walking mode. LSSC The value. The drag bar displays values ​​from 0 to 100%, corresponding to K. LSSC The value ranges from 0 to 1. K can be set by dragging the reference point on the drag bar. LSSC The size of the delay adjustment value is used to control the duration of the delay adjustment.

[0162] According to the first delay adjustment value, extend the duration of the current safety time threshold, where if the first delay adjustment value is K. LSSC *T timeout Then T timeout +=K LSSC *T duration .

[0163] When the defined gait phases include the eight phases from gait phase 0 to gait phase 7, this embodiment continuously monitors the absolute value of the angle difference between the encoders on both sides, i.e., the angle between the two legs, at the nodes of gait phases 2-3 and gait phases 6-7. Once it is found that the angle exceeds |H max |or|L max In the case of |, a new T will be calculated. timeout The duration T from the moment the timing starts again to enter gait phase 2 or gait phase 6 from the point of excess. duration Update the time to enter gait phase 2 or gait phase 6 and the corresponding H. max Or L max .

[0164] 2) The speeds of the encoders on both sides meet the condition for extending the phase time, so extend T... timeout Duration

[0165] If the speeds of the encoders on both sides meet the condition for extending the phase time, the speed v of the first encoder is determined, and the speed of the first encoder exceeds the speed limit V. limit If the encoder prematurely misjudges entering a high gait phase due to a slow leg lift, the encoder speed on the leg-lifting side exceeds the speed limit V. limit This indicates that the leg lift is still in progress, thus confirming that the condition for extending the phase time is met;

[0166] Based on the preset relationship between speed and delay adjustment value, the second delay adjustment value corresponding to the speed v of the first encoder is determined. In this embodiment, the reference speed v is related to T. timeout Extend the distance to avoid exceeding T due to low-speed walking. timeout And cut off the assistance of hip joint exoskeleton devices;

[0167] According to the second delay adjustment value, extend the current safety time threshold T. timeout Duration.

[0168] In some possible embodiments, determining a second delay adjustment value corresponding to the speed of the first encoder includes:

[0169] Based on the functional relationship between speed and delay coefficient, the delay coefficient map(v) corresponding to the speed of the first encoder is determined. The higher the speed, the closer the delay coefficient is to 1. The functional relationship between speed and delay coefficient is not limited in this embodiment. It can be a linear relationship or a non-linear relationship, such as a cosine function relationship, etc.

[0170] Based on the preset maximum delay duration dT plus Given the determined delay coefficient map(v), determine the second delay adjustment value corresponding to the speed of the first encoder.

[0171] In this embodiment of the application, the encoder speed v is determined to exceed V. limit , for T timeout The longer the speed v, the longer the delay, but it will not exceed dT. plus In this embodiment of the application, the value range of map(v) is 0 to 1.

[0172] The second delay adjustment value is determined to be dT. plus *map(v), then T timeout +=dT plus *map(v).

[0173] In this way, the wearer can continue to receive assistance even at very slow speeds, allowing the assistance to be fully applied to the wearer's legs and achieving a stable assistance effect even at low speeds.

[0174] The following example uses gait phases 0-7 as an example to demonstrate whether the conditions for extending the phase time are met for both the angle difference and velocity data, and how to extend T. timeout Implementation methods for duration, such as Figure 4 As shown, it includes:

[0175] Step 401: Determine whether to enter gait phase 2 or gait phase 6 based on the angle and speed of the encoders on both sides of the sampled data.

[0176] Step 402: Estimate the time for the complete gait according to the method described in the above embodiment, and determine T based on the time for the complete gait. timeout Duration;

[0177] Step 403: When a new angle deviation and velocity are sampled, determine that gait phase 3 or gait phase 7 has not been entered, and proceed to step 404; otherwise, provide assistance according to the gait assistance algorithm in the relevant technology.

[0178] Step 404: Determine whether the absolute value of the angle deviation, |Encoder|, is greater than |H|. max / L maxIf yes, determine that the conditions for extending the phase time are met and proceed to step 405; otherwise, proceed to step 407.

[0179] Step 405: Obtain the recorded duration T of entering the high-position gait phase. duration and the current T timeout According to the set K LSSC Determine T timeout +=K LSSC *T duration ;

[0180] Step 406, calculate the angle difference H corresponding to the high-position gait phase. max / L max Updated to the current angle difference between the two encoders, i.e., H. max / L max =Encoder, proceed to step 407;

[0181] Step 407: Determine whether the encoder's v is greater than V. limit If the conditions for extending the phase time are met, proceed to step 408; otherwise, proceed to step 409.

[0182] Step 408, determine the second delay adjustment value as dT plus *map(v), then T timeout +=dT plus *map(v);

[0183] Step 409: If the conditions for extending the phase time are met, the first method of assistance is used; if the conditions for extending the phase time are not met, the second method of assistance is used.

[0184] The first method of assistance is as follows: If T duration Not exceeding T timeout The first assist mechanism for driving the hip exoskeleton is determined based on the gait curve; otherwise, the first assist mechanism is deactivated. The second assist mechanism involves maintaining T... timeout If the duration remains unchanged, if T duration Not exceeding T timeout The second assist in driving the hip exoskeleton device is determined based on the gait curve; otherwise, the second assist in driving the hip exoskeleton device is cut off.

[0185] In this embodiment of the application, after obtaining the gait curve, at T duration Not exceeding T timeout Gait assistance algorithms can calculate assistance based on pre-set parameters, including the assistance adjustment value dF. t Phase adjustment value dP t Gait duty cycle Dt The gait duty cycle here refers to the proportion of time a single foot is in contact with the ground during a complete gait cycle.

[0186] In some possible embodiments, determining the first assist of the drive hip exoskeleton device based on the gait curve includes:

[0187] Obtain the parameters of the pre-set gait assist algorithm, including the assist adjustment value dF. t Phase adjustment value dP t Gait duty cycle D t ;

[0188] Increase the assist adjustment value dP t Increase the phase adjustment value dP t Delayed phase and increased gait duty cycle D t The adjusted parameters are obtained;

[0189] The current gait phase is determined based on the currently generated gait curve. Based on the current gait phase and the adjusted parameters, the first assist of the driving hip joint exoskeleton device is calculated using a gait assist algorithm.

[0190] In this embodiment, when entering the high-position gait phase, if the condition for extending the phase time is met, in addition to extending T... timeout The duration of the gait assist algorithm was further adjusted, and the aforementioned parameters were further refined to provide more stable assistance.

[0191] In some possible embodiments, after entering a high-level gait phase, if it is determined that the conditions for extending the phase time are not met, the duration of the current safe time threshold is kept unchanged.

[0192] Before entering the next gait phase, if the duration of entering the high gait phase does not exceed the current safe time threshold, the second assist of the driving hip exoskeleton device is determined according to the gait curve.

[0193] This embodiment determines the second assist of the hip joint exoskeleton device based on the gait curve, including:

[0194] Obtain the parameters of the pre-set gait assist algorithm, including assist adjustment value, phase adjustment value, and gait duty cycle;

[0195] The current gait phase is determined based on the currently generated gait curve. Based on the current gait phase and the preset parameters, the second assist of the driving hip joint exoskeleton device is calculated using a gait assist algorithm.

[0196] The embodiments of this application can select pre-set parameters or adjusted parameters as needed, and use a gait assist algorithm to calculate assistance, thereby adapting to the assistance requirements of different walking modes. This application does not limit the method by which the gait assist algorithm calculates assistance based on the gait curve and the above parameters.

[0197] Preset dF t If dP is positive, t If the value is negative, D t For positive values ​​greater than 0 and less than 1, increase the assist adjustment value dP. t Increase the phase adjustment value dP t Delayed phase and increased gait duty cycle D t A possible implementation is: pre-setting dF t The corresponding maximum adjustment value △1, dP t For the corresponding maximum adjustment value △2, D t The corresponding maximum adjustment value △3 is based on the preset gain coefficient K. LSSC dF t The corresponding adjustment value is K LSSC *△1, dP t The corresponding adjustment value is K LSSC *△2,D t The corresponding adjustment value is K LSSC *△3, where △1 is a positive value, which can be, but is not limited to, 8; △2 is a negative value, which can be, but is not limited to, -0.2; and △3 is a positive value, which can be, but is not limited to, +0.2.

[0198] The following is a gait assist algorithm used in an embodiment of this application, such as... Figure 5 As shown, xp represents the current phase mapped to [0, 2π], in determining the boost adjustment value dF. t Phase adjustment value dP t Gait duty cycle D t Next, the current gait phase xp is determined based on the gait curve, and the gait phase xp is adjusted to xp+=dP. t Calculate the assist F+ = dF t And calculate b = (1.0 - D) t The final assist factor F is calculated as follows, based on the interval where the adjusted xp lies: π / 2. final :

[0199] If xp < b, then help F final =-F;

[0200] If b≤xp<π-b, F final =0.5F(sin((2 / D) t(xp-0.5π)+0.5π)+1);

[0201] If π-b≤xp<π+b, F final =F;

[0202] If π+b≤xp<2π-b, F final =0.5F(sin((2 / D) t (xp-1.5π)+0.5π)+1);

[0203] If 2π-b≤xp<2π, F final =-F.

[0204] This application pre-sets dF t dP t D t When the conditions for extending the phase time are met at nodes 2-3 and 6-7 of the gait phase, the above parameters will be adjusted, and the results will be based on the adjusted dF. t dP t D t Gait assist is calculated according to the gait assist algorithm described above; for other cases, a pre-set dF is used. t dP t D t The gait assist algorithm described above is used to calculate the assist.

[0205] The assistive method of the hip exoskeleton device provided in this embodiment can ultimately achieve an assistive solution that is more suitable for the elderly / people with mobility impairments in low-speed walking mode, and can help wearers complete walking tasks more efficiently, comfortably and safely.

[0206] This application implements the acquisition of the angle (mapped position) and speed information of both legs through an encoder, and modulates the duration of the safe time threshold for maintaining assistance between each node in the gait algorithm. This solves the problem that when the user moves too slowly in a low-speed state, the pause time is too long and exceeds the safe time threshold, causing the assistance to be cut off and the assistance to be unable to continue. This allows even the elderly or people with mobility impairments to receive continuous and stable assistance in a low-speed stable mode.

[0207] This application embodiment achieves a more suitable assistive solution for the elderly / people with mobility impairments by adjusting the assist magnitude, assist phase, and gait duty cycle in low-speed walking mode. The assist is stronger, more stable, and more continuous, making it a version more suitable for the elderly.

[0208] In summary, the methods provided in this application can assist slow-walking people, the elderly, the disabled, and those with mobility impairments to walk, climb stairs, and perform other actions more efficiently, comfortably, and safely.

[0209] Based on the same inventive concept, this application also provides an assistive device 600 for a hip joint exoskeleton device, such as... Figure 6 As shown, the device includes:

[0210] The gait curve generation module 601 is used to sample data from encoders on both sides of the hip exoskeleton in real time and generate a gait curve that maps gait phase changes based on the data, the data including angle and velocity.

[0211] The phase time extension determination module 602 is used to determine whether the angle difference and / or speed of the encoders on both sides meet the conditions for extending the phase time after entering the high gait phase. The high gait phase represents the state in which the leg on either side is raised to the highest point.

[0212] The time safety threshold extension module 603 is used to extend the duration of the current safety time threshold if the conditions for extending the phase time are met.

[0213] The device assistance module 604 is used to determine the first assistance of the driving hip joint exoskeleton device based on the gait curve if the duration of entering the high-level gait phase does not exceed the current safe time threshold before entering the next gait phase.

[0214] In some possible embodiments, the next step gait phase is the mid-gait phase in the lowering direction, which represents the state of either leg being lowered to a set point, which is lower than the highest point.

[0215] In some possible embodiments, the phase time extension determination module determines that the conditions for extending the phase time are met, including at least one of the following steps:

[0216] If the absolute value of the angle difference between the two encoders is greater than the absolute value of the angle difference corresponding to the high-position gait phase, it is determined that the angle difference between the two encoders meets the condition of extending the phase time.

[0217] If the speed of one encoder exceeds the set speed limit, it is determined that the speeds of both encoders meet the condition for extending the phase time.

[0218] In some possible embodiments, the time safety threshold extension module extends the duration of the current safety time threshold, including:

[0219] If the angle difference between the two encoders meets the condition for extending the phase time, the duration of the current safety time threshold is extended according to the first delay method.

[0220] If the speeds of the encoders on both sides meet the conditions for extending the phase time, the duration of the current safe time threshold is extended according to the second delay method.

[0221] In some possible embodiments, the time safety threshold extension module extends the duration of the current safety time threshold, including:

[0222] If the angle difference between the two encoders meets the condition for extending the phase time, the recorded duration of entering the high-position gait phase and the duration of the current safe time threshold are obtained.

[0223] Based on the duration of entering the high-level gait phase, extend the duration of the current safe time threshold, reset the duration of entering the gait phase to zero, and then restart recording.

[0224] The angle difference corresponding to the high-position gait phase is updated to the angle difference between the current two encoders.

[0225] In some possible embodiments, the time safety threshold extension module extends the duration of the current safety time threshold based on the duration of entering the high-level gait phase, including:

[0226] The first delay adjustment value is determined based on the preset gain coefficient and the duration of entering the high-position gait phase;

[0227] The duration of the current safe time threshold is extended according to the first delay adjustment value.

[0228] In some possible embodiments, the time safety threshold extension module extends the duration of the current safety time threshold, including:

[0229] If the speeds of the encoders on both sides meet the condition of extending the phase time, the speed of the first encoder is determined, and the first encoder is an encoder whose speed exceeds the speed limit.

[0230] Based on the preset relationship between speed and delay adjustment value, determine the second delay adjustment value corresponding to the speed of the first encoder;

[0231] The duration of the current safe time threshold is extended according to the second delay adjustment value.

[0232] In some possible embodiments, the time safety threshold extension module determines a second delay adjustment value corresponding to the speed of the first encoder, including:

[0233] Based on the functional relationship between speed and delay coefficient, the delay coefficient corresponding to the speed of the first encoder is determined, wherein the higher the speed, the closer the delay coefficient is to 1;

[0234] Based on the preset maximum delay duration and the determined delay coefficient, the second delay adjustment value corresponding to the speed of the first encoder is determined.

[0235] In some possible embodiments, the device assist module determines a first assist for the drive hip exoskeleton device based on the gait curve, including:

[0236] Obtain the parameters of the pre-set gait assist algorithm, including assist adjustment value, phase adjustment value, and gait duty cycle;

[0237] The adjusted parameters are obtained by increasing the assist adjustment value, increasing the phase delay of the phase adjustment value, and increasing the gait duty cycle.

[0238] The current gait phase is determined based on the currently generated gait curve. Based on the current gait phase and the adjusted parameters, the first assist of the driving hip joint exoskeleton device is calculated using a gait assist algorithm.

[0239] In some possible embodiments, the device further includes:

[0240] The assist cut-off module is used to cut off the assist of the hip exoskeleton device if the duration of entering the high-level gait phase exceeds the current safe time threshold before entering the next gait phase.

[0241] In some possible embodiments, the time safety threshold extension module is also used to maintain the duration of the current safety time threshold unchanged when it is determined that the conditions for extending the phase time are not met after entering the high-position gait phase.

[0242] The device assistance module is also used to determine the second assistance of the driving hip exoskeleton device based on the gait curve if the duration of entering the high gait phase does not exceed the current safe time threshold before entering the next gait phase.

[0243] In some possible embodiments, the device assist module determines a second assist for the drive hip exoskeleton device based on the gait curve, including:

[0244] Obtain the parameters of the pre-set gait assist algorithm, including assist adjustment value, phase adjustment value, and gait duty cycle;

[0245] The current gait phase is determined based on the currently generated gait curve. Based on the current gait phase and the preset parameters, the second assist of the driving hip joint exoskeleton device is calculated using a gait assist algorithm.

[0246] In some possible embodiments, the device further includes:

[0247] The phase duration determination module is used to determine the duration of the gait phases experienced before the high gait phase in the complete gait and the duration of different gait phases when entering the high gait phase.

[0248] The complete gait time estimation module is used to estimate the time of at least one complete gait based on the phase difference and duration in the sine curves of different phase phase mappings.

[0249] The safe time threshold determination module is used to determine the duration of the current safe time threshold based on the time taken for at least one complete gait.

[0250] Having introduced the assistive method and apparatus of the hip exoskeleton device according to an exemplary embodiment of the present application, the assistive device of the hip exoskeleton device according to another exemplary embodiment of the present application will now be described.

[0251] Those skilled in the art will understand that various aspects of this application can be implemented as system, method, or program products.

[0252] In some possible implementations, the assistive device of the hip exoskeleton device according to this application may include at least one processor and at least one memory. The memory stores program code that, when executed by the processor, causes the processor to perform the steps in the assistive methods of the hip exoskeleton device according to various exemplary embodiments of this application described above.

[0253] The following reference Figure 7 This application describes an assistive device for a hip exoskeleton device according to one embodiment of the present application. Figure 7 The hip exoskeleton device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0254] like Figure 7 As shown, the assistive device of the hip exoskeleton includes encoders 701 on both sides of the hip exoskeleton, a controller 702, a memory 703, and a drive actuator 704; wherein:

[0255] The memory 703 stores instructions that can be executed by the controller 702. The controller 702 executes the instructions to enable the controller 702 to control the drive actuator to provide assistance based on the data from the encoders 701 on both sides, according to the method provided in the above embodiments of this application.

[0256] The memory 703 may include a readable medium in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read-only memory (ROM).

[0257] The memory 703 may also include a program / utility having a set (at least one) of program modules, including but not limited to: one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0258] In some possible implementations, various aspects of the assistive method for a hip exoskeleton device provided in this application can also be implemented in the form of a program product, which includes program code that, when the program product is run on a computer device, causes the computer device to perform the steps of the assistive method for a hip exoskeleton device according to various exemplary embodiments of this application as described above.

[0259] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0260] The program product for assisting hip exoskeleton devices according to embodiments of this application can be a portable compact disc read-only memory (CD-ROM) and include program code, and can run on an electronic device. However, the program product of this application is not limited thereto. In this document, the readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0261] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0262] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0263] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's electronic device, partially on the user's device, as a standalone software package, partially on the user's electronic device and partially on a remote electronic device, or entirely on a remote electronic device or server. In cases involving remote electronic devices, the remote electronic device can be connected to the user's electronic device via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external electronic device (e.g., via the Internet using an Internet service provider).

[0264] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0265] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0266] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0267] This application is described with reference to flowchart illustrations and block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block and / or block in the flowchart illustrations and block diagrams, as well as combinations of blocks and processes in the flowchart illustrations and block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0268] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and boxes Figure 1 The function specified in one or more boxes.

[0269] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and boxes Figure 1 The steps of the function specified in one or more boxes.

[0270] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0271] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for assisting a hip exoskeleton device, characterized in that, The method includes: Data from encoders on both sides of the hip exoskeleton is sampled in real time, and a gait curve mapping gait phase changes is generated based on the data, which includes angles and velocities. After entering the high-position gait phase, it is determined whether the angle difference and / or speed of the encoders on both sides meet the conditions for extending the phase time. The high-position gait phase represents the state in which the leg on either side is raised to the highest point. If the conditions for extending the phase time are met, the duration of the current safety time threshold will be extended. Before entering the next gait phase, if the duration of entering the high gait phase does not exceed the current safe time threshold, the first assist of the driving hip exoskeleton device is determined according to the gait curve.

2. The method according to claim 1, characterized in that, The next step phase is the mid-gait phase in the lowering direction. The mid-gait phase in the lowering direction represents the state of either leg being lowered to a set point, which is lower than the highest point.

3. The method according to claim 1, characterized in that, The conditions for determining the extended phase time include at least one of the following steps: If the absolute value of the angle difference between the two encoders is greater than the absolute value of the angle difference corresponding to the high-position gait phase, it is determined that the angle difference between the two encoders meets the condition of extending the phase time. If the speed of one encoder exceeds the set speed limit, it is determined that the speeds of both encoders meet the condition for extending the phase time.

4. The method according to any one of claims 1 to 3, characterized in that, The duration for which the current security time threshold is extended includes: If the angle difference between the two encoders meets the condition for extending the phase time, the duration of the current safety time threshold is extended according to the first delay method. If the speeds of the encoders on both sides meet the conditions for extending the phase time, the duration of the current safe time threshold is extended according to the second delay method.

5. The method according to any one of claims 1 to 3, characterized in that, The duration for which the current security time threshold is extended includes: If the angle difference between the two encoders meets the condition for extending the phase time, the recorded duration of entering the high-position gait phase and the duration of the current safe time threshold are obtained. Based on the duration of entering the high-level gait phase, extend the duration of the current safe time threshold, reset the duration of entering the gait phase to zero, and then restart recording. The angle difference corresponding to the high-position gait phase is updated to the angle difference between the current two encoders.

6. The method according to claim 5, characterized in that, The step of extending the duration of the current safe time threshold based on the duration of entering the high-level gait phase includes: The first delay adjustment value is determined based on the preset gain coefficient and the duration of entering the high-position gait phase; The duration of the current safe time threshold is extended according to the first delay adjustment value.

7. The method according to any one of claims 1 to 3, characterized in that, The duration for which the current security time threshold is extended includes: If the speeds of the encoders on both sides meet the condition of extending the phase time, the speed of the first encoder is determined, and the first encoder is an encoder whose speed exceeds the speed limit. Based on the preset relationship between speed and delay adjustment value, determine the second delay adjustment value corresponding to the speed of the first encoder; The duration of the current safe time threshold is extended according to the second delay adjustment value.

8. The method according to claim 7, characterized in that, Determining the second delay adjustment value corresponding to the speed of the first encoder includes: Based on the functional relationship between speed and delay coefficient, the delay coefficient corresponding to the speed of the first encoder is determined, wherein the higher the speed, the closer the delay coefficient is to 1; Based on the preset maximum delay duration and the determined delay coefficient, the second delay adjustment value corresponding to the speed of the first encoder is determined.

9. The method according to claim 1, characterized in that, Determining the first assist of the hip joint exoskeleton device based on the gait curve includes: Obtain the parameters of the pre-set gait assist algorithm, including assist adjustment value, phase adjustment value, and gait duty cycle; The adjusted parameters are obtained by increasing the assist adjustment value, increasing the phase delay of the phase adjustment value, and increasing the gait duty cycle. The current gait phase is determined based on the currently generated gait curve. Based on the current gait phase and the adjusted parameters, the first assist of the driving hip joint exoskeleton device is calculated using a gait assist algorithm.

10. The method according to claim 1, characterized in that, Also includes: If the duration of entering the high-gait phase exceeds the current safe time threshold before entering the next gait phase, the assist of the hip exoskeleton device shall be cut off.

11. The method according to claim 1, characterized in that, Also includes: After entering a high-level gait phase, if it is determined that the conditions for extending the phase time are not met, the duration of the current safe time threshold remains unchanged. Before entering the next gait phase, if the duration of entering the high gait phase does not exceed the current safe time threshold, the second assist of the driving hip exoskeleton device is determined according to the gait curve.

12. The method according to claim 11, characterized in that, Determining the second assist of the hip joint exoskeleton device based on the gait curve includes: Obtain the parameters of the pre-set gait assist algorithm, including assist adjustment value, phase adjustment value, and gait duty cycle; The current gait phase is determined based on the currently generated gait curve. Based on the current gait phase and the preset parameters, the second assist of the driving hip joint exoskeleton device is calculated using a gait assist algorithm.

13. The method according to claim 1, characterized in that, Also includes: When entering a high-level gait phase, determine the duration of the gait phases experienced before the high-level gait phase in the complete gait and the duration of different gait phases. Based on the phase difference and duration in the sine curves of different phase phase mappings, estimate the time for at least one complete gait. The duration of the current safe time threshold is determined based on the time taken for at least one complete gait.

14. The method according to claim 1, characterized in that, The determination of whether the angle difference and / or speed of the two encoders meet the conditions for extending the phase time includes: Whether to enter the low-speed stable walking mode is determined based on the user's action of activating the low-speed walking mode option on the page and / or gait frequency; In low-speed stable walking mode, determine whether the angle difference and / or speed of the encoders on both sides meet the conditions for extending the phase time.

15. An assistive device for a hip joint exoskeleton, characterized in that, The device includes: The gait curve generation module is used to sample data from encoders on both sides of the hip exoskeleton in real time and generate a gait curve that maps gait phase changes based on the data, including angles and velocities. The phase time extension determination module is used to determine whether the angle difference and / or speed of the encoders on both sides meet the conditions for extending the phase time after entering the high gait phase. The high gait phase represents the state in which the leg on either side is raised to the highest point. The time safety threshold extension module is used to extend the duration of the current safety time threshold if the conditions for extending the phase time are met. The device assistance module is used to determine the first assistance of the driving hip exoskeleton device based on the gait curve if the duration of entering the high gait phase does not exceed the current safe time threshold before entering the next gait phase.

16. An assistive device for a hip joint exoskeleton, characterized in that, It includes encoders, controllers, memory, and drive actuators on both sides of the hip exoskeleton; among which: The memory stores instructions that can be executed by the controller, which, when executed by the controller, enables the controller to control the drive actuator to provide assistance based on data from the encoders on both sides, according to the method described in any one of claims 1-14.

17. A computer storage medium, characterized in that, The computer storage medium stores a computer program that enables the computer to perform the method as described in any one of claims 1-14.

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