Feedback control method, control apparatus, and exoskeleton device

Abstract

Provided are a feedback control method, a control apparatus, and an exoskeleton device. The feedback control method is applied to the exoskeleton device, and comprises: receiving an operation instruction, wherein the operation instruction comprises a target working state of the exoskeleton device; determining, based on a current working state and the target working state of the exoskeleton device, a vibration mode of the exoskeleton device; and controlling, according to the vibration mode, a booster motor (12) of the exoskeleton device to rotate, so as to realize vibration feedback for the operation instruction. According to the feedback control method, the booster motor (12) of the exoskeleton device is used to generate vibration feedback corresponding to the vibration mode, thereby achieving a feedback effect and experiencing less interference, which is conducive to improving the interaction effect between the exoskeleton device and a user.

Description

Feedback control methods, control devices, and exoskeleton equipment

[0001] This application claims priority to Chinese Patent Application No. 202510126730.4, filed on January 27, 2025, entitled "Feedback Control Method, Control Device and Exoskeleton Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of exoskeleton technology, and in particular to a feedback control method, control device, and exoskeleton equipment. Background Technology

[0003] Exoskeleton devices are wearable mechanical structures, also known as "wearable robots." They can provide assistance and support in various scenarios such as rehabilitation training and outdoor sports, and have broad development prospects.

[0004] In related technologies, the interaction feedback method of exoskeleton devices is usually light and sound. However, in outdoor scenarios, due to interference from the surrounding environment, light and sound signals are difficult for users to receive, resulting in poor interaction between exoskeleton devices and users. Summary of the Invention

[0005] This application provides a feedback control method, a control device, and an exoskeleton device, the technical solutions of which are as follows:

[0006] On the one hand, a feedback control method is provided for use in exoskeleton devices, including:

[0007] Receive an operation instruction, the operation instruction including the target working state of the exoskeleton device;

[0008] The vibration mode of the exoskeleton device is determined based on its current operating state and the target operating state.

[0009] Based on the vibration pattern, the rotation of the assist motor of the exoskeleton device is controlled to achieve vibration feedback in response to the operation command.

[0010] In some embodiments, receiving user operation instructions includes:

[0011] Operation commands are received via a button device located on the exoskeleton device.

[0012] In some embodiments, receiving user operation instructions includes:

[0013] The application receives operation instructions, which are stored and run on the terminal device and used to control the exoskeleton device.

[0014] In some embodiments, controlling the rotation of the assist motor of the exoskeleton device according to the vibration mode to achieve vibration feedback in response to the operation command includes:

[0015] According to the vibration mode, a drive signal corresponding to the vibration mode is output to the assist motor. The drive signal is used to control the rotation of the assist motor of the exoskeleton device to realize vibration feedback corresponding to the operation command.

[0016] The driving signal is a current signal, which uses a frequency-converted square wave as the carrier wave and is amplitude-modulated by a sine wave.

[0017] In some embodiments, the drive signal includes a first drive signal, a second drive signal, and a third drive signal;

[0018] The amplitude modulation range of the first driving signal is [+α, -α], the amplitude modulation range of the second driving signal is [+α, 0], and the amplitude modulation range of the third driving signal is [0, -α], where α is greater than 0.

[0019] In some embodiments, the exoskeleton device further includes a back bar unit for securing to the user's waist, and the assist motor is connected to the back bar unit;

[0020] When the assist motor rotates, it can drive the back pole unit to vibrate upward and / or downward around the user's hip joint axis.

[0021] In some embodiments, the vibration mode includes a first vibration mode, a second vibration mode, and a third vibration mode, wherein the first vibration mode corresponds to a first driving signal, the second vibration mode corresponds to a second driving signal, and the third vibration mode corresponds to the second driving signal;

[0022] In the first vibration mode, the assist motor drives the back pole unit to vibrate up and down alternately;

[0023] In the second vibration mode, the assist motor drives the back pole unit to vibrate periodically upward;

[0024] In the third vibration mode, the assist motor drives the back pole unit to vibrate downwards periodically.

[0025] In some embodiments, the number of the assist motors is two, and the two assist motors are symmetrically arranged at both ends of the back pole unit;

[0026] The drive signals received by the two assist motors are of the same magnitude but opposite in direction.

[0027] In some embodiments, the operation command includes at least one of a power-on command, a power-off command, a mode switching command, and a gear switching command.

[0028] On the other hand, a control device is provided, which is applied to an exoskeleton device, the exoskeleton device including an assist motor for providing assistance, the control device comprising:

[0029] A receiving module is used to receive operation instructions, the operation instructions including the target working state of the exoskeleton device;

[0030] The determination module is used to determine the vibration mode of the exoskeleton device based on the current working state of the exoskeleton device and the target working state;

[0031] The control module is used to control the rotation of the assist motor of the exoskeleton device according to the vibration mode, so as to realize vibration feedback in response to the operation command.

[0032] On the other hand, an exoskeleton device is provided, which employs the feedback control method or the control device described in this application.

[0033] In some embodiments, the exoskeleton device includes: a backrest assembly, a first leg assembly, and a second leg assembly;

[0034] The backrest assembly includes a backrest unit and two assist motors, which are located at opposite ends of the backrest unit, and the axes of the assist motors are aligned with the user's hip joint axis. The first leg assembly is connected to one of the assist motors, and the second leg assembly is connected to the other assist motor.

[0035] The beneficial effects of the technical solution provided in this application include at least the following:

[0036] The feedback control method of this application can determine the vibration mode of the exoskeleton device based on the target working state included in the received operation command and the current working state of the exoskeleton device. It then utilizes the assist motor in the exoskeleton device to generate vibration feedback corresponding to the vibration mode, thus achieving a feedback effect. Compared to light and sound feedback, vibration is less affected by the surrounding environment, which is beneficial for improving the interaction between the exoskeleton device and the user. The vibration generation based on the rotation of the assist motor is structurally simple, requiring no modifications to the exoskeleton device's structure, making implementation easier. Furthermore, it eliminates the need for additional vibration elements in the exoskeleton device, which helps control production costs. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0038] Figure 1 is a flowchart illustrating the feedback control method provided in an embodiment of this application;

[0039] Figure 2 is a flowchart illustrating a feedback control method provided in another embodiment of this application;

[0040] Figure 3 is a schematic diagram of the structure of the exoskeleton device provided in an embodiment of this application;

[0041] Figure 4 is a second structural schematic diagram of the exoskeleton device provided in an embodiment of this application;

[0042] Figure 5 is a waveform diagram of the first driving signal provided in an embodiment of this application;

[0043] Figure 6 is a waveform diagram of the second driving signal provided in an embodiment of this application;

[0044] Figure 7 is a schematic diagram of the control device provided in an embodiment of this application.

[0045] The reference numerals in the figure represent: 1, back pole assembly; 11, back pole unit; 12, assist motor; 121, housing; 122, output end; 2, first leg assembly; 3, second leg assembly; 100, receiving module; 200, determining module; 300, control module. Detailed Implementation

[0046] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0047] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in Figure 1, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0048] It should be understood that in this application, "electrical connection" can be understood as physical contact and electrical conduction between components; it can also be understood as a form of connection between different components in a circuit structure through physical lines that can transmit electrical signals, such as copper foil or wires on a printed circuit board (PCB). "Communication connection" can refer to the transmission of electrical signals, including wireless communication connections and wired communication connections. Wireless communication connections do not require a physical medium and are not a connection relationship that limits the product structure. "Connection" and "connected" can both refer to a mechanical or physical connection relationship, that is, A and B being connected or connected can mean that there are fastening components (such as screws, bolts, rivets, etc.) between A and B, or that A and B are in contact with each other and are difficult to separate.

[0049] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0051] On the one hand, as shown in Figures 1, 3 and 4, this embodiment provides a feedback control method, which is applied to an exoskeleton device, the exoskeleton device including an assist motor 12 for providing assistance.

[0052] In some possible implementations, the exoskeleton device can be a thigh assist device worn on the user's waist and hips, a calf assist device worn on the user's knee joint, or a lower limb assist device worn on both the waist, hips, and knee joints.

[0053] In some possible implementations, the power assist motor 12 is positioned at the user's joint, such as the hip or knee joint, such that the rotation axis of the power assist motor 12 is aligned with the joint axis.

[0054] Taking the power assist motor 12 located at the user's hip joint as an example, the output end 122 of the power assist motor 12 is connected to the user's thigh. When the power assist motor 12 is started, its output end 122 can drive the thigh to rotate around the hip joint, thereby providing movement assistance to the user's thigh.

[0055] The number of assist motors 12 in the exoskeleton device can be one or more, and this application does not limit this. Moreover, the number of assist motors 12 and the number of user joints can be one-to-one or many-to-one. For example, multiple assist motors 12 can be arranged coaxially around the same axis to provide the user with stronger movement assistance.

[0056] For example, when there are multiple assist motors 12 in the exoskeleton device, the assist motor 12 that generates vibration signals using the feedback control method of this embodiment can be one or more of the multiple assist motors 12, or it can be all of the assist motors 12. In addition, the position of the assist motor 12 that can generate vibration signals using the feedback control method of this embodiment is not limited, and it can be the assist motor 12 corresponding to the hip joint or the assist motor 12 corresponding to the knee joint.

[0057] Feedback control methods include:

[0058] Step S1: Receive operation instructions, which include the target working status of the exoskeleton device.

[0059] Step S2: Determine the vibration mode of the exoskeleton device based on its current working state and target working state.

[0060] Step S3: Based on the vibration mode, control the rotation of the assist motor 12 of the exoskeleton device to achieve vibration feedback in response to the operation command.

[0061] The feedback control method of this embodiment can determine the vibration mode of the exoskeleton device based on the target working state included in the received operation command and the current working state of the exoskeleton device. It then utilizes the assist motor 12 in the exoskeleton device to generate vibration feedback corresponding to the vibration mode, thus achieving a feedback effect. Compared to light and sound feedback, vibration is less affected by the surrounding environment, which is beneficial for improving the interaction between the exoskeleton device and the user. The vibration generation based on the rotation of the assist motor 12 is structurally simple, requiring no modifications to the exoskeleton device's structure, making implementation easier. Furthermore, it eliminates the need for additional vibration elements in the exoskeleton device, which helps control production costs.

[0062] In some possible implementations, the current operating state is one of the following: power off, standby, walking assist, running assist, climbing assist, low-level assist, and high-level assist. The target operating state is another one of these. When the exoskeleton device receives an operation command, it can switch from the current operating state to the target operating state.

[0063] For example, when the current target state is off, the target working state is standby, and the operation command is a power-on command, the exoskeleton device switches from the off state to the standby state.

[0064] In some possible implementations, the exoskeleton device can perform vibration feedback when executing user-input commands such as power on / off, mode switching, or power assist level switching, in order to achieve information interaction with the user.

[0065] When the exoskeleton device has a built-in battery, it can also provide vibration feedback to remind the user to charge it in time if the battery is low on power.

[0066] The exoskeleton device in this embodiment can have various types of operation commands, and correspondingly, various vibration modes. For example, each operation command corresponds to a different vibration mode, and different vibration modes can provide the user with different vibration sensations. By distinguishing the different vibration sensations, the user can determine the type of feedback command, thereby completing information interaction with the exoskeleton device.

[0067] In addition to outputting different vibration modes according to different operating commands, exoskeleton devices can also output different vibration modes according to the difference between the current working state and the target working state. For example, when the current working state of the exoskeleton device is the off state and the target working state is the standby state, the vibration mode is short vibration; when the current working state of the exoskeleton device is the standby state and the target working state is the walking assistance state, the vibration mode is long vibration.

[0068] Referring to Figures 3 and 4, Figure 3 illustrates the vibration mode of the exoskeleton device performing two short vibrations, and Figure 4 illustrates the vibration mode of the exoskeleton device performing three long vibrations. Different vibration modes can correspond to different operation commands, which are not specifically limited in this embodiment. Users can also customize the operation commands corresponding to each vibration mode.

[0069] In some possible implementations, the exoskeleton device is worn and connected to the user's waist and legs through straps or other wearable structures. The vibrations generated by the assist motor 12 can be transmitted to the user through the wearable structures of the waist and / or legs, enabling information interaction between the exoskeleton device and the user.

[0070] In some possible implementations, receiving operation instructions includes:

[0071] Operation commands are received via a button device located on the exoskeleton device.

[0072] In some other possible implementations, operation instructions are received, including:

[0073] The application receives operation instructions, stores and runs them on the terminal device, and is used to control the exoskeleton device.

[0074] In this embodiment, the user can input operation commands through a button device or an application on the terminal device, and can determine the vibration mode according to the operation command, and further realize vibration feedback for the operation command, so that the user can receive vibration sensation after inputting the operation command, and realize information interaction between the user and the exoskeleton device.

[0075] With the aforementioned setup, when a user inputs an operation command to the exoskeleton device via a button or application, after confirming that the exoskeleton device has executed the corresponding work process, the required operation command is generated, and the assist motor can output vibration feedback corresponding to the operation command under the drive of the operation command.

[0076] In some possible implementations, the button device can be a physical button, such as a button, dial, or slider, or a virtual button, such as a touch button.

[0077] In some possible implementations, an application program, also known simply as an app, refers to various software programs that run on electronic devices such as computers, smartphones, and tablets to meet the needs of users in specific scenarios. For example, an application program is a software program stored and running on a terminal device to enable users to control exoskeleton devices. This terminal device can be a smartphone, tablet, or a smart wearable device such as a smartwatch or smart bracelet.

[0078] For example, users can input operation commands such as power on / off, mode switching, or assist level switching into the exoskeleton device via the button device. When operating the button device, users input operation commands into the exoskeleton device through actions such as pressing, sliding, or flicking the button device, and the exoskeleton device can respond to the operation command and execute the corresponding work process.

[0079] In another example, the exoskeleton device also includes an application stored and running in the terminal device. Through this application, users can input operation commands such as powering on, powering off, switching modes, or changing assist levels to the exoskeleton device. When the user operates the application, they input operation commands to the exoskeleton device by pressing, sliding, or flicking the controls in the application. The exoskeleton device responds to the operation command and executes the corresponding work process.

[0080] The terminal device can be connected to the exoskeleton device via wired communication or wireless communication. When the terminal device is connected to the exoskeleton device wirelessly, wireless communication between the terminal device and the exoskeleton device can be achieved through Bluetooth, ZigBee, or Ultra-Wideband (UWB) communication protocols.

[0081] In some possible implementations, exoskeleton devices include sensor devices that can automatically sense the user's motion state and / or work environment, such as speed sensors, accelerometers, gravity sensors, vision sensors, distance sensors, and LiDAR. These sensor devices can automatically collect information about the user's motion state and / or work environment, and based on this information, input corresponding operation commands to the exoskeleton device according to preset programs or AI algorithms, controlling the exoskeleton device to switch from the current working state to the target working state. The user can perceive and distinguish the differences in vibration feedback to determine the target working state of the exoskeleton device.

[0082] Referring to Figure 2, in some embodiments, the rotation of the exoskeleton device's assist motor is controlled according to the vibration mode to achieve vibration feedback in response to operation commands, including:

[0083] Based on the vibration mode, a drive signal corresponding to the vibration mode is output to the assist motor. The drive signal is used to control the rotation of the assist motor of the exoskeleton device to realize the vibration feedback of the corresponding operation command.

[0084] The driving signal is a current signal, which uses a frequency-converted square wave as the carrier wave and is amplitude-modulated by a sine wave.

[0085] In this embodiment, the assist motor 12 employs open-loop current control. By rapidly adjusting the motor's current signal, the rotational state of the assist motor 12 is quickly changed, creating a vibration effect. This simplifies the data processing flow, reduces the workload of components, and improves feedback efficiency.

[0086] A square wave is a periodic pulse signal that alternates between high and low voltage levels, with the durations of the high and low levels typically being equal or proportional. A frequency-converted square wave refers to a square wave signal whose frequency can be adjusted and changed as needed.

[0087] The main purposes of amplitude modulation (AM) of the current signal include improving anti-interference capability, achieving signal multiplexing, and matching circuit characteristics. AM modulation can change the spectral structure of the current signal, giving it specific frequency characteristics. At the receiving end, appropriate filtering methods can be used to filter out interference signals, retaining only the required modulated current signal, thereby improving the anti-interference capability of the current signal and ensuring the accuracy and stability of signal transmission. Different circuits or devices have different requirements for input signals, potentially with specific ranges in frequency, amplitude, etc. AM modulation of the current signal can adjust the frequency and amplitude parameters of the current signal to match the auxiliary motor 12, ensuring that the current signal can be received and recognized by the auxiliary motor 12, thus improving the performance and stability of the entire system.

[0088] Amplitude modulation of a current signal using a sinusoidal signal refers to the process of using a parameter (such as amplitude, frequency, or phase) of a sinusoidal signal to carry the current signal to be transmitted, so that the parameter changes with the change of the current signal.

[0089] In some possible implementations, the exoskeleton device stores a first mapping database of operation commands and vibration modes, and a second mapping database of vibration modes and drive signals. After determining an operation command, the exoskeleton device can query the first mapping database to determine the vibration mode corresponding to that operation command. After determining the vibration mode, the exoskeleton device can query the second mapping database to determine the drive signal corresponding to that vibration mode.

[0090] In some other possible implementations, a drive signal that is mapped to the operation command is directly determined according to the operation command, and the drive signal is directly output to the assist motor 12.

[0091] In some possible implementations, the drive signal is a control signal that the assist motor 12 can recognize.

[0092] For example, corresponding to the vibration mode, there are multiple types of drive signals, each of which can cause the assist motor 12 to have different rotation states. In different rotation states, at least one of the parameters of the assist motor 12, such as rotation direction, rotation frequency, and rotation amplitude, is different.

[0093] In another exemplary embodiment, when there are multiple drive motors, each drive signal may include multiple sub-drive signals. Multiple assist motors 12 receive different sub-drive signals and rotate according to their respective sub-drive signals. Each assist motor 12 generates a specific vibration signal, and the vibration signals of the multiple assist motors 12 constitute the vibration mode described above. For example, the assist motor 12 corresponding to the hip joint vibrates at a high frequency, and the assist motor 12 corresponding to the knee joint vibrates at a low frequency. Therefore, the feedback control method of this embodiment can utilize multiple assist motors 12 to form various different vibration modes, resulting in more diverse feedback signals for the exoskeleton device, which is beneficial for improving the interaction between the exoskeleton device and the user.

[0094] Referring to Figures 5 and 6, in some embodiments, the driving signal includes a first driving signal, a second driving signal, and a third driving signal; the amplitude modulation range of the first driving signal is [+α, -α], the amplitude modulation range of the second driving signal is [+α, 0], and the amplitude modulation range of the third driving signal is [0, -α], where α is greater than 0. For example, α = 1.

[0095] In this embodiment, by differentiating the amplitude ranges of different drive signals, different drive signals can produce different vibration feedback effects. For example, when the drive signal is greater than 0, the drive signal can drive the assist motor 12 to rotate in the forward direction, and when the drive signal is less than 0, the drive signal can drive the assist motor 12 to rotate in the reverse direction.

[0096] In some possible implementations, the amplitude range of the first drive signal is [+α,-α]. Under the drive of this drive signal, the assist motor 12 rotates alternately in the forward and reverse directions at a high frequency, which can generate a first vibration without directionality.

[0097] The amplitude modulation range of the second drive signal is [+α, 0], and the amplitude modulation range of the third drive signal is [0, -α]. Under the drive of these two drive signals, the assist motor 12 can periodically rotate in the forward or reverse direction, generating only directional vibrations that correspond to the forward or reverse direction of the assist motor 12. This directional vibration can act on specific parts of the user's body, such as the waist, enhancing or weakening the contact sensation between the exoskeleton device and the user's waist. Thus, the user can perceive feedback signals from the exoskeleton device when the contact sensation in the waist changes.

[0098] In another example, when the exoskeleton device executes power-on and power-off commands, the corresponding drive signal is the first drive signal. When the exoskeleton device executes a command to switch assist modes, the corresponding drive signal is the first drive signal. When the exoskeleton device executes a command to increase the assist level, the corresponding drive signal is the second drive signal; when the exoskeleton device executes a command to decrease the assist level, the corresponding drive signal is the third drive signal; or when the exoskeleton device executes a command to increase the assist level, the corresponding drive signal is the third drive signal; when the exoskeleton device executes a command to decrease the assist level, the corresponding drive signal is the second drive signal.

[0099] Referring to Figure 3, in some embodiments, the exoskeleton device further includes a back bar unit 11 for fixing to the user's waist, and an assist motor 12 is connected to the back bar unit 11; when the assist motor 12 rotates, it can drive the back bar unit 11 to vibrate upward and / or downward around the user's hip joint axis.

[0100] In this embodiment, the exoskeleton device is worn and fixed to the user's waist via a backrest unit 11. When the assist motor 12 rotates in response to the drive signal, it can drive the backrest unit 11 to vibrate upwards and / or downwards. Since the backrest unit 11 is closely connected to the user's waist, the user's waist can intuitively feel the vibration of the backrest, which helps to improve the interaction between the exoskeleton device and the user.

[0101] In some possible implementations, the exoskeleton device also includes leg bar units for attachment to the user's legs. These leg bar units are connected to an assist motor 12. When the exoskeleton device is in operation, the assist motor 12 drives the leg bar units to rotate, providing assistance to the user's legs. Compared to the leg bar units, the back bar unit 11 is more tightly connected to the user's waist, allowing for a more direct perception of vibration signals and providing a better feedback experience.

[0102] In some embodiments, the vibration modes include a first vibration mode, a second vibration mode, and a third vibration mode. The first vibration mode corresponds to a first driving signal, the second vibration mode corresponds to a second driving signal, and the third vibration mode corresponds to the second driving signal.

[0103] In the first vibration mode, the assist motor 12 drives the back pole unit 11 to vibrate up and down alternately; in the second vibration mode, the assist motor 12 drives the back pole unit 11 to vibrate upward periodically; in the third vibration mode, the assist motor 12 drives the back pole unit 11 to vibrate downward periodically.

[0104] In this embodiment, under the three vibration modes of the exoskeleton device, the assist motor 12 can drive the back pole unit 11 to vibrate in different directions, thereby using the back pole unit 11 to feed the vibration signal back to the user's waist, realizing information interaction between the exoskeleton device and the user.

[0105] In some possible implementations, in the second vibration mode, the assist motor 12 drives the back bar unit 11 to vibrate periodically upwards. This upward vibration brings the back bar unit 11 closer to the user's waist, resulting in a tighter contact. Driven periodically by the assist motor 12, the back bar unit 11 periodically pushes against the user's waist, providing a greater feeling of compression than in normal wear. For example, when the exoskeleton device switches from a lower assist mode to a higher assist mode, the second vibration mode is executed, and the back bar unit 11 pushes against the user's waist, allowing the user to feel a compression sensation and thus a more intuitive experience of the increased assist level.

[0106] In other possible implementations, in the third vibration mode, the assist motor 12 drives the backrest unit 11 to vibrate periodically downwards. This downward vibration allows the backrest unit 11 to move further away from the user's waist, resulting in a more relaxed contact between the backrest unit 11 and the user's waist. Under the periodic drive of the assist motor 12, the backrest unit 11 can periodically relax the user's waist, providing a less intense feeling of relaxation than when the user is wearing the device normally. For example, when the exoskeleton device switches from a higher assist mode to a lower assist mode, the third vibration mode is executed, and the backrest unit 11 moves further away from the user's waist, allowing the user to experience a more intuitive feeling of relaxation in their waist, thus providing a more direct experience of the reduced assist level.

[0107] In some possible implementations, in normal assist mode, the assist motor 12 applies a moving torque to the backrest unit 11 to counteract the downward gravity of the backrest unit 11, thereby reducing the weight burden on the user's waist. Therefore, in normal assist mode, the backrest unit 11 provides a moderate restraint effect on the user's waist, so that when the second or third vibration mode is activated, the user can clearly feel the clamping or relaxing effect of the backrest unit 11.

[0108] As shown in Figures 3 and 4, in some embodiments, there are two assist motors 12, which are symmetrically arranged at both ends of the back pole unit 11; the two assist motors 12 receive the same magnitude but opposite directions of the drive signals.

[0109] With the arrangement described above, two assist motors 12 are symmetrically arranged at both ends of the back pole unit 11. When the two assist motors 12 receive drive signals of the same magnitude but opposite direction, the two assist motors 12 can simultaneously apply an upward or downward driving force to the back pole unit 11, thereby achieving upward or downward vibration of the back pole unit 11.

[0110] The reason why the two assist motors 12 are driven by drive signals with opposite directions is that the two assist motors 12 are arranged symmetrically. In the field of motor control, a single motor is usually used as a reference; a positive current signal is input, and the motor rotates forward; a negative current signal is input, and the motor rotates in reverse. If the two assist motors 12 are in the same direction, for example, if the output terminals 122 are both on the left and the housings 121 are both on the right, using drive signals of the same magnitude and direction will make the two assist motors 12 rotate in the same direction. In this embodiment, however, the two assist motors 12 are in opposite directions; therefore, drive signals of the same magnitude but opposite directions are required to make the two assist motors 12 rotate in the same direction.

[0111] Referring to Figure 3, two assist motors 12 are symmetrically arranged at both ends of the back pole unit 11. The housings 121 of the two assist motors 12 are connected to the back pole unit 11 respectively. The output ends 122 of the two assist motors 12 are arranged opposite to each other and are used to connect to the leg fixing mechanism (e.g., the first leg assembly 2 and the second leg assembly 3).

[0112] Taking the orientation shown in Figure 3 as an example, the left assist motor 12 rotates along direction A1, and the right assist motor 12 rotates along direction A2, with A1 and A2 being the same size and direction. At this time, the housing 121, which was originally the fixed end of the assist motor 12, becomes the movable side, and the output end 122, which was originally the movable end of the assist motor 12, becomes the fixed side. The housing 121 of the left assist motor 12 will drive the back pole unit 11 to rotate in the opposite direction of A1, and the right assist motor 12 will drive the back pole unit 11 to rotate in the opposite direction of A2. As can be seen from the figure, the opposite directions of A1 and A2 are the same, both being direction B1 in the figure. When the back pole unit 11 rotates along direction B1, the top of the back pole unit 11 will push upwards and forwards against the user's waist, making the user feel as if their waist is being forcefully clamped by the exoskeleton device.

[0113] In some embodiments, the operation command includes at least one of the following: power-on command, power-off command, mode switching command, and gear switching command.

[0114] On the other hand, referring to Figure 7, this embodiment provides a control device applied to an exoskeleton device. The exoskeleton device includes an assist motor 12 for providing assistance, and the control device includes:

[0115] The receiving module 100 is used to receive operation instructions, which include the target working state of the exoskeleton device; the determining module 200 is used to determine the vibration mode of the exoskeleton device based on the current working state and the target working state; and the control module 300 is used to control the rotation of the assist motor 12 of the exoskeleton device according to the vibration mode, so as to realize vibration feedback in response to the operation instructions.

[0116] In this embodiment, the control device determines the vibration mode of the exoskeleton device based on the target working state in the operation command and the current working state of the exoskeleton device. The control module 300 controls the assist motor 12 in the exoskeleton device to generate vibration feedback corresponding to the vibration mode, thus achieving a feedback effect. Compared to light and sound feedback, vibration is less affected by the surrounding environment, which is beneficial to improving the interaction between the exoskeleton device and the user. The vibration is generated based on the rotation of the assist motor 12, which is simple in structure and does not require modification of the exoskeleton device structure, making it easier to implement. Furthermore, it eliminates the need to add additional vibration elements to the exoskeleton device, which helps control the production cost of the exoskeleton device.

[0117] In some embodiments, the exoskeleton device further includes a button device or an application, the button device being located on the exoskeleton device and the application being stored and running on a terminal device.

[0118] On the other hand, this embodiment provides an exoskeleton device, which employs the feedback control method of this application or includes the control device of this application.

[0119] The exoskeleton device in this embodiment employs the feedback control method or control device of this application, possessing all the beneficial technical effects of all embodiments herein. It utilizes an assist motor in the exoskeleton device to provide assistance, thereby generating vibration feedback corresponding to the vibration mode, achieving a feedback effect. Compared to light and sound feedback, vibration is less affected by the surrounding environment, which is beneficial for improving the interaction between the exoskeleton device and the user; the vibration generation based on the rotation of the assist motor is structurally simple, requiring no modification to the structure of the exoskeleton device, thus reducing implementation difficulty; and it eliminates the need to add additional vibration elements to the exoskeleton device, which helps control the production cost of the exoskeleton device.

[0120] Referring to Figures 3 and 4, in some embodiments, the exoskeleton device includes: a backrest assembly 1, a first leg assembly 2, and a second leg assembly 3.

[0121] The backrest assembly 1 includes a backrest unit 11 and two assist motors 12. The two assist motors 12 are located at both ends of the backrest unit 11, and the axes of the assist motors 12 are aligned with the axis of the user's hip joint. The first leg assembly 2 is connected to one of the assist motors 12, and the second leg assembly 3 is connected to the other assist motor 12.

[0122] In this embodiment of the exoskeleton device, the backrest assembly 1 can use two assist motors 12 to drive the first leg assembly 2 and the second leg assembly 3 respectively to assist the user's leg movement. The backrest unit 11 in the backrest assembly 1 can also use the two assist motors 12 to realize vibration feedback of up and down vibration, realizing information interaction between the user and the exoskeleton device.

[0123] It should be noted that the "and / or" mentioned in this article describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the related objects before and after it are in an "or" relationship.

[0124] The terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the terms used in this application based on the specific circumstances.

[0125] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0126] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.

[0127] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A feedback control method applied to an exoskeleton device, comprising: Receive an operation instruction, the operation instruction including the target working state of the exoskeleton device; The vibration mode of the exoskeleton device is determined based on its current operating state and the target operating state. Based on the vibration pattern, the rotation of the assist motor of the exoskeleton device is controlled to achieve vibration feedback in response to the operation command.

2. The feedback control method according to claim 1, wherein, The received operation instruction includes: The operation command is received via a button device located on the exoskeleton device.

3. The feedback control method according to claim 1, wherein, The received operation instruction includes: The operation instructions are received through an application, which is stored and runs on the terminal device and used to control the exoskeleton device.

4. The feedback control method according to any one of claims 1 to 3, wherein, The step of controlling the rotation of the assist motor of the exoskeleton device according to the vibration mode to achieve vibration feedback in response to the operation command includes: According to the vibration mode, a drive signal corresponding to the vibration mode is output to the assist motor. The drive signal is used to control the rotation of the assist motor of the exoskeleton device to realize vibration feedback corresponding to the operation command. The driving signal is a current signal, which uses a frequency-converted square wave as the carrier wave and is amplitude-modulated by a sine wave.

5. The feedback control method according to claim 4, wherein, The driving signals include a first driving signal, a second driving signal, and a third driving signal; The amplitude modulation range of the first driving signal is [+α, -α], the amplitude modulation range of the second driving signal is [+α, 0], and the amplitude modulation range of the third driving signal is [0, -α], where α is greater than 0.

6. The feedback control method according to any one of claims 1 to 5, wherein, The exoskeleton device also includes a back bar unit for fixing to the user's waist, and the assist motor is connected to the back bar unit; When the assist motor rotates, it can drive the back pole unit to vibrate upward and / or downward around the user's hip joint axis.

7. The feedback control method according to claim 6, characterized in that, The vibration modes include a first vibration mode, a second vibration mode, and a third vibration mode. The first vibration mode corresponds to a first driving signal, the second vibration mode corresponds to a second driving signal, and the third vibration mode corresponds to a second driving signal. In the first vibration mode, the assist motor drives the back pole unit to vibrate up and down alternately; In the second vibration mode, the assist motor drives the back pole unit to vibrate periodically upward; In the third vibration mode, the assist motor drives the back pole unit to vibrate downwards periodically.

8. The feedback control method according to claim 6, wherein, The number of the assist motors is two, and the two assist motors are symmetrically arranged at both ends of the back pole unit; The drive signals received by the two assist motors are the same in magnitude but opposite in direction.

9. The feedback control method according to any one of claims 1 to 8, wherein, The operation commands include at least one of the following: power-on command, power-off command, mode switching command, and gear switching command.

10. A control device applied to an exoskeleton device, the control device comprising: A receiving module is used to receive operation instructions, the operation instructions including the target working state of the exoskeleton device; The determination module is used to determine the vibration mode of the exoskeleton device based on the current working state of the exoskeleton device and the target working state; The control module is used to control the rotation of the assist motor of the exoskeleton device according to the vibration mode, so as to realize vibration feedback in response to the operation command.

11. An exoskeleton device, wherein the exoskeleton device employs the feedback control method according to any one of claims 1 to 9, or includes the control device according to claim 10.

12. The exoskeleton device according to claim 11, wherein, The exoskeleton device includes: a back pole assembly, a first leg assembly, and a second leg assembly; The backrest assembly includes a backrest unit and two assist motors, which are located at opposite ends of the backrest unit, and the axes of the assist motors are aligned with the user's hip joint axis. The first leg assembly is connected to one of the assist motors, and the second leg assembly is connected to the other assist motor.

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