The invention discloses a flexible
exoskeleton device for relieving Parkinson's freezing
gait and a control method thereof.The
exoskeleton device comprises a driving device, a flexible supporting and wearing structure, a multi-source sensing module and a
control circuit module, and tension directly acts on the corresponding position of
quadriceps femoris muscle groups through a
flexible cable driven by a motor; the knee lifting action during
muscle contraction is simulated, and the hip joint buckling action is completed. The invention provides an
exoskeleton control method based on joint torque
estimation under the condition of unknown tasks, and the method comprises the steps: predicting the joint torque of a
human body based on a deep neural network, and mapping a joint torque
estimation value into an auxiliary torque required by an exoskeleton through continuous functions such as zooming, delaying, filtering and the like; and the driving motor is controlled by feedback to complete tracking of the auxiliary torque. According to the control method, the aperiodic and unstructured
human motion tasks can be dynamically adapted without pre-defining task types or
gait phases, and individualized assistance can be provided for Parkinson patients.