The invention discloses a
data expansion and
exoskeleton joint end-to-end torque
estimation method based on a
diffusion model, and the method comprises the steps: carrying out the normalization
processing of
time series data from a multi-source sensor, carrying out the fragmentation according to a
fixed length, and constructing a training sample with a motion class
label; then, training a classifier-free conditional
diffusion model by adopting a sample, and simultaneously learning conditional and unconditional denoising mapping relationships in a manner of randomly inactivating category conditions; in the generation stage, based on a classifier-free condition guidance mechanism, multi-
modal time series data with specified motion category features are gradually generated from
random noise; and finally, fusing the generated
synthetic data with real acquired data to
train a joint torque end-to-end prediction network, thereby realizing joint torque
estimation of input sensor
time sequence data. The method improves the prediction precision, generalization ability and stability of the end-to-end torque
estimation model in a multi-action and few-sample scene, and has a good
engineering application value.