CN106037753A - Wearable data collection system based on multi-sensor fusion and method adopted by system - Google Patents

Abstract

The invention discloses a wearable data acquisition system and method based on multi-sensor fusion. The system includes a mechanical skeleton, and the mechanical skeleton includes a waist support (1), a thigh link (2), calf link (3), ankle link (4) and smart shoes (5); the back of the waist support (1) is provided with a main control box (6), the main control box (6), Both the thigh link (2) and the calf link (3) are provided with an attitude indicator (7); the thigh link (2) and the calf link (3) are provided with a gusset plate (8); The thigh connecting rod (2), the calf connecting rod (3) and the ankle joint connecting rod (4) are respectively provided with encoders (9). The invention is used for real-time and accurate measurement of the joint angles of the lower limbs and sole pressure distribution of the wearer during the walking process of wearing the exoskeleton robot, to determine whether the exoskeleton is in a stable walking state, and to evaluate the current health status of the wearer.

Description

A wearable data acquisition system and method based on multi-sensor fusion

technical field

The invention relates to the field of wearable rehabilitation medicine, in particular to a wearable data acquisition system and method based on multi-sensor fusion.

Background technique

During the walking process of the human body, each joint and muscle completes the corresponding action under the coordination of the corresponding control center. At the same time, it also outputs a lot of information to the outside world, such as the rotation angle of the hip joint, knee joint, and ankle joint, and the rotation angle of the thigh and calf. The electromechanical signals of the foot, the pressure on each main position of the foot, etc. These information characteristics can reflect a person's exercise habits, physical health and other factors to a certain extent, and the detection and analysis of these information has important medical value. For example, in the field of sports rehabilitation, the use of wearable data acquisition systems to collect and analyze these data can obtain information such as gait and movement stability of patients with lower limb disabilities during recent sports, so as to evaluate the recent sports recovery. At the same time, in the medical field , The wearable data acquisition system can also effectively reduce the long-time accompany and wait for the patient by the nursing staff. In terms of helping the elderly with weak exercise ability, this system can help the elderly to bear a certain load, making it more convenient for the elderly to exercise, collect and analyze the data of the lower limbs during exercise, prevent the occurrence of certain diseases such as sugar disease, and improve the health of the elderly. quality of life.

Existing human motion data acquisition methods include visual methods or methods based on inertial devices. Visual methods often require a set of cameras to track and measure the calibration points attached to the human body. The disadvantage of this method is that the process of pasting points is cumbersome and requires It takes a long time to stick points on the key parts of human muscles. Secondly, the visual equipment is generally used for tracking and measurement indoors, with poor mobility, and the visual system is expensive. Generally, only hospitals or rehabilitation institutions have such equipment. The patent with the publication number CN 104463108 A introduces a monocular real-time target recognition and pose measurement method. The pose measurement is completed by matching the obtained feature point data of the scene with the features of the target image to determine the position, but this method calculates The portion is huge. The patent with the publication number CN 205163082 U introduces a wearable device for collecting data of human body movement state. By setting capacitive rings in the first and second straps, the first strap measures the capacitance signal of the thigh, and the second strap measures the capacitance signal of the thigh. The strap measures the capacitive signal of the calf, and then processes the capacitive signal to collect the movement state data of the lower limbs of the human body. However, the capacitive loop of this method is easily affected by the human body condition, such as the sweat of the human body movement. The patent with the publication number of CN 104757976 A introduces a human gait analysis method and system based on multi-sensor fusion. The system measures the data in the process of human walking through inertial sensor devices, but the system cannot measure the gait of the human body in the process of walking. The pressure of each part of the bottom.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a wearable data acquisition system and method based on multi-sensor fusion, which is used to accurately measure the joint angles of the lower limbs of the wearer in the process of walking with the exoskeleton robot in real time. and foot pressure distribution, the system is equipped with pressure sensors on the soles of exoskeleton robot smart shoes to collect the pressure distribution of the soles of the human body during walking; attitude instruments are installed on the back, thighs, and calves to measure Pitch, roll and yaw angles of the human upper body torso, thighs, and calves during walking; encoders are installed at the hip joints, knee joints, and ankle joints to measure the hip joints, knee joints, and ankle joints of the human body during walking. The angle of rotation of the joint.

The purpose of the present invention is achieved through the following technical solutions: a wearable data acquisition system based on multi-sensor fusion, which includes a mechanical skeleton, and the mechanical skeleton includes a waist support from top to bottom, a thigh link, Calf link, ankle link and smart shoes; the back of the waist support is provided with a main control box, and the main control box, thigh link, and calf link are all provided with an attitude instrument for measuring pitch , roll and yaw angle; described thigh link, shank link is provided with gusset plate; described thigh link, shank link, ankle joint link correspond to human body hip joint, knee joint, ankle respectively Encoders are set at the positions of the joints to collect the rotation angles of the hip joint, knee joint and ankle joint of the exoskeleton during walking. control, the encoder at the ankle joint is controlled by smart shoes; the main control box includes a main control board, a power supply and a base station, and the base station is used to receive the data of the attitude meter, the node board and the smart shoes, and save the data Or upload the data to the PC host computer; the smart shoes include a plurality of pressure sensors and pressure information acquisition circuit boards, and the pressure information acquisition circuit board controls each pressure sensor and the encoder at the ankle joint to complete the sampling work, And calculate the pressure of each pressure sensor, the pressure center of the whole foot and the angle of ankle joint rotation, and transmit the data to the base station through the CAN bus.

The waist support, thigh connecting rod, and calf connecting rod are all provided with binding installation parts for binding the wearer and the mechanical skeleton, and the middle part of the smart shoe is provided with an energy belt for binding the wearer and the smart shoe .

Described attitude instrument comprises a plurality of three-axis acceleration sensors, a plurality of three-axis gyroscopes, a plurality of three-axis geomagnetic sensors, an MCU, a data display module, an RTC real-time clock module, a power supply and a wireless module, and the plurality of three-axis acceleration Sensors, multiple three-axis gyroscopes, multiple three-axis geomagnetic sensors, data display modules, RTC real-time clock modules, power supplies and wireless modules are all connected to the MCU; the multiple three-axis acceleration sensors, multiple three-axis gyroscopes are multiple Three three-axis geomagnetic sensors form a sensor array, and use multi-sensor multi-redundancy to accurately measure pitch, roll and yaw angles; the data display module is used to display the current attitude, that is, the pitch, roll, and yaw of the display attitude instrument Angle; described RTC real-time clock module provides time reference for attitude instrument, by corresponding the data of measurement and time, can be combined with video image, is convenient to decompose and analyze the corresponding data under each walking action; Described wireless module The data measured by the attitude instrument can be transmitted to the data receiving base station; the power supply provides a stable voltage for the attitude instrument to ensure the power requirements of each module.

The data display module is an OLED module.

The sensor array is a 7*7 array.

The smart shoe includes a metal plate, a middle rubber plate and a bottom rubber plate from top to bottom, and the plates are connected by rivets; the metal plate is provided with an energy belt for binding the wearer and the smart shoe. ; The upper layer of the bottom rubber plate is provided with a cylindrical counterbore for placing the pressure-guiding rubber pad, and N pressure sensors are installed between the middle rubber plate and the pressure-guiding rubber pad; the pressure information collection circuit board is placed in a metal box , the metal box and the metal plate are connected by screws.

The main control box, the thigh connecting rod and the lower leg connecting rod are provided with protective shells.

A systematic method as described, comprising the steps of:

S1: Power on the system, wait for the voltage to stabilize and start working;

S2: Initialization stage: Sampling the pressure sensors of the left and right feet for a certain number of times to obtain the zero bias value of the pressure sensor, and then eliminate the zero bias value of the pressure sensor during the subsequent walking process; the encoder samples a certain number of times to obtain the value of the encoding angle Zero offset value, eliminate the zero offset value when calibrating the zero scale position of the encoder; sample the attitude instrument sensor for a certain number of times, obtain the zero offset value of each data of the attitude instrument, and eliminate the zero offset value in the subsequent calculation of the attitude instrument angle;

S3: Data collection:

In a cycle, the left and right foot pressure sensors are sampled n times under the control of the pressure collecting circuit, processed by high-pass and low-pass filtering, and then the average value of n samples is calculated, and the average value is brought into the pressure sensor calibration function to obtain the value in a cycle The data value of the pressure sensor, through the data of N pressure sensors, uses the zero moment method to obtain the pressure center of the foot pressure in the horizontal plane; wherein, the left and right foot pressure sensors work independently without affecting each other;

In one cycle, the encoders at the hip joint, knee joint and ankle joint sample n times respectively, and through high-pass and low-pass filtering processing, obtain the mean value of the sampled data of n times, and use this mean value as the hip joint, knee joint and ankle joint The angle of rotation of the ankle joint during walking; wherein, when the encoder is at the zero position, use this position as a reference to eliminate the integral cumulative error of the attitude instrument when calculating pitch, roll and yaw angles;

In a cycle, the accelerometer, gyroscope and geomagnetic sensor of the attitude meter are sampled n times respectively, and the average values of the three sensors are obtained through complementary filtering, and then the exoskeleton thigh and calf values are obtained through Kalman filtering during walking. Pitch, roll and yaw angles, through the analysis of the pitch, roll and yaw angles of the thigh and calf during walking, the gait information of the exoskeleton can be obtained;

S4: Data analysis: Determine whether the exoskeleton is in a stable walking state according to the position of the obtained pressure center; at the same time, according to the gait information, reflect some physiological characteristics of the wearer, and evaluate the current health status of the wearer by comparing medical data.

When the exoskeleton is standing upright, the encoder angle is calibrated as 0 degrees. When the thigh or calf swings forward, the encoder angle increases to be positive, and when the thigh or calf swings backward, the encoder increment angle is negative.

The beneficial effects of the present invention are:

1) Multiple pressure sensors are embedded in the soles of the exoskeleton robot to form a sensor array. The sensor array is used to measure the pressure distribution of the soles of the feet during walking, and the pressure distribution is uploaded to the data receiving base station, which then transmits the data to the PC. The upper computer draws the distribution map of the plantar pressure;

2) Install attitude instruments on the back, thighs, and calves. The attitude instrument can measure the pitch, roll, and yaw angles of the human trunk, thighs, and calves during walking, and use these data to analyze the gait and yaw angles of the human body during walking. The rotation of each joint;

3) Absolute encoders are installed at the hip joints, knee joints, and ankle joints to measure the rotation angles of the hip joints, knee joints, and ankle joints during walking. This angle can be compared with the angle of the attitude meter and corrected and compensation.

Description of drawings

Fig. 1 is a structural block diagram of the present invention;

Figure 2 is a schematic diagram of the sensor array;

Fig. 3 is a structure block diagram of the attitude instrument circuit board;

Fig. 4 is a structural diagram of smart shoes;

Fig. 5 is a flow chart of the method of the present invention;

In the figure, 1-waist support, 2-thigh link, 3-calf link, 4-ankle joint link, 5-smart shoes, 6-main control box, 7-attitude indicator, 8-gusset plate, 9- Encoder, 10-binding installation, 11-energy belt, 12-protective shell, 13-pressure sensor, 14-metal plate, 15-middle rubber plate, 16-bottom rubber plate, 17-rivet, 18-counterbore , 19-pressure guide rubber pad, 20-metal box.

detailed description

Further describe the technical scheme of the present invention in detail below in conjunction with accompanying drawing:

As shown in Figure 1, a wearable data acquisition system based on multi-sensor fusion includes a mechanical skeleton, and the mechanical skeleton includes a waist support 1 from top to bottom, a thigh link 2, a calf link 3, Ankle joint connecting rod 4 and smart shoes 5; the back of described waist support 1 is provided with main control box 6, and described main control box 6, thigh connecting rod 2, calf connecting rod 3 are all provided with attitude instrument 7, Used to measure pitch, roll and yaw angles; the thigh link 2 and calf link 3 are provided with gusset plates 8; the thigh link 2, calf link 3, and ankle link 4 are respectively Encoders 9 are respectively arranged at the positions corresponding to the hip joints, knee joints, and ankle joints of the human body to collect the rotation angles of the hip joints, knee joints, and ankle joints of the exoskeleton during walking, and the encoders 9 at the hip joints and knee joints Controlled by gusset plate 8 on thigh link 2 and calf link 3 respectively, encoder 9 at the ankle joint is controlled by smart shoe 5; described main control box 6 includes main control board, power supply and base station, and described base station It is used to receive the data of the attitude meter 7, the node board 8 and the smart shoes 5, save the data or upload the data to the PC host computer; the smart shoes 5 include a plurality of pressure sensors 13 and pressure information acquisition circuit boards, so The pressure information acquisition circuit board described above controls each pressure sensor 13 and the encoder 9 at the ankle joint to complete the sampling work, and calculates the pressure size of each pressure sensor 13, the pressure center of the whole foot and the angle of rotation of the ankle joint, The data is transmitted to the base station through the CAN bus.

The waist support 1, the thigh link 2, and the calf link 3 are all provided with a binding installation part 10 for binding the wearer and the mechanical skeleton, and the middle part of the smart shoe 5 is provided with a binding installation part 10 for binding the wearer and the mechanical skeleton. Energy band 11 for smart shoes 5.

As shown in FIG. 3 , the circuit board of the attitude instrument 7 is mainly composed of a microcontroller, a power supply, a wireless module, a serial port, a CAN port, an OLED module, an RTC module, and a sensor array. The entire circuit board realizes various functions under the control of the MCU; the power supply part provides stable 5.0V and 3.3V voltages for the circuit board to ensure the power requirements of each module; The navigation angle and other data are sent out, and the wireless method can avoid the inconvenience caused by the connection, so that the attitude indicator can be used as a relatively independent module in other aspects; the serial port is used to download programs and online debugging for the attitude indicator, which is convenient for attitude The initial research and development work of the attitude instrument; the CAN port can ensure the long-distance communication between the attitude instrument and other external modules when the attitude instrument is used in other aspects; the OLED module can display the pitch, roll, yaw angle and power of the attitude instrument The display screen directly reads the information of the attitude instrument, effectively avoiding the transitional dependence on the PC host computer when displaying information; the RTC clock module can provide the time reference for the attitude instrument, and by setting the time, the running time of the attitude instrument can be compared with the Beijing time used in daily life Synchronization, so that it can be combined with the camera to take images of the exoskeleton walking, and match the image information with the attitude instrument data in time, which is convenient for the joint analysis of images and data.

Among them, the acceleration sensor, gyroscope, and geomagnetic sensor use MEMS devices with small package volume.

The data display module is an OLED module.

As shown in FIG. 2, the sensor array is a 7*7 array. The small black squares in the figure represent sensors. This system uses multiple sensors to form a sensor array. The specific number of sensors is determined by the execution capability of the microprocessor and the sampling frequency and accuracy required by the system. If the number of sensors is too large, the attitude indicator Response frequency will reduce, adopt 7x7 array in the present invention, but because of noticing, the scope of the present invention is not only 7x7 array range, this system has adopted sensor array, and the measured pitch, roll, yaw angle with high precision.

As shown in Figure 4, the smart shoe 5 includes a metal plate 14, a middle rubber plate 15 and a bottom rubber plate 16 from top to bottom, and the plates are connected by rivets 17; the metal plate 14 is provided with The energy belt 11 is used to bind the wearer and the smart shoes 5; the upper layer of the bottom rubber plate 16 is provided with a cylindrical counterbore 18 for placing a pressure guiding rubber pad 19, and N pressure sensors 13 are installed on the middle rubber plate 15 and the pressure guiding rubber pad 19; the pressure information collection circuit board is placed in the metal box 20, and the metal box 20 and the metal plate 14 are connected by screws.

A plurality of pressure sensors are distributed in an array on the main stress-bearing parts of the soles of the feet. The pressure information acquisition circuit amplifies and calculates the electrical signal output by each pressure sensor 13, calculates the pressure magnitude and pressure center of each area, and transmits the data to The base station, and then transmit the data to the PC host computer, which is convenient for the host computer to visually display the stress on the sole of the exoskeleton and the change of the center of gravity. The pressure information collection circuit board is fixed by the metal box 20 and installed in the middle area of the sole of the foot to avoid , the circuit board is damaged due to extrusion.

The main control box 6 , the thigh connecting rod 2 and the lower leg connecting rod 3 are provided with a protective shell 12 .

As shown in Figure 5, the method of the system includes the following steps:

S1: Power on the system, wait for the voltage to stabilize and start working;

S2: Initialization stage: Sampling the pressure sensor 13 of the left and right feet for a certain number of times to obtain the zero bias value of the pressure sensor 13, and then eliminate the zero bias value of the pressure sensor 13 during the subsequent walking process; the encoder 9 samples a certain number of times to obtain Obtain the zero offset value of the encoding angle, and eliminate the zero offset value when the zero scale position of the encoder 9 is calibrated; the sensor of the attitude instrument 7 samples a certain number of times, and obtains the zero offset value of each data of the attitude instrument 7, which will be used in the calculation of the angle of the attitude instrument 7 in the future Eliminate zero bias;

S3: Data collection:

1 In one cycle, the left and right foot pressure sensors 13 are sampled n times under the control of the pressure collecting circuit, processed by high-pass and low-pass filtering, and then calculate the average value of n samples, and bring the average value into the calibration function of the pressure sensor 13 to obtain a The data values of the pressure sensors 13 in the cycle, through the data of N pressure sensors 13, use the zero moment method to obtain the pressure center of the foot pressure in the horizontal plane; wherein, the left and right foot pressure sensors 13 work alone and do not affect each other;

2 In a cycle, the encoder 9 at the hip joint, knee joint and ankle joint samples n times respectively, and obtains the mean value of the sampled data of n times through high-pass and low-pass filtering processing, and uses this mean value as the hip joint, knee joint The angle that the joint and the ankle joint rotate during walking; Wherein, when the encoder 9 is in the zero-degree position, use this position as a reference to eliminate the integral cumulative error of the pitch, roll and yaw angles of the attitude meter 7;

3. In a cycle, the accelerometer, gyroscope and geomagnetic sensor of the attitude instrument 7 are sampled n times respectively, and the average values of the three sensors are respectively obtained through complementary filtering, and then the exoskeleton thigh and Pitch, roll, and yaw angles of the lower legs, through the analysis of the pitch, roll, and yaw angles of the thighs and lower legs during walking, the gait information of the exoskeleton can be obtained;

S4: Data analysis: Determine whether the exoskeleton is in a stable walking state according to the position of the obtained pressure center; at the same time, according to the gait information, reflect some physiological characteristics of the wearer, and evaluate the current health status of the wearer by comparing medical data. For exercise rehabilitation patients, being able to know the patient's current recovery status for a period of time can provide a certain basis for doctors to formulate exercise rehabilitation plans for patients. At the same time, the rotation angles of the hip and knee joints of the exoskeleton during walking can be obtained through the pitch, roll and yaw angles of the attitude instruments at the back, thigh and calf.

When the exoskeleton stands upright, the angle of the encoder 9 is calibrated as 0 degree, when the thigh or calf swings forward, the encoder 9 angle increases to be positive, when the thigh or calf swings backward, the encoder 9 increases the angle as burden.

Claims (9)

1. A wearable data acquisition system based on multi-sensor fusion, characterized in that it includes a mechanical skeleton, and the mechanical skeleton includes a waist support (1), a thigh link (2), a calf support from top to bottom connecting rod (3), ankle joint connecting rod (4) and smart shoes (5); the back of the waist support (1) is provided with a main control box (6), the main control box (6), thigh Both the connecting rod (2) and the lower leg connecting rod (3) are equipped with an attitude meter (7) for measuring pitch, roll and yaw angle; the thigh connecting rod (2), lower leg connecting rod (3) A gusset plate (8) is arranged on the top; the thigh connecting rod (2), calf connecting rod (3) and ankle joint connecting rod (4) are respectively arranged at positions corresponding to the human hip joint, knee joint and ankle joint There is an encoder (9), which collects the rotation angles of the hip joint, knee joint, and ankle joint of the exoskeleton during walking. The encoders (9) at the hip joint and knee joint are respectively connected by the thigh link (2) and the calf link (3) Controlled by the upper node board (8), the encoder (9) at the ankle joint is controlled by the smart shoe (5); the main control box (6) includes a main control board, a power supply and a base station, and the base station It is used to receive the data of the attitude meter (7), the node board (8) and the smart shoe (5), save the data or upload the data to the PC host computer; the smart shoe (5) includes a plurality of pressure sensors ( 13) and the pressure information acquisition circuit board, the pressure information acquisition circuit board controls each pressure sensor (13) and the encoder (9) at the ankle joint to complete the sampling work, and calculates the pressure of each pressure sensor (13) The pressure, the pressure center of the entire foot and the angle of rotation of the ankle joint are transmitted to the base station through the CAN bus. 2. A wearable data acquisition system based on multi-sensor fusion according to claim 1, characterized in that: the waist support (1), thigh link (2), calf link (3) Both are provided with a binding installation part (10) for binding the wearer and the mechanical skeleton, and the smart shoe (5) is provided with an energy belt (11) for binding the wearer and the smart shoe (5) at the rear position in the middle. 3. A wearable data acquisition system based on multi-sensor fusion according to claim 1, characterized in that: the attitude meter (7) includes multiple three-axis acceleration sensors, multiple three-axis gyroscopes and more A three-axis geomagnetic sensor, MCU, data display module, RTC real-time clock module, power supply and wireless module, the multiple three-axis acceleration sensors, multiple three-axis gyroscopes, multiple three-axis geomagnetic sensors, data display module, RTC The real-time clock module, the power supply and the wireless module are all connected to the MCU; the multiple three-axis acceleration sensors, the multiple three-axis gyroscopes and the multiple three-axis geomagnetic sensors form a sensor array, and the multi-sensor multi-redundancy is used to accurately measure pitch, lateral roll and yaw angle; the data display module is used to display the current attitude, that is, the pitch, roll, and yaw angle of the attitude instrument (7); the RTC real-time clock module provides time for the attitude instrument (7) The benchmark, by corresponding the measured data with the time, can be combined with the video image, which is convenient for decomposing and analyzing the data corresponding to each walking action; the wireless module can transmit each data measured by the attitude instrument (7) to To the data receiving base station; the power supply provides a stable voltage for the attitude instrument (7) to ensure the power requirements of each module. 4. A wearable data collection system based on multi-sensor fusion according to claim 3, characterized in that: said data display module is an OLED module. 5. A wearable data collection system based on multi-sensor fusion according to claim 3, characterized in that: said sensor array is a 7*7 array. 6. A wearable data acquisition system based on multi-sensor fusion according to claim 1, characterized in that: said smart shoes (5) sequentially include a metal plate (14) and a middle rubber plate from top to bottom (15) and the bottom rubber plate (16), each plate is connected by rivets (17); the metal plate (14) is provided with an energy belt (11) for binding the wearer and the smart shoe (5 ); the upper layer of the bottom rubber plate (16) is provided with a cylindrical counterbore (18) for placing the pressure guide rubber pad (19), and N pressure sensors (13) are installed on the middle rubber plate (15) and the guide between the pressure rubber pads (19); the pressure information collection circuit board is placed in the metal box (20), and the metal box (20) and the metal plate (14) are connected by screws. 7. A wearable data acquisition system based on multi-sensor fusion according to claim 1, characterized in that: said main control box (6), thigh link (2), calf link (3) A protective casing (12) is provided. 8. A method for a wearable data acquisition system based on multi-sensor fusion as described in any one of claims 1 to 7, characterized in that: comprising the following steps: S1: Power on the system, wait for the voltage to stabilize and start working; S2: Initialization stage: Sampling the pressure sensor (13) of the left and right feet for a certain number of times to obtain the zero bias value of the pressure sensor (13), and eliminate the zero bias value of the pressure sensor (13) during the subsequent walking process; the encoder (9) Sampling a certain number of times to obtain the zero offset value of the encoding angle, and eliminate the zero offset value when calibrating the zero scale position of the encoder (9); the attitude instrument (7) sensor samples a certain number of times, and obtains the attitude instrument (7) each The zero offset of the data, the zero offset value is eliminated in the subsequent angle calculation of the attitude instrument (7); S3: Data collection: (1) In one cycle, the left and right foot pressure sensors (13) are sampled n times under the control of the pressure collecting circuit, processed through high-pass and low-pass filtering, and then calculate the average value of n samples, and bring the average value into the pressure sensor (13 ) calibration function to obtain the data value of the pressure sensor (13) in a cycle, through the data of N pressure sensors (13), use the zero moment method to obtain the pressure center of the foot pressure in the horizontal plane; wherein, the left and right feet The pressure sensor (13) works independently without affecting each other; (2) In a cycle, the encoders (9) at the hip joint, knee joint and ankle joint sample n times respectively, and through high-pass and low-pass filtering processing, obtain the mean value of the sampled data of n times, and use this mean value as The rotation angle of the hip joint, knee joint and ankle joint during walking; when the encoder (9) is at the zero position, use this position as a reference to eliminate the pitch, roll and yaw of the attitude instrument (7). Integral cumulative error when heading angle; (3) In a cycle, the attitude indicator (7) accelerometer, gyroscope and geomagnetic sensor are sampled n times respectively, and the average values of the three sensors are obtained through complementary filtering, and then obtained through Kalman filtering. During walking, The pitch, roll, and yaw angles of the exoskeleton's thighs and calves, through the analysis of the pitch, roll, and yaw angles of the thighs and calves during walking, can obtain the gait information of the exoskeleton; S4: Data analysis: Determine whether the exoskeleton is in a stable walking state according to the position of the obtained pressure center; at the same time, according to the gait information, reflect some physiological characteristics of the wearer, and evaluate the current health status of the wearer by comparing medical data. 9. The method according to claim 8, characterized in that: when the exoskeleton stands upright, the angle of the encoder (9) is marked as 0 degrees, and when the thigh or calf swings forward, the angle of the encoder (9) Increase is positive, and when thigh or calf swings backward, encoder (9) increases angle and is negative.