CN112494284A

CN112494284A - Control method and device for hip joint exoskeleton

Info

Publication number: CN112494284A
Application number: CN202011504261.9A
Authority: CN
Inventors: 叶晶; 陈功; 林颖; 张玲; 胡广; 刘俊; 叶志峰; 周谟龙; 刘立升; 郭登极
Original assignee: Shenzhen Milebot Robot Technology Co ltd
Current assignee: Shenzhen Milebot Robot Technology Co ltd
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-03-16
Also published as: CN113143697B; CN113143697A

Abstract

The application provides a control method of a hip joint exoskeleton, which comprises the following steps: acquiring a left current rotation angle track and a left current rotation angular velocity track of a left hip joint exoskeleton worn by a wearer, and a right current rotation angle track and a right current rotation angular velocity track of a right hip joint exoskeleton; determining the state switching trend of the wearer according to the left current rotation angle track, the left current rotation angular velocity track, the right current rotation angle track and the right current rotation angular velocity track; wherein the state switching trend comprises stepping and standing; and respectively determining power-assisted moment tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the state switching trend, and driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer to perform corresponding state switching according to the power-assisted moment tracks. The lower limb assisting device can accurately identify various different lower limb movement tasks and provide corresponding lower limb assisting power, and is suitable for being used in different scenes.

Description

Control method and device for hip joint exoskeleton

Technical Field

The application relates to the technical field of exoskeleton, in particular to a control method and a device for a hip joint exoskeleton.

Background

The old people have the problems of slow pace, small stride, difficulty in long-time walking and the like caused by insufficient muscle strength of lower limbs due to the decline of body functions along with the increase of age; patients with diseases such as cerebral apoplexy are easy to have problems of lower limb dyskinesia such as muscular atrophy, gait disorder and the like, a large amount of rehabilitation training is needed to recover and maintain the basic functions of limbs, and after the patients complete periodic rehabilitation training in hospitals, the patients need to continue to keep the household lower limb training in daily life to recover the lower limb movement ability better.

In the aspect of old people assisted nursing, the traditional manual nursing service is easy to cause the dependence of old people and has the problem of insufficient human resources; in the aspect of medical rehabilitation, the traditional artificial rehabilitation means has the problems of large personnel consumption, short training time, poor repeatability, long rehabilitation period, limited rehabilitation effect, shortage of professional rehabilitation doctor resources and the like. In recent years, the rapid development of exoskeleton robot technology is gradually introduced into the fields of human body assistance and rehabilitation medical treatment by combining theories such as rehabilitation therapy, human body biomechanics and the like. The hip joint exoskeleton has the advantages of light weight, low cost, convenience in use and the like, and has more advantages in daily assistance and training scenes compared with the multi-joint exoskeleton robot.

However, the industrialization of the existing domestic exoskeleton products is slowly promoted, the hip joint assisting exoskeleton robot products are few and few, and the control strategy of most hip joint exoskeleton products cannot meet various lower limb movement tasks, so that certain limitations exist; in addition, the appearance of current hip joint ectoskeleton product can't be adjusted, and the helping hand is experienced comparatively hard.

Disclosure of Invention

In view of the problems described above, the present application has been developed to provide a control method and apparatus for a hip exoskeleton that overcomes or at least partially solves the problems described above, comprising:

a method of controlling a hip exoskeleton, comprising:

acquiring a left current rotation angle track and a left current rotation angular velocity track of a left hip joint exoskeleton worn by a wearer, and a right current rotation angle track and a right current rotation angular velocity track of a right hip joint exoskeleton, and determining a state switching trend of the wearer according to the left current rotation angle track, the left current rotation angular velocity track, the right current rotation angle track and the right current rotation angular velocity track; wherein the state switching trend comprises stepping and standing;

and respectively determining assistance torque tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the state switching trend, and driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer to perform corresponding state switching according to the assistance torque tracks.

Preferably, the step of determining the state switching trend of the wearer according to the left current rotation angle trajectory, the left current rotation angular velocity trajectory, the right current rotation angle trajectory, and the right current rotation angular velocity trajectory includes:

if a current section with similarity to a preset standard angular velocity curve being greater than a first preset value exists in the left current rotating angular velocity track or the right current rotating angular velocity track, judging that the state switching trend is the step; wherein the standard angular velocity profile is a rotational angular velocity profile of the hip joint of the wearer in a standard gait cycle;

or;

if the difference between the left current forward flexion angle included in the left current rotation angle trajectory and the right current forward flexion angle included in the right current rotation angle trajectory is less than or equal to the second preset value, and both the left current front-back angular velocity included in the left current rotation angular velocity trajectory and the right current back-forth angular velocity included in the right current rotation angular velocity trajectory are greater than a fourth preset value, determining that the state switching trend is the rising.

Preferably, the step of determining the power-assisted moment trajectories corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton respectively according to the state switching trend, and driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in performing the corresponding state switching according to the power-assisted moment trajectories includes:

if the state switching trend is the stepping, determining a left stepping power-assisted track and a right stepping power-assisted track according to the left current rotation angular velocity track or the right current rotation angular velocity track; the left stepping power-assisted track is a torque track comprising left power-assisted starting time; the right stepping power-assisted track is a torque track comprising right power-assisted starting time;

driving the left hip joint exoskeleton to assist the left lower limb of the wearer to walk according to the left stepping assistance trajectory, and driving the right hip joint exoskeleton to assist the right lower limb of the wearer to walk according to the right stepping assistance trajectory;

or;

if the state switching trend is the rising, determining rising assistance tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the left current rotation angular velocity track and/or the right current rotation angular velocity track; the rising power-assisted track is a torque track comprising a rising power-assisted starting time and a rising power-assisted ending time;

and simultaneously driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in switching to a standing state according to the rising assistance track.

Preferably, if the state switching trend is the step, the step of determining the left stepping power-assisted trajectory and the right stepping power-assisted trajectory according to the left current rotation angular velocity trajectory or the right current rotation angular velocity trajectory includes:

if the state switching trend is the step, determining a current gait cycle corresponding to the wearer according to the left current rotation angular velocity track or the right current rotation angular velocity track and a preset adaptive oscillator model;

determining the left stepping power-assisted track and the right stepping power-assisted track according to the current gait cycle and a preset standard stepping torque curve; wherein the standard swing moment curve is a moment curve of the hip exoskeleton assisting the wearer in completing one standard swing action; the left power-assist starting time included in the left swing power-assist trajectory and the right power-assist starting time included in the right swing power-assist trajectory are separated by half of the current gait cycle.

Preferably, if the state switching trend is the rising, the step of determining the rising assistance tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the left current rotation angular velocity track and/or the right current rotation angular velocity track includes:

if the state switching trend is the rising, determining a current rising period corresponding to the wearer according to the left current rotation angular velocity track and/or the right current rotation angular velocity track;

determining the rising assistance tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the current rising period and a preset standard rising torque curve; wherein the standard standing moment curve is a moment curve of the hip exoskeleton assisting the wearer in completing a standard standing action.

Preferably, the step of obtaining the left current turning angle trajectory and the left current turning angular velocity trajectory of the left hip exoskeleton and the right current turning angle trajectory and the right current turning angular velocity trajectory of the right hip exoskeleton worn by the wearer further comprises:

if the difference between the left current forward flexion angle contained in the left current rotation angle trajectory and the right current forward flexion angle contained in the left current rotation angle trajectory within a preset time period is less than or equal to the second preset value, and the left current forward flexion angle and the right current forward flexion angle within the preset time period are less than the third preset value, determining that the state switching trend is a step stop;

setting the step-stopping power-assisted trajectories corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton to be zero, and simultaneously driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in standing according to the step-stopping power-assisted trajectories;

or;

if the difference between the left current forward flexion angle contained in the left current rotation angle trajectory and the right current forward flexion angle contained in the right current rotation angle trajectory is smaller than or equal to a second preset value, and the left current forward flexion angle and the right current forward flexion angle are both larger than a third preset value; judging that the state switching trend is sitting/squatting;

setting the sitting/squatting assistance tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton to be zero, and simultaneously driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in switching to a sitting/squatting state according to the sitting/squatting assistance tracks.

A control device for a hip exoskeleton, comprising:

the angle acquisition module is used for acquiring a left current rotation angle track and a left current rotation angular velocity track of the left hip joint exoskeleton worn by the wearer, and a right current rotation angle track and a right current rotation angular velocity track of the right hip joint exoskeleton;

a trend determination module, configured to determine a state switching trend of the wearer according to the left current rotation angle trajectory, the left current rotation angular velocity trajectory, the right current rotation angle trajectory, and the right current rotation angular velocity trajectory; wherein the state switching trend comprises stepping and standing;

the moment determining module is used for respectively determining power-assisted moment tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the state switching trend;

and the moment control module is used for driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in carrying out corresponding state switching according to the assistance moment track.

An apparatus comprising a processor, a memory and a computer program stored on and executable on the memory, the computer program when executed by the processor implementing the steps of a method of controlling a hip exoskeleton as described above.

A computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of a method of controlling a hip exoskeleton as described above.

A hip exoskeleton applying the control method for the hip exoskeleton described above, comprising: the waist structure is used for controlling the rotation of the driving structure; the waist structure comprises a back plate assembly and an adjusting assembly for adjusting the left and right width of the waist structure; the driving structure is connected to the two sides of the back plate assembly through the adjusting assembly;

the adjusting assembly comprises an adjusting main body and a first link for adjusting the left and right width of the lumbar assembly; one end of the first link is connected with the back plate assembly through a first bolt assembly, and the other end of the first link is connected with the end part of the driving structure through the adjusting main body; wherein the first bolt assembly is used for adjusting the relative position of the first link and the back plate assembly;

the driving structure is provided with a motor assembly; the back plate assembly is provided with a control part for controlling the motor assembly to rotate; the motor assembly is electrically connected with the control part;

the lumbar structure is secured to a lumbar location of the wearer when the wearer is wearing the hip exoskeleton; the driving structure is fixed at the position of the lower limb of the wearer, wherein the position of the motor component corresponds to the position of the hip joint of the wearer;

when the hip joint exoskeleton applies assistance to the wearer, the control part drives the motor assembly to rotate to drive the lower limb of the wearer provided with the driving assembly to rotate, so that assistance is provided for the hip joint of the wearer.

Preferably, the adjustment body includes a second link and a third link for adjusting a front-rear width of the lumbar assembly;

one end of the second link is connected with the end of the first link far away from the backboard component, and the other end of the second link is connected with one end of the third link through a second bolt component; wherein the second bolt assembly is used to adjust the relative position of the second link and the third link; the other end of the third link is connected with an end of the driving structure.

Preferably, the first bolt assembly comprises two or more first screw holes correspondingly arranged on the first link and the back plate assembly, and a first bolt penetrating through the first screw holes;

the second bolt assembly comprises two or more second screw holes correspondingly arranged on the second link element and the third link element, and a second bolt penetrating through the second screw holes.

Preferably, a first hinge for providing a passive degree of freedom of external rotation and internal rotation of the hip joint is arranged at the joint of the first link and the second link; and a second hinge for providing passive freedom for abduction and adduction of the hip joint is arranged at the joint of the third link and the driving structure.

Preferably, the back plate assembly comprises a back plate and a control part; the control part is fixed on the outer side of the back plate.

Preferably, the driving structure comprises a thigh assembly and the motor assembly arranged at the end of the thigh assembly; the motor assembly is connected with the back plate assembly through the adjusting assembly.

Preferably, the thigh assembly comprises a thigh swing rod and a thigh baffle arranged on the thigh swing rod; the thigh swing rod is connected with the output end of the motor assembly.

Preferably, a waist strap and a thigh strap are also included; the waist strap is connected with the waist structure end; the thigh strap is connected with the drive structure end.

Preferably, the ends of the waist strap are respectively arranged in the waist belt through holes of the back plate component in a penetrating way; the waist structure is in tight connection with the waist of the wearer through the waist strap when the wearer wears the hip exoskeleton.

Preferably, the ends of the leg straps are respectively disposed through leg strap through holes of the drive assembly, and the drive assembly is closely coupled to the thighs of the wearer through the leg straps when the wearer wears the hip exoskeleton.

The application has the following advantages:

in the embodiment of the application, a state switching trend of a wearer is determined by acquiring a left current rotation angle track and a left current rotation angular velocity track of a left hip joint exoskeleton and a right current rotation angle track and a right current rotation angular velocity track of a right hip joint exoskeleton worn by the wearer and according to the left current rotation angle track, the left current rotation angular velocity track, the right current rotation angle track and the right current rotation angular velocity track; wherein the state switching trend comprises stepping and standing; and respectively determining assistance torque tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the state switching trend, and driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in carrying out corresponding state switching according to the assistance torque tracks, so that various different lower limb movement tasks can be accurately identified, corresponding lower limb assistance is provided, and the device is suitable for being used in different scenes.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the present application will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.

Fig. 1 is a flowchart illustrating steps of a method for controlling a hip exoskeleton according to an embodiment of the present application;

fig. 2 is a schematic diagram illustrating test results of an adaptive oscillator model in a control method for a hip exoskeleton according to an embodiment of the present application;

fig. 3 is a block diagram of a control device for a hip exoskeleton according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a computer device according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a hip exoskeleton provided in an embodiment of the present application;

FIG. 6 is a schematic front view of a hip exoskeleton provided in an embodiment of the present application;

FIG. 7 is a schematic diagram of a back side view of a hip exoskeleton according to an embodiment of the present application;

FIG. 8 is a schematic side view of a hip exoskeleton embodiment of the present application;

fig. 9 is a block diagram of a control strategy for a hip exoskeleton according to an embodiment of the present application.

The reference numbers in the drawings of the specification are as follows:

12. a computer device; 14. an external device; 16. a processing unit; 18. a bus; 20. a network adapter; 22. an input/output interface; 24. a display; 28. a memory; 30. a random access memory; 32. a cache memory; 34. a storage system; 40. a program/utility tool; 42. a program module; 310. an angle acquisition module; 320. a trend determination module; 330. a torque determination module; 340. a torque control module; 511. a back plate; 512. a control unit; 521. a first link; 522. a second link; 523. a third link; 524. a first hinge; 525. a second hinge; 531. a motor assembly; 532. a thigh swing link; 533. thigh baffles.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, a control method for a hip joint exoskeleton provided by an embodiment of the present application is shown, which specifically includes:

s110, acquiring a left current rotation angle track and a left current rotation angular velocity track of a left hip joint exoskeleton worn by a wearer, and a right current rotation angle track and a right current rotation angular velocity track of a right hip joint exoskeleton;

s120, determining the state switching trend of the wearer according to the left current rotation angle track, the left current rotation angular velocity track, the right current rotation angle track and the right current rotation angular velocity track; wherein the state switching trend comprises stepping and standing;

s130, respectively determining power-assisted moment tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the state switching trend;

and S140, driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in carrying out corresponding state switching according to the assistance torque track.

Next, a control method of the hip exoskeleton in the present exemplary embodiment will be further described.

As described in step S110, the left current turning angle trajectory and the left current turning angular velocity trajectory of the left hip exoskeleton and the right current turning angle trajectory and the right current turning angular velocity trajectory of the right hip exoskeleton are obtained.

Specifically, the left current rotation angle trajectory is a change trajectory of the rotation angle of the left hip joint exoskeleton along with time, a change starting point of the left current rotation angle trajectory may be a time point earlier than a current time preset value, and a change ending point of the left current rotation angle trajectory is the current time; the left current rotation angular velocity track is a change track of the rotation angular velocity of the left hip joint exoskeleton along with time, the change starting point can be a time point earlier than a current time preset value, and the change ending point is the current time; the right current rotation angle track is a change track of the rotation angle of the right hip joint exoskeleton along with time, the change starting point can be a time point earlier than a current time preset value, and the change ending point is the current time; the right current rotation angular velocity trajectory is a change trajectory of the rotation angular velocity of the right hip joint exoskeleton along with time, a change starting point of the change trajectory may be a time point earlier than a current time preset value, and a change ending point of the change trajectory is the current time.

Determining a state switching trend of the wearer according to the left current rotation angle trajectory, the left current rotation angular velocity trajectory, the right current rotation angle trajectory and the right current rotation angular velocity trajectory, as in step S120; wherein the state switching trend comprises stepping and standing.

Specifically, the state switching trend is a switching trend generated by a wearer in an initial period of the state switching, wherein the state switching is a complete switching process of switching from one trunk state to another trunk state, and the state switching relates to hip joint movement; the state switching may include a switching start point and a switching end point (for example, switching from a sitting/squatting state to a standing state), or may include only the switching start point and not include the switching end point (for example, switching from the standing state to a walking state).

In step S130, the power-assisted moment trajectories corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton are determined according to the state switching trend.

Specifically, if the state switching includes a switching start point and a switching end point, the assistance torque trajectory (e.g., a standing assistance trajectory) corresponding to the state switching includes an assistance start point and an assistance end point; if the state switching only comprises a switching starting point and does not comprise a switching ending point, the power assisting moment track (such as a stepping power assisting track) corresponding to the state switching only comprises the power assisting starting point and does not comprise the power assisting ending point.

In step S140, the left hip joint exoskeleton and the right hip joint exoskeleton are driven according to the assistance torque trace to assist the wearer in performing corresponding state switching.

Specifically, the output power of the motor of the hip joint exoskeleton is adjusted according to the assistance torque track so as to control the hip joint exoskeleton to assist the lower limb of the wearer according to the assistance torque track.

It should be noted that, in the method of the present application, the motion data of the left hip joint exoskeleton and the right hip joint exoskeleton are obtained in real time, so as to determine the state switching trend of the wearer in real time, when the state switching trend meeting a preset determination result is detected, the assistance torque trajectory corresponding to a future period in the state switching is generated according to a preset rule, and the hip joint exoskeleton is driven to assist the wearer in performing the state switching, and if a new state switching trend different from the current state switching trend is detected in the driving process, the step 130 is repeatedly performed.

In an embodiment of the present application, a specific process of "determining the state switching trend of the wearer according to the left current rotation angle trajectory, the left current rotation angular velocity trajectory, the right current rotation angle trajectory, and the right current rotation angular velocity trajectory" in step S120 may be further described with reference to the following description.

If a current section with similarity greater than a first preset value with a preset standard angular velocity curve exists in the left current rotation angular velocity track or the right current rotation angular velocity track, judging that the state switching trend is the stepping; wherein the standard angular velocity profile is a rotational angular velocity profile of the hip joint of the wearer in a standard gait cycle.

As an example, if there is a simultaneous satisfaction in the left current turning angular velocity trajectory or the right current turning angular velocity trajectory: 1. the similarity with the standard angular velocity curve is greater than the first preset value; 2. if the change termination point is the current section of the current time, judging that the state switching trend is the stepping; the curve similarity calculation method may adopt a point-based comparison method (e.g., a longest common subsequence algorithm, a dynamic time reduction algorithm, etc.), a shape-based comparison method (e.g., a frecker distance algorithm, a hausdorff distance algorithm, etc.), a segment-based comparison method (e.g., a one-way distance algorithm, a multi-line position distance algorithm), or a specific task-based comparison method (e.g., a track clustering algorithm, a road network algorithm, etc.), which is not described herein again;

it should be noted that when the wearer starts to walk, the lower limb of any side of the wearer first completes a complete swing cycle, and a section having a similarity greater than the first preset value with the standard angular velocity curve appears in the current rotation angular velocity trajectory of the hip exoskeleton corresponding to the side, so that the swing trend of the wearer can be effectively detected by using the method of the embodiment, and accurate lower limb movement intention recognition is realized.

Or;

as described in the following steps, if the difference between the left current forward flexion angle included in the left current rotation angle trajectory and the right current forward flexion angle included in the right current rotation angle trajectory is less than or equal to the second preset value, and both the left current forward-backward angular velocity included in the left current rotation angular velocity trajectory and the right current backward angular velocity included in the right current rotation angular velocity trajectory are greater than a fourth preset value, it is determined that the state switching trend is the rising.

It should be noted that, when the left lower limb and the right lower limb of the wearer are in a motion state of synchronous backward extension, a difference between the left current forward flexion angle and the right current forward flexion angle is less than or equal to the second preset value, and both the left current forward-backward extension angular velocity and the right current backward extension angular velocity are greater than a fourth preset value; therefore, the method of the embodiment can effectively detect the rising trend of the wearer and realize accurate lower limb movement intention identification.

In an embodiment of the present application, a specific process of "determining the assisting torque traces corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton respectively according to the state switching trend, and driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in performing the corresponding state switching" in step S130 can be further described with reference to the following description.

Determining a left stepping power-assisted trajectory and a right stepping power-assisted trajectory according to the left current rotation angular velocity trajectory or the right current rotation angular velocity trajectory if the state switching trend is the stepping; the left stepping power-assisted track is a torque track comprising left power-assisted starting time; the right stepping power-assisted track is a torque track comprising right power-assisted starting time; and driving the left hip joint exoskeleton to assist the left lower limb of the wearer to walk according to the left stepping assistance track, and driving the right hip joint exoskeleton to assist the right lower limb of the wearer to walk according to the right stepping assistance track.

As an example, a step-side current rotation angular velocity trajectory is determined according to the left side current rotation angular velocity trajectory and the right side current rotation angular velocity trajectory, wherein the current segment having a similarity greater than the first preset value with the standard angular velocity curve exists in the step-side current rotation angular velocity trajectory; specifically, if the current section exists in the left current rotation angular velocity trajectory, setting the left current rotation angular velocity trajectory as the step-taking side current rotation angular velocity trajectory, and otherwise, setting the right current rotation angular velocity trajectory as the step-taking side current rotation angular velocity trajectory; determining a left stepping power-assisted track and a right stepping power-assisted track according to the current rotating angular speed track of the stepping side; the left stepping power assisting track and the right stepping power assisting track are moment tracks which only contain a power assisting starting point and do not contain a power assisting ending point.

It should be noted that, when the wearer starts to walk, the lower limb of any side of the wearer first completes a complete stepping cycle, a section corresponding to the current stepping cycle of the wearer appears in the current rotation angular velocity trajectory of the hip exoskeleton corresponding to the side, and the current rotation angular velocity trajectory of the side is selected as a determination condition of the power-assisted moment trajectory, so that the motion characteristics of the wearer can be effectively extracted; in the normal walking process, the standing phase and the stepping phase of the lower limbs on the left side and the right side are equal in time, namely the gait is symmetrical, so that the stepping assistance track for assisting the wearer in walking on both sides can be calculated after the motion characteristics of one side of the wearer are extracted.

Or;

determining a rising assistance trajectory corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the left current rotation angular velocity trajectory and/or the right current rotation angular velocity trajectory if the state switching trend is the rising; the rising power-assisted track is a torque track comprising a rising power-assisted starting time and a rising power-assisted ending time; and simultaneously driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in switching to a standing state according to the rising assistance track.

It should be noted that, when the wearer stands up, the lower limbs on the left and right sides of the wearer are in a synchronous motion state, so that the current rotation angular velocity trajectory on any side can be selected to extract the motion characteristics of the wearer; in the normal standing process, the left lower limb and the right lower limb are always in a synchronous motion state, so that the standing assistance track for assisting the wearer to be switched to the standing state from two sides can be calculated after the motion characteristics of the wearer are extracted.

In an embodiment of the present application, a specific process of "determining a left step assist trajectory and a right step assist trajectory according to the left current rotation angular velocity trajectory or the right current rotation angular velocity trajectory if the state switching trend is the step" may be further described with reference to the following description.

Determining a current gait cycle corresponding to the wearer according to the left current rotation angular velocity trajectory or the right current rotation angular velocity trajectory and a preset adaptive oscillator model if the state switching trend is the step forward;

specifically, the adaptive oscillator model may determine the current gait cycle of the wearer from an effective segment contained in the swing-side current rotational angular velocity trajectory; the effective section is a section with the similarity degree with the standard angular velocity curve being greater than the first preset value; the adaptive mechanism of the adaptive oscillator model can converge the frequency of the active region to the frequency of any periodic input signal, and the corresponding equation is:

(1) the method comprises the following steps: x and y are state variables; mu is the inherent radius of the limit ring, namely the amplitude of the oscillator; omega is frequency, and has a monotonous relation with the oscillator when not interfered; k is coupling strength, and the higher the coupling strength is, the faster the convergence is; f (t) is periodic disturbance, namely an input signal needing synchronization; by inputting an angular velocity signal into the adaptive oscillator model for operation, the phase change of the hip joint movement of the wearer can be obtained

Thereby identifying the gait cycle of the wearer during the current walking process, fig. 2 is a test result of the adaptive oscillator model in a specific implementation of the present application, in which a is a phase change curve, B is a frequency change curve, C is the angular velocity change curve of the left hip joint, and D is a synchronization curve.

It should be noted that, the method of this embodiment can generate the auxiliary torque required by the wearer corresponding to the current gait cycle according to the torque change of human biomechanics in the gait cycle, so as to provide comfortable and accurate assistance during the walking process of the wearer.

In an embodiment of the present application, a specific process of determining the rising assistance trajectory corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the left current rotation angular velocity trajectory and/or the right current rotation angular velocity trajectory if the state switching trend is the rising may be further described with reference to the following description.

Determining a current rising period corresponding to the wearer according to the left current rotation angular velocity trajectory and/or the right current rotation angular velocity trajectory if the state switching trend is the rising; determining the rising assistance tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the current rising period and a preset standard rising torque curve; wherein the standard standing moment curve is a moment curve of the hip exoskeleton assisting the wearer in completing a standard standing action.

Specifically, the current rising period is inversely proportional to a current rotation angular velocity included in the left current rotation angular velocity trajectory and/or the right current rotation angular velocity trajectory; the rising assist end time included in the rising torque trajectory corresponds to an end time of the current rising cycle.

In addition, the method of the present embodiment can assist the hip joint of the wearer in extending backward by outputting the equidirectional torque, so as to help the wearer enter a standing state.

In an embodiment of the present application, the following process is further included after the step of obtaining the left current turning angle trajectory and the left current turning angular velocity trajectory of the left hip exoskeleton and the right current turning angle trajectory and the right current turning angular velocity trajectory of the right hip exoskeleton worn by the wearer.

As described in the following steps, if the difference between the left current forward flexion angle included in the left current rotation angle trajectory and the right current forward flexion angle included in the left current rotation angle trajectory within a preset time period is less than or equal to the second preset value, and the left current forward flexion angle and the right current forward flexion angle within the preset time period are both less than the third preset value, it is determined that the state switching trend is a step stop; specifically, the preset time period may be 1 s;

when both the left lower limb and the right lower limb of the wearer are in a static standing state within the preset time period, the difference between the left current forward flexion angle and the right current forward flexion angle is less than or equal to the second preset value within the preset time period, and the left current forward flexion angle and the right current forward flexion angle are less than the third preset value within the preset time period; therefore, the step-stopping trend of the wearer can be effectively detected by the method of the embodiment, and accurate lower limb movement intention identification is realized.

Setting the step-stopping power-assisted tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton to be zero, and simultaneously driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in standing according to the step-stopping power-assisted tracks.

In addition, since the wearer stops taking a step, the step-stopping assist trajectory is set to zero, and the hip exoskeleton stops providing assist force.

Or;

as described in the following steps, if a difference between a left current forward flexion angle included in the left current rotation angle trajectory and a right current forward flexion angle included in the right current rotation angle trajectory is less than or equal to a second preset value, and both the left current forward flexion angle and the right current forward flexion angle are greater than a third preset value; judging that the state switching trend is sitting/squatting;

it should be noted that, when both the left lower limb and the right lower limb of the wearer are in a synchronous forward flexion state, a difference between the left current forward flexion angle and the right current forward flexion angle is less than or equal to a second preset value, and both the left current forward flexion angle and the right current forward flexion angle are greater than a third preset value; therefore, the sitting/squatting trend of the wearer can be effectively detected by the method of the embodiment, and accurate lower limb movement intention identification is realized.

It should be noted that, because the wearer does not need assistance during sitting/squatting, the sitting/squatting assistance trajectory is set to zero, so that the hip-joint exoskeleton does not provide assistance.

For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.

Referring to fig. 3, a control device for a hip exoskeleton provided by an embodiment of the present application is shown, specifically including:

an angle obtaining module 310, configured to obtain a left current rotation angle trajectory and a left current rotation angular velocity trajectory of the left hip joint exoskeleton and a right current rotation angle trajectory and a right current rotation angular velocity trajectory of the right hip joint exoskeleton, which are worn by the wearer;

a trend determining module 320, configured to determine a state switching trend of the wearer according to the left current rotation angle trajectory, the left current rotation angular velocity trajectory, the right current rotation angle trajectory, and the right current rotation angular velocity trajectory; wherein the state switching trend comprises stepping and standing;

a torque determination module 330, configured to determine, according to the state switching trend, power-assisted torque trajectories corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton respectively;

the torque control module 340 is configured to drive the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in performing corresponding state switching according to the power-assisted torque trajectory.

In an embodiment of the present application, the trend determining module 320 includes:

a step determination submodule, configured to determine that the state switching trend is the step if a current segment having a similarity greater than a first preset value to a preset standard angular velocity curve exists in the left current rotational angular velocity trajectory or the right current rotational angular velocity trajectory; wherein the standard angular velocity profile is a rotational angular velocity profile of the hip joint of the wearer in a standard gait cycle;

an uprising determination submodule, configured to determine that the state switching trend is the uprising state if a difference between the left current forward flexion angle included in the left current rotation angle trajectory and the right current forward flexion angle included in the right current rotation angle trajectory is smaller than or equal to the second preset value, and both a left current front-back angular velocity included in the left current rotation angular velocity trajectory and a right current back-forth angular velocity included in the right current rotation angular velocity trajectory are greater than a fourth preset value;

a step stopping determination submodule, configured to determine that the state switching trend is a step stopping trend if a difference between the left current forward flexion angle included in the left current rotation angle trajectory and the right current forward flexion angle included in the left current rotation angle trajectory in a preset time period is smaller than or equal to the second preset value, and the left current forward flexion angle and the right current forward flexion angle in the preset time period are both smaller than the third preset value;

a sitting/squatting determination submodule, configured to determine whether a difference between a left current forward flexion angle included in the left current rotation angle trajectory and a right current forward flexion angle included in the right current rotation angle trajectory is smaller than or equal to a second preset value, and whether the left current forward flexion angle and the right current forward flexion angle are both larger than a third preset value; the state switching tendency is determined as sitting/squatting.

In an embodiment of the present application, the torque determining module 330 includes:

a step moment determination submodule for determining a left step assist trajectory and a right step assist trajectory according to the left current rotation angular velocity trajectory or the right current rotation angular velocity trajectory if the state switching trend is the step; the left stepping power-assisted track is a torque track comprising left power-assisted starting time; the right stepping power-assisted track is a torque track comprising right power-assisted starting time;

a rising moment determination submodule configured to determine a rising assisting power trajectory corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the left current rotation angular velocity trajectory and/or the right current rotation angular velocity trajectory if the state switching trend is the rising; the rising power-assisted track is a torque track comprising a rising power-assisted starting time and a rising power-assisted ending time;

the step-stopping moment determination submodule is used for setting the step-stopping power-assisted tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton to be zero if the state switching trend is the step-stopping;

a sitting/squatting moment determination sub-module configured to set a sitting/squatting assistance locus corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton to zero if the state switching trend is the sitting/squatting.

In an embodiment of the present application, the torque control module 340 includes:

the stepping moment control sub-module is used for driving the left hip joint exoskeleton to assist the left lower limb of the wearer to walk according to the left stepping assistance track and driving the right hip joint exoskeleton to assist the right lower limb of the wearer to walk according to the right stepping assistance track;

the standing moment control sub-module is used for simultaneously driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in switching to a standing state according to the standing assistance track;

the step-stopping moment control sub-module is used for simultaneously driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in standing according to the step-stopping power-assisted trajectory;

and the sitting/squatting moment control sub-module is used for simultaneously driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in switching to a sitting/squatting state according to the sitting/squatting assistance track.

In an embodiment of the present application, the swing torque determination submodule includes:

a gait cycle determination submodule, configured to determine, if the state switching trend is the step, a current gait cycle corresponding to the wearer according to the left current rotational angular velocity trajectory or the right current rotational angular velocity trajectory and a preset adaptive oscillator model;

the step moment generation submodule is used for determining the left step power-assisted track and the right step power-assisted track according to the current gait cycle and a preset standard step moment curve; wherein the standard swing moment curve is a moment curve of the hip exoskeleton assisting the wearer in completing one standard swing action; the left power-assist starting time included in the left swing power-assist trajectory and the right power-assist starting time included in the right swing power-assist trajectory are separated by half of the current gait cycle.

In an embodiment of the present application, the standing moment determining submodule includes:

a rising period determining submodule configured to determine, if the state switching trend is the rising, a current rising period corresponding to the wearer according to the left current rotational angular velocity trajectory and/or the right current rotational angular velocity trajectory;

the standing moment generation sub-module is used for determining the standing assistance tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the current standing period and a preset standard standing moment curve; wherein the standard standing moment curve is a moment curve of the hip exoskeleton assisting the wearer in completing a standard standing action.

Referring to fig. 4, a computer device of a control method for a hip exoskeleton of the present application is shown, which may specifically include the following:

the computer device 12 described above is embodied in the form of a general purpose computing device, and the components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus 18 structures, including a memory bus 18 or memory controller, a peripheral bus 18, an accelerated graphics port, and a processor or local bus 18 using any of a variety of bus 18 architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus 18, micro-channel architecture (MAC) bus 18, enhanced ISA bus 18, audio Video Electronics Standards Association (VESA) local bus 18, and Peripheral Component Interconnect (PCI) bus 18.

Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (commonly referred to as "hard drives"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules 42, with the program modules 42 configured to carry out the functions of embodiments of the application.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules 42, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally perform the functions and/or methodologies of the embodiments described herein.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, camera, etc.), with one or more devices that enable an operator to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN)), a Wide Area Network (WAN), and/or a public network (e.g., the Internet) via network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be appreciated that although not shown in FIG. 4, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units 16, external disk drive arrays, RAID systems, tape drives, and data backup storage systems 34, etc.

The processing unit 16 executes programs stored in the system memory 28 to execute various functional applications and data processing, for example, to implement a control method for the hip exoskeleton provided in the embodiments of the present application.

That is, the processing unit 16 implements, when executing the program,: acquiring a left current rotation angle track and a left current rotation angular velocity track of a left hip joint exoskeleton worn by a wearer, and a right current rotation angle track and a right current rotation angular velocity track of a right hip joint exoskeleton, and determining a state switching trend of the wearer according to the left current rotation angle track, the left current rotation angular velocity track, the right current rotation angle track and the right current rotation angular velocity track; wherein the state switching trend comprises stepping and standing; and respectively determining assistance torque tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton according to the state switching trend, and driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer to perform corresponding state switching according to the assistance torque tracks.

Referring to fig. 5 to 8, a hip exoskeleton applied to the control method of the hip exoskeleton described in any one of the above embodiments is shown, which specifically includes:

the waist structure is used for controlling the rotation of the driving structure; the waist structure comprises a back plate assembly and an adjusting assembly for adjusting the left and right width of the waist structure; the driving structure is connected to the two sides of the back plate assembly through the adjusting assembly;

the adjusting assembly includes an adjusting body and a first link 521 for adjusting a left-right width of the lumbar assembly; one end of the first link 521 is connected to the back plate assembly by a first bolt assembly, and the other end is connected to the end of the driving structure by the adjustment body; wherein the first bolt assembly is used for adjusting the relative position of the first link 521 and the back plate assembly;

the driving structure is provided with a motor component 531; the backboard component is provided with a control part 512 for controlling the motor component 531 to rotate; the motor assembly 531 is electrically connected to the control unit 512;

the lumbar structure is secured to a lumbar location of the wearer when the wearer is wearing the hip exoskeleton; the drive structure is fixed to the wearer at a lower extremity position, wherein the position of the motor assembly 531 corresponds to the position of the wearer's hip joint;

when the hip exoskeleton applies assistance to the wearer, the control part 512 drives the motor assembly 531 to rotate, so as to drive the lower limb of the wearer equipped with the driving assembly to rotate, thereby providing assistance to the hip joint of the wearer.

In the embodiment of the application, the rotation of the driving structure is controlled by the driving structure and the waist structure; the waist structure comprises a back plate assembly and an adjusting assembly for adjusting the left and right width of the waist structure; the driving structure is connected to the two sides of the back plate assembly through the adjusting assembly; the adjusting assembly includes an adjusting body and a first link 521 for adjusting a left-right width of the lumbar assembly; one end of the first link 521 is connected to the back plate assembly by a first bolt assembly, and the other end is connected to the end of the driving structure by the adjustment body; wherein the first bolt assembly is used for adjusting the relative position of the first link 521 and the back plate assembly; the driving structure is provided with a motor component 531; the backboard component is provided with a control part 512 for controlling the motor component 531 to rotate; the motor assembly 531 is electrically connected to the control unit 512; the lumbar structure is secured to a lumbar location of the wearer when the wearer is wearing the hip exoskeleton; the drive structure is fixed to the wearer at a lower extremity position, wherein the position of the motor assembly 531 corresponds to the position of the wearer's hip joint; when the hip exoskeleton applies assistance to the wearer, the control part 512 drives the motor assembly 531 to rotate to drive the lower limb of the wearer equipped with the driving assembly to rotate, so as to provide assistance to the hip joint of the wearer, adjust the left and right width of the hip exoskeleton, and is suitable for the wearers of various body types.

A hip exoskeleton in this exemplary embodiment will be further described below.

As an example, when the left and right width of the hip exoskeleton needs to be adjusted, the first bolt assembly is first removed, then the first link 521 is moved to a width that matches the body shape of the wearer, and finally the first bolt assembly is installed to fixedly connect the first link 521 with the back plate 511.

In this embodiment, the adjusting body includes a second link 522 and a third link 523 for adjusting the front-rear width of the lumbar assembly;

one end of the second link 522 is connected to the end of the first link 521 away from the backplate assembly, and the other end is connected to one end of the third link 523 through a second bolt assembly; wherein the second bolt assembly is used to adjust the relative positions of the second link 522 and the third link 523; the other end of the third link 523 is connected with an end of the driving structure.

It should be noted that by providing the third link 523 and the second bolt assembly, the front-back width of the hip exoskeleton can be adjusted to suit the wearers with different sizes;

as an example, when the front and back width of the hip exoskeleton needs to be adjusted, the second bolt assembly is first removed, then the third link 523 is moved to a width that matches the body shape of the wearer, and finally the second bolt assembly is installed to fixedly connect the third link 523 and the second link 522.

In this embodiment, the first bolt assembly includes two or more first screw holes correspondingly disposed on the first link 521 and the back plate assembly, and a first bolt inserted into the first screw holes;

the second bolt assembly includes two or more second screw holes correspondingly disposed on the second link 522 and the third link 523, and a second bolt inserted into the second screw holes.

Specifically, the left end and the right end of the back plate assembly and the first link element 521 on each side are provided with an upper row and a lower row, each row is provided with six first screw holes, and the two first screw holes in each row are arranged in parallel; the first bolt is arranged in each first screw hole;

the second link 522 and the third link 523 on each side are provided with an upper row and a lower row, each row is provided with six second screw holes, and the second screw holes in each row are arranged in parallel; the second bolt is arranged in each second screw hole;

the first bolt assembly and the second bolt assembly are arranged to ensure that the waist assembly and the back plate assembly are stably connected when the wearer moves.

In this embodiment, a first hinge 524 for providing a passive degree of freedom for external rotation and internal rotation of the hip joint is provided at the connection between the first link 521 and the second link 522; the connection of the third link 523 to the driving structure is provided with a second hinge 525 for providing passive freedom of abduction and adduction of the hip joint.

Specifically, the first hinge 524 is disposed in a vertical direction; by providing the first hinge 524, the adjustment body and the driving structure can move with the lower limb of the wearer when the lower limb of the wearer is rotated outwards or inwards;

the second hinge 525 is disposed in a horizontal direction; by providing the second hinge 525, the driving structure can move with the lower limb of the wearer when the lower limb of the wearer abducts or adduces.

In this embodiment, the backplate assembly includes a backplate 511 and a control portion 512; the control unit 512 is fixed to the outer side of the back plate 511.

Specifically, the control part 512 comprises a battery, a control circuit, a power switch, an emergency stop switch, a loudspeaker, an expansion port and a wiring port; by fixing the control portion 512 to the outside of the back plate 511, the wearer can wear the shoe easily.

In this embodiment, the driving structure includes a thigh assembly and the motor assembly 531 disposed at an end of the thigh assembly; the motor assembly 531 is connected with the back plate assembly through the adjusting assembly.

Specifically, the motor assembly 531 includes a connection plate and a driving part fixed on the connection plate; the end of the connecting plate is connected with the third link 523 by the second hinge 525; the driving plate comprises a motor, a speed reducer and an encoder; the thigh assembly is connected with the output end of the motor.

In this embodiment, the thigh assembly includes a thigh link 532 and a thigh baffle 533 disposed on the thigh link 532; the thigh swing link 532 is connected with an output end of the motor assembly 531.

Specifically, one end of the thigh swing rod 532 is connected to the output end of the motor, and the other end is connected to the thigh baffle 533 through a right-angle rod; the thigh baffle 533 adopts an arc surface structure, and the shape of the thigh baffle is matched with the shape of the position of the thigh of the wearer close to the knee joint.

In the embodiment, the waist strap and the thigh strap are further included; the waist strap is connected with the waist structure end; the thigh strap is connected with the drive structure end.

In this embodiment, the end portions of the waist strap are respectively inserted into the waist belt through holes of the back plate assembly; the waist structure is in tight connection with the waist of the wearer through the waist strap when the wearer wears the hip exoskeleton. Specifically, the waistband through holes are formed at both ends of the back plate 511; two waist straps are oppositely arranged; the end parts of the two waist straps respectively penetrate through the waist belt through holes to be bound with the end part of the back plate 511; the ends of the two waist straps distal from the back plate 511 are fixedly connected by length adjustment buckles when the wearer is wearing the hip exoskeleton.

In this embodiment, the ends of the leg straps are respectively inserted into leg strap through holes of the driving assembly, and the driving assembly is tightly connected with the thighs of the wearer through the leg straps when the wearer wears the hip exoskeleton. Specifically, the leg belt through holes are formed at both ends of the thigh baffle 533; two leg straps are oppositely arranged; the ends of the two leg straps respectively penetrate through the leg strap through holes to be bound with the ends of the thigh baffles 533; the ends of the two leg straps distal to the thigh shield 533 are fixedly connected by length adjustment buckles when the wearer is wearing the hip exoskeleton.

Referring to fig. 9, a control strategy block diagram of a hip joint exoskeleton of the present application is shown, and the present application adopts a layered control framework, and divides a control system into three-layer control of a task detection layer, a gait synchronization layer and a power-assisted output layer, wherein the task detection layer and the gait synchronization layer can realize the identification of the lower limb movement intention of a wearer, and the power-assisted output layer controls a motor through a controller, and finally, the motor is assisted by a reducer output torque to perform a corresponding lower limb movement task on the thigh of the wearer.

After the hip joint exoskeleton is started, the hip joint exoskeleton enters a task detection layer, the initial state is a standing state, a sensor at a joint motor acquires angular speed and angle information in real time, whether the hip joint exoskeleton enters a sitting/squatting state is judged through a condition 1, and whether a lower limb task of starting to walk is judged through a condition 2; judging whether to return to a standing state through a condition 3 in a sitting/squatting state, and judging whether to switch back to the standing state through a condition 4 in a walking starting state;

the gait synchronous layer starts to run when the wearer starts to walk for a gait cycle and the hip joint exoskeleton recognizes that the condition 2 is met, and returns to the standing state of the task detection layer at any moment when the condition 4 is met at the gait synchronous layer to wait for the next lower limb movement task;

the power-assisted output layer controls the motor to operate through the impedance controller, the output torque is increased through the speed reducer, and the lower limb movement of the wearer is assisted. When the wearer walks, after the gait synchronous layer synchronizes the gait cycle of the wearer, corresponding to the current gait cycle, the corresponding required auxiliary torque is output according to the torque change of human body biomechanics in the gait cycle, so that comfortable and accurate assistance in the walking process of the wearer is realized; when the wearer meets the condition 3 in the sitting/squatting state, the power-assisted output layer outputs equidirectional torque to assist the hip joint of the wearer to extend backwards until the wearer enters the standing state, and the motor stops running to wait for other lower limb movements.

While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The detailed description is given above to the control method and device for the hip exoskeleton, and the specific examples are applied herein to explain the principle and the embodiments of the present application, and the description of the above embodiments is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A method of controlling a hip exoskeleton, comprising:

2. The method of claim 1, wherein the step of determining the wearer's state switching trend from the left current turning angle trajectory, the left current turning angular velocity trajectory, the right current turning angle trajectory, and the right current turning angular velocity trajectory comprises:

or;

3. The method of claim 1, wherein the step of determining the power-assisted moment trajectories corresponding to the left hip exoskeleton and the right hip exoskeleton respectively according to the state switching trend, and the step of driving the left hip exoskeleton and the right hip exoskeleton to assist the wearer in performing the corresponding state switching according to the power-assisted moment trajectories comprises:

or;

4. The method of claim 3, wherein if the state switching trend is the step, the step of determining a left step assist trajectory and a right step assist trajectory based on the left current turning angular velocity trajectory or the right current turning angular velocity trajectory comprises:

5. The method of claim 3, wherein determining the power-assist trajectory for the rising of the left and right hip exoskeleton from the left and/or right current rotational angular velocity trajectories if the state switching trend is the rising comprises:

6. The method of claim 1, wherein said step of obtaining a left current turning angular velocity trajectory and a left current turning angular velocity trajectory of the left hip exoskeleton and a right current turning angular velocity trajectory of the right hip exoskeleton worn by the wearer is further followed by the step of:

or;

7. A control device for a hip exoskeleton, comprising:

8. An apparatus comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing the method of any one of claims 1 to 6.

9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.

10. A hip exoskeleton applying the method of any one of claims 1 to 6 comprising: the waist structure is used for controlling the rotation of the driving structure; the waist structure comprises a back plate assembly and an adjusting assembly for adjusting the left and right width of the waist structure; the driving structure is connected to the two sides of the back plate assembly through the adjusting assembly;