CN114406992A - Rigid-flexible mixed line-driven enhanced ankle exoskeleton and control method - Google Patents

Abstract

The invention relates to a rigid-flexible hybrid wire-driven enhanced ankle joint exoskeleton and a control method, comprising a joint driving module, a driving wire, a flexible clothing module and a joint supporting module; the joint driving module is connected with the driving wire; the flexible clothing module is connected to the human body The joint support module includes a support plate and a base plate, the support plate cooperates with the ankle joint of the human body, the base plate cooperates with the sole surface of the human body, and the support plate is provided with an IMU unit and an ankle joint. At the joint anchor point, the IMU unit is connected in communication with the joint drive module; the drive line is connected from the joint drive module to the ankle joint anchor point, and the waist anchor point and the knee joint anchor point are used to guide the drive line. Compared with the prior art, the present invention combines the advantages of a rigid exoskeleton and a flexible exoskeleton, is light in weight, comfortable to wear, prevents damage to the human body caused by the offset of the joint axis, has better boosting effect than a flexible exoskeleton, and solves the problem of rigid exoskeletons. The weight of the bones is heavy, and there is a problem of movement interference on the human body.

Description

A rigid-flexible hybrid wire-driven reinforced ankle exoskeleton and its control method

technical field

The invention relates to the technical field of exoskeletons, in particular to a rigid-flexible hybrid wire-driven reinforced ankle joint exoskeleton and a control method.

Background technique

The aging of our country is becoming more and more serious. As people grow older, people will gradually experience symptoms such as fatigue and difficulty in walking. Therefore, the demand for power-assisted exoskeletons among the elderly has increased. At the same time, in order to improve the combat capability of soldiers, countries need to carry more weapons and equipment to improve soldiers, and the increase in the number of weapons and equipment intensifies the energy consumption of soldiers during the march, so the demand for enhanced exoskeletons in the military field has increased. Faced with the above application prospects, domestic and foreign research institutions have begun to focus on the research of enhanced exoskeleton robots.

An augmented exoskeleton robot is a man-made device that can be worn by the human body to enhance human function and assist human movement. Among them, the lower limb exoskeleton robot aims to reduce the metabolic cost and enhance the mobility of the human body by providing auxiliary torque for walking or running joints. Today's lower extremity exoskeleton technology field is mainly divided into two categories: rigid exoskeletons and flexible exoskeletons.

The design inspiration of the rigid exoskeleton mainly comes from the bionics of the human skeleton. The rigid rods are connected in parallel with the human body, and then torque is applied to the joints. With the help of machinery, the movement ability and load-bearing capacity of the human body are greatly improved. The design purpose is to replace the human skeleton. Human movement. However, the working mode of the rigid exoskeleton is very dependent on its rigid structure. During the wearing process, the axis of the joint is easily offset relative to the axis of the human body, resulting in a large extra torque, which is not conducive to human body movement or even causes damage to human body movement.

In order to solve various safety problems and human-machine coupling problems in rigid exoskeletons, researchers from all over the world have set their research goals in the field of flexible exoskeletons. Compared with rigid exoskeletons, the working principle of flexible exoskeletons is to simulate the working method of human muscles, allowing the human body to cooperate with the exoskeleton, and using intelligent algorithms to follow up the human gait to achieve the purpose of providing auxiliary force. The above method greatly reduces the mass of the exoskeleton, making the exoskeleton light and easy to wear, and has excellent compatibility with the human body. At the same time, the human-machine joint axis does not need to be considered in the flexible exoskeleton, so there is no need to consider the possible damage to the human body caused by the joint axis offset. To a certain extent, it has played a role in relieving fatigue and reducing the probability of injury. The disadvantage of the flexible exoskeleton is that the auxiliary force is limited and the support stability is poor.

To sum up, whether it is an enhanced rigid exoskeleton or an enhanced flexible exoskeleton, the ultimate goal is to improve the human body's ability to exercise and relieve fatigue. However, the metal frame design of the rigid exoskeleton aggravates the weight of the human body to a certain extent, interferes with the movement of the human body, and has the problem of high energy consumption; the flexible exoskeleton also has problems such as low auxiliary torque and poor support stability.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a rigid-flexible hybrid wire-driven reinforced ankle joint exoskeleton and a control method in order to overcome the above-mentioned defects of the prior art.

The object of the present invention can be realized through the following technical solutions:

A rigid-flexible hybrid wire-driven reinforced ankle joint exoskeleton, comprising: a joint driving module, a driving wire, a flexible clothing module and a joint support module;

The joint driving module is connected with the driving wire; the flexible clothing module is matched with the human body, including waist straps, thigh straps and calf straps, on which are provided waist anchor points and knee joint anchor points; the joint support module It is an ankle joint support module, including a support plate and a bottom plate, the support plate is matched with the ankle joint of the human body, the bottom plate is matched with the bottom surface of the human body, and the support plate is provided with an IMU unit and an ankle joint anchor point. The IMU unit It is connected in communication with the joint drive module; the drive wire is connected from the joint drive module to the ankle joint anchor point, and the waist anchor point and the knee joint anchor point are used for guiding the drive wire.

Preferably, the joint drive module includes a power supply, a center board, a development board, two ESCs, two motors and two roulettes; the development board is integrated with a control program, communicated with the IMU unit, and controlled by the ESCs The motor works; the center board is used for wiring, and the power supply, development board, ESC, and motor are all connected to the center board; the output shaft of the motor is connected to the wheel, and the drive wire is wound on the wheel, and the output shaft of the motor The rotation of the wheel drives the wheel to rotate, thereby pulling the drive wire to pay off or take up the wire.

Preferably, the roulette includes a fixed sleeve, an outer disk, a winding shaft and an inner disk, the fixed sleeve is arranged on the inner disk and is connected to the output shaft of the motor, and both ends of the bobbin are connected to the outer disk and the inner disk, and are wound around the inner disk. A central slot is formed between the spool and the outer and inner reels, and the drive wire is wound on the spool.

Preferably, a guide buckle is further provided between the outer disc and the inner disc, and the free end of the driving wire is connected to the ankle joint anchor point after passing through the guide buckle.

Preferably, the free end of the output shaft of the motor is provided with a through hole, the fixing sleeve is provided with a connecting hole, the connecting hole is aligned with the through hole, and the fixing sleeve is connected to the output shaft of the motor through a fastening assembly.

Preferably, it also includes two motor brackets, the motor brackets are mounted on the housing, and the motor is mounted on the motor brackets.

Preferably, the joint drive module further includes a housing, the power supply, the center board, the development board, the ESC, the motor and the wheel are all integrated on the housing, and the wheel is arranged on both sides of the housing and extends out of the housing.

Preferably, the IMU unit is installed on the back of the support plate, the back of the support plate is further provided with an anchor point platform, and the ankle joint anchor point is installed on the anchor point platform.

Preferably, the base plate includes two parallel fixing rods and an adjusting plate, and the adjusting plate is slidably installed between the two fixing rods.

Preferably, the driving wire is a multi-strand braided PE wire.

A control method for a rigid-flexible hybrid wire-driven enhanced ankle joint exoskeleton, which is used to control a rigid-flexible hybrid wire-driven enhanced ankle joint exoskeleton, specifically:

Obtain the angle data measured by the IMU unit, and judge the current walking gait of the human body according to the angle data. When the gait is at the initial stage of the support phase or the end of the pendulum state, the joint drive module enters the drive stage, and when the gait is at the end of the support phase or the initial stage of the pendulum state The joint drive module enters the release period;

The support phase is the gait of the human body in the stage from when the lower limbs of the human body touch the ground to when the heel just leaves the ground, and the swing phase is the gait of the human body in the period from the time when the foot leaves the ground to the foot landing again;

During the drive period, the joint drive module controls the take-up of the drive line through the motor, and applies an auxiliary torque to the joint support module. During the release period, the joint drive module controls the release of the drive line through the motor to reset the motor.

Compared with the prior art, the present invention has the following beneficial effects:

(1) Combining the advantages of rigid exoskeleton and flexible exoskeleton, it is light in weight, comfortable to wear, prevents damage to the human body caused by joint axis deviation, and has better assisting effect than flexible exoskeleton, which solves the heavy load of rigid exoskeleton, which is not suitable for The human body has the problem of motion interference. At the same time, the design of the joint support module solves the problem of poor support stability of the flexible exoskeleton, ensuring that the auxiliary force is parallel to the calf, and to a certain extent, the unstable force direction of the flexible exoskeleton on the ankle joint is solved. The problem.

(2) The joint drive module includes a power supply, and the introduction of a portable power supply solves the problem of inconvenience in outdoor use.

(3) In the joint support module, the support plate and the bottom plate are made of elastic materials, which not only ensures the flexibility of the system, but also solves the problem of support and stability of the fully flexible exoskeleton and ensures the direction of assistance.

(4) The bottom plate is an adjustable bottom plate, including two parallel fixed rods and an adjustment plate. Compared with the binding design adopted by other exoskeletons, the exoskeleton can be suitable for people with different foot types and the wearing speed is faster than that of binding Bonding is designed to be fast.

(5) The IMU unit is used to transmit the angle of the ankle joint and is installed on the back of the flat support plate to ensure the measurement accuracy of the IMU unit.

(6) In the control method, the gait is judged according to the IMU measurement data, and the boosting period is only in the support phase, and no boosting is performed in other stages, which avoids the exoskeleton affecting the normal gait of the human body at other times. This judgment method simplifies the exoskeleton. The workload of control is convenient for future update iterations.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

2 is a cross-sectional view of a joint drive module;

Fig. 3 is the structural representation of roulette;

Fig. 4 is the structural representation of the guide buckle;

5 is a schematic structural diagram of a joint support module;

6 is a schematic diagram of the working principle of the present invention;

Reference numerals: 1, joint drive module, 2, drive wire, 3, flexible clothing module, 4, joint support module;

101, power supply, 102, ESC fixing screw and nut, 103, ESC, 104, center plate, 105, center plate fixing screw and nut, 106, roulette, 107, development board fixing screw and nut, 108, development board, 109, Motor, 110, motor fixing screw and nut;

106-1, outer disc, 106-2, center groove, 106-3, inner disc, 106-4, fixing sleeve, 106-5, connecting hole;

301, waist straps, 302, thigh straps, 303, calf straps;

401, support plate, 402, IMU unit, 403, IMU unit fixing screw nut, 404, anchor point platform, 405, ankle joint anchor point, 406, fixing opening, 407, fixing rod, 408, adjusting plate.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

In the drawings, structurally identical components are denoted by the same numerals, and structurally or functionally similar components are denoted by like numerals throughout. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. Parts in the drawings have been appropriately exaggerated in some places for clarity of illustration.

Example 1:

A rigid-flexible hybrid wire-driven reinforced ankle exoskeleton, as shown in Figure 1 and Figure 6, includes: a joint driving module 1, a driving wire 2, a flexible clothing module 3 and a joint support module 4. The joint support module 4 has The number is 2, corresponding to the ankle joints of the two legs; the joint driving module 1 is connected with the driving wire 2; the flexible clothing module 3 is matched with the human body, including a waist strap 301, a thigh strap 302 and a calf strap 303, which are provided with There are waist anchor points and knee joint anchor points; the joint support module 4 is an ankle joint support module, including a support plate 401 and a bottom plate. There are an IMU unit 402 and an ankle joint anchor point 405. The IMU unit 402 is connected in communication with the joint drive module 1; the drive wire 2 is connected from the joint drive module 1 to the ankle joint anchor point 405, and the waist anchor point and the knee joint anchor point are used to guide the drive line 2.

As shown in FIG. 2 , the joint drive module 1 includes a housing, a power supply 101, a center board 104, a development board 108, two ESCs 103, two motors 109, two motor brackets and two wheels 106. The power supply, center The board 104, the development board 108, the ESC 103, the motor 109, the motor bracket and the wheel 106 are all integrated on the housing.

Among them, the power supply 101 uses TB47S 22.2V flight battery, and the introduction of the portable power supply solves the problem of inconvenience in outdoor use; the development board 108 is integrated with a control program, which communicates with the IMU unit 402 and controls the motor 109 to work through the ESC 103 for driving The motor 109 calculates the PID signal and sends the result to the ESC 103; the central board 104 plays the role of power transfer and hub. The voltage of 101 is transformed to an appropriate range to supply power to each component. The development board 108 used for communication and computing is a DJI A-type development board.

The motor 109 is a RM3508 brushless DC motor, the full name of the ESC 103 is electronic speed controller, and the English Electronic Speed Control, or ESC for short, can adjust the speed of the motor 109 according to the control signal. The output shaft of the motor 109 is connected to the wheel disc 106, the drive wire 2 is wound on the wheel disc 106, the rotation of the output shaft of the motor 109 drives the wheel disc 106 to rotate, thereby pulling the drive wire 2 to pay off or take up the wire, the wheel disc 106 is designed with carbon fiber material, to prevent flying wires and increase the torque, the wheel discs 106 are arranged on both sides of the housing and extend out of the housing, the number of driving wires 3 is 2, which are respectively wound on a wheel disc 106 and connected to a joint support Module 4; the motor bracket is installed on the casing, and the base of the motor 109 is installed on the motor bracket. The development board 108 , the center board 104 , the motor 109 , the ESC 103 , and the motor bracket are common internal components of robots, which can be understood by relevant practitioners, and the specific details will not be described further.

The joint drive module 1 can be placed in a backpack on the back. As shown in FIG. 2 , in this embodiment, the ESC 103 is fixed on the housing by the ESC fixing screw nut 102, and the ESC fixing screw nut 102 is made of M2 screw and nut; The board 104 is fixed on the shell by the center board fixing screw nut 105, the center board fixing screw nut 105 is M3 screw and nut; the development board 108 is fixed on the shell by the development board fixing screw nut 107, and the development board fixing screw nut 107 is M2 .5 screws and nuts; the base of the motor 109 is fixed on the motor bracket by the motor fixing screws and nuts 110, the motor fixing screws and nuts 110 are M4 screws and nuts, and the motor bracket is fixed on the housing by M2 screws and nuts, which is easy to disassemble and replace.

As shown in FIG. 3 , the roulette 106 includes a fixing sleeve 106-4, an outer disc 106-1, a winding shaft and an inner disc 106-3. The fixing sleeve 106-4 is arranged on the inner disc 106-3 and is connected to the output shaft of the motor 109. The free end of the output shaft of the motor 109 is provided with a through hole, and the fixing sleeve 106-4 is provided with a connecting hole 106-5. After the connecting hole 106-5 is aligned with the through hole, the fastening component is passed through the connecting hole. 106-5 and a through hole, so that the fixing sleeve 106-4 is connected to the output shaft of the motor 109. In this embodiment, M2.5 screws and nuts are used for the fastening components; The inner disc 106-3 is connected, a central slot 106-2 is formed between the spool and the outer disc 106-1 and the inner disc 106-3, the driving wire 2 is wound on the spool, and the central slot 106-2 can accommodate the drive winding on the spool harness.

As shown in FIG. 4 , a guide buckle 106-6 is also provided between the outer disc 106-1 and the inner disc 106-3. The guide buckle 106-6 is a ring buckle structure and is located in the central groove 106-2. The end is connected to the ankle joint anchor point 405 after passing through the guide buckle 106-6, which can guide the pay-off and take-up of the driving wire 2, prevent the flying wire during the driving process, and ensure the driving safety.

The driving wire 2 needs to be repeatedly pulled by the motor 109, and the toughness of the driving wire 2 is very high. Therefore, a multi-strand braided PE wire is selected. In this embodiment, a 12-braid PE wire is selected. High degree of resistance is not easy to spread, and high wear resistance is not easy to fluff.

The flexible clothing module 3 cooperates with the human body, and includes a waist strap 301, a thigh strap 302 and a calf strap 303, and a buckle is provided at the clothing connection of the waist strap 301, the thigh strap 302 and the calf strap 303, which is convenient for wearing take off. The main function of the flexible garment module 3 is to set up anchor points and wiring. The main function of the anchor point is to fix the exoskeleton drive line 2 and bear the force of the exoskeleton. Therefore, the choice of the anchor point is generally at the drive joint or at the transition of the drive line 2 . In the present invention, a waist anchor point is set on the waist strap 301, and a knee joint anchor point is set on the calf strap 303. The main function of the waist anchor point and the knee joint anchor point is to fix the exoskeleton driving line 2 to ensure that its direction fits the human body ( The drive wire 2 protrudes from the back joint drive module 1, from the waist down along the thigh), so the end of the drive wire 2 passes through the waist anchor point and the knee joint anchor point and is fixed to the ankle joint anchor point 405, and the ankle joint anchor point 405 Withstand the force of the exoskeleton.

As shown in FIG. 5 , the joint support module 4 is an ankle joint support module, including a support plate 401 and a bottom plate. The support plate 401 cooperates with the ankle joint of the human body. In order to facilitate the fixation of the joint support module 4, the top of the support plate 401 is provided with a fixed The opening 406 is used to fix the support plate 401 of the joint support module 4 at the calf through Velcro, straps, etc. The bottom plate is matched with the bottom surface of the human body, the support plate 401 is provided with an IMU unit 402 and an ankle joint anchor point 405, and the IMU unit 402 is connected to the joint drive module 1 in communication; wherein, the IMU unit 402 is installed on the back of the support plate 401 to measure the ankle The angle data of the joint movement, including Roll Angle, Pitch Angle and Yaw Angle, the back of the support plate 401 is also provided with an anchor point platform 404, the ankle joint anchor point 405 is installed on the anchor point platform 404, and the end of the drive wire 2 is tied to the ankle On the joint anchor points 405 , the main functions of the waist anchor point and the knee joint anchor point are to fix and guide the driving wire 2 so as to fit the human body.

In this embodiment, the IMU unit 402 selects the CH100 nine-axis inertial measurement unit. In order to obtain accurate ankle joint angle data, the IMU inertial measurement unit is required to be placed on a plane and calibrated. In the existing exoskeleton design, the inertial measurement unit is generally placed on the instep, but because the instep is not flat, the measurement data of the IMU unit 402 is not accurate enough. The unit 402 is placed on the plane of the back of the joint support module 4 , and the IMU unit fixing screw nut 403 is M2 screw nut, which ensures the measurement accuracy of the IMU unit 402 .

The bottom plate includes two parallel fixing rods 407 and an adjusting plate 408. The adjusting plate 408 is slidably installed between the two fixing rods 407. The fixing rods 407 are provided with a plurality of threaded holes, and the adjusting plate 408 is provided with adapted Threaded holes, align the threaded holes on the adjustment plate 408 with the threaded holes on the fixing rod 407, and fix the two together with screws, so as to realize the front and rear movement of the adjustment plate 408 to adapt to the different foot lengths of users. This embodiment , the threaded holes are M2 threaded holes, and the screws are M2 screws. In order to strengthen the stability of the joint support module 4 , a Velcro or a strap can be added to the fixing rod 407 to prevent the support plate 401 from sliding. The design of the adjustable bottom plate can make the exoskeleton suitable for people with different foot types and the wearing speed is faster than the strapping design.

The joint support module 4 is designed with elastic materials, which not only ensures the flexibility of the system, but also solves the problem of support and stability of the fully flexible exoskeleton, and ensures the direction of power assistance.

The gait of human walking is divided into two stages: the support phase and the swing phase. The support phase is the gait of the human body in the stage when the lower limbs of the human body touch the ground until the heel just leaves the ground, and the swing phase is when the feet leave the ground until the feet land again. The gait of the human body during the time period. According to the above division method, the working mode of the exoskeleton is also divided into two types: the driving period and the releasing period.

A control method of a rigid-flexible hybrid wire-driven enhanced ankle exoskeleton, see Figure 6, specifically:

Acquire the angle data measured by the IMU unit 402, and determine the current walking gait of the human body according to the angle data. When the gait is at the initial stage of the support phase or at the end of the pendulum state, the joint drive module 1 enters the drive phase, and when the gait is at the end of the support phase or at the end of the pendulum state In the initial stage, the joint drive module 1 enters the release period; during the drive period, the joint drive module 1 controls the take-up of the drive wire 2 through the motor 109 and applies auxiliary torque to the joint support module 4. During the release period, the joint drive module 1 is controlled by the motor 109 The payout of the drive line 2 resets the motor 109 .

In the driving phase, as shown in the flowchart in FIG. 6 : the joint driving module 1 obtains the joint angle data from the IMU unit 402, determines that it is the end of the support phase and the beginning of the swing phase, and then sends a current signal to the ESC 103 to control the motor 109 to rotate over the specified The angle is calculated according to the expected assist torque of the motor 109 . During the release period, as shown in the flow chart in FIG. 6 : the joint drive module 1 obtains the joint angle data from the IMU unit 402, determines that it is a swing phase, and then sends a current signal to the ESC 103 to control the motor 109 to rotate through a specified angle. The purpose of this process is to reset the motor 109 for the initial angle of the motor 109 .

The angle signal obtained by the IMU unit 402 is shown in the lower right of FIG. 6 . Taking the Euler angle of the sagittal plane as an example, the process of the joint angle changing from zero to positive is the exoskeleton driving period. At this time, the motor 109 rotates through a specified angle to provide The auxiliary force, when the angle reaches a peak value and then decreases and becomes negative, is the exoskeleton release period. At this time, the motor 109 rotates through a specified angle and returns to the initial state.

The advantages of the present invention are as follows:

1. Combines the advantages of rigid exoskeleton and flexible exoskeleton: light weight, comfortable to wear, preventing damage to the human body caused by joint axis deviation, and the boosting effect is better than that of the flexible exoskeleton.

2. Use the elastic joint support module 4 to replace the springs used by other exoskeletons. Compared with the metal brackets designed by other exoskeletons, the joint support module 4 of the present invention is designed with elastic materials, which can ensure the energy storage function and system flexibility. At the same time, the support stability of the exoskeleton is enhanced to ensure that the direction of the auxiliary force is upward along the calf.

3. In terms of working method, since the IMU is used for gait judgment, and the boosting period is only in the support phase, other stages do not assist. It avoids the exoskeleton affecting the normal gait of the human body at other times. This judgment method simplifies the workload of exoskeleton control and facilitates future updates and iterations.

4. Simplified flexible strap design. The exoskeleton flexible bandage is mainly designed according to the muscle activity during the human body walking process. Under the circumstance of fully considering the muscle activity during the human body walking process, the present invention simplifies the flexible bandage of the exoskeleton into a waist belt + thigh bandage 302 + calf bandage With 303 three parts. At the same time, the knee joint anchor point is designed at the calf strap 303, and the waist anchor point is designed at the waist strap 301, so that the driving line 2 goes up along the thigh strap 302 through the anchor point, which better fits the walking mode of the human body and ensures that It improves the comfort of the human body when wearing the exoskeleton. And the wearing speed is faster than other exoskeletons.

The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments on the basis of the prior art according to the concept of the present invention shall fall within the protection scope determined by the claims.

Claims (10)

1. A rigid-flexible hybrid wire-driven reinforced ankle joint exoskeleton, characterized in that it comprises: a joint driving module, a driving wire, a flexible clothing module and a joint support module; The joint drive module is connected with the drive wire, and the motor controls the take-up and release of the drive wire; the flexible clothing module is matched with the human body, including waist straps, thigh straps and calf straps, on which waist anchors are arranged point and knee joint anchor point; the joint support module is an ankle joint support module, including a support plate and a bottom plate, the support plate cooperates with the ankle joint of the human body, the bottom plate cooperates with the sole surface of the human body, and the support plate An IMU unit and an ankle joint anchor point are provided, and the IMU unit is connected in communication with the joint drive module; the drive line is connected from the joint drive module to the ankle joint anchor point, and the waist anchor point and the knee joint anchor point are used to guide the drive line. 2 . The rigid-flexible wire-driven enhanced ankle joint exoskeleton according to claim 1 , wherein the joint drive module comprises a power supply, a center board, a development board, two ESCs, and two motors. 3 . and two roulettes; the development board is integrated with a control program, communicates with the IMU unit, and controls the motor to work through the ESC; the center board is used for wiring, and the power supply, development board, ESC, and motor are all connected to the center board The output shaft of the motor is connected with the wheel disc, the driving wire is wound on the wheel disc, and the rotation of the output shaft of the motor drives the wheel disc to rotate, thereby pulling the driving wire to pay off or take up the wire. 3 . The rigid-flexible wire-driven reinforced ankle joint exoskeleton according to claim 2 , wherein the wheel disk comprises a fixed sleeve, an outer disk, a winding shaft and an inner disk, and the fixed sleeve is provided with a fixed sleeve. 4 . On the inner disc, it is connected with the output shaft of the motor, the two ends of the winding shaft are connected with the outer disc and the inner disc, a central slot is formed between the winding shaft and the outer disc and the inner disc, and the driving wire is wound on the winding shaft. 4 . The rigid-flexible wire-driven reinforced ankle joint exoskeleton according to claim 3 , wherein a guide buckle is further provided between the outer disc and the inner disc, and the free end of the driving wire passes through the guide buckle. 5 . After connecting to the ankle anchor point. 5 . The rigid-flexible wire-driven reinforced ankle joint exoskeleton according to claim 3 , wherein the free end of the output shaft of the motor is provided with a through hole, and the fixing sleeve is provided with a connection hole. 6 . , the connecting hole is aligned with the through hole, and the fixing sleeve is connected to the output shaft of the motor through a fastening assembly. 6 . The rigid-flexible wire-driven reinforced ankle joint exoskeleton according to claim 2 , further comprising two motor brackets, the motor brackets are mounted on the shell, and the motor is mounted on the motor. 7 . on the stand. 7 . The rigid-flexible wire-driven enhanced ankle joint exoskeleton according to claim 2 , wherein the joint drive module further comprises a casing, a power supply, a center board, a development board, an ESC, and a motor. 8 . The wheel and the roulette are integrated on the casing, and the roulette is arranged on both sides of the casing and protrudes out of the casing. 8 . The rigid-flexible wire-driven reinforced ankle joint exoskeleton according to claim 1 , wherein the IMU unit is installed on the back of the support plate, and the back of the support plate is further provided with an anchor point platform, and the said 8 . Ankle anchors are mounted on the anchor platform. 9 . The rigid-flexible hybrid wire-driven reinforced ankle joint exoskeleton according to claim 1 , wherein the bottom plate comprises two parallel fixed rods and an adjustment plate, and the adjustment plate is slidably mounted on the 9 . between the two fixed rods. 10 . A method for controlling a rigid-flexible hybrid wire-driven reinforced ankle joint exoskeleton, characterized in that it is used to control a rigid-flexible hybrid wire-driven reinforced ankle joint according to any one of claims 1 to 9 Joint exoskeletons, specifically: Obtain the angle data measured by the IMU unit, and judge the current walking gait of the human body according to the angle data. When the gait is at the initial stage of the support phase or the end of the pendulum state, the joint drive module enters the drive stage, and when the gait is at the end of the support phase or the initial stage of the pendulum state The joint drive module enters the release period; The support phase is the gait of the human body in the stage from when the lower limbs of the human body touch the ground to when the heel just leaves the ground, and the swing phase is the gait of the human body in the period from the time when the foot leaves the ground to the foot landing again; During the drive period, the joint drive module controls the take-up of the drive line through the motor, and applies an auxiliary torque to the joint support module. During the release period, the joint drive module controls the release of the drive line through the motor to reset the motor.

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