CN114948579B - Ankle exoskeleton and power-assisted control method and device thereof, and readable storage medium - Google Patents

Abstract

The invention is applicable to the technical field of exoskeleton, and in particular relates to an ankle exoskeleton and its power-assisted control method, device and readable storage medium. Wherein, the power-assisted control method of the ankle exoskeleton includes: obtaining the angle data of the user's left leg and the angle of the right leg, and determining the angle difference between the left and right legs of the user; Determine the gait moment corresponding to the left and right leg angle difference; obtain the gait assist delay time of the user's current gait cycle; in the correspondence between the left and right leg angle difference and time, based on the gait moment and step Determine the angle difference between the left and right legs corresponding to the angle difference of the left and right legs; calculate the assist value corresponding to the ankle exoskeleton based on the angle difference between the left and right legs, and control the ankle exoskeleton to provide assist based on the assist value. The angle difference data of the user's left and right legs directly calculates the assist value of the exoskeleton, which improves the reliability of the assist.

Description

Ankle joint exoskeleton and its power-assisted control method, device and readable storage medium

technical field

The invention belongs to the technical field of exoskeleton, and in particular relates to an ankle exoskeleton and its power-assisted control method, device and readable storage medium.

Background technique

The power-assisted ankle exoskeleton is an important type of exoskeleton, which can assist the ankle joint of the human body to exert force, thereby helping to improve the walking ability of the human body.

Usually, the power-assisted control of the ankle exoskeleton is divided into three steps: current gait environment recognition, gait division, and power-assisted control. First, determine the user's current gait environment through the foot inertial measurement unit or visual recognition, then divide the current gait, and finally give different assist curves for different gait environments.

However, this is a relatively clear serial control method. In the process of perception-prediction-assist, errors in either of the environmental recognition and gait division links may lead to wrong assistance in the assist control link. The accuracy of the technology is low, and the reliability of the power assist is low.

Contents of the invention

The embodiment of the present invention provides an ankle exoskeleton and its power assist control method, device and readable storage medium, which can solve the problem of low reliability of power assist due to the need to identify the gait environment in advance in the traditional power assist control method.

In a first aspect, an embodiment of the present invention provides a method for assisting control of an ankle exoskeleton, including:

Obtain the user's left leg angle data and right leg angle data, and determine the user's left and right leg angle difference;

Determine the gait moment corresponding to the left and right leg angle difference based on the corresponding relationship between the left and right leg angle difference and the time of the user's last gait cycle;

Obtain the gait assist delay time of the user's current gait cycle;

In the corresponding relationship between the angle difference between the left and right legs and time, based on the gait moment corresponding to the angle difference between the left and right legs and the gait boosting delay time, determine the angle difference between the left and right legs corresponding to the angle difference between the left and right legs;

The assist value corresponding to the ankle joint exoskeleton is calculated based on the angle difference between the left and right legs of the assist, and the ankle joint exoskeleton is controlled to provide assist based on the assist value.

In a second aspect, an embodiment of the present invention provides a power-assisted control device for an ankle exoskeleton, including:

The first acquisition unit is used to acquire the user's left leg angle data and right leg angle data, and determine the user's left and right leg angle difference;

The first determining unit is used to determine the gait moment corresponding to the left and right leg angle difference based on the correspondence between the left and right leg angle difference and time of the user's last gait cycle;

The second acquisition unit is used to acquire the gait assist delay time of the user's current gait cycle;

The second determination unit is configured to determine the corresponding relationship between the left and right leg angle difference and time based on the gait moment corresponding to the left and right leg angle difference and the gait assist delay time. The angle difference between the left and right legs of the power assist;

The control unit is used to calculate the assist value corresponding to the ankle exoskeleton based on the angle difference between the left and right legs of the assist, and control the ankle exoskeleton to provide assist based on the assist value.

In a third aspect, an embodiment of the present invention provides an ankle exoskeleton, including a drive box, an angle measurement device, a Bowden wire, and a foot wearable component, and the angle measurement device is used to collect the user's left leg angle data and For right leg angle data, the drive box is used to implement the power assist control method in the first aspect above, so as to control the Bowden wire in the ankle joint exoskeleton to drive the foot wearable component to move to provide power assist.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned method in the first aspect are implemented.

In the embodiment of the present invention, by acquiring the user's left leg angle data and right leg angle data, and determining the angle difference between the left and right legs of the user, and determining the angle difference between the left and right legs based on the corresponding relationship between the angle difference between the left and right legs of the user's last gait cycle and time For the corresponding gait moment, the gait assist delay time of the user's current gait cycle is obtained, and then determined based on the gait moment and gait assist delay time corresponding to the left and right leg angle difference in the corresponding relationship between the left and right leg angle difference and time The angle difference between the left and right legs corresponds to the angle difference between the left and right legs, and the power value corresponding to the ankle exoskeleton is calculated based on the angle difference between the left and right legs, and then the ankle exoskeleton is controlled to provide power based on the power value, which realizes the user's angle difference data. It reflects the user's use environment (the user's angle difference data is different in different use environments) without having to perform gait environment recognition, and determines the user's current gait situation based on the correspondence between the left and right leg angle difference and time of the user's last gait cycle, Furthermore, the exoskeleton assist value is calculated according to the user's angle difference data, so that the determination of the assist value does not rely on pattern recognition such as visual recognition, which improves the reliability of the ankle joint assist.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only of the present invention. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is a schematic flow chart of a method for assisting control of an ankle joint exoskeleton according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of the angle of the left leg and the angle of the right leg provided by an embodiment of the present invention;

Fig. 3 is a schematic structural view of an ankle exoskeleton provided by an embodiment of the present invention;

Fig. 4 is a schematic diagram of determining the angle difference between left and right legs according to the angle difference between left and right legs provided by an embodiment of the present invention;

Fig. 5 is the second realization flowchart of the assisting control method of a kind of ankle joint exoskeleton provided by an embodiment of the present invention;

Fig. 6A is a schematic diagram of the corresponding relationship between left leg angle difference and time and left leg assist curve in a gait cycle provided by an embodiment of the present invention;

Fig. 6B is a schematic diagram of the corresponding relationship between the angle difference of the right leg and time and the assisting curve of the right leg in a gait cycle provided by an embodiment of the present invention;

Fig. 6C is a schematic diagram of the assisting curve of the ankle exoskeleton in a gait cycle according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of an ankle joint exoskeleton power-assisted control device provided by an embodiment of the present invention;

Fig. 8 is a schematic structural view of the drive box in the ankle exoskeleton provided by the embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. Meanwhile, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other features. , whole, step, operation, element, component and/or the presence or addition of a collection thereof.

It should also be understood that the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.

It should also be further understood that the term "and/or" used in the description of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

As used in this specification and the appended claims, the term "if" may be construed as "when" or "once" or "in response to determining" or "in response to detecting" depending on the context . Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to the determination" or "once detected [the described condition or event] ]” or “in response to detection of [described condition or event]”.

During walking, the ankle joint plays an important role, and its peak joint torque and power are the highest compared to the hip and knee joints. Therefore, the elderly and patients with muscular atrophy are prone to lack of pedaling force when walking. The ankle exoskeleton can help people enhance their walking ability, such as assisting the elderly, patients with muscle weakness, and soldiers to walk. It is an exoskeleton that can assist the human ankle joint to exert force. By assisting the human ankle joint to exert force, Thereby improving the walking ability of the human body.

Usually, the power-assisted control of the ankle exoskeleton is mainly divided into three steps: current gait environment recognition, gait division, and power-assisted control. First, determine the user's current gait environment through the foot inertial measurement unit or visual recognition, then divide the current gait, and finally give different assist curves for different gait environments.

However, this is a relatively clear serial control method. In the process of perception-prediction-assist, errors in either of the environmental recognition and gait division links may lead to wrong assistance in the assist control link. The accuracy of the technology is low. For example, visual recognition is usually used in the process of environment recognition, and its recognition rate is affected by various factors such as lighting, which makes the reliability of the assist low.

Based on this, the present invention provides an ankle joint exoskeleton and its power-assisted control method, device and readable storage medium, which can realize the determination of the power-assisted value without relying on pattern recognition such as visual recognition, and improve the reliability of the ankle joint power-assisted.

In order to illustrate the above-mentioned technical scheme of the present invention, below in conjunction with accompanying drawing, illustrate through specific embodiment.

Exemplarily, Fig. 1 shows a schematic flow chart of a method for assisting control of an ankle exoskeleton provided by an embodiment of the present invention. The power-assisted control method of the ankle exoskeleton can be applied to the ankle exoskeleton, and can be executed by the control device (drive box) in the ankle exoskeleton, specifically including the following steps 101 to 105.

Step 101: Obtain the user's left leg angle data and right leg angle data, and determine the user's left and right leg angle difference;

Wherein, the angle data of the left leg of the user is the angle between the user's left leg and the hip joint (direction of gravity), the angle data of the right leg is the angle between the user's right leg and the hip joint (direction of gravity), and the left and right legs of the user The angle difference is the difference between the angle between the user's left leg and hip joint (direction of gravity) and the angle between the user's right leg and hip joint (direction of gravity).

It should be noted that, the above-mentioned left leg angle data and right leg angle data are both vector data. For example, if the gravitational direction is the position where the angle scale is 0, the angle scale sign in the counterclockwise direction is positive, and the angle scale sign in the clockwise direction is negative. In the case where the legs are behind, the angle data of the left leg is (+θ _l -0), and the angle data of the right leg is (-θ _r -0), that is, the angle data of the left leg is +θ _l , and the angle data of the right leg is - θ _r , therefore, the left and right leg angle difference obtained by subtracting the right leg angle data from the left leg angle data is +θ _l -(-θ _r ), and θ _l +θ _r is obtained.

For clarity, Fig. 2 shows a schematic diagram of left leg angle data and right leg angle data, wherein the left side is the situation where the user's left leg is in front and the right leg is behind, and the right side is the situation where the user's left leg is behind and the right leg is in front situation.

If the angle scale of the direction of gravity is determined to be 0, then in the situation where the user’s left leg is in front and the right leg is behind, the angles between the user’s left leg and right leg and the direction of gravity are θ _l and θ _r respectively, then the left leg The angle data is q _l ＝+θ _l , the right leg angle data is q _r ＝-θ _r , the angle difference between the left and right legs obtained by subtracting the right leg angle data from the left leg angle data is θ _l +θ _r ; when the user’s right leg is in front In the case where the left leg is behind, the angle values between the user's left leg and right leg and the direction of gravity are θ _l and θ _r respectively, then the angle data of the left leg is q _l =-θ _l , and the angle data of the right leg is q _r = +θ _r , the left and right leg angle difference obtained by subtracting the right leg angle data from the left leg angle data is -(θ _l +θ _r ).

Due to the biomechanical observation of walking, it is found that in a gait cycle, the angle difference between the left and right legs (the angle value between the left leg and the hip joint and the angle value between the right leg and the hip joint) The time difference between the maximum moment of the difference between the angle values) and the moment of the maximum torque value of the ankle joint force is close to a fixed value. In order to determine the assist value required by the user.

It should be noted that, for the power-assisted part of the left leg of the ankle exoskeleton, the above-mentioned angle difference between the left and right legs is the angle data of the left leg minus the angle data of the right leg; for the power-assisted part of the right leg of the ankle exoskeleton, the angle difference between the left and right legs is Angle data minus left leg angle data.

In practical applications, for users who only need assistance with one leg, the above ankle exoskeleton can only be used to assist the user's left leg, or only used to assist the user's right leg, and for users who need assistance with both legs user, the ankle exoskeleton can assist both the user's left leg and the user's right leg.

Correspondingly, when the ankle exoskeleton is only used to assist the user's left leg, the angle difference between the left and right legs is the angle data of the left leg minus the angle data of the right leg; when the ankle exoskeleton is only used to assist the user's right leg, The angle difference between the left and right legs is the angle data of the right leg minus the angle data of the left leg.

Wherein, when the above-mentioned ankle joint exoskeleton assists both the user's left leg and the user's right leg, it is necessary to calculate the angle difference between the left and right legs obtained by subtracting the angle data of the right leg from the angle data of the left leg, and the angle data of the right leg minus the angle of the left leg. The angle difference between the left and right legs obtained from the angle data.

For example, optionally, the ankle exoskeleton may include: an angle measurement device, a drive box, a Bowden wire, and a foot wearable assembly.

As shown in Figure 3, it is a schematic diagram of the structure of the ankle exoskeleton provided by the embodiment of the present invention. The above-mentioned angle measuring device can be an inertial measurement unit 601 located on the user's left leg and right leg, which is used to collect the angle of the user's left leg data and right leg angle data, the drive box 602 is used to determine the assist value based on the left leg angle data and the right leg angle data, and drive and control the movement of the Bowden line 603 on the left and right legs based on the assist value, and the Bowden line drives the foot wearable components Exercise to provide assistance.

Optionally, as shown in Figure 3, the above-mentioned foot wearing assembly may include a fixed rigid frame 6041 and a rotating rigid frame 6042.

Wherein, the above-mentioned fixed rigid frame can be fixed on the shoe through the fixing assembly 605, and the above-mentioned rotating rigid frame can be fixed on the user's calf through the fixing assembly 605.

Optionally, the above-mentioned fixing component may be a shoe strap or an adhesive fixing material, which is not limited in the present invention.

In practical applications, the drive box 601 can use the motor to drive the Bowden wire 603 to pull the fixed rigid frame 6041 fixed on the shoe, and the fixed rigid frame 6041 and the rotating rigid frame 6042 fixed on the calf rotate relatively to drive the user's foot ankle The joint plantar flexion movement provides assistance for the plantar flexion movement of the ankle joint of the user's foot when walking, and assists the user's foot plantar flexion to push the ground, thereby reducing the energy consumption of the user's walking and reducing the torque output of the user's ankle joint .

Optionally, the above-mentioned ankle exoskeleton may also include a tension sensor, which is used to measure the tension value on the Bowden line to feed back to the drive box, and the drive box provides assistance according to the tension value and the assist value.

Optionally, the above-mentioned angle measurement device can also be an angle measurement sensor installed on the hip joint of the human body, or a stretchable wearable sensor attached to clothes.

Step 102: Determine the gait moment corresponding to the angle difference between the left and right legs based on the correspondence between the angle difference between the left and right legs of the user's last gait cycle and time.

Specifically, according to the time difference between the moment of the maximum value of the angle difference and the moment of the maximum torque value of the ankle joint, and the time difference accounts for a certain value in the proportion of the gait cycle duration where the angle difference is located, it is necessary to pass the user's current Determine its gait moment in a gait cycle by the angular difference of , so that the subsequent time offset can be performed.

Usually, a gait cycle can be the process from a certain foot (for example, left foot) landing to this foot (left foot) landing again. Therefore, optionally, the moment when a certain foot (for example, the left foot) hits the ground can be used as the beginning of a gait cycle, and when this foot (left foot) lands again, it can be used as the end of this gait cycle, and as the next step. The beginning of a gait cycle.

It should be noted that the above last gait cycle is the last gait cycle next to the user's current gait, so the gait condition of the last gait cycle is the same or similar to the current user's gait condition.

Wherein, the corresponding relationship between the angle difference of the left and right legs of the user's last gait cycle and the time is the angle difference of the user's last gait cycle, which corresponds to the user's left and right leg angle difference data at each moment in the last gait cycle.

It should be noted that the above-mentioned corresponding relationship between the angle difference between the left and right legs of the user's last step cycle and time may refer to the angle difference between the left and right legs obtained by subtracting the angle data of the right leg from the angle data of the left leg of the user's last step cycle and the time. The corresponding relationship can also refer to the corresponding relationship between the left and right leg angle difference and time obtained by subtracting the left leg angle data from the right leg angle data of the user's last step cycle. Specifically, when it is determined in step 101 that the user's left and right leg angle difference is left When the first difference is obtained by subtracting the angle data of the right leg from the leg angle data, the corresponding relationship between the left and right leg angle difference and time of the user's last step cycle at least includes the left leg angle data minus the right leg angle of the user's last step cycle The corresponding relationship between the angle difference of the left leg and the time obtained from the data, when it is determined in step 101 that the angle difference between the left and right legs of the user is the second difference obtained by subtracting the angle data of the left leg from the angle data of the right leg, then the above-mentioned user's last step The corresponding relationship between the left and right leg angle difference and time of the period at least includes the corresponding relationship between the left leg angle difference and time obtained by subtracting the left leg angle data from the user's right leg angle data in the last step cycle.

In a specific application, since the gait conditions of the user's two adjacent gait cycles are relatively small, even if the user is moving at a variable speed, the change between two adjacent gait cycles is small. Therefore, based on the user's The corresponding relationship between the angle difference between the left and right legs of the previous gait cycle and time is used to determine the gait moment corresponding to the angle difference between the left and right legs, so that the reference of the gait cycle is more accurate, even if the gait environment where the user is in the early stage (for example, flat ground) and the later stage Different gait environments (for example, slopes) can also make the obtained gait cycle the closest to your current gait situation, which improves the reliability of the power assist value judgment, and also makes the power assist control method applicable to variable speed, multi-terrain , so that the exoskeleton can be used in complex outdoor conditions.

Step 103: Obtain the gait assist delay time of the user's current gait cycle;

Wherein, the above-mentioned gait boosting delay time corresponds to a gait cycle, and is used to time offset the gait moment within a gait cycle where the user's current angle difference is located.

Optionally, in some embodiments of the present invention, the preset gait cycle assist delay ratio and the estimated value of the user's current gait cycle duration can be acquired, and the preset gait cycle assist delay ratio and the user's current gait The estimated cycle duration is multiplied to obtain the gait assist delay time of the user's current gait cycle.

Wherein, the above-mentioned preset gait cycle assist delay ratio can be adjusted according to the size of the user.

Wherein, the estimated value of the user's current gait cycle is an estimated value of the length of the gait cycle corresponding to the user's current gait. Specifically, the cycle duration of the immediately previous gait cycle can be obtained as the estimated value of the user's current gait cycle.

In specific applications, since the gait conditions of the user's two adjacent gait cycles are relatively small, even if the user is moving at a variable speed, the change between two adjacent gait cycles is relatively small. Therefore, it can be obtained by obtaining The cycle duration of the immediately preceding gait cycle is used as the estimated value of the user's current gait cycle.

Step 104: In the corresponding relationship between the left and right leg angle difference and time, determine the left and right leg angle difference corresponding to the left and right leg angle difference based on the gait moment corresponding to the left and right leg angle difference and the gait assist delay time;

Wherein, the angle difference between the left and right legs corresponding to the left and right leg angle difference is the angle difference obtained after the time offset and used to directly determine the assist value corresponding to the current moment.

Specifically, in some implementations of the present invention, the angle difference between left and right legs corresponding to the angle difference between left and right legs can be determined through the following steps 201 to 202.

Step 201: Based on the gait moment corresponding to the left and right leg angle difference and the gait assist delay time, determine the assist angle difference moment;

Step 202: In the corresponding relationship between left and right leg angle difference and time, determine the left and right leg angle difference corresponding to the assist angle difference moment as the assist left and right leg angle difference corresponding to the left and right leg angle difference.

For example, as shown in 41-44 in Figure 4, _take the angle data of the left leg minus the angle data of the right leg to obtain the angle difference between the left and right legs as an example. Schematic process of angle difference y _l (t+αT). Wherein, the angle difference in the figure is the angle difference between the left and right legs.

41: Obtain the corresponding relationship between the user's last step cycle angle difference and time (corresponding to the angle difference obtained by subtracting the right leg angle data from the left leg angle data and the time corresponding relationship), and the user's current left and right leg angle difference y _l ( t);

42: Determine the position of the current angle difference data in the corresponding relationship between the angle difference and time of the last step cycle of the user in the corresponding relationship between the user's last step cycle angle difference and time;

43: Determine the gait moment t ₁ corresponding to the angle difference according to the position of the current angle difference data in the corresponding relationship between the angle difference and time of the previous gait cycle, and then obtain the gait assist delay time αT( Among them, α is the preset gait cycle assist delay ratio, T is the estimated value of the user's current gait cycle duration, and the cycle duration of the previous gait cycle can be used as the current gait cycle duration estimate) and then according to the gait assist delay The gait time t ₁ corresponding to the time αT and the angle difference is offset from the gait time t ₁ to determine the gait time as t ₁ +αT;

44: In the corresponding relationship between the angle difference of the previous step cycle and time, determine that the angle difference corresponding to the time t ₁ + αT is the angle difference y _l (t ₁ + αT) of the power-assisted left and right legs corresponding to the current angle difference, that is, y _l ( t+αT).

It should be noted that the above example is the process of determining the angle difference between the left and right legs under the condition that the angle difference between the left and right legs is the angle data of the left leg minus the angle data of the right leg. Part of the corresponding boost value. And, for right leg angle data minus left leg angle data obtained left and right leg angle difference data, its corresponding user last step cycle angle difference and time corresponding relationship (corresponding to right leg angle data subtracted left leg angle data obtained The corresponding relationship between the angle difference and time of the left leg angle data, the corresponding relationship between the angle difference of the previous gait cycle and the time corresponding to the left and right leg angle difference data obtained by subtracting the right leg angle data from the left leg angle data is symmetrical about the x coordinate axis, and The corresponding process of determining the angle difference between the left and right legs corresponding to the angle difference of the left and right legs is the same as the above process, so it will not be repeated here.

Step 105: Calculate the assist value corresponding to the ankle exoskeleton based on the angle difference between the left and right legs, and control the ankle exoskeleton to provide assist based on the assist value.

Specifically, in some embodiments of the present invention, the assist value corresponding to the ankle exoskeleton can be obtained by obtaining the preset assist gain coefficient and multiplying the preset assist gain coefficient by the angle difference between the left and right legs of the assist.

(在图4中，为y_l(t+αT))，增益 系数为k，则踝关节外骨骼对应的助力值为/>

(对应图4，踝关节外骨骼 中左腿部分的助力值对应为k*y_l(t+αT)。)For example, the angle difference between the left and right legs of the current power assist is

(In Fig. 4, it is y _l (t+αT)), the gain coefficient is k, then the assist value corresponding to the ankle joint exoskeleton is />

(Corresponding to Figure 4, the assist value of the left leg in the ankle exoskeleton corresponds to k*y _l (t+αT).)

It should be noted that the assist value corresponding to the ankle exoskeleton mentioned above may refer to the assist value of the left leg in the ankle exoskeleton, or may refer to the assist value of the right leg in the ankle exoskeleton, depending on the value in step 101. The determined angle difference between the left and right legs of the user. For example, if the angle difference between the left and right legs of the user determined in step 101 is the difference (first difference) obtained by subtracting the angle data of the left leg from the angle data of the right leg, then the assist value corresponding to the above-mentioned ankle joint exoskeleton is The assist value of the left leg part in the ankle joint exoskeleton; if the angle difference between the left and right legs of the user determined in step 101 is the difference (second difference) obtained by subtracting the angle data of the left leg from the angle data of the right leg, then the above The assist value corresponding to the ankle exoskeleton is the assist value of the right leg in the ankle exoskeleton.

Wherein, the above-mentioned preset boosting gain coefficient can be adjusted by the user to meet the boosting needs of different users.

It should be noted that since the ankle exoskeleton is used to provide power assistance, if the power assistance value corresponding to the ankle exoskeleton based on the calculation of the angle difference between the left and right legs of the power assistance is negative, the above-mentioned control of the ankle exoskeleton based on the power assistance value provides Assist means that the assist provided by the ankle exoskeleton is 0, that is, no assist is provided.

In the embodiment of the present invention, by acquiring the user's left leg angle data and right leg angle data, and determining the angle difference between the left and right legs of the user, and determining the angle difference between the left and right legs based on the corresponding relationship between the angle difference between the left and right legs of the user's last gait cycle and time For the corresponding gait moment, obtain the gait assist delay time of the user's current gait cycle, and then determine the left and right legs based on the gait moment corresponding to the left and right leg angle difference, the gait assist delay time, and the relationship between the left and right leg angle difference and time. The leg angle difference corresponds to the angle difference between the left and right legs of the assist, and based on the angle difference between the left and right legs, the assist value corresponding to the ankle exoskeleton is calculated, and then based on the assist value, the ankle exoskeleton is controlled to provide assist. Reflect the user's use environment (different use environment, the user's angle difference data is correspondingly different) without gait environment recognition, and determine the user's current gait situation based on the correspondence between the left and right leg angle difference and time of the user's last gait cycle, Furthermore, the exoskeleton assist value is calculated based on the user's angle difference data, so that the determination of the assist value only depends on the angle difference data, and does not rely on pattern recognition such as visual recognition, which improves the reliability of the ankle joint assist.

Through the biomechanical observation of walking, it is found that the maximum value of the angle difference is much larger when going up the flat, uphill, downhill, or up the stairs than when going down the stairs. Based on this, you can set Angle difference threshold, so that there is no assistance when going down the stairs, ensuring the stability of the user's walking when going down the stairs.

As shown in FIG. 5 , in the embodiment of the present invention, before step 105 calculates the assist value corresponding to the ankle exoskeleton based on the angle difference between the left and right legs of the assist, and controls the ankle exoskeleton to provide assist based on the assist value, The following steps are also included.

Step 301: Determine whether the angle difference between the left and right legs is greater than a preset angle difference threshold;

Wherein, according to biological analysis, the value of the preset angle difference threshold is between 20-30, and the value can be adjusted according to different users.

Step 302: If the angle difference between the left and right legs is less than or equal to the preset angle difference threshold, then determine that the assist value corresponding to the ankle exoskeleton is 0;

Correspondingly, in the embodiment of the present invention, in the above-mentioned step 105, the power assist value corresponding to the ankle joint exoskeleton is calculated based on the angle difference between the left and right legs of the power assist, and the power assist provided by the ankle joint exoskeleton is controlled based on the assist value as follows:

Step 303: If the angle difference between the left and right legs is greater than the preset angle difference threshold, obtain the preset boost gain coefficient, subtract the angle difference between the left and right legs and the preset angle difference threshold to obtain a third difference, and calculate the preset boost gain The coefficient is multiplied by the third difference to obtain the assist value corresponding to the ankle exoskeleton, and based on the assist value, the ankle exoskeleton is controlled to provide assist.

In the embodiment of the present invention, if the angle difference between the left and right legs of the user is less than or equal to the preset angle difference threshold, it means that the current angle difference between the left and right legs of the user is small, and the corresponding force required by the user's ankle joint is relatively small. The assist value corresponding to the bone is 0; if the angle difference between the left and right legs of the user is greater than the preset angle difference threshold, it means that the user's ankle joint needs a large force, so subtract the preset angle difference threshold from the assist left and right leg angle difference, and the obtained difference The value is then multiplied by the preset booster gain coefficient, and the product is determined as the booster value corresponding to the ankle exoskeleton, and then based on the booster value, the ankle exoskeleton is controlled to provide assistance to the user.

For example, judge whether the left and right leg angle difference y _l (t) is greater than the preset angle difference threshold ε, if y _l (t)<ε, then determine that the assist value corresponding to the ankle exoskeleton is 0 (in the example corresponding to Figure 3 , in order to determine the assist value corresponding to the left leg of the ankle exoskeleton 0); if y _l (t)>ε, then compare the corresponding angle difference between the left and right legs y _l (t+αT) with the preset angle difference threshold Subtract to get y _l (t+αT)-ε, and then multiply it with the preset booster gain coefficient k to get the booster value corresponding to the ankle exoskeleton (in the example corresponding to Figure 3, it is the left leg part of the ankle exoskeleton The corresponding assist value) is k×(y _l (t+αT)-ε).

It should be noted that when the angle difference between the left and right legs is greater than the preset angle difference threshold, in the process of determining the assist value, the difference obtained by subtracting the assist left and right leg angle difference from the preset angle difference threshold may be less than 0. Therefore, the After the difference is multiplied by the preset gain coefficient k, the obtained power assist value is still a negative value. In this case, in the above step 303, the ankle joint exoskeleton is controlled to provide power assist based on the assist value. Specifically, the ankle joint exoskeleton does not output force.

In the embodiment of the present invention, through the preset angle difference threshold, when the angle difference threshold of the user's left and right legs is not greater than the preset angle difference threshold, it means that the current user's gait environment does not need to be assisted (for example, going down stairs). The assist value corresponding to the bone is 0, and when the angle difference threshold of the user's left and right legs is greater than the preset angle difference threshold, it means that the user's current gait environment needs assistance (for example, on flat ground, up and down slopes, and stairs, etc.), and the left and right legs will be further adjusted. The angle difference of the left and right legs corresponding to the angle difference is subtracted from the preset angle difference threshold to obtain the power assist value corresponding to the ankle joint exoskeleton. By setting the threshold, different power assists are implemented for different gait environments, so that the exoskeleton The boost control can adapt to different indoor and outdoor environments.

It should be noted that the assist control method introduced in the above step 101 to step 105 describes the process of determining the assist value based on the angle difference data of the user at the current moment. In fact, the boost control method can be obtained according to the following formula:

Take the assistance of the left leg of the ankle exoskeleton as an example:

Among them, F _l is the assisting curve of the left leg of the ankle exoskeleton (that is, the corresponding relationship between the assisting value and time of the left leg of the ankle exoskeleton), and y _l (t) is the angle data of the user's left leg minus the angle of the right leg The corresponding relationship between the left and right leg angle difference and time obtained from the data (for example, the left and right leg angle difference curve), ε is the preset angle difference threshold, k is the preset boost gain coefficient, α is the preset gait cycle boost delay ratio, T is the estimated value of the current gait cycle duration.

Similarly, the power assist of the right leg of the ankle exoskeleton of the right leg is:

Among them, F _r is the assist curve of the left leg of the ankle exoskeleton (that is, the relationship between the assist value and time of the right leg of the ankle exoskeleton), y _r (t) is the angle data of the user's right leg minus the left leg The corresponding relationship between the left and right leg angle difference and time obtained from the angle data (for example, the left and right leg angle difference curve), and the rest of the parameters have the same meaning as the left leg part, and will not be repeated here.

It can be seen from the above formula that when the corresponding relationship between the angle difference between the user's left and right legs and time (for example, the angle difference curve of the user's left and right legs) is known, when the angle difference between the user's left and right legs is greater than the preset angle difference threshold, the left and right legs can be The leg angle difference curve is translated and stretched, so as to obtain the user's assist curve (that is, the corresponding relationship between the assist value and time).

For example, exemplary, as shown in Figure 6A, in two adjacent gait cycles, the left and right leg angle difference obtained by subtracting the right leg angle data from the left leg angle data and the corresponding relationship between time (left leg angle data in the figure) Leg angle difference curve) is the dotted line part in the figure, wherein, the lower half of the curve is the part where the angle difference is less than 0. According to the above formula, the assist curve corresponding to when the angle difference between the left and right legs of the user is greater than the preset angle difference threshold can be obtained, that is, the assist curve of the left leg shown by the solid line in the figure.

Correspondingly, as shown in Figure 6B, in two adjacent gait cycles, the left and right leg angle difference obtained by subtracting the left leg angle data from the right leg angle data and the corresponding relationship between time (right leg angle in the figure difference curve) is the part shown by the dotted line in the figure, wherein the lower half of the curve is the part where the angle difference is less than 0. According to the above formula, the assist curve corresponding to when the angle difference between the left and right legs of the user is greater than the preset angle difference threshold can be obtained, that is, the right leg assist curve shown in the solid line in the figure.

By superimposing the left leg assist curve and the right leg assist curve in the above two adjacent gait cycles, it can be obtained that the angle difference between the left and right legs of the user in the two adjacent gait cycles is greater than the preset angle as shown in Figure 6C The power assist curve of the ankle exoskeleton at the difference threshold, where, in order to distinguish, the part of the dotted curve is the power assist curve of the left leg, and the part of the solid line curve is the power assist curve of the right leg. It can be seen that in a gait cycle, the ankle exoskeleton alternately assists the left leg and the right leg, and since the angle difference threshold is set, there is a time period when the assist is 0.

In some embodiments of the present invention, the user's left leg angle data and right leg angle data in the above step 101 can be obtained through the measurement of the inertial measurement unit (IMU) worn on the user's left leg and right leg, specifically as the following step 401 to step 403.

Step 401: Obtain the angle measurement data of the IMU on the user's left leg and the angle measurement data of the IMU on the right leg;

Wherein, the angle measurement data of the IMU on the user's left leg measures the angle data of the user's left leg, and the angle measurement data of the IMU on the user's right leg measures the angle data of the user's right leg.

Step 402: Obtain the IMU wearing deviation value of the user's left leg and right leg;

Among them, the above-mentioned IMU wearing deviation value of the left leg and the right leg represents the symmetry of wearing the IMU of the left and right legs of the user, that is, ideally, the IMU wearing of the left and right legs of the user is symmetrical, and the IMU wearing deviation value of the left leg and the right leg is close to 0 or equal.

It should be noted that the IMU wearing deviation value of the above user's left leg and right leg is generated according to the user's IMU wearing situation, that is, every time the user wears the upper ankle exoskeleton and wears the IMU device, there may be an IMU wearing deviation value , and for the time when the user wears and uses the ankle exoskeleton, the IMU wearing deviation value is fixed during the use after wearing the IMU device, so the IMU wearing deviation value can be determined when the user just wears the ankle joint exoskeleton .

Specifically, after the exoskeleton is powered on, the user can take symmetrical steps (generally 2-3 steps, which can be set according to the program), so as to determine the revised value based on the step condition. Among them, the symmetrical step is beneficial to obtain the revised value accurately.

Specifically, since the IMU is located on the user's thigh strap, when the user wears the IMU, it is inevitable that after the left and right legs are worn, the postures of the two IMUs are different from the postures of the thighs. That is to say, under normal circumstances, the user's two thigh postures are symmetrical. For example, the magnitude of the maximum value and the minimum value (negative value) obtained by subtracting the angle difference of the left leg from the angle difference of the right leg are consistent. If the IMU device is not properly When wearing it, when using the IMU measurement data as the corresponding left and right leg angle data, there may be inconsistencies between the maximum and minimum (negative) values obtained by subtracting the angle difference of the left leg from the angle difference of the right leg. Amendment, directly calculate the IMU measurement data as the thigh angle, which will lead to a large difference in the power assistance of the left and right legs, which will reduce the comfort of the person. Therefore, on-worn revisions to the IMU data are required.

In some embodiments of the present invention, the IMU wearing deviation value of the user's left leg and right leg can be determined through the following steps 501 to 504.

Step 501: Obtain the left leg angle measurement data θ _l (t) of the IMU on the user's left leg and the right leg angle measurement data θ _r (t) of the IMU on the right leg within one or more gait cycles;

Step 502: Determine the difference g _l (t) = θ _l (t) - θ _r (t) between the left leg angle measurement data and the right leg angle measurement data, and the difference g between the right leg angle measurement data and the left leg angle measurement data _r (t)= _θr (t) _-θl (t);

Step 503: Extract preset value N measurement data points from the difference g _l () between the left leg angle measurement data and the right leg angle measurement data as the left leg and right leg angle difference measurement data points, and calculate N left leg and The mean value M _l of the right leg angle difference measurement data points, and extract preset value N measurement data points from the difference g _r (t) between the right leg angle measurement data and the left leg angle measurement data as the right leg and left leg angle difference Measure the data points, and calculate the mean value M _r of the N right leg and left leg angle difference measurement data points;

specific,

If both the left leg IMU and the right leg IMU are properly worn, the positive and negative peaks of g _l (t) are consistent. Therefore, when discretizing g _l (t) and extracting N measurement data points, N The mean value of the data points should be close to 0; similarly, since g _l (t) and g _r (t) are symmetrical about the x-axis coordinate (Cartesian coordinate system), if both the left leg IMU and the right leg IMU are worn properly, the g _r (t) is discretized, and when N measurement data points are extracted, the mean value of the N data points should also be close to 0. Therefore, the corrected value to wear can be determined by judging the relationship between M _l (M _r ) and the first threshold and the second threshold, specifically as step 504 below.

Step 504:

If the mean value M _l of the N left and right leg angle difference measurement data points is greater than the first threshold, then determine the IMU wearing deviation value of the left leg δ _l =-M _l , and the IMU wearing deviation value of the right leg δ _r =0;

If the mean value M _l of the N left and right leg angle difference measurement data points is less than the second threshold, then determine the IMU wearing deviation value δ _l of the left leg = 0, and the IMU wearing deviation value δ _r = -M _r of the right leg;

If the mean value M _l of N left and right leg angle difference measurement data points is greater than or equal to the second threshold and less than or equal to the first threshold, then determine the IMU wearing deviation value δ _l of the left leg = 0, and the IMU of the right leg The wearing deviation value δ _r =0; wherein, the above-mentioned first threshold is greater than the second threshold.

Wherein, the above-mentioned first threshold and second threshold may be determined according to practical experience.

Optionally, both the above-mentioned first threshold and the above-mentioned second threshold may be determined to be 0.

Optionally, the above-mentioned first threshold and the above-mentioned second threshold may also be close to 0, that is, the above-mentioned first threshold is greater than 0 and close to 0 (for example, 0.01), and the above-mentioned second threshold is less than 0 and close to 0 (for example, -0.01) .

Specifically, when the first threshold is 0.01 and the second threshold is -0.01, if M _l is greater than the first threshold (for example, M _l =0.1), it can be inferred that the measurement data of the left leg is too large. Therefore, let the left leg IMU wearing deviation value δ _l =-M _l , the IMU wearing deviation value δ _r of the right leg is 0; if M _l is less than the second threshold (for example, M _l =-0.1), it can be inferred that the measurement data of the right leg is too large, Therefore, let the IMU wearing deviation value δ _l of the left leg be 0, and the IMU wearing deviation value δ _r =-M _r of the right leg; if M _l is greater than or equal to the second threshold and less than or equal to the second threshold (for example, M _l = 0), it can be inferred that the positive and negative amplitudes of g _l (t) are close, which means that the IMU is properly worn, and the wearing deviation is set to 0.

Step 403: Determine the user's left leg angle data and right leg angle data according to the angle measurement data of the IMU on the user's left leg and the angle measurement data of the IMU on the right leg, and the IMU wearing deviation value.

Specifically, the angle data of the user's left leg can be determined as q _l (t)=θ _l (t)+δ _l , and the angle data of the user's right leg can be determined as q _r (t)=θ _r (t)+δ _r .

In the embodiment of the present invention, the inertial measurement unit IMU is used to obtain the angle data of the left leg and the right leg, and then calculate the assist value, which does not contain the pattern recognition part and has high reliability; because the IMU has the problem of wearing deviation, the measurement of the IMU After the data is corrected, it is determined as the angle data of the left leg and the right leg, which avoids the problem of a large deviation in the size of the left and right legs due to wearing.

It should also be noted that, for the sake of simple description, all the aforementioned method embodiments are expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence , in some embodiments of the present invention, certain steps may be performed in other orders.

Fig. 7 shows a schematic structural diagram of an ankle joint exoskeleton power assist control device 700 provided by an embodiment of the present invention, including a first acquisition unit 701, a first determination unit 702, a second acquisition unit 703, and a second determination unit 704 and control unit 705 .

The first obtaining unit 701 is used to obtain the user's left leg angle data and right leg angle data, and determine the user's left and right leg angle difference;

The first determining unit 702 is used to determine the gait moment corresponding to the left and right leg angle difference based on the corresponding relationship between the left and right leg angle difference and the time of the user's last gait cycle;

The second acquisition unit 703 is used to acquire the gait assist delay time of the user's current gait cycle;

The second determining unit 704 is used to determine the left and right leg angle difference corresponding to the left and right leg angle difference based on the gait moment corresponding to the left and right leg angle difference and the gait assist delay time in the corresponding relationship between the left and right leg angle difference and time;

The control unit 705 is used to calculate the assist value corresponding to the ankle exoskeleton based on the angle difference between the left and right legs of the assist, and control the ankle exoskeleton to provide assist based on the assist value.

It should be noted that, for the convenience and brevity of the description, the specific working process of the assisting control device 700 of the ankle exoskeleton described above can refer to the corresponding process of the method described in the above-mentioned Figures 1 to 5, and will not be repeated here. .

Exemplarily, an embodiment of the present invention also provides an ankle exoskeleton for realizing the above-mentioned power-assisted control method of the ankle exoskeleton, including a drive box, an angle measuring device, a Bowden wire, and a foot wearing component, The angle measurement device is used to collect the angle data of the user's left leg and right leg, and the drive box is used to implement the steps in the embodiment of the power-assisted control method of the ankle exoskeleton to control the Bowden wire in the ankle exoskeleton to drive the footsteps Wearable components move to provide assistance.

As shown in Figure 8, the above-mentioned drive box includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and operable on the processor 80, such as an assist control program for an ankle exoskeleton . When the processor 80 executes the computer program 82, it realizes the steps in the embodiment of the method for assisting the ankle exoskeleton described above, such as steps 101 to 105 shown in FIG. 1 . Alternatively, when the processor 80 executes the computer program 82, it realizes the functions of the modules/units in the above-mentioned device embodiments, for example, the first acquiring unit 701, the first determining unit 702 shown in FIG. 7 , the second acquiring unit Functions of the unit 703, the second determination unit 704 and the control unit 705.

The above-mentioned computer program 82 can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 81 and executed by the above-mentioned processor 80 to complete the present invention. The one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 82 in the ankle joint exoskeleton 8. For example, the computer program 82 can be divided into a first acquisition unit, a first determination unit, a second acquisition unit, a second determination unit and a control unit (a unit in a virtual device), and the specific functions are as follows:

The first obtaining unit is used to obtain the user's left leg angle data and right leg angle data, and determine the user's left and right leg angle difference;

The first determining unit is used to determine the gait moment corresponding to the left and right leg angle difference based on the corresponding relationship between the left and right leg angle difference and the time of the user's last gait cycle;

The second acquisition unit is used to acquire the gait assist delay time of the user's current gait cycle;

The second determination unit is used to determine the left and right leg angle difference corresponding to the left and right leg angle difference based on the gait moment corresponding to the left and right leg angle difference and the gait assist delay time in the corresponding relationship between the left and right leg angle difference and time;

The control unit is used to calculate the assist value corresponding to the ankle joint exoskeleton based on the angle difference between the left and right legs of the assist, and control the ankle joint exoskeleton to provide assist based on the assist value.

The power-assisted control device of the ankle exoskeleton may include, but not limited to, a processor 80 and a memory 81. Those skilled in the art can understand that Fig. 8 is only an example of the ankle exoskeleton 8, and does not constitute a limitation to the ankle exoskeleton 8, and may include more or less components than those shown in the illustration, or combine certain components, Or different components, for example, the power-assisted control device of the ankle exoskeleton may also include input and output devices, network access devices, buses, and the like.

It should be understood that in the embodiment of the present invention, the so-called processor 81 may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), dedicated Integrated Circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor, or the processor can be any conventional processor, and the like.

The memory 81 can be the internal storage unit of the ankle exoskeleton 8, such as the hard disk or memory of the power-assisted control device of the ankle exoskeleton. The memory 81 can also be an external storage device of the ankle exoskeleton 8, such as a plug-in hard disk equipped on the ankle exoskeleton 8, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc. Further, the memory 81 can also include both an internal storage unit of the ankle exoskeleton 8 and an external storage device. The memory 81 is used to store the computer program and other programs and data required by the ankle exoskeleton 8. The memory 81 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Module completion means that the internal structure of the above-mentioned device is divided into different functional units or modules to complete all or part of the functions described above.

Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of each functional unit and module are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present invention. For the specific working process of the units and modules in the above system, you can refer to the corresponding process in the aforementioned method embodiment, and will not repeat them here.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For the parts that are not detailed or recorded in a certain embodiment, you can refer to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed device/drive box and method can be implemented in other ways. For example, the device/drive box embodiment described above is only illustrative. For example, the division of the above-mentioned modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or Components may be combined or integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected according to actual needs to realize the purpose of the solution of this embodiment.

If the above-mentioned integrated modules/units are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above-mentioned embodiments, and can also be completed by instructing related hardware through computer programs. The above-mentioned computer programs can be stored in a computer-readable storage medium. The computer program When executed by a processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code may be in the form of source code, object code, executable file or some intermediate form. The above-mentioned computer-readable medium may include: any entity or device capable of carrying the above-mentioned computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (Read-Only Memory, ROM), a random Access memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the above computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, computer-readable media may not Including electrical carrier signals and telecommunication signals.

The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still carry out the foregoing embodiments Modifications to the technical solutions recorded in the examples, or equivalent replacement of some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should be included in within the protection scope of the present invention. The spirit and scope of the technical solutions of each embodiment should be included within the protection scope of the present invention.

Claims (7)

1. a kind of power-assisted control method of ankle joint exoskeleton, it is characterized in that, described power-assisted control method comprises: Obtain the user's left leg angle data and right leg angle data, and determine the user's left and right leg angle difference; Determine the gait moment corresponding to the left and right leg angle difference based on the corresponding relationship between the left and right leg angle difference of the user's last gait cycle and time; Obtain the gait assist delay time of the user's current gait cycle; In the corresponding relationship between the left and right leg angle difference and time, based on the gait moment corresponding to the left and right leg angle difference and the gait assist delay time, determine the assist left and right leg angle difference corresponding to the left and right leg angle difference; Calculate and obtain the assist value corresponding to the ankle joint exoskeleton based on the angle difference between the left and right legs of the assist, and control the ankle joint exoskeleton to provide assist based on the assist value; The acquisition of the gait assist delay time of the user's current gait cycle includes: Obtain the preset gait cycle assist delay ratio and the estimated value of the user's current gait cycle duration; Multiplying the preset gait cycle boosting delay ratio by the estimated value of the user's current gait cycle duration to obtain the gait boosting delay time of the user's current gait cycle; In the corresponding relationship between the left and right leg angle difference and time, based on the gait moment corresponding to the left and right leg angle difference and the gait assist delay time, determine the assisting left and right leg angles corresponding to the left and right leg angle difference poor, including: Based on the gait moment corresponding to the left and right leg angle difference and the gait assist delay time, determine the assist angle difference moment; In the corresponding relationship between the left and right leg angle difference and time, the left and right leg angle difference corresponding to the assist angle difference moment is determined as the assist left and right leg angle difference corresponding to the left and right leg angle difference; The calculation of the assist value corresponding to the ankle exoskeleton based on the angle difference between the left and right legs of the assist includes: Obtain the preset power boost gain coefficient; The assist value corresponding to the ankle joint exoskeleton is obtained by multiplying the preset assist gain coefficient by the angle difference between the left and right legs of the assist. 2. The power-assisted control method of the ankle joint exoskeleton as claimed in claim 1, wherein, before the calculation of the power-assisted value corresponding to the ankle-joint exoskeleton based on the angle difference between the left and right legs of the described power assist, it also includes: Judging whether the angle difference between the left and right legs is greater than a preset angle difference threshold; If the angle difference between the left and right legs is less than or equal to the preset angle difference threshold, then determine that the assist value corresponding to the ankle exoskeleton is 0; The assist value corresponding to the ankle joint exoskeleton is calculated based on the angle difference between the left and right legs of the assist, and the ankle joint exoskeleton is controlled to provide assist based on the assist value, specifically: If the angle difference between the left and right legs is greater than the preset angle difference threshold, then obtain a preset assist gain coefficient, subtract the angle difference between the assist left and right legs and the preset angle difference threshold to obtain a third difference, and multiplying the preset assist gain coefficient by the third difference to obtain a assist value corresponding to the ankle exoskeleton, and controlling the ankle exoskeleton to provide assist based on the assist value. 3. the power-assisted control method of ankle joint exoskeleton as claimed in claim 1 or 2, is characterized in that, described user's left leg and right leg are worn with inertial measurement unit IMU, described acquisition user's left leg angle data and right leg angle data, including: Obtain the angle measurement data of the IMU on the user's left leg and the angle measurement data of the IMU on the right leg; Obtain the IMU wearing deviation value of the user's left leg and right leg; The user's left leg angle data and right leg angle data are determined according to the angle measurement data of the IMU on the user's left leg and the angle measurement data of the IMU on the right leg, and the IMU wearing deviation value. 4. the power-assisted control method of ankle joint exoskeleton as claimed in claim 3, is characterized in that, the IMU wearing deviation value of described user's left leg and right leg is determined according to the following manner: Obtain the left leg angle measurement data θ _l (t) of the IMU on the user's left leg and the right leg angle measurement data θ _r (t) of the IMU on the right leg within one or more gait cycles; determining the difference between the left leg angle measurement data and the right leg angle measurement data g _l (t) = θ _l (t) - θ _r (t), and the right leg angle measurement data and the left leg angle The difference of measured data g _r (t) = θ _r (t) - θ _l (t); Extract preset value N measurement data points from the difference g _l (t) between the left leg angle measurement data and the right leg angle measurement data as the left leg and right leg angle difference measurement data points, and calculate the N The mean value M _l of the measurement data points of the angle difference between the left leg and the right leg, and extract a preset value N measurement data points from the difference g _r (t) between the angle measurement data of the right leg and the angle measurement data of the left leg As the measurement data point of the angle difference between the right leg and the left leg, and calculate the mean value M _r of the N right leg and left leg angle difference measurement data points; If the mean value M _l of the N left and right leg angle difference measurement data points is greater than the first threshold, then determine the IMU wearing deviation value of the left leg δ _l = -M _l , and the IMU wearing deviation value of the right leg δ _r = 0; If the mean value M _l of the N left and right leg angle difference measurement data points is less than the second threshold, then determine the IMU wearing deviation value δ _l of the left leg = 0, and the IMU wearing deviation value δ _r = -M of the right leg _r ; If the mean M _l of the N left and right leg angle difference measurement data points is greater than or equal to the second threshold and less than or equal to the first threshold, then determine the IMU wearing deviation value δ _l of the left leg = 0, the IMU wearing deviation value of the right leg δ _r =0; wherein, the first threshold is greater than or equal to the second threshold. 5. A power-assisted control device for an ankle exoskeleton, comprising: The first acquiring unit is used to acquire the user's left leg angle data and right leg angle data, and determine the user's left and right leg angle difference; A first determining unit, configured to determine the gait moment corresponding to the left and right leg angle difference based on the correspondence between the left and right leg angle difference of the user's last gait cycle and time; The second obtaining unit is used to obtain the gait assist delay time of the user's current gait cycle, including: obtaining a preset gait cycle assist delay ratio and an estimated value of the user's current gait cycle duration; The gait cycle assist delay ratio is multiplied by the estimated value of the user's current gait cycle duration to obtain the gait assist delay time of the user's current gait cycle; The second determination unit is configured to determine the corresponding relationship between the left and right leg angle difference and time based on the gait moment corresponding to the left and right leg angle difference and the gait assist delay time. The angle difference between the left and right legs of the power assist includes: determining the time of the power assist angle difference based on the gait moment corresponding to the left and right leg angle difference and the gait power assist delay time; in the corresponding relationship between the left and right leg angle difference and time , determining the left and right leg angle difference corresponding to the assist angle difference moment as the assist left and right leg angle difference corresponding to the left and right leg angle difference; The control unit is used to calculate the assist value corresponding to the ankle exoskeleton based on the angle difference between the left and right legs of the assist, and control the ankle exoskeleton to provide assist based on the assist value; the left and right legs based on the assist The calculation of the angle difference to obtain the assist value corresponding to the ankle exoskeleton includes: obtaining a preset assist gain coefficient; multiplying the preset assist gain coefficient by the angle difference between the left and right legs of the assist to obtain the ankle exoskeleton corresponding boost value. 6. An ankle joint exoskeleton, characterized in that it comprises a drive box, an angle measuring device, a Bowden wire, and a foot wearing assembly, and the angle measuring device is used to collect user's left leg angle data and right leg angle data , the drive box is used to execute the power-assisted control method of the ankle exoskeleton according to any one of claims 1 to 4, so as to control the Bowden wire in the ankle exoskeleton to drive the foot wearable assembly Exercise to provide assistance. 7. A computer-readable storage medium, the computer-readable storage medium is stored with a computer program, characterized in that, when the computer program is executed by a processor, the ankle joint according to any one of claims 1 to 4 is realized Assisted control method for exoskeleton.

Images