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Power exoskeleton control method, device, computer device and storage medium

A technology of a control method and a control device, which is applied in the field of computer equipment and storage media, power exoskeleton control methods, and devices, and can solve problems such as not being able to cooperate well with user actions

Active Publication Date: 2019-01-04
东莞英汉思机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a power exoskeleton control method, device, computer equipment and storage medium to solve the problem that the active power exoskeleton algorithm in the prior art cannot cooperate with the user's actions well

Method used

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  • Power exoskeleton control method, device, computer device and storage medium
  • Power exoskeleton control method, device, computer device and storage medium
  • Power exoskeleton control method, device, computer device and storage medium

Examples

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Embodiment 1

[0030] An embodiment of the present invention provides a power exoskeleton control method, such as figure 1 As shown, the powered exoskeleton control method includes:

[0031] Step S11, obtain the knee joint torque angle ratio k 1m .

[0032] In step S11, the knee joint torque angle ratio can be obtained through the user data. The user data refers to the historical data of the user's normal walking. Historical data, the historical data may include the change trend of the knee joint angle θ, the knee joint angle Change trend and knee joint torque τ change trend within a preset time period, knee joint torque angle ratio k 1m is a value calculated from the knee joint angle θ and the knee joint torque τ of the user history measured at the same time.

[0033] Wherein, the "acquisition of knee joint torque angle ratio k 1m ",Specifically:

[0034] Obtain the historical knee joint angle θ and historical knee joint torque τ in the user data;

[0035] Obtain the knee joint torq...

Embodiment 2

[0075] Embodiment 2 of the present invention provides a powered exoskeleton control method device 4, such as Figure 8 As shown, the power exoskeleton control method device includes:

[0076] The first information acquisition module 41 is used to acquire the knee joint torque angle ratio k 1m ;

[0077] The second information acquisition module 42 is used to acquire the user's current knee joint angle θ k , Knee joint angular acceleration Power level coefficient k f and knee joint follow-up assist coefficient k 2m ;

[0078] Calculation module 43, is used for when walking cycle is stance state, described knee joint angle θ k , the angular acceleration of the knee joint The knee joint torque angle ratio k 1m , the knee joint follow-up auxiliary coefficient k 2m and the boost rating coefficient k f Input to the preset stance physical model to get the first knee joint torque assist τ' stance , and outputs the first knee torque boost τ' stance ; and for when the walk...

Embodiment 3

[0088] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the power exoskeleton control method in Embodiment 1 is implemented. In order to avoid repetition, details are not repeated here. .

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Abstract

The invention belongs to the technical field of medical rehabilitation assisted walking, and particularly relates to a power exoskeleton control method, device, computer equipment and storage medium.The power exoskeleton control method includes the steps of obtaining torque-angle ratio of knee joint, obtaining torque-angle ratio of knee joint, the current angle of knee joint, angular accelerationof knee joint, coefficient of assisting power and coefficient of assisting knee joint; when the walking cycle is stand mode, inputting the knee joint angle value, the knee joint torque angle ratio, the knee joint follow-up assist coefficient ratio and the assist level coefficient into the stand physical model to obtain the knee joint torque assist force; when the walking cycle is swing mode, inputting the knee angular acceleration, knee follow-up assist coefficient and assist grade coefficient into the swing physical model to obtain the knee torque assist. By using the dynamic exoskeleton control method, the human motion is enhanced by torque control without planning the trajectory, and the algorithm complexity is simplified.

Description

technical field [0001] The invention belongs to the technical field of medical rehabilitation assisted walking, and in particular relates to a power exoskeleton control method, device, computer equipment and storage medium. Background technique [0002] Powered exoskeleton is a kind of intelligent mechanical device that imitates the physiological structure of the human body, can be worn by people, cooperates with the wearer to move, and assists the wearer. The control algorithm of the existing powered exoskeleton is aimed at paraplegic or hemiplegic patients who have completely lost the walking function. Active control is adopted, that is, the walking trajectory is planned in advance by the control algorithm, and the powered exoskeleton follows the preset trajectory to assist the human body to walk. The existing technology is to control the position of the preset trajectory. When the user changes to a user with certain walking functions, such as mild stroke, arthritis, early...

Claims

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Application Information

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IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2201/5007A61H2230/625
Inventor 邱培温伟林
Owner 东莞英汉思机器人科技有限公司
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