Control method and device for hip joint exoskeleton

Abstract

The invention provides a control method and device for hip joint exoskeleton. The control method comprises the steps of obtaining a left side current rotating angle track and a left side current rotating angle speed track of left side hip joint exoskeleton worn by a wearer and a right side current rotating angle track and a right side current rotating angle speed track of a right side hip joint exoskeleton; determining a state switching trend of the wearer according to the left side current rotating angle track, the left side current rotating angle speed track, the right side current rotatingangle track and the right side current rotating angle speed track, wherein the state switching trend comprises stepping and standing up; and according to the state switching trend, respectively determining power-assisted moment tracks corresponding to the left hip joint exoskeleton and the right hip joint exoskeleton, and according to the power-assisted moment tracks, driving the left hip joint exoskeleton and the right hip joint exoskeleton to assist the wearer in conducting corresponding state switching. Various different lower limb movement tasks can be accurately recognized, correspondinglower limb assistance can be provided, and the device is suitable for being used in different scenes.

Description

technical field [0001] The present application relates to the field of exoskeleton technology, in particular to a control method and device for a hip joint exoskeleton. Background technique [0002] As the elderly grow older, their physical functions decline, and there are problems such as slow gait, small stride length, and difficulty in walking for a long time caused by insufficient lower limb muscle strength; patients with stroke and other diseases are prone to muscle atrophy, gait disorder, etc. Problems such as lower limb movement disorders require a lot of rehabilitation training to restore and maintain the basic functions of the limbs. After completing phased rehabilitation training in the hospital, they need to continue to maintain lower limb training at home in daily life to better restore lower limb movement. ability. [0003] In terms of auxiliary nursing care for the elderly, traditional manual nursing services are likely to cause dependence on the elderly, and ...

AI Technical Summary

Problems solved by technology

[0004] However, at present, the industrialization of exoskeleton products in China is slow, and there are very few hip-assisted exoskeleton robot products, and the control strategies of most hip-joint exoskeleton products cannot meet a variety of lower limb activity tasks. Limitations; In addition, the shape of the existing hip exoskeleton products cannot be adjusted, and the assisting experience is relatively blunt

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