TWI511715B - Intention detection and gait adjustment device and method - Google Patents

Description

Intention detection and gait adjustment device and method

The present invention relates to a detection and adjustment device, and more particularly to an intention detection and gait adjustment device and method.

With the advent of an aging society, more and more elderly people and those with limited mobility or inconvenience are not only inconvenienced in their actions, but also easily fall and fall injured during walking. To this end, there are many action aids for the elderly or the disabled. In the past, the developmental aids were mainly crutches, walkers, wheelchairs or traditional lower limb assistive robots. The lower limb assisted robots can assist the lower limbs to resume autonomous walking by simulating various basic gaits in human daily life. Features. However, traditional lower limb assisted robots still have limitations in use in long-distance walking, up/down stairs, climbing, etc., and are difficult to operate, so the effectiveness of promotion is limited.

The present invention relates to an intention detection and gait adjustment apparatus and method for enabling a lower limb assisted robot to output a correct gait according to a user's intention.

According to an aspect of the invention, an intention detection and gait adjustment apparatus is provided for use in a mobility aid. Action aids include an intentional manipulation of crutches, a Servo controller and lower limb assisted robot. The intention detection and gait adjustment device includes a distance measuring device and an angle measuring device. The distance measuring device comprises a pull cord, and the measuring device is connected with the intentional driving crutch and the lower limb assisting robot, and when the pulling rope is stretched, the distance measuring device generates a displacement sensing signal with respect to the length of the pulling rope being stretched. To the servo controller. The angle measuring device is connected to the distance measuring device, and when the cable is rotated, the angle measuring device generates an angle sensing signal to the servo controller with respect to the angle at which the cable is rotated. The servo controller adjusts the length of the step of the lower limb assisting robot during the step according to the displacement sensing signal, and the servo controller adjusts the lifting angle or the falling angle of the lower limb assisting robot during the step according to the angle sensing signal.

According to an aspect of the present invention, an intention detection and gait adjustment method is proposed for use in a mobility aid. The mobility aid includes an intentional manipulation crutches, a servo controller, and a lower limb assisted robot. The intention detection and gait adjustment methods include the following steps. A pull cord is connected between the intentional manipulation crutches and the lower limb assisting robot, and a displacement sensing signal and/or an angle sensing signal is generated to the servo controller when the cord is stretched or rotated. The length of the drawstring is measured to adjust the length of the step of the lower limb assisting robot during striding. The angle at which the drawstring is rotated is measured to adjust the upward or downward angle of the lower limb assisting robot when striding.

In order to better understand the above and other aspects of the present invention, the preferred embodiments are described below, and in conjunction with the drawings, the detailed description is as follows:

10‧‧‧ body

100‧‧‧Action aids

101‧‧‧Intention detection and gait adjustment device

102‧‧‧Distance measuring device

102a‧‧‧Wire-type potentiometer

102b‧‧‧Reel

103‧‧‧Drawstring

104‧‧‧Angle measuring device

105‧‧‧Connector

106‧‧‧Contact Sensor

110‧‧‧Intentional manipulation of crutches

111‧‧‧ Crutches

112‧‧‧ rod body

113‧‧‧ buckle

114‧‧‧Retaining frame

115‧‧‧Hands

116‧‧‧First potentiometer

117‧‧‧First mount

118‧‧‧Second potentiometer

119‧‧‧Second holder

120‧‧‧Servo Controller

130‧‧‧Lower limb assisted robot

131‧‧‧Motor

132‧‧‧Hip

140‧‧‧ Crutches bottom pressure sensing device

150‧‧‧Foot pressure sensing device

160‧‧‧Center of gravity shift sensing device

H‧‧‧ direction of horizontal swing

V‧‧‧ direction of vertical swing

1 to 4 are schematic views respectively showing the intention detection and gait adjustment apparatus used in a mobile aid according to an embodiment.

The 5A~5D diagrams respectively show the corresponding actions of the lower limb assisting robot controlled by the intention detection and the gait adjustment device.

6A and 6B are respectively a plan view and a side view showing the preparation of the mobility aid from the sitting mode to the standing mode.

7A and 7B are respectively a plan view and a side view showing that the mobility aid 100 is prepared to change from the standing mode to the sitting mode.

8A and 8B are schematic diagrams showing the flow of the intention detection and gait adjustment method according to an embodiment.

9A-9C are schematic diagrams showing the intention detection and gait adjustment apparatus of another embodiment.

The intention detection and gait adjustment device and method of the embodiment are connected between the cane and the robot of the mobility aid by using a drawstring to dynamically detect the intention of the user, by pulling from the pull-wire potentiometer The length of the outlet is adjusted to output a corresponding step, and the angle of rotation of the cable is measured by the potential to adjust the angle of the motor output, thereby providing the user with the ability to walk autonomously and improving the performance of the lower limb assisted robot.

The embodiments are described in detail below, and the embodiments are only intended to be illustrative and not intended to limit the scope of the invention.

Please refer to FIG. 1 to FIG. 4 , which respectively illustrate schematic diagrams of the intention detection and gait adjustment device 101 used in a mobile assist device 100 according to an embodiment. In the first In the figure, the mobility aid 100 includes an intentional manipulation crutches 110, a servo controller 120, and a lower limb assist robot 130. The intentional manipulation crutches 110 include a pair of crutches 111. Each of the crutches 111 has a pull-wire potentiometer 102a for adjusting the length of the drawstring 103 according to the user's intention vector to adjust the lower limb assisted robot. The motor 131 of 130 outputs an angle. Therefore, when the user wears the lower limb assisting robot 130, the sensing device mounted on the lower limb assisting robot 130 and each of the crutches 111 starts measuring physical signals such as distance, angle, pressure, center of gravity offset, or a combination thereof, and The motor 131 is driven according to the physical signals, thereby driving the user's feet to perform corresponding actions according to their intentions.

In addition, in FIG. 1, the bottom of the intentional manipulation crutches 110 is provided with, for example, a crutches bottom pressure sensing device 140 for measuring the gravity load of the user acting on the crutches 111, and the bottom of the lower limb assisting robot 130 is provided with, for example, a left / Right sole pressure sensing device 150 for measuring the gravity load of the user acting on the left/right sole. The two types of pressure sensing devices are not limited in form, and may be capacitive, resistive, semiconductor or piezoelectric.

In FIG. 2, for example, a distance measuring device 102 is provided on the shaft 112 (or other portion) above the handle portion 115 of the intended steering cane 110, and the hip portion 132 (or other portion) of the lower limb assisting robot 130 is provided, for example. There is an angle measuring device 104. The distance measuring device 102 includes a pull-wire potentiometer 102a and a cord reel 102b wound by the pull cord 103.

The above-mentioned wire type potentiometer 102a is not limited in form, and may be a linear potentiometer, a rotary potentiometer, a slide potentiometer or other code having a measuring distance function. , sensors, etc.

In the present embodiment, the distance measuring device 102 is coupled to the lower limb assisting robot 130 by a pull cord 103, and the distance measuring device 102 is stretched relative to the pull cord 103 when the pull cord 103 is intentionally manipulated by the walking stick 110. The length produces a displacement sensing signal to the servo controller 120. Further, the angle measuring device 104 is coupled to one end of the pull cord 103, and the other end of the pull cord 103 is coupled to the distance measuring device 102. When the pull cord 103 is rotated horizontally and/or vertically with the intentional manipulation of the crutch 110, the angular amount The angle at which the measuring device 104 is rotated relative to the angle at which the drawstring 103 is rotated produces an angle sensing signal to the servo controller 120.

In addition, in FIG. 2, a retaining bracket 114 is disposed on the buckle 113 of the intent-operating crutches 110, and the distance measuring device 102 is movably pivotally coupled to the intent-operating crutches 110 by the mounting brackets 114, and the pull cords 103 are One end has, for example, a connector 105 that is fixed to the angle measuring device 104, for example, by magnetic force or snapping. The connector 105 is not limited in form, and may be a pair of magnetically attracted magnets or other detachable structures such as cassettes, shackles, safety buckles, and the like.

In addition, in FIG. 2, in order to monitor whether the drawstring 103 is in a usable state, a contact sensor 106 may be disposed in the connector 105. When the pull cord 103 is pulled strongly to separate the connector 105, the contact feeling The detector 106 can generate an interrupt signal to the servo controller 120 with respect to the separation of the connector 105. The servo controller 120 determines that the drawstring 103 is not in a usable state according to the interrupt signal, and the servo controller 120 interrupts the intention detection or sends an alert signal to the user.

In FIG. 3, the angle measuring device 104 includes a first potentiometer 116 and a first holder 117, the first potentiometer 116 is configured to measure an angle (ie, a first rotation angle) of the first holder 117 in a first rotation direction (for example, a direction V of vertical swing). In addition, the angle measuring device 104 further includes a second potentiometer 118 and a second holder 119 for measuring the second mounting frame 119 in the second direction of rotation (for example, a horizontal swing direction). H) The angle above (ie the second angle of rotation). The first potentiometer 116 and the second potentiometer 118 are not limited in form, and may be a rotary potentiometer or other encoder, sensor or the like having a function of measuring an angle.

In FIG. 4, a center of gravity shift sensing device 160 is disposed on the chest of the user to detect the tilt state of the user's body 10. The center of gravity of the user can be determined by the center of gravity shift sensing signal. The intention is to cause the lower limb assisting robot 130 to perform a corresponding action according to the intended intention, such as from standing to sitting, sitting down to standing or walking generally. The center-of-gravity displacement sensing device 160 determines the degree of deviation of the user's body 10 by, for example, an acceleration gauge or a gyroscope of at least one axis, for example, measuring the movement, tilting, rotation, and the like of the user's body 10, thereby determining the user's intention and Whether there is a possibility of falling.

Next, please refer to FIG. 5A to FIG. 5D, which respectively show the corresponding actions of the lower limb assisting robot 130 controlled by the above-described intention detection and gait adjustment device 101. In FIGS. 5A and 5D, when the lower limb assisting robot 130 is in the standing mode, the servo controller 120 measures the length D at which the pull cord 103 is stretched by the pull-wire potentiometer 102a to adjust the lower limb assisting robot 130 to step. The length of the step allows the lower limb assisting robot 130 to walk on the ground. Pull cord 103 is The length D of the stretching is longer, and the length of the step when striding is longer; on the contrary, the length of the step when striding is shorter.

In addition, the servo controller 120 can adjust the upward or downward angle of the lower limb assisting robot 130 when striding according to the angle sensing signal output by the potentiometer. For example, in the 5B and 5C diagrams, when the user intends to go up/down stairs (slope), the crutches 111 are first extended forward to the target position, and the drawstring 103 between the crutches 111 and the lower limb assisting robot 130 will The elongation begins and the vertical angle begins to change. If the stairs or slope is steep, the angle measured by the first potentiometer 116 will be larger; otherwise, the measured angle will be smaller. Therefore, the servo controller 120 can measure the first rotation angle θ 1 or θ 2 of the first holder 117 in the first rotation direction by the first potentiometer 116, and adjust the lower limb according to the first rotation angle of the first holder 117. The lifting angle or the descending angle of the assisting robot 130 at the time of striding enables the lower limb assisting robot 130 to perform the action of the up/down stairs (slopes).

Next, please refer to FIGS. 6A and 6B , which respectively show a top view and a side view of the mobility aid 100 ready to change from the sitting mode to the standing mode, and FIGS. 7A and 7B respectively illustrate the mobility aid 100 preparation. A top and side view of the standing mode to the sitting mode.

In FIGS. 6A and 6B, when the user intends to stand up, the crutch 111 is extended backward to the target position, and the horizontal angle between the pull cord 103 and the lower limb assisting robot 130 starts to change. At this time, the servo control is performed. The device 120 further determines whether the second rotation angle θ 3 of the second holder 119 is greater than a first threshold, and if so, drives the lower limb assisting robot 130 to change from the sitting mode to the standing mode. No, it remains in the sitting mode.

Similarly, in the 7A and 7B drawings, when the user intends to sit down, the crutches 111 are extended backward to the target position, and the horizontal angle between the drawstring 103 and the lower limb assisting robot 130 starts to change. At this time, the servo The controller 120 further determines whether the second rotation angle θ 4 of the second holder 119 is greater than a second threshold, and if so, drives the lower limb assisting robot 130 to change from the standing mode to the sitting mode, and if not, maintains the standing mode.

In addition, in FIGS. 5B and 5C, when the user intends to go up/down, the crutches 111 are first extended forward to the target position, and the vertical angle between the pull cord 103 and the lower limb assisting robot 130 starts to change. At this time, the servo controller 120 further determines that the first rotation angle (θ 1 or θ 2) of the first holder 117 is greater than a third threshold, and drives the lower limb assisting robot 130 to change from the standing mode to the up/down mode. If it is less than the third threshold, indicating that the user has not stepped up/down the stairs or is on the ground, the lower limb assisting robot 130 is driven from the standing mode to the walking mode.

Furthermore, in order to allow the auxiliary robot 130 to perform standing, sitting, standing, walking, and up/down stairs (slopes) according to the user's intention, a crutches bottom pressure sensing device 140 and/or Or a foot pressure sensing device 150 generates a pressure sensing signal relative to the pressure change between the cane/foot and the ground to determine the user's intention. Alternatively, an offset sensing signal is generated by a center of gravity shift sensing device 160 to determine the user's intention relative to the human body weight shift.

For example, in the 5A~5C diagram, when the lower limb assisted robot 130 When in the standing mode, and the crutch 111 extends forward to the target position and touches the ground again, at this time, the servo controller 120 further determines that the pressure sensing signal is greater than a fourth threshold, and drives the lower limb assisting robot 130 to change from the standing mode. For the up/down mode or the walking mode, if it is less than a fourth threshold, the lower limb assisting robot 130 remains in the standing mode.

Or, in FIGS. 6A and 6B, when the lower limb assisting robot 130 is in the sitting mode, and the crutch 111 extends rearward to the target position and contacts the ground again, at this time, the servo controller 120 further determines the pressure sensing signal. If it is greater than a fifth threshold, the lower limb assisting robot 130 is driven from the sitting mode to the standing mode, and if it is less than the fifth threshold, the lower limb assisting robot 130 is maintained in the sitting mode.

Alternatively, in FIGS. 7A and 7B, when the lower limb assisting robot 130 is in the standing mode, and the crutch 111 extends rearward to the target position and contacts the ground again, at this time, the servo controller 120 further determines that the pressure sensing signal is greater than A sixth threshold value drives the lower limb assisting robot 130 to change from the standing mode to the sitting mode. If it is less than the sixth threshold, the lower limb assisting robot 130 remains in the standing mode.

In addition, in the 7A and 7B, the servo controller 120 further determines that the offset sensing signal is greater than a seventh threshold, and drives the lower limb assisting robot 130 to change from the standing mode to the sitting mode. The lower limb assist robot 130 is then maintained in the standing mode.

Or, in the 5A-5D figure, when the lower limb assisting robot 130 is changed from the standing mode to the up/down mode or the walking mode, the servo controller 120 further determines that the offset sensing signal is greater than an eighth threshold. Maintain the lower limb auxiliary machine The person 130 is in the up/down mode or the walking mode, and if it is less than the eighth threshold, the lower limb assisting robot 130 returns to the standing mode.

The judgment flow of each operation mode will be described below in the flowchart, but the present invention is not limited to the embodiment and the aspect. Please refer to FIGS. 8A and 8B , which illustrate a flow chart of an intention detection and gait adjustment method according to an embodiment.

First, in step 201, it is first determined that the current state of the lower limb assisting robot 130 is the sitting mode or the standing mode. In steps 202 to 203, when the lower limb assisting robot 130 is in the sitting mode, it is determined whether the horizontal rotation angle (AHcrutch) of each of the crutches 111 and the pressure applied to the ground by each of the crutches 111 are greater than a predetermined threshold, and if so, Step 204 is performed to adjust the setting of the lower limb assisting robot 130 to a "sit down to stand" mode, and step 207 is performed to drive the lower limb assisting robot 130 to change from the sitting mode to the standing mode. If not, proceed to step 205 to maintain the sitting mode.

In steps 207 to 208, when the lower limb assisting robot 130 is in the standing mode, it is determined whether the horizontal rotation angle (AHcrutch) of each of the crutches 111, the pressure applied to the ground by each of the crutches 111, and the body center of gravity offset (GCbody) are Both are greater than a predetermined threshold, and if so, step 209 is performed to adjust the setting of the lower limb assisting robot 130 to a "standing to sitting" mode, and step 202 is performed to drive the lower limb assisting robot 130 from the standing mode to the sitting mode. If not, the mode is maintained or the determination of steps 210-214 is performed.

In step 210, the vertical rotation of each crutches 111 is further determined. The angle (AVcrutch) and the pressure applied to the ground by each of the crutches 111 are both greater than a predetermined threshold. If so, step 211 is performed to drive the lower limb assisting robot 130 from the standing mode to an up/down mode. If no, proceed to step 212. In step 212, if the vertical rotation angle (AVcrutch) of the crutch 111 is not greater than a predetermined threshold, and the pressure applied by the crutches 111 to the ground is greater than a predetermined threshold, step 213 is performed to drive the lower limb assisting robot 130 to stand. The mode is changed to a walking mode. In step 214, if the vertical rotation angle (AVcrutch) of the crutch 111 and the pressure applied by the crutches 111 to the ground are both less than a predetermined threshold, the standing mode is maintained.

Next, please refer to Figure 8B. In step 215, when the user wants to walk, it is judged whether the pressure applied by the crutches 111 to the ground (Pcrutch), the pressure exerted by the sole on the ground (Pfoot), and the body center of gravity offset (GCbody) are both greater than a predetermined threshold. Steps 217 to 218 are performed to start measuring the length of the pull cord 103, and output corresponding steps according to the length of the pull cord 103. If not, proceed to step 216 to return the lower limb assisting robot 130 to the standing mode.

In step 219, when the user wants to go up/down (slope), it is judged whether the pressure applied by the crutches 111 to the ground (Pcrutch), the pressure exerted by the sole on the ground (Pfoot), and the body center of gravity offset (GCbody) are both If it is greater than the predetermined threshold, if yes, perform steps 221 to 222, start measuring the angle at which the drawstring 103 rotates, and output the corresponding joint angle (upward or descending angle) according to the angle of rotation of the drawstring 103, above/down stairs. If not, proceed to step 220 to return the lower limb assisting robot 130 to the standing mode.

In any of the above steps, if it is detected that a connector 105 connected to one end of the pull cord 103 is separated or other abnormal signals, the servo controller 120 may interrupt the above intention detection to prevent misoperation.

Please refer to FIGS. 9A-9C for a schematic diagram of an intention detection and gait adjustment apparatus according to another embodiment. The difference is that in FIG. 2, the distance measuring device 102 is disposed to intentionally manipulate the crutch 110, and is connected to the angle measuring device 104 by the pull cord 103, and the angle measuring device 104 is disposed to the lower limb assisting robot 130, and The distance measuring device 102 is connected by a drawstring 103. In FIG. 9A, the angle measuring device 104 and the distance measuring device 102 are both disposed on the lower limb assisting robot 130, and the drawstring 103 is connected to the intent-oriented walking stick 110. In FIG. 9B, the distance measuring device 102 and the second potentiometer 118 are disposed to intentionally manipulate the crutch 110 and are connected to the angle measuring device 104 by the pull cord 103. In FIG. 9C, the distance measuring device 102 is disposed on the lower limb assisting robot 130, and is connected to the angle measuring device 104 by the pull cord 103. The angle measuring device 104 is disposed to intentionally manipulate the walking stick 110, and connects the distance with the drawstring. Measuring device 102.

The intention detection and gait adjustment apparatus and method disclosed in the above embodiments are connected between each crutches and the lower limb assisting robot by using a drawstring to detect the intention of the user. The drawstring measurement function is turned on when walking and up/down stairs mode. When the user wants to walk too much, the span of the crutches increases to lengthen the length of the drawstring, so that the motor can be controlled to increase the swing range; when the user goes up the stairs Or when climbing the slope, the servo controller will control the motor to drive the lower limb joint according to the angle of the rope, and adjust the lifting angle. When the stairs are down or downhill, the motor is controlled to drive the lower limb joints and adjust the descending angle. in this way, The user's posture can be adjusted with the slope of the stairs or slope to improve the performance of the lower limb assisted robot.

In summary, although the above has been disclosed by way of example, it is not intended to limit the invention. A person skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.

100‧‧‧Action aids

102a‧‧‧Wire-type potentiometer

103‧‧‧Drawstring

104‧‧‧Angle measuring device

110‧‧‧Intentional manipulation of crutches

111‧‧‧ Crutches

115‧‧‧Hands

120‧‧‧Servo Controller

130‧‧‧Lower limb assisted robot

131‧‧‧Motor

140‧‧‧ Crutches bottom pressure sensing device

150‧‧‧Foot pressure sensing device

Claims (22)

An intention detection and gait adjustment device is used in a mobile aid, the action aid includes an intentional manipulation crutches, a servo controller and a lower limb assist robot, and the intention detection and gait adjustment device comprises: The distance measuring device includes a pull cord connecting the intentional manipulation crutches and the lower limb assisting robot, and when the drawstring is stretched, the distance measuring device is stretched relative to the drawstring The length generates a displacement sensing signal to the servo controller; and an angle measuring device coupled to the distance measuring device, and the angle measuring device is rotated relative to the cable when the cable is rotated Generating an angle sensing signal to the servo controller; wherein the servo controller adjusts a step length of the lower limb assisting robot during the step according to the displacement sensing signal, and the servo controller adjusts the signal according to the angle sensing signal The lower limb assists the robot in raising or lowering the angle when striding. The intention detection and gait adjustment device according to claim 1, wherein the distance measuring device is disposed on the intentional manipulation crutches, and is connected to the angle measuring device by the drawstring, the angle measuring device The lower limb assisting robot is disposed, and the distance measuring device is connected by the drawstring. The intention detecting and gait adjusting device according to claim 1, wherein the angle measuring device and the distance measuring device are both disposed on the lower limb assisting robot, and the walking stick is used to manipulate the walking stick. Intention detection and gait adjustment as described in item 1 of the patent application scope The distance measuring device is disposed on the lower limb assisting robot, and is connected to the angle measuring device by the drawstring, the angle measuring device is disposed on the intentional manipulation crutches, and the distance is measured by the drawstring Device. The intention detection and gait adjustment device according to claim 1, wherein the distance measuring device comprises a pull-wire potentiometer and a reel wound by the pull cord, the servo controller is pulled by the pull controller The line potential meter measures the length of the draw cord pulled from the reel to adjust the length of the step of the lower limb assisting robot during striding. The intention detection and gait adjustment device according to claim 5, further comprising a fixing frame, wherein the distance measuring device is pivotally connected to the intentional manipulation crutches, and one end of the pulling rope is A connector is secured to the angle measuring device. The intention detecting and gait adjusting device according to claim 1, wherein the angle measuring device comprises a first potentiometer and a first fixing frame, and one end of the pulling rope and the connector are a fixing frame is pivotally connected to the lower limb assisting robot, and the servo controller measures the first rotation angle of the first fixing frame in the first rotation direction by the first potential, and according to the first position of the first fixing frame The rotation angle adjusts the upward or downward angle of the lower limb assisting robot when striding. The intention detecting and gait adjusting device according to claim 7, wherein the angle measuring device further comprises a second potentiometer and a second fixing frame, and one end of the pulling rope and the connector are The second fixing frame is pivotally connected to the first fixing frame, and the servo controller measures the second fixing frame to the second rotation by the second potential a second rotation angle in the direction of rotation, and adjusting the setting of the lower limb assisting robot to a standing to sitting mode or a sitting down to standing mode according to the second rotation angle of the second holder. The intention detection and gait adjustment device according to claim 8, wherein the servo controller further determines whether the second rotation angle of the second holder is greater than when the lower limb assisting robot is in a sitting mode a first threshold, if yes, driving the lower limb assisting robot to change from the sitting mode to a standing mode, if not, maintaining the sitting mode; when the lower limb assisting robot is in the standing mode, the servo controller Further determining whether the second rotation angle of the second holder is greater than a second threshold, and if so, driving the lower limb assisting robot to change from the standing mode to the sitting mode, and if not, maintaining the standing mode. The intention detection and gait adjustment device according to claim 9, wherein the servo controller further determines that the first rotation angle of the first holder is greater than one The three thresholds drive the lower limb assisting robot to change from the standing mode to an up/down mode, and if less than the third threshold, the lower limb assisting robot is driven to change from the standing mode to a walking mode. The intention detection and gait adjustment device according to claim 10, further comprising a crutches bottom pressure sensing device for generating a pressure sensing signal to the servo relative to the intentional manipulation of a pressure change between the crutches and the ground surface a controller, wherein when the lower limb assisting robot is in the standing mode, the servo controller enters a If it is determined that the pressure sensing signal is greater than a fourth threshold, the lower limb assisting robot is driven to change from the standing mode to the up/down mode or the walking mode, and if less than a fourth threshold, the lower limb assisting robot remains In the standing mode; when the lower limb assisting robot is in the sitting mode, the servo controller further determines that the pressure sensing signal is greater than a fifth threshold, and drives the lower limb assisting robot to change from the sitting mode to the standing a mode, if less than the fifth threshold, the lower limb assisting robot is maintained in the sitting mode; when the lower limb assisting robot is in the standing mode, the servo controller further determines that the pressure sensing signal is greater than a sixth threshold, Then, the lower limb assisting robot is driven to change from the standing mode to the sitting mode, and if less than the sixth threshold, the lower limb assisting robot remains in the standing mode. The intention detection and gait adjustment device according to claim 11 further includes a gravity center shift sensing device that generates an offset sensing signal to the servo controller with respect to a human body weight offset. When the lower limb assisting robot is in the standing mode, the servo controller further determines that the offset sensing signal is greater than a seventh threshold, and drives the lower limb assisting robot to change from the standing mode to the sitting mode, if less than The seventh threshold value is that the lower limb assisting robot is maintained in the standing mode; and when the lower limb assisting robot is changed from the standing mode to the up/down mode or the walking mode, the servo controller further determines the offset sensing If the signal is greater than an eighth threshold, the lower limb assisting robot is maintained in the up/down mode or the walking mode. If the signal is less than the eighth threshold, the lower limb assisting robot returns to the standing mode. The intention detection and gait adjustment device according to claim 1, further comprising a contact sensor, wherein the separation of the connector generates an interrupt signal to the servo controller for monitoring the cable Whether it is in the usable state, if not, the servo controller interrupts the intention detection. An intention detection and gait adjustment method is used in a mobile aid, the action aid includes an intentional manipulation crutches, a servo controller and a lower limb assisted robot, and the intention detection and gait adjustment methods include: a pull cord is disposed between the intentional manipulation crutches and the lower limb assisting robot, and correspondingly generates a displacement sensing signal and/or an angle sensing signal to the servo controller when the pulling rope is stretched or rotated; Measuring the length of the drawstring to be stretched to adjust the length of the step of the lower limb assisting robot during striding; and measuring the angle at which the drawstring is rotated to adjust the upward angle of the lower limb assisting robot when striding or Falling angle. The intention detection and gait adjustment method according to claim 14, wherein the servo controller measures the length of the pull cord pulled out from a reel by a potential meter to adjust the lower limb assist The length of the step when the robot is striding. The intention detection and gait adjustment method according to claim 14, wherein one end of the pull cord is pivotally connected to the lower limb assisting robot by a first fixing bracket, and the servo controller measures at a first potential Measuring a first rotation angle of the first fixing frame in the first rotation direction, and adjusting an upward lifting angle or a descending angle of the lower limb auxiliary robot when striding according to the first rotation angle of the first fixing frame. The intent detection and gait adjustment method according to claim 16, wherein the pull cord is pivotally connected to the first mount by a second fixing bracket, and the servo controller measures at a second potential Measuring a second rotation angle of the second fixing frame in the second rotation direction, and adjusting the setting of the lower limb auxiliary robot to a standing to sitting mode or a sitting to standing according to the second rotation angle of the second fixing frame mode. The method of intention detection and gait adjustment according to claim 17, wherein the step of adjusting the setting of the lower limb assisting robot to a standing to sitting mode or a sitting down to standing mode is as follows: when the lower limb assisting robot When in the sitting mode, determining whether the second rotation angle of the second holder is greater than a first threshold, and if so, driving the lower limb assisting robot to change from the sitting mode to the standing mode, and if not, maintaining The sitting mode; when the lower limb assisting robot is in the standing mode, determining whether the second rotation angle of the second holder is greater than a second threshold, and if so, driving the lower limb assisting robot to change from the standing mode to the sitting The lower mode, if not, is maintained in the standing mode. The intention detection and gait adjustment method according to claim 18, wherein the servo controller further determines that the first rotation angle of the first holder is greater than one when the lower limb assisting robot is in the standing mode The three thresholds drive the lower limb assisting robot to change from the standing mode to an up/down mode, and if less than the third threshold, the lower limb assisting robot is driven to change from the standing mode to a walking mode. The intention detection and gait adjustment method described in claim 19, further comprising: measuring the intentional manipulation of a pressure change between the cane and the ground surface to generate a pressure sensing signal to the servo controller, wherein When the lower limb assisting robot is in the standing mode, the servo controller further determines that the pressure sensing signal is greater than a fourth threshold, and drives the lower limb assisting robot to change from the standing mode to the up/down mode or the walking mode. If the lower limb assisting robot is in the sitting mode, if the lower limb assisting robot is in the sitting mode, the servo controller further determines that the pressure sensing signal is greater than a fifth threshold. Driving the lower limb assisting robot to change from the sitting mode to the standing mode, and if less than the fifth threshold, the lower limb assisting robot remains in the sitting mode; when the lower limb assisting robot is in the standing mode, the servo controller Further determining that the pressure sensing signal is greater than a sixth threshold, driving the lower limb assisting robot to change from the standing mode to Sit down pattern, if smaller than the sixth threshold value, the lower extremity of the slave robot is held in the standing mode. The method of intention detection and gait adjustment according to claim 20, further comprising: measuring a human body weight offset to generate an offset sensing signal to the servo controller, wherein the lower limb assisting robot When in the standing mode, the servo controller further determines that the offset sensing signal is greater than a seventh threshold, and drives the lower limb auxiliary machine Changing the standing mode to the sitting mode, if less than the seventh threshold, the lower limb assisting robot remains in the standing mode; when the lower limb assisting robot is changed from the standing mode to the up/down mode or In the walking mode, the servo controller further determines that the offset sensing signal is greater than an eighth threshold, and maintains the lower limb assisting robot in the up/down mode or the walking mode, and if less than the eighth threshold, the The lower limb assisted robot returns to the standing mode. The method of intention detection and gait adjustment according to claim 21, further comprising: detecting a separation of a connector connected to one end of the cable to generate an interrupt signal to the servo controller, To monitor whether the drawstring is in a usable state, and if not, the servo controller interrupts the intention detection.