CN111481405A - Motion instruction triggering method and device and exoskeleton equipment - Google Patents

Motion instruction triggering method and device and exoskeleton equipment Download PDF

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Publication number
CN111481405A
CN111481405A CN202010320377.0A CN202010320377A CN111481405A CN 111481405 A CN111481405 A CN 111481405A CN 202010320377 A CN202010320377 A CN 202010320377A CN 111481405 A CN111481405 A CN 111481405A
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foot
change value
pressure
target
target object
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CN202010320377.0A
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Chinese (zh)
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李红红
韩久琦
姚秀军
桂晨光
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Beijing Haiyi Tongzhan Information Technology Co Ltd
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Beijing Haiyi Tongzhan Information Technology Co Ltd
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Priority to CN202010320377.0A priority Critical patent/CN111481405A/en
Publication of CN111481405A publication Critical patent/CN111481405A/en
Priority to PCT/CN2021/086906 priority patent/WO2021213214A1/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116—Determining posture transitions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

Abstract

The application relates to a method, a device and an exoskeleton device for triggering a motion instruction, wherein the method comprises the following steps: acquiring a tilt angle change value and a foot pressure change value of the target object, wherein the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures borne by feet of the target object, and the initial angle is the tilt angle of the trunk when the target object is in an initial posture; detecting the relation between the inclination angle change value and a first threshold value range and the relation between the foot pressure change value and a second threshold value range; and under the condition that the inclination angle change value falls into a first threshold value range and the foot pressure change value falls into a second threshold value range, triggering a motion instruction corresponding to the foot pressure change value. The technical problem of lower accuracy that wearable robot's motion instruction triggered among the correlation technique has been solved in this application.

Description

Motion instruction triggering method and device and exoskeleton equipment
Technical Field
The present application relates to the field of computers, and in particular, to a method and an apparatus for triggering a motion instruction, and an exoskeleton device.
Background
Currently, most of the existing gait assistance devices control the operation speed in a remote control mode (buttons, control panels, etc.) or operate according to a preset movement stroke. Most of the wearable robots need other people for assistance in remote control modes and the like, or the wearable robots control the driving again after adjusting the current state, so that the actions are not coherent enough and have certain delay, and the working efficiency of the robots is reduced.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The application provides a motion instruction triggering method and device and an exoskeleton device, which are used for at least solving the technical problem that the accuracy of motion instruction triggering of a wearable robot in the related art is low.
According to an aspect of an embodiment of the present application, there is provided a method for triggering a motion instruction, including:
acquiring a tilt angle change value and a foot pressure change value of a target object, wherein the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures born by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture;
detecting a relationship between the inclination angle change value and a first threshold range and a relationship between the foot pressure change value and a second threshold range;
triggering a motion instruction corresponding to the foot pressure change value if the inclination angle change value falls within the first threshold range and the foot pressure change value falls within the second threshold range.
Optionally, the obtaining the inclination angle change value and the foot pressure change value of the target object comprises:
acquiring posture data of a trunk of the target object and a plurality of pressure data of each foot of the target object, wherein the posture sensor is deployed at the trunk part of the target object, and the plurality of pressure sensors are respectively deployed at a plurality of positions of two feet of the target object;
determining the target inclination angle according to the attitude data, and determining the pressure sum corresponding to each foot according to the plurality of pressure data;
and determining the difference between the target inclination angle and the initial angle as the inclination angle change value, and determining the difference between the pressure sums corresponding to each foot as the foot pressure change value.
Optionally, acquiring pose data of the torso of the target object comprises: acquiring gyroscope data and/or acceleration data of a torso of the target object;
determining the target tilt angle from the pose data comprises: determining the inclination angle of the trunk of the target object and the gravity acceleration direction as the target inclination angle according to the acceleration data; alternatively, an angle indicated by the gyro data is determined as the target tilt angle.
Optionally, detecting the relationship between the inclination angle change value and a first threshold range and the relationship between the foot pressure change value and a second threshold range comprises:
under the condition that the inclination angle change value is detected to be larger than a target angle change value, determining that the inclination angle change value falls into the first threshold range;
determining that the foot pressure change value falls within the second threshold range in a case where it is detected that the foot pressure change value is greater than a target pressure change value.
Optionally, triggering the motion instruction corresponding to the foot pressure change value comprises:
determining a target foot for executing the motion instruction according to a relation between a pressure value corresponding to each foot of the target object and an initial pressure corresponding to each foot;
and triggering a motion instruction corresponding to the target foot.
Optionally, the determining the target foot for executing the motion instruction according to the relationship between the pressure value corresponding to each foot of the target object and the initial pressure corresponding to each foot comprises:
determining the second foot as the target foot under the condition that the difference value between the pressure value corresponding to the first foot and the initial pressure corresponding to the first foot is larger than a third threshold value and the difference value between the pressure value corresponding to the second foot and the initial pressure corresponding to the second foot is smaller than the inverse number of the third threshold value;
and determining the first foot as the target foot under the condition that the difference value between the pressure value corresponding to the second foot and the initial pressure corresponding to the second foot is greater than the third threshold value and the difference value between the pressure value corresponding to the first foot and the initial pressure corresponding to the first foot is smaller than the inverse number of the third threshold value.
Optionally, triggering the exoskeleton device to execute a motion instruction corresponding to the target foot comprises:
generating the motion instruction according to the inclination angle change value and the foot pressure change value;
and sending the motion instruction.
According to another aspect of the embodiments of the present application, there is also provided an exoskeleton device, including: a processor and an exoskeleton device, wherein,
the processor is connected with the exoskeleton device, and the exoskeleton device is deployed at a lower limb part of a target object;
the processor is used for acquiring a tilt angle change value and a foot pressure change value of the target object, wherein the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures borne by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture; detecting a relationship between the inclination angle change value and a first threshold range and a relationship between the foot pressure change value and a second threshold range; triggering the exoskeleton device to execute a movement instruction corresponding to the foot pressure change value if the tilt angle change value falls within the first threshold range and the foot pressure change value falls within the second threshold range;
the exoskeleton device is used for receiving the motion instruction and controlling the lower limb part of the target object to move according to the motion instruction.
Optionally, the exoskeleton device further comprises: an attitude sensor and a plurality of pressure sensors, wherein,
the posture sensor is arranged on the trunk part of the target object, the plurality of pressure sensors are respectively arranged at a plurality of positions of two feet of the target object, and the processor is connected with the posture sensor and the plurality of pressure sensors;
the posture sensor is used for detecting posture data of a trunk of the target object;
the plurality of pressure sensors for detecting a plurality of pressure data of each foot of the target object;
the processor is used for determining the target inclination angle according to the posture data and determining the pressure sum corresponding to each foot according to the plurality of pressure data; and determining the difference between the target inclination angle and the initial angle as the inclination angle change value, and determining the difference between the pressure sums corresponding to each foot as the foot pressure change value.
Optionally, the attitude sensor comprises: a gyroscope and/or an acceleration sensor,
the gyroscope to detect gyroscope data of a torso of the target object;
the acceleration sensor is used for detecting acceleration data of the trunk of the target object;
the processor is used for determining the inclination angle of the trunk of the target object and the gravity acceleration direction as the target inclination angle according to the acceleration data; alternatively, an angle indicated by the gyro data is determined as the target tilt angle.
According to another aspect of the embodiments of the present application, there is also provided a device for triggering a motion instruction, including:
the device comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a tilt angle change value and a foot pressure change value of a target object, the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures borne by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture;
the detection module is used for detecting the relation between the inclination angle change value and a first threshold range and the relation between the foot pressure change value and a second threshold range;
the triggering module is used for triggering a motion instruction corresponding to the foot pressure change value under the condition that the inclination angle change value falls into the first threshold range and the foot pressure change value falls into the second threshold range.
According to another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program which, when executed, performs the above-described method.
According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the above method through the computer program.
In the embodiment of the application, a tilt angle change value and a foot pressure change value of a target object are obtained, wherein the tilt angle change value is used for indicating a difference value between a target tilt angle of a trunk of the target object and an initial angle, the foot pressure change value is used for indicating a difference value between pressures borne by feet of the target object, and the initial angle is the tilt angle of the trunk when the target object is in an initial posture; detecting the relation between the inclination angle change value and a first threshold value range and the relation between the foot pressure change value and a second threshold value range; under the condition that the inclination angle change value falls into a first threshold range and the foot pressure change value falls into a second threshold range, a motion instruction corresponding to the foot pressure change value is triggered, whether the target object has the intention of moving or not is identified by acquiring the inclination angle change value and the foot pressure change value of the target object and detecting the relation between the inclination angle change value and the first threshold range and the relation between the foot pressure change value and the second threshold range, when the inclination angle change value falls into the first threshold range and the foot pressure change value falls into the second threshold range, the movement intention of the target object is determined and identified, the motion instruction corresponding to the foot pressure change value is triggered, the goal of timely feeding back the movement intention of the target object is achieved, and the purposes of improving the fluency and the accuracy of human-computer interaction are achieved, so that the technical effect of improving the accuracy of triggering the motion instruction of the wearable robot is achieved, and then the technical problem that the accuracy of the motion instruction triggering of the wearable robot in the related technology is low is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic diagram of a hardware environment for a method of triggering a motion instruction according to an embodiment of the present application;
FIG. 2 is a flow chart of an alternative method of triggering motion commands in accordance with embodiments of the present application;
FIG. 3 is a schematic illustration of a swing sensing actuation process for a lower extremity exoskeleton device in accordance with an alternative embodiment of the present application;
FIG. 4 is a schematic view of an alternative motion-commanded triggering mechanism in accordance with an embodiment of the present application;
and
fig. 5 is a block diagram of a terminal according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an aspect of embodiments of the present application, there is provided an embodiment of a method for triggering a motion instruction.
Alternatively, in this embodiment, the above-described triggering method of the motion instruction may be applied to a hardware environment formed by the terminal 101 and the server 103 as shown in fig. 1. As shown in fig. 1, a server 103 is connected to a terminal 101 through a network, which may be used to provide services (such as game services, application services, etc.) for the terminal or a client installed on the terminal, and a database may be provided on the server or separately from the server for providing data storage services for the server 103, and the network includes but is not limited to: the terminal 101 is not limited to a PC, a mobile phone, a tablet computer, and the like. The method for triggering the motion command according to the embodiment of the present application may be executed by the server 103, the terminal 101, or both the server 103 and the terminal 101. The method for triggering the terminal 101 to execute the motion instruction according to the embodiment of the present application may also be executed by a client installed thereon.
Fig. 2 is a flowchart of an alternative motion instruction triggering method according to an embodiment of the present application, and as shown in fig. 2, the method may include the following steps:
step S202, obtaining a tilt angle change value and a foot pressure change value of a target object, wherein the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures borne by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture;
step S204, detecting the relation between the inclination angle change value and a first threshold value range and the relation between the foot pressure change value and a second threshold value range;
and step S206, under the condition that the inclination angle change value falls in the first threshold range and the foot pressure change value falls in the second threshold range, triggering a motion instruction corresponding to the foot pressure change value.
Through the above-described steps S202 to S206, whether the target subject has an intention to move is identified by acquiring the inclination angle variation value and the foot pressure variation value of the target subject and detecting the relationship between the inclination angle variation value and the first threshold range and the relationship between the foot pressure variation value and the second threshold range, when the inclination angle change value falls within the first threshold range and the foot pressure change value falls within the second threshold range, the movement intention of the target object is determined and recognized, the movement instruction corresponding to the foot pressure change value is triggered, the purposes of timely feeding back the movement intention of the target object and improving the fluency and accuracy of man-machine interaction are achieved, thereby realizing the technical effect of improving the accuracy of the motion instruction triggering of the wearable robot, and then the technical problem that the accuracy of the motion instruction triggering of the wearable robot in the related technology is low is solved.
Optionally, in this embodiment, the above-mentioned triggering method of the movement instruction may be applied to, but not limited to, the exoskeleton device. The exoskeleton device may be a wearable robot worn by the target subject. Such as: the lower limb exoskeleton device is worn on the lower limbs of a human body and controls the movement of the human body by controlling the movement of the lower limbs of the human body.
In the technical solution provided in step S202, the target object may include, but is not limited to, an object moving by using limbs, such as: humans, animals, and the like.
Optionally, in this embodiment, the inclination angle variation value is used to indicate a difference value between a target inclination angle of the torso of the target subject with respect to the initial angle, and the foot pressure variation value is used to indicate a difference value between pressures to which the feet of the target subject are subjected. The target object is provided with a plurality of feet, and the difference value between the pressures born by the feet and the change of the inclination angle of the trunk part can show whether the target object has the intention of moving.
Optionally, in this embodiment, the initial angle is the inclination angle of the trunk when the target object is in the initial posture, and the initial posture may be, but is not limited to, any posture of the target object before moving, such as: the initial posture may include, but is not limited to, a standing posture, a sitting posture, a lying posture, a leaning posture, etc., and the initial angle may be the angle of the torso when the person is in a standing posture, or the angle of the torso when the person is standing against a wall, or the angle of the torso when the person is sitting on a sofa.
In the technical solution provided in step S204, the relationship between the inclination angle variation value and the first threshold range may include, but is not limited to, whether the inclination angle variation value falls within the first threshold range, and the relationship between the foot pressure variation value and the second threshold range may include, but is not limited to, whether the foot pressure variation value falls within the second threshold range.
In the solution provided in step S206, the motion instruction may be, but is not limited to, used to control the motion of the target object by controlling the motion of the exoskeleton device.
Alternatively, in this embodiment, different foot pressure change values may correspond to, but are not limited to, different movement commands.
As an alternative embodiment, the obtaining the inclination angle variation value and the foot pressure variation value of the target object includes:
s11, acquiring posture data of the trunk of the target object and a plurality of pressure data of each foot of the target object;
s12, determining the target inclination angle according to the posture data, and determining the pressure sum corresponding to each foot according to the pressure data;
and S13, determining the difference between the target inclination angle and the initial angle as the inclination angle change value, and determining the difference between the pressure sums corresponding to each foot as the foot pressure change value.
Alternatively, in the present embodiment, the posture data may be, but is not limited to, posture data of a torso part of the target object. The torso region of the target object may include, but is not limited to: waist, back, buttocks, abdomen, chest, etc.
Optionally, in this embodiment, the two feet of the target object may be two symmetrical feet of the target object, such as: the left and right feet of the person.
As an alternative embodiment, acquiring the posture data of the torso of the target object comprises:
s21, acquiring gyroscope data and/or acceleration data of the trunk of the target object;
determining the target tilt angle from the pose data comprises:
s22, determining the inclination angle of the trunk of the target object and the gravity acceleration direction as the target inclination angle according to the acceleration data; alternatively, the first and second electrodes may be,
and S23, determining the angle indicated by the gyroscope data as the target inclination angle.
Optionally, in the present embodiment, the attitude data may include, but is not limited to, gyroscope data and/or acceleration data.
Alternatively, in the present embodiment, if acceleration data is detected, the target tilt angle may be calculated from the acceleration data.
Alternatively, in the present embodiment, if the gyro data is detected, the angle indicated by the gyro data may be directly determined as the target tilt angle.
As an alternative embodiment, detecting the relationship between the inclination angle change value and the first threshold range and the relationship between the foot pressure change value and the second threshold range includes:
s31, determining that the inclination angle change value falls into the first threshold range under the condition that the inclination angle change value is detected to be larger than a target angle change value;
s32, determining that the foot pressure change value falls within the second threshold range when the foot pressure change value is detected to be greater than the target pressure change value.
Alternatively, in the present embodiment, the first threshold range may be greater than the target angle change value, and when it is determined that the inclination angle change value of the target object exceeds the target angle change value, it is determined that the target object may have the intention to move.
Alternatively, in the present embodiment, the second threshold range may be greater than the target pressure variation value, and when it is determined that the foot pressure variation value of the target object exceeds the target pressure variation value, it is determined that the target object may have the intention to move.
Alternatively, in this embodiment, when it is determined that the change value of the inclination angle of the target object exceeds the target angle change value and the change value of the foot pressure of the target object exceeds the target pressure change value, it is determined that the target object has an intention to move, so as to trigger the exoskeleton device to execute a motion instruction corresponding to the change value of the foot pressure.
As an alternative embodiment, triggering the motion instruction corresponding to the foot pressure change value includes:
s41, determining a target foot for executing the motion instruction according to the relation between the pressure value corresponding to each foot of the target object and the initial pressure corresponding to each foot;
and S42, triggering a motion instruction corresponding to the target foot.
Alternatively, in this embodiment, the multiple feet of the target object may be controlled by different motion commands, respectively. And determining a target foot to which the movement intention of the target object points according to the relation between the pressure value corresponding to each foot and the initial pressure corresponding to each foot, so as to trigger a movement instruction corresponding to the target foot.
As an alternative embodiment, the determining the target foot for executing the motion instruction according to the relationship between the pressure value corresponding to each foot of the target object and the initial pressure corresponding to each foot comprises:
s51, determining the second foot as the target foot under the condition that the difference between the pressure value corresponding to the first foot and the initial pressure corresponding to the first foot is larger than a third threshold value and the difference between the pressure value corresponding to the second foot and the initial pressure corresponding to the second foot is smaller than the inverse number of the third threshold value;
and S52, determining the first foot as the target foot when the difference between the pressure value corresponding to the second foot and the initial pressure corresponding to the second foot is greater than the third threshold and the difference between the pressure value corresponding to the first foot and the initial pressure corresponding to the first foot is less than the inverse number of the third threshold.
Alternatively, in the present embodiment, taking the target subject as an example having left and right feet (first and second feet), when the target subject attempts to take a step on the left foot, the body center of gravity may shift toward the right foot. The right foot pressure increases and the left foot pressure decreases. To avoid involuntary movements, both the decrease in the left foot pressure sum and the increase in the right foot pressure sum need to reach certain empirical thresholds (which may be adjusted on their own to the actual situation).
Alternatively, in the present embodiment, if the left foot pressure sum increases, the right foot pressure sum decreases, and the threshold condition is satisfied, it may be determined that the right foot has an intention to take a step.
As an alternative embodiment, triggering a motion instruction corresponding to the target foot comprises:
s61, generating the movement instruction according to the inclination angle change value and the foot pressure change value;
and S62, sending the motion command.
Optionally, in this embodiment, the exercise command may be adjusted according to, but not limited to, the change value of the inclination angle and the change value of the foot pressure, and then sent to the corresponding device for execution.
The present application further provides an alternative embodiment that provides a method of swing sensing actuation of a lower extremity exoskeleton device. In the walking process of a person, the triggering time of the leg-striding action of the wearable robot (taking the lower-limb exoskeleton as an example) is related to whether the exoskeleton device can stably complete the transition from the double-leg supporting state to the single-leg supporting state. If the leg is taken too early, the wearer will be caused to fall backwards, which is dangerous; if the leg is taken too late for triggering, the whole walking fluency can be greatly weakened. Therefore, determining the right timing to take a leg well is an important issue for walking stability control. The method judges whether the wearer has the intention of taking a step according to the movement information (sensor information) of the wearer, and drives the exoskeleton device to take a step.
The swing sensing driving method for the lower limb exoskeleton device provided by the optional embodiment can analyze the movement information of a wearer when the human lower limb exoskeleton device moves from a standing state to a swing state. And the signals of the sensors are obtained through the sensing system of the sensors, and the walking intention of the wearer is further analyzed through signal processing.
The sensing system used in the method may include a lumbar mounted attitude sensor and bipedal plantar pressure sensors. Wherein, the pressure sensor adopts 6 flexible film pressure sensors (3 each on the left and right feet), according to human plantar physiological characteristics, mainly distributes in preceding sole and heel. Fig. 3 is a schematic diagram of a swing sensing actuation process for a lower extremity exoskeleton device according to an alternative embodiment of the present application, which may include, but is not limited to, the following process flow, as shown in fig. 3:
first, acquisition of motion data. Periodically reading data of the posture sensor of the waist and the plantar pressure sensor. The acquired posture data of the waist may include, but is not limited to, gyroscope data, acceleration data, and the like. The data transmission mode can be wired or wireless. Pressure data acquisition may include, but is not limited to, pressure data from sensors at the plantar mounting locations.
Preprocessing the data, and performing median filtering on the acquired acceleration data and pressure data so as to realize noise filtering. The median filtering is suitable for pulse interference signals which occur by chance, and is a nonlinear signal processing method which is based on a sequencing statistical theory and can effectively inhibit noise. The basic principle of median filtering is to order the values of the points in the digital signal sequence and its neighborhood, and then to replace the value of the point with the middle value, thereby eliminating isolated noise points.
The target inclination angle is calculated, the wearer is in a standing state (known), and whether the wearer wants to take a step is judged through the ground acting force and the inclination angle of the upper trunk of the wearer. And judging the movement angle according to the target inclination angle of the trunk, extracting waist movement data, wherein ax, ay and az respectively represent acceleration data of x, y and z axes. And calculating the angle between the waist posture sensor and the gravity acceleration direction as a target inclination angle. The angle of inclination when standing is a 0. The target tilt angle pitch may be determined by, but is not limited to, the following equation:
Figure BDA0002461169130000141
and judging the pressure data, wherein when the wearer is in a standing posture, the exoskeleton device system is in a double-leg supporting state, the upper body is naturally vertical, and the pressure of both feet reaches an experience threshold value. When standing, the pressure on the soles of the left foot and the right foot is uniformly distributed.
The right plantar pressure sum is calculated by:
Figure BDA0002461169130000142
wherein f isjPressure data for each pressure sensor on the right foot. The left plantar pressure sum is calculated by:
Figure BDA0002461169130000143
wherein f isiPressure data for each pressure sensor on the left foot. The sum of the pressures of the left foot when standing is denoted Fl0, sum of pressure on right foot is denoted Fr0。
The walking intention is judged, when the wearer wants to take a step from a standing posture, the trunk of the upper limb leans forward, and the pressure and the asymmetry of the sole of the foot are changed. If the upper torso is tilted forward, the tilt angle needs to reach a certain empirical threshold TH1 (which may be adjusted according to the actual situation) to trigger swing to prevent involuntary movement of the upper torso. I.e., pitch-A0 > TH1, then a stepping intent is determined. When the wearer intends to take a step, the pressure sum of the left foot and the right foot of the wearer is not uniformly distributed any more and is asymmetrically distributed. I.e. | Fr-FlIf > THO, then the intent to take a step is determined.
The target foot part required to be controlled by the walking intention is judged, and the body weight and the mind of a user deviate to the right foot by taking the left foot walking as an example. The right foot pressure increases and the left foot pressure decreases. To avoid involuntary movements, the amount of decrease in the left foot pressure sum and the amount of increase in the right foot pressure sum also need to reach a certain empirical threshold TH2 (which may be self-adjusting depending on the situation). Namely, it is
Figure BDA0002461169130000151
And then, determining that the left foot has the walking intention. Similarly, if the pressure sum of the left foot increases and the pressure sum of the right foot decreases, and the condition of the threshold TH2 is satisfied, it is determined that the right foot has the stepping intention.
When the upper limb trunk angle threshold value and the asymmetry and the variation of the plantar pressure sum simultaneously meet the corresponding threshold values, the stepping condition is determined to be reached, and a stepping instruction can be triggered.
The method of the optional embodiment does not need a leg posture sensor and posture errors possibly caused by the leg posture sensor, and is not inconvenient in acquisition of physiological signals such as myoelectricity, the upper limb trunk inclination angle is calculated by using the selected waist posture sensor, and the change of the gravity center of the human body is fed back in real time according to different plantar pressures of people in different states. And the walking intention is accurately identified by carrying out data analysis through fewer sensors.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
According to another aspect of the embodiments of the present application, there is also provided an exoskeleton device for implementing the above-mentioned triggering method of a movement instruction. The exoskeleton device may include: a processor and an exoskeleton device, wherein,
the processor is connected with the exoskeleton device, and the exoskeleton device is deployed at a lower limb part of a target object;
the processor is used for acquiring a tilt angle change value and a foot pressure change value of the target object, wherein the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures borne by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture; detecting a relationship between the inclination angle change value and a first threshold range and a relationship between the foot pressure change value and a second threshold range; triggering the exoskeleton device to execute a movement instruction corresponding to the foot pressure change value if the tilt angle change value falls within the first threshold range and the foot pressure change value falls within the second threshold range;
the exoskeleton device is used for receiving the motion instruction and controlling the lower limb part of the target object to move according to the motion instruction.
Optionally, in this embodiment, the exoskeleton device may be, but is not limited to, a wearable robot, and the target object may be moved by wearing the wearable robot, for example: the user may wear the exoskeleton device at the lower limb portion, the processor may be, but is not limited to, a peripheral of the exoskeleton device (cell phone, tablet, smart watch, smart glasses, smart ring, etc.), or the processor may be embedded in the exoskeleton device. Detecting, by the processor, the movement intent of the user triggers a movement instruction, which is executed by the exoskeleton device.
As an alternative embodiment, the exoskeleton device further comprises: an attitude sensor and a plurality of pressure sensors, wherein,
the posture sensor is arranged on the trunk part of the target object, the plurality of pressure sensors are respectively arranged at a plurality of positions of two feet of the target object, and the processor is connected with the posture sensor and the plurality of pressure sensors;
the posture sensor is used for detecting posture data of a trunk of the target object;
the plurality of pressure sensors for detecting a plurality of pressure data of each foot of the target object;
the processor is used for determining the target inclination angle according to the posture data and determining the pressure sum corresponding to each foot according to the plurality of pressure data; and determining the difference between the target inclination angle and the initial angle as the inclination angle change value, and determining the difference between the pressure sums corresponding to each foot as the foot pressure change value.
Optionally, in the present embodiment, a posture sensor may be disposed, but not limited to, at a torso portion of the target object to detect posture data of the target object. The torso region of the target object may include, but is not limited to: waist, back, buttocks, abdomen, chest, etc.
Alternatively, in the present embodiment, pressure sensors may be disposed, but not limited to, at a plurality of different positions of the two feet of the target object, respectively, to detect pressure data. The two feet of the target object may be symmetrical two feet of the target object, such as: the left and right feet of the person.
Optionally, in this embodiment, the plurality of locations may include, but are not limited to, a ball of the foot, a toe, a heel, and the like.
As an alternative embodiment, the attitude sensor includes: a gyroscope and/or an acceleration sensor,
the gyroscope to detect gyroscope data of a torso of the target object;
the acceleration sensor is used for detecting acceleration data of the trunk of the target object;
the processor is used for determining the inclination angle of the trunk of the target object and the gravity acceleration direction as the target inclination angle according to the acceleration data; alternatively, an angle indicated by the gyro data is determined as the target tilt angle.
Optionally, in this embodiment, the attitude sensor may include, but is not limited to: a gyroscope and/or an acceleration sensor. If gyroscope data is detected by the gyroscope, a target tilt angle may be determined from the gyroscope data. If acceleration data is detected by the acceleration sensor, the target tilt angle may be determined from the acceleration data. If both gyroscope and acceleration data are detected, the target tilt angle may be determined in one of the two ways described above.
Optionally, in this embodiment, the processor is further configured to: under the condition that the inclination angle change value is detected to be larger than a target angle change value, determining that the inclination angle change value falls into the first threshold range; determining that the foot pressure change value falls within the second threshold range in a case where it is detected that the foot pressure change value is greater than a target pressure change value.
Optionally, in this embodiment, the processor is further configured to: determining a target foot for executing the motion instruction according to a relation between a pressure value corresponding to each foot of the target object and an initial pressure corresponding to each foot; triggering the exoskeleton device to execute a motion instruction corresponding to the target foot.
Optionally, in this embodiment, the processor is further configured to: determining the second foot as the target foot under the condition that the difference value between the pressure value corresponding to the first foot and the initial pressure corresponding to the first foot is larger than a third threshold value and the difference value between the pressure value corresponding to the second foot and the initial pressure corresponding to the second foot is smaller than the inverse number of the third threshold value; and determining the first foot as the target foot under the condition that the difference value between the pressure value corresponding to the second foot and the initial pressure corresponding to the second foot is greater than the third threshold value and the difference value between the pressure value corresponding to the first foot and the initial pressure corresponding to the first foot is smaller than the inverse number of the third threshold value.
Optionally, in this embodiment, the processor is further configured to: generating the motion instruction according to the inclination angle change value and the foot pressure change value; sending the motion instruction to a skeletal device of the exoskeleton device corresponding to the target foot.
According to another aspect of the embodiments of the present application, there is also provided a motion instruction triggering apparatus for implementing the motion instruction triggering method. Fig. 4 is a schematic diagram of an alternative motion command triggering apparatus according to an embodiment of the present application, and as shown in fig. 4, the apparatus may include:
an obtaining module 42, configured to obtain a tilt angle variation value and a foot pressure variation value of a target object, where the tilt angle variation value is used to indicate a difference value between a target tilt angle of a trunk of the target object and an initial angle, and the foot pressure variation value is used to indicate a difference value between pressures borne by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture;
a detection module 44, configured to detect a relationship between the inclination angle variation value and a first threshold range and a relationship between the foot pressure variation value and a second threshold range;
a triggering module 46, configured to trigger a motion instruction corresponding to the foot pressure change value when the inclination angle change value falls within the first threshold range and the foot pressure change value falls within the second threshold range.
It should be noted that the obtaining module 42 in this embodiment may be configured to execute step S202 in this embodiment, the detecting module 44 in this embodiment may be configured to execute step S204 in this embodiment, and the triggering module 46 in this embodiment may be configured to execute step S206 in this embodiment.
It should be noted here that the modules described above are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiments. It should be noted that the modules described above as a part of the apparatus may operate in a hardware environment as shown in fig. 1, and may be implemented by software or hardware.
Through the above modules, whether the target object has the intention of movement is identified by acquiring the inclination angle change value and the foot pressure change value of the target object and detecting the relationship between the inclination angle change value and the first threshold range and the relationship between the foot pressure change value and the second threshold range, when the inclination angle change value falls within the first threshold range and the foot pressure change value falls within the second threshold range, the movement intention of the target object is determined and recognized, the movement instruction corresponding to the foot pressure change value is triggered, the purposes of timely feeding back the movement intention of the target object and improving the fluency and accuracy of man-machine interaction are achieved, thereby realizing the technical effect of improving the lower accuracy of the motion instruction triggering of the wearable robot, and then the technical problem that the accuracy of the motion instruction triggering of the wearable robot in the related technology is low is solved.
As an alternative embodiment, the obtaining module includes:
an acquisition unit for acquiring posture data of a trunk of the target object and a plurality of pressure data of each foot of the target object;
the first determining unit is used for determining the target inclination angle according to the posture data and determining the pressure sum corresponding to each foot according to the plurality of pressure data;
a second determining unit, configured to determine a difference between the target inclination angle and the initial angle as the inclination angle change value, and determine a difference between pressure sums corresponding to each foot as the foot pressure change value.
As an alternative embodiment, the acquisition unit is configured to: acquiring gyroscope data and/or acceleration data of a torso of the target object;
the first determination unit is configured to: determining the inclination angle of the trunk of the target object and the gravity acceleration direction as the target inclination angle according to the acceleration data; alternatively, an angle indicated by the gyro data is determined as the target tilt angle.
As an alternative embodiment, the detection module comprises:
a third determination unit configured to determine that the inclination angle change value falls within the first threshold range, in a case where it is detected that the inclination angle change value is larger than a target angle change value;
a fourth determination unit configured to determine that the foot pressure change value falls within the second threshold range, in a case where it is detected that the foot pressure change value is larger than a target pressure change value.
As an alternative embodiment, the triggering module comprises:
a fifth determining unit, configured to determine a target foot on which the motion instruction is executed according to a relationship between a pressure value corresponding to each foot of the target object and an initial pressure corresponding to each foot;
and the triggering unit is used for triggering the motion instruction corresponding to the target foot.
As an alternative embodiment, the fifth determining unit is configured to:
determining the second foot as the target foot under the condition that the difference value between the pressure value corresponding to the first foot and the initial pressure corresponding to the first foot is larger than a third threshold value and the difference value between the pressure value corresponding to the second foot and the initial pressure corresponding to the second foot is smaller than the inverse number of the third threshold value;
and determining the first foot as the target foot under the condition that the difference value between the pressure value corresponding to the second foot and the initial pressure corresponding to the second foot is greater than the third threshold value and the difference value between the pressure value corresponding to the first foot and the initial pressure corresponding to the first foot is smaller than the inverse number of the third threshold value.
As an alternative embodiment, the triggering unit is configured to:
generating the motion instruction according to the inclination angle change value and the foot pressure change value;
and sending the motion instruction.
It should be noted here that the modules described above are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiments. It should be noted that the modules described above as a part of the apparatus may be operated in a hardware environment as shown in fig. 1, and may be implemented by software, or may be implemented by hardware, where the hardware environment includes a network environment.
According to another aspect of the embodiment of the present application, there is also provided a server or a terminal for implementing the triggering method of the motion instruction.
Fig. 5 is a block diagram of a terminal according to an embodiment of the present application, and as shown in fig. 5, the terminal may include: one or more processors 501 (only one of which is shown), a memory 503, and a transmission means 505. as shown in fig. 5, the terminal may further include an input/output device 507.
The memory 503 may be used to store software programs and modules, such as program instructions/modules corresponding to the method and apparatus for triggering a motion instruction in the embodiment of the present application, and the processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 503, that is, implements the method for triggering a motion instruction. The memory 503 may include high speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 503 may further include memory located remotely from the processor 501, which may be connected to the terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 505 is used for receiving or sending data via a network, and may also be used for data transmission between the processor and the memory. Examples of the network may include a wired network and a wireless network. In one example, the transmission device 505 includes a Network adapter (NIC) that can be connected to a router via a Network cable and other Network devices to communicate with the internet or a local area Network. In one example, the transmission device 505 is a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
Among them, the memory 503 is used to store an application program in particular.
The processor 501 may call the application stored in the memory 503 through the transmission means 505 to perform the following steps:
acquiring a tilt angle change value and a foot pressure change value of a target object, wherein the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures born by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture;
detecting a relationship between the inclination angle change value and a first threshold range and a relationship between the foot pressure change value and a second threshold range;
triggering a motion instruction corresponding to the foot pressure change value if the inclination angle change value falls within the first threshold range and the foot pressure change value falls within the second threshold range.
By adopting the embodiment of the application, a scheme for triggering the motion instruction is provided. Whether the target object has the movement intention is identified by acquiring the inclination angle change value and the foot pressure change value of the target object and detecting the relation between the inclination angle change value and the first threshold range and the relation between the foot pressure change value and the second threshold range, when the inclination angle change value falls into the first threshold range and the foot pressure change value falls into the second threshold range, the movement intention of the target object is determined and identified, and a movement instruction corresponding to the foot pressure change value is triggered, so that the purposes of timely feeding back the movement intention of the target object and improving the fluency and accuracy of man-machine interaction are achieved, the technical effect of improving the accuracy of the triggering of the movement instruction of the wearable robot is achieved, and the technical problem that the accuracy of the triggering of the movement instruction of the wearable robot in the related technology is low is solved.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
It can be understood by those skilled in the art that the structure shown in fig. 5 is only an illustration, and the terminal may be a terminal device such as a smart phone (e.g., an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, and a Mobile Internet Device (MID), a PAD, etc. Fig. 5 is a diagram illustrating a structure of the electronic device. For example, the terminal may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 5, or have a different configuration than shown in FIG. 5.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
Embodiments of the present application also provide a storage medium. Alternatively, in this embodiment, the storage medium may be used to execute a program code of a triggering method of a motion instruction.
Optionally, in this embodiment, the storage medium may be located on at least one of a plurality of network devices in a network shown in the above embodiment.
Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:
acquiring a tilt angle change value and a foot pressure change value of a target object, wherein the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures born by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture;
detecting a relationship between the inclination angle change value and a first threshold range and a relationship between the foot pressure change value and a second threshold range;
triggering a motion instruction corresponding to the foot pressure change value if the inclination angle change value falls within the first threshold range and the foot pressure change value falls within the second threshold range.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including instructions for causing one or more computer devices (which may be personal computers, servers, network devices, or the like) to execute all or part of the steps of the method described in the embodiments of the present application.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims (13)

1. A method for triggering a motion instruction, comprising:
acquiring a tilt angle change value and a foot pressure change value of a target object, wherein the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures born by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture;
detecting a relationship between the inclination angle change value and a first threshold range and a relationship between the foot pressure change value and a second threshold range;
triggering a motion instruction corresponding to the foot pressure change value if the inclination angle change value falls within the first threshold range and the foot pressure change value falls within the second threshold range.
2. The method of claim 1, wherein obtaining the change in inclination angle and the change in foot pressure for the target subject comprises:
acquiring posture data of a torso of the target subject and a plurality of pressure data of each foot of the target subject;
determining the target inclination angle according to the attitude data, and determining the pressure sum corresponding to each foot according to the plurality of pressure data;
and determining the difference between the target inclination angle and the initial angle as the inclination angle change value, and determining the difference between the pressure sums corresponding to each foot as the foot pressure change value.
3. The method of claim 2,
acquiring pose data of a torso of the target object comprises: acquiring gyroscope data and/or acceleration data of a torso of the target object;
determining the target tilt angle from the pose data comprises: determining the inclination angle of the trunk of the target object and the gravity acceleration direction as the target inclination angle according to the acceleration data; alternatively, an angle indicated by the gyro data is determined as the target tilt angle.
4. The method of claim 1, wherein detecting the relationship between the change in foot pressure value and a second threshold range comprises:
under the condition that the inclination angle change value is detected to be larger than a target angle change value, determining that the inclination angle change value falls into the first threshold range;
determining that the foot pressure change value falls within the second threshold range in a case where it is detected that the foot pressure change value is greater than a target pressure change value.
5. The method of claim 1, wherein triggering a motion instruction corresponding to the foot pressure change value comprises:
determining a target foot for executing the motion instruction according to a relation between a pressure value corresponding to each foot of the target object and an initial pressure corresponding to each foot;
and triggering a motion instruction corresponding to the target foot.
6. The method of claim 5, wherein determining the target foot to execute the movement instruction according to a relationship between a pressure value corresponding to each foot of the target object and an initial pressure corresponding to each foot comprises:
determining the second foot as the target foot under the condition that the difference value between the pressure value corresponding to the first foot and the initial pressure corresponding to the first foot is larger than a third threshold value and the difference value between the pressure value corresponding to the second foot and the initial pressure corresponding to the second foot is smaller than the inverse number of the third threshold value;
and determining the first foot as the target foot under the condition that the difference value between the pressure value corresponding to the second foot and the initial pressure corresponding to the second foot is greater than the third threshold value and the difference value between the pressure value corresponding to the first foot and the initial pressure corresponding to the first foot is smaller than the inverse number of the third threshold value.
7. The method of claim 5, wherein triggering a motion instruction corresponding to the target foot comprises:
generating the motion instruction according to the inclination angle change value and the foot pressure change value;
and sending the motion instruction.
8. An exoskeleton device, comprising: a processor and an exoskeleton device, wherein,
the processor is connected with the exoskeleton device, and the exoskeleton device is deployed at a lower limb part of a target object;
the processor is used for acquiring a tilt angle change value and a foot pressure change value of the target object, wherein the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures borne by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture; detecting a relationship between the inclination angle change value and a first threshold range and a relationship between the foot pressure change value and a second threshold range; triggering the exoskeleton device to execute a movement instruction corresponding to the foot pressure change value if the tilt angle change value falls within the first threshold range and the foot pressure change value falls within the second threshold range;
the exoskeleton device is used for receiving the motion instruction and controlling the lower limb part of the target object to move according to the motion instruction.
9. The exoskeleton device of claim 8, further comprising: an attitude sensor and a plurality of pressure sensors, wherein,
the posture sensor is arranged on the trunk part of the target object, the plurality of pressure sensors are respectively arranged at a plurality of positions of two feet of the target object, and the processor is connected with the posture sensor and the plurality of pressure sensors;
the posture sensor is used for detecting posture data of a trunk of the target object;
the plurality of pressure sensors for detecting a plurality of pressure data of each foot of the target object;
the processor is used for determining the target inclination angle according to the posture data and determining the pressure sum corresponding to each foot according to the plurality of pressure data; and determining the difference between the target inclination angle and the initial angle as the inclination angle change value, and determining the difference between the pressure sums corresponding to each foot as the foot pressure change value.
10. The exoskeleton device of claim 9 wherein the attitude sensor comprises: a gyroscope and/or an acceleration sensor,
the gyroscope to detect gyroscope data of a torso of the target object;
the acceleration sensor is used for detecting acceleration data of the trunk of the target object;
the processor is used for determining the inclination angle of the trunk of the target object and the gravity acceleration direction as the target inclination angle according to the acceleration data; alternatively, an angle indicated by the gyro data is determined as the target tilt angle.
11. A motion command triggering apparatus, comprising:
the device comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a tilt angle change value and a foot pressure change value of a target object, the tilt angle change value is used for indicating a difference value of a target tilt angle of a trunk of the target object relative to an initial angle, the foot pressure change value is used for indicating a difference value between pressures borne by feet of the target object, and the initial angle is a tilt angle of the trunk when the target object is in an initial posture;
the detection module is used for detecting the relation between the inclination angle change value and a first threshold range and the relation between the foot pressure change value and a second threshold range;
the triggering module is used for triggering a motion instruction corresponding to the foot pressure change value under the condition that the inclination angle change value falls into the first threshold range and the foot pressure change value falls into the second threshold range.
12. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program when executed performs the method of any of the preceding claims 1 to 7.
13. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the method of any of the preceding claims 1 to 7 by means of the computer program.
CN202010320377.0A 2020-04-22 2020-04-22 Motion instruction triggering method and device and exoskeleton equipment Pending CN111481405A (en)

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