CN111515930B - Hip power exoskeleton active power-assisted walking control method, device, terminal and computer readable storage medium - Google Patents

Hip power exoskeleton active power-assisted walking control method, device, terminal and computer readable storage medium Download PDF

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CN111515930B
CN111515930B CN202010297163.6A CN202010297163A CN111515930B CN 111515930 B CN111515930 B CN 111515930B CN 202010297163 A CN202010297163 A CN 202010297163A CN 111515930 B CN111515930 B CN 111515930B
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human body
determining
heel
swinging
mass center
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CN111515930A (en
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丘世因
郭伟
李满天
王鑫
陈翡
邓静
汪云涛
查富生
王鹏飞
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Shenzhen Academy of Aerospace Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a hip power exoskeleton active power-assisted walking control method, a hip power exoskeleton active power-assisted walking control device, a hip power exoskeleton active power-assisted walking control terminal and a computer readable storage medium, wherein the control method comprises the following steps: acquiring a joint angle and an acceleration of the human body during walking; determining the real motion state of the mass center of the human body, the human body swinging tiptoe, the human body swinging heels, the human body supporting feet heels and the human body supporting feet tiptoes; determining a human body instant capturing point and establishing a virtual spring between the human body instant capturing point and the human body swinging foot; determining the deformation amount and the rigidity of the virtual spring; determining a virtual moment τvAnd applying the virtual moment tauVTarget torque tau set as exoskeleton drive systemd(ii) a And tracking and controlling the target torque based on proportional-derivative control. The control method can simultaneously realize the unified control of the walking assistance and the instability recovery assistance of the human body, and effectively solves the assistance control problem in different states.

Description

Hip power exoskeleton active power-assisted walking control method, device, terminal and computer readable storage medium
Technical Field
The invention relates to the technical field of exoskeleton robots, in particular to a hip power exoskeleton active power-assisted walking control method, a hip power exoskeleton active power-assisted walking control device, a hip power exoskeleton terminal and a computer readable storage medium.
Background
The exoskeleton robot technology is a comprehensive technology which integrates sensing, control, information, fusion and mobile computing and provides a wearable mechanical mechanism for a person as an operator. The exoskeleton robot is used for providing assistance for a human body, has a prominent development prospect in the aspects of human body skill enhancement, auxiliary exercise and rehabilitation treatment, and increasingly becomes a research focus in the field of robots.
The existing exoskeleton power-assisted control method is difficult to coordinate and unify control under different states, so that the exoskeleton robot has the problems of discontinuous actions, control conflict and the like in practical application, and is difficult to provide effective power assistance. How to realize the unified control of the active power assistance in the normal walking state and the recovery power assistance in the instability state belongs to the technical problem which is still difficult to solve in the industry.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a hip power exoskeleton active power-assisted walking control method, a device, a terminal and a computer readable storage medium, which are applied to a hip power exoskeleton and can simultaneously realize the unified control of human walking assistance and instability recovery assistance, reduce the energy consumption of human hip joint extensors and flexors in a normal walking state, and can assist the swinging leg movement of a human body when the human body leans forward or leans backward and instability occurs, so that the human body can recover and stabilize more quickly, and the assistance control problems in different states are effectively solved.
The invention provides a hip power exoskeleton active power-assisted walking control method, which comprises the following steps:
acquiring a joint angle and an acceleration of the human body during walking;
based on the human motion model, determining the human body mass center according to the joint angle and the acceleration of the human body when walkingState of actual motion
Figure BDA0002452617950000021
Human body swinging tiptoe xToeHuman body swinging heel xHeelA heel HeelX of the human body supporting foot and a tiptoe ToeX of the human body supporting foot, wherein,
Figure BDA0002452617950000022
respectively the real position and the real speed of the mass center of the human body when the human body walks;
according to the real motion state of the mass center of the human body
Figure BDA0002452617950000023
Determining human instantaneous capture point xCPAnd at the human body instant capture point xCPA virtual spring is established between the human body swinging foot and the human body swinging foot, wherein,
Figure BDA0002452617950000024
ω0the natural frequency of the inverted pendulum;
according to the human body instantaneous capture point xCPThe human body swinging tiptoe xToeAnd the human body swinging heel xHeelDetermining the amount of deformation Δ of the virtual springCP：
Figure BDA0002452617950000025
According to the human body instantaneous capture point xCPDetermining the rigidity K of the virtual spring according to the position relation between the heel HeelX of the human body supporting leg and the toe ToeX of the human body supporting legV：
Figure BDA0002452617950000026
Determining a virtual moment τvAnd applying the virtual moment tauVTarget torque tau set as exoskeleton drive systemdWherein, τv＝KVΔCPMh；
Performing tracking control on the target torque based on proportional-derivative control: tau isd＝τv+ Δ τ, where Δ τ is the torque control increment.
Optionally, the human body centroid true motion state
Figure BDA0002452617950000027
Is determined by the following steps:
determining the nominal motion state of the mass center of the human body according to the joint angle of the human body when the human body walks on the basis of the human body motion model
Figure BDA0002452617950000031
Wherein the content of the first and second substances,
Figure BDA0002452617950000032
respectively is the nominal position and the nominal speed of the mass center of the human body when the human body walks;
fusing the acceleration of the human body when walking and the nominal motion state of the mass center of the human body based on Kalman filtering
Figure BDA0002452617950000033
Determining the true motion state of the human body's mass center
Figure BDA0002452617950000034
Optionally, the joint angle of the human body when walking and the acceleration of the human body when walking are measured by a human body posture measuring system.
The invention provides a hip power exoskeleton active power-assisted walking control device, which comprises:
the acquisition module is used for acquiring joint angles and acceleration of the human body during walking;
a state determination module for determining the real motion state of the human body mass center according to the joint angle and the acceleration of the human body when the human body walks based on the human body motion model
Figure BDA0002452617950000035
Human body swinging tiptoe xToeHuman body swinging heel xHeelA heel HeelX of the human body supporting foot and a tiptoe ToeX of the human body supporting foot, wherein,
Figure BDA0002452617950000036
respectively the real position and the real speed of the mass center of the human body when the human body walks;
a calibration modeling module for real motion state according to the mass center of the human body
Figure BDA0002452617950000037
Determining human instantaneous capture point xCPAnd at the human body instant capture point xCPA virtual spring is established between the human body swinging foot and the human body swinging foot, wherein,
Figure BDA0002452617950000038
ω0the natural frequency of the inverted pendulum;
a deformation determining module for determining the instantaneous capture point x of the human bodyCPThe human body swinging tiptoe xToeAnd the human body swinging heel xHeelDetermining the amount of deformation Δ of the virtual springCP：
Figure BDA0002452617950000039
A rigidity determination module for determining the instantaneous capture point x of the human bodyCPDetermining the rigidity K of the virtual spring according to the position relation between the heel HeelX of the human body supporting leg and the toe ToeX of the human body supporting legV：
Figure BDA0002452617950000041
A moment determination module for determining a virtual moment τvAnd applying the virtual moment tauVTarget torque tau set as exoskeleton drive systemdWherein, τv＝KVΔCPMh；
The tracking control module is used for tracking and controlling the target torque based on proportional-derivative control: tau isd＝τv+ Δ τ, where Δ τ is the torque control increment.
Optionally, the state determining module includes:
a nominal state submodule for determining a nominal motion state of a human body centroid according to a joint angle of the human body when walking based on the human body motion model
Figure BDA0002452617950000042
Wherein the content of the first and second substances,
Figure BDA0002452617950000043
respectively is the nominal position and the nominal speed of the mass center of the human body when the human body walks;
a filtering truth-seeking submodule for fusing the acceleration of the human body during walking and the nominal motion state of the human body mass center based on Kalman filtering
Figure BDA0002452617950000044
Determining the true motion state of the human body's mass center
Figure BDA0002452617950000045
The terminal provided by the invention comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor executes the computer program to enable the terminal to realize the hip power exoskeleton active power walking control method.
The present invention provides a computer-readable storage medium storing the computer program executed by the terminal.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
based on the human motion model, the human mass center is determined according to the joint angle and the acceleration of the human body when the human body walksThe real motion state and the positions of the supporting legs and the swinging legs, and then the instantaneous capturing point x of the human bodyCPA virtual rigidity model based on a virtual spring is established between the human body swing foot and the human body swing foot, and the human body instantaneous capture point x is determinedCPAnd the position quantities judge which one of a walking state and a destabilization state the motion state of the human body is in at present, and simultaneously calculate and determine the deformation quantity and the rigidity of the virtual spring, so that a target moment of the exoskeleton driving system can be determined and different driving moments are output to two different motion states, the target moment is subjected to tracking control based on proportional differential control, the target moment is kept consistent with the virtual moment, the energy consumption of hip joint extensors and flexors of the human body is reduced in a normal walking state, and the swinging leg movement of the human body can be assisted when the human body is anteverted or bent unstably, so that the human body can recover the stability more quickly, the unified control of the walking assistance and the destabilization recovery assistance of the human body is realized, and the assistance control problems in different states are effectively solved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a hip powered exoskeleton active assisted walking control method according to embodiment 1 of the present invention;
FIG. 2 is a schematic flow chart of steps B1-B2 of the active assisted walking control method for the hip powered exoskeleton of FIG. 1;
figure 3 is a control frame diagram of a hip powered exoskeleton active assisted walking control method according to embodiment 1 of the present invention;
FIG. 4 is a front elevational view of a hip powered exoskeleton employing the hip powered exoskeleton active assisted walking control method of embodiment 1 of the present invention;
FIG. 5 is a right side elevational view of the hip powered exoskeleton of FIG. 4;
FIG. 6 is a schematic diagram of a forward destabilization state of a human body;
FIG. 7 is a schematic diagram of a human body in a backward destabilization state;
figure 8 is a schematic structural diagram of a hip powered exoskeleton active assisted walking control device provided in embodiment 2 of the present invention;
fig. 9 is a schematic partial structural view of a hip powered exoskeleton active assisted walking control method according to embodiment 2 of the present invention;
fig. 10 is a schematic structural diagram of a terminal provided in embodiment 3 of the present invention.
Description of the main element symbols:
11-right hip joint driving motor, 12-left hip joint driving motor, 13-thigh wearing part, 14-exoskeleton controller, 15-exoskeleton power supply, 161-right thigh inertial navigation, 162-left thigh inertial navigation, 163-right shank inertial navigation, 164-left shank inertial navigation, 165-waist inertial navigation, 166-right foot pressure insole, 167-left foot pressure insole, 17-waist connecting rod, 21-acquisition module, 22-state determination module, 221-nominal state submodule, 222-filtering truth-seeking submodule, 23-modeling calculation module, 24-rigidity determination module, 25-moment determination module, 26-tracking control module, 31-memory, 32-processor, 33-input unit and 34-display unit.
Detailed Description
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1 and 3, the present embodiment discloses an implementation manner of an active power-assisted walking control method for a hip powered exoskeleton, which includes the following steps:
step A: and acquiring the joint angle and the acceleration of the human body during walking. Wherein, the joint angle when the human body walks comprises the joint angle of each joint in the human body involved in the walking process. Taking the lower limb as an example, the joint angle of the knee joint can be the angle between the thigh and the shank. The joint angle of the human body during walking reflects the motion posture of the human body, and the acceleration reflects the motion state and the change (such as walking, scouting, forward flapping, backward turning and the like) of the human body and the change among the states).
Referring to fig. 4 to 5, it should be noted that in the present embodiment, the hip powered exoskeleton is used for assisting the hip joint of a human body, and includes a right hip joint driving motor 11, a left hip joint driving motor 12, a thigh wearing part 13, an exoskeleton controller 14, an exoskeleton power supply 15, and a human body posture measuring system. The human body posture measuring System is used for measuring the human body posture, and includes Inertial Navigation systems (Inertial Navigation systems, hereinafter referred to as Inertial Navigation systems) arranged at various positions of the human body, such as a right thigh Inertial Navigation System 161, a left thigh Inertial Navigation System 162, a right calf Inertial Navigation System 163, a left calf Inertial Navigation System 164, a waist Inertial Navigation System 165, and the like. In particular, inertial navigation may include inertial measurement elements such as accelerometers and gyroscopes.
Exemplarily, the joint angle of the human body when walking and the acceleration of the human body when walking are measured by a human body posture measuring system. The body posture measurement system is part of a powered exoskeleton, which is constructed as previously described.
Specifically, in the present embodiment, the right thigh inertial navigation unit 161, the left thigh inertial navigation unit 162, the right calf inertial navigation unit 163, and the left calf inertial navigation unit 164 are respectively bound to the limbs of the user, the waist inertial navigation unit 165 is fixed to the waist link 17 of the hip-powered exoskeleton, and the waist link 17 is used to connect the right hip drive motor 11 and the left hip drive motor 12. The right thigh inertial navigation 161 and the left thigh inertial navigation 162 are respectively used for measuring angular displacements of a right hip joint and a left hip joint, the right calf inertial navigation 163 and the left calf inertial navigation 164 are respectively used for measuring angular displacements of a right knee joint and a left knee joint, and the waist inertial navigation 165 is used for measuring an attitude angle of an upper body and an acceleration of a human body during walking. Illustratively, hip powered exoskeleton can further comprise a right foot pressure insole 166 and a left foot pressure insole 167 for measuring pressure signals when the right foot and the left foot are walking, respectively.
And B: based on the human motion model, determining the real motion state of the mass center of the human body according to the joint angle and the acceleration of the human body during walking
Figure BDA0002452617950000081
Human body swinging tiptoe xToeHuman body swinging heel xHeelA heel HeelX of the human body supporting foot and a tiptoe ToeX of the human body supporting foot, wherein,
Figure BDA0002452617950000082
the real position and the real speed of the mass center of the human body when the human body walks are respectively.
The human motion model is a mathematical model for simulating human structure and motion, which is established by using theories and methods of mathematics, mechanics and physics and motion anatomical parameters, and is usually an equation set formed by combining a plurality of ordinary differential equations and integral equations. The human motion model can directly adopt the conventional models provided by the prior art, such as a human degradation model (multi-rigid-body model), a human slimming model (multi-rod model), a human simplified model (multi-mass-point model), a human mass point model (concentrated mass point model or single mass point model) and the like. In this embodiment, the human motion model can be simplified by using a five-bar model, i.e., the upper body, the right thigh, the left thigh, the right calf, and the left calf are respectively simplified into bar members, and five are correspondingly hinged.
Referring to fig. 2, exemplarily, the real motion state of the human body centroid
Figure BDA0002452617950000083
Is determined by the following steps:
step B1: determining the nominal motion state of the mass center of the human body according to the joint angle of the human body when the human body walks on the basis of the human body motion model
Figure BDA0002452617950000084
Wherein the content of the first and second substances,
Figure BDA0002452617950000085
the nominal position and the nominal speed of the mass center of the human body when the human body walks are respectively obtained by substituting the joint angle when the human body walks into the human motion model for direct solution.
Step B2: fusing the acceleration of the human body when walking and the nominal motion state of the mass center of the human body based on Kalman filtering
Figure BDA0002452617950000091
Determining the true motion state of the human body's mass center
Figure BDA0002452617950000092
Kalman filtering (Kalman filtering) is an algorithm that uses a linear system state equation to optimally estimate the state of a system by inputting and outputting observation data through the system. In the embodiment, the centroid motion state is removed by using the acceleration of the human body when walking based on Kalman filtering
Figure BDA0002452617950000093
The system noise and the interference contained in the method are utilized to obtain the real motion state of the mass center of the human body
Figure BDA0002452617950000094
And C: according to the real motion state of the mass center of the human body
Figure BDA0002452617950000095
Determining human instantaneous capture point xCPAnd at the human body instant capture point xCPA virtual spring is established between the human body swinging foot and the human body swinging foot, wherein,
Figure BDA0002452617950000096
ω0is the natural frequency of the inverted pendulum. Based on the virtual springs, a virtual stiffness model is thus established.
Referring to fig. 6-7, in the present embodiment, the instantaneous capture point of the human body can be regarded as an important mark for determining different motion states of the human body. When the human body instantaneous capture point is positioned in front of the tiptoes of the human body supporting feet, the human body is in a forward instability state, one end of the virtual spring is connected with the tiptoes of the human body swinging feet, and the other end of the virtual spring is connected with the human body instantaneous capture point; and when the human body instantaneous capture point is positioned behind the heels of the human body supporting feet, the human body is in a backward instability state, one end of the virtual spring is connected with the human body swinging heels, and the other end of the virtual spring is connected with the human body instantaneous capture point.
Step D: according to the human body instantaneous capture point xCPThe human body swinging tiptoe xToeAnd the human body swinging heel xHeelDetermining the amount of deformation Δ of the virtual springCP：
Figure BDA0002452617950000097
When the human body instantaneous capture point is positioned in front of the tiptoe of the human body supporting foot, the deformation quantity delta of the virtual springCPCapturing a point x for a human instantCPSwing tiptoe x with human bodyToeWhen the instantaneous catching point of the human body is positioned at the rear of the heel of the supporting foot of the human body, the deformation quantity delta of the virtual springCPCapturing a point x for a human instantCPSwing the heel x with the human bodyHeelThe distance between them.
Step E: according to the human body instantaneous capture point xCPDetermining the rigidity K of the virtual spring according to the position relation between the heel HeelX of the human body supporting leg and the toe ToeX of the human body supporting legV：
Figure BDA0002452617950000101
In other words, when the instantaneous capture point of the body is located within the plantar support region S (i.e., HeelX ≦ x)CPToeX) or less, the rigidity K of the virtual springVIs zero; when the instantaneous capture point of the human body exceeds the plantar support region S (i.e. ToeX < x)CPOr xCP< HeelX), the stiffness K of the virtual springVAnd the rigidity setting requirement is larger than zero, and the rigidity setting requirement can be set by directly referring to the rigidity of the existing virtual spring according to the artificial setting of the actual working condition. In this embodiment, plantar support area S may be measured from right foot pressure insole 166 and left foot pressure insole 167.
Step F: determining a virtual moment τvAnd applying the virtual moment tauVTarget torque tau set as exoskeleton drive systemdWherein, τv＝KVΔCPMh. Herein, the target moment τ of the exoskeleton driving systemdCan be regarded as the instability recovery assisting force.
Apparently, when the instantaneous capture point of the body is located within the plantar support region S (i.e., HeelX ≦ x)CPNot more than ToeX), the human body is in a normal walking state, the hip power exoskeleton outputs normal walking assistance without instability recovery assistance, and the rigidity K of the virtual spring of the human bodyVZero, virtual moment and target moment tau related to instability recovery assistancedAll are zero, and the power-assisted requirement of the normal walking state is met; when the instantaneous capture point of the human body exceeds the plantar support region S (i.e. ToeX < x)CPOr xCPLess than HeelX), the human body is in a front-flapping instability state or a back-bending instability state, the instability recovery assistance needs to be output, and the rigidity K of the virtual spring is at the momentVIs larger than zero, ensures that the hip power exoskeleton outputs non-zero target moment tau in timedTo make the human body return to the stable state in time. Wherein the stiffness K of the virtual springVDetermined according to the magnitude of the required destabilization recovery assistance force, KVThe larger the instability recovery assist force is.
Step G: performing tracking control on the target torque based on proportional-derivative control: tau isd＝τv+ Δ τ, where Δ τ is the torque control increment. The proportional-derivative control is often expressed as PD, and the control law is as follows: when the controlled variable is deviated, the output signal increment of the regulator is in direct proportion to the deviation and the differential of the deviation to the time (deviation conversion speed), so as to realize the aim of the target moment taudAdvanced control of (1) to ensure target torque taudAnd virtual moment tauvFinally, the output accuracy of the instability recovery assistance is ensured.
The control method disclosed by the embodiment can effectively distinguish different motion states and correspondingly control the motion states based on the position judgment of the instantaneous human body capture point, simultaneously realize the unified control of the walking assistance and the instability recovery assistance of the human body, reduce the energy consumption of hip joint extensors and flexors of the human body in the normal walking state, and assist the swinging leg motion of the human body when the human body leans forward or leans backward and is unstable, so that the human body can recover stably more quickly, and the assistance control problem in different states is effectively solved.
Example 2
Referring to fig. 8, the present embodiment discloses a specific structure of a hip powered exoskeleton active power walking control device, which includes:
the acquisition module 21 is used for acquiring joint angles and acceleration of the human body during walking;
a state determination module 22 for determining the real motion state of the human body mass center according to the joint angle and the acceleration of the human body when the human body is walking based on the human body motion model
Figure BDA0002452617950000111
Human body swinging tiptoe xToeHuman body swinging heel xHeelA heel HeelX of the human body supporting foot and a tiptoe ToeX of the human body supporting foot, wherein,
Figure BDA0002452617950000112
respectively the real position and the real speed of the mass center of the human body when the human body walks;
a scaling modeling module 23 for true motion according to the human body centroidStatus of state
Figure BDA0002452617950000113
Determining human instantaneous capture point xCPAnd at the human body instant capture point xCPA virtual spring is established between the human body swinging foot and the human body swinging foot, wherein,
Figure BDA0002452617950000114
ω0the natural frequency of the inverted pendulum;
a deformation determining module 24 for determining the instantaneous capture point x of the human bodyCPThe human body swinging tiptoe xToeAnd the human body swinging heel xHeelDetermining the amount of deformation Δ of the virtual springCP：
Figure BDA0002452617950000121
A rigidity determination module 25 for determining the instantaneous capture point x of the human bodyCPDetermining the rigidity K of the virtual spring according to the position relation between the heel HeelX of the human body supporting leg and the toe ToeX of the human body supporting legV：
Figure BDA0002452617950000122
A moment determination module 26 for determining a virtual moment τvAnd applying the virtual moment tauVTarget torque tau set as exoskeleton drive systemdWherein, τv＝KVΔCPMh；
A tracking control module 27, configured to perform tracking control on the target torque based on proportional-derivative control: tau isd＝τv+ Δ τ, where Δ τ is the torque control increment.
Referring to fig. 9, the status determination module 22 exemplarily includes:
a nominal state submodule 221 for generating a nominal state based on a human motion model according to the walking time of the human bodyDetermining the nominal motion state of the mass center of the human body by the joint angle
Figure BDA0002452617950000123
Wherein the content of the first and second substances,
Figure BDA0002452617950000124
respectively is the nominal position and the nominal speed of the mass center of the human body when the human body walks;
a filtering truth-seeking sub-module 222 for fusing the acceleration of the human body when walking and the nominal motion state of the human body centroid based on Kalman filtering
Figure BDA0002452617950000125
Determining the true motion state of the human body's mass center
Figure BDA0002452617950000126
Example 3
Referring to fig. 10, the present embodiment discloses a terminal, which includes a memory 31 and a processor 32, where the memory 31 is used for storing a computer program, and the processor 32 executes the computer program to enable the terminal to implement the above-mentioned fan 1p signal identification method based on continuous monitoring.
The terminal includes a terminal device (such as a computer, a server, etc.) without mobile communication capability, and also includes a mobile terminal (such as a smart phone, a tablet computer, a vehicle-mounted computer, an intelligent wearable device, etc.).
The memory 31 may include a program storage area and a data storage area. Wherein, the storage program area can store an operating system, application programs (such as a sound playing function, an image playing function, etc.) required by at least one function, and the like; the storage data area may store data (such as audio data, a backup file, etc.) created according to the use of the terminal, etc. Further, the memory 31 may include high speed random access memory, and may also include non-volatile memory (e.g., at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device).
Preferably, the terminal further includes an input unit 33 and a display unit 34. The input unit 33 is configured to receive various instructions or parameters (including a preset scrolling manner, a preset time interval, and a preset scrolling number) input by a user, and includes a mouse, a keyboard, a touch panel, and other input devices. The display unit 34 is used for displaying various output information (including web pages, parameter configuration interfaces, and the like) of the terminal, and includes a display panel.
Disclosed herein together is a computer-readable storage medium storing the computer program executed by a terminal.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (7)

1. The hip power exoskeleton active power-assisted walking control method is characterized by comprising the following steps:
acquiring a joint angle and an acceleration of the human body during walking;
based on the human motion model, determining the real motion state of the mass center of the human body according to the joint angle and the acceleration of the human body during walking
Figure FDA0002452617940000011
Human body swinging tiptoe xToeHuman body swinging heel xHeelA heel HeelX of the human body supporting foot and a tiptoe ToeX of the human body supporting foot, wherein,
Figure FDA0002452617940000012
respectively the real position and the real speed of the mass center of the human body when the human body walks;
according to the real motion state of the mass center of the human body
Figure FDA0002452617940000013
Determining human instantaneous capture point xCPAnd at the human body instant capture point xCPA virtual spring is established between the human body swinging foot and the human body swinging foot, wherein,
Figure FDA0002452617940000014
ω0the natural frequency of the inverted pendulum;
according to the human body instantaneous capture point xCPThe human body swinging tiptoe xToeAnd the human body swinging heel xHeelDetermining the amount of deformation Δ of the virtual springCP：
Figure FDA0002452617940000015
According to the human body instantaneous capture point xCPDetermining the rigidity K of the virtual spring according to the position relation between the heel HeelX of the human body supporting leg and the toe ToeX of the human body supporting legV：
Figure FDA0002452617940000016
Determining a virtual moment τvAnd applying the virtual moment tauVTarget torque tau set as exoskeleton drive systemdWherein, τv＝KVΔCPMh；
And tracking and controlling the target torque based on proportional-derivative control: tau isd＝τv+ Δ τ, where Δ τ is the torque control increment.
2. The method of claim 1The hip power exoskeleton active power-assisted walking control method is characterized in that the human body centroid real motion state
Figure FDA0002452617940000017
Is determined by the following steps:
determining the nominal motion state of the mass center of the human body according to the joint angle of the human body when the human body walks on the basis of the human body motion model
Figure FDA0002452617940000021
Wherein the content of the first and second substances,
Figure FDA0002452617940000022
respectively is the nominal position and the nominal speed of the mass center of the human body when the human body walks;
fusing the acceleration of the human body when walking and the nominal motion state of the mass center of the human body based on Kalman filtering
Figure FDA0002452617940000023
Determining the true motion state of the human body's mass center
Figure FDA0002452617940000024
3. The hip powered exoskeleton active assisted walking control method of claim 1, wherein the joint angles and accelerations of the person while walking are measured by a body posture measurement system.
4. The hip power exoskeleton active power-assisted walking control device is characterized by comprising:
the acquisition module is used for acquiring joint angles and acceleration of the human body during walking;
a state determination module for determining the real motion state of the human body mass center according to the joint angle and the acceleration of the human body when the human body walks based on the human body motion model
Figure FDA0002452617940000025
Human body swinging tiptoe xToeHuman body swinging heel xHeelA heel HeelX of the human body supporting foot and a tiptoe ToeX of the human body supporting foot, wherein,
Figure FDA0002452617940000026
respectively the real position and the real speed of the mass center of the human body when the human body walks;
a calibration modeling module for real motion state according to the mass center of the human body
Figure FDA0002452617940000027
Determining human instantaneous capture point xCPAnd at the human body instant capture point xCPA virtual spring is established between the human body swinging foot and the human body swinging foot, wherein,
Figure FDA0002452617940000028
ω0the natural frequency of the inverted pendulum;
a deformation determining module for determining the instantaneous capture point x of the human bodyCPThe human body swinging tiptoe xToeAnd the human body swinging heel xHeelDetermining the amount of deformation Δ of the virtual springCP：
Figure FDA0002452617940000029
A rigidity determination module for determining the instantaneous capture point x of the human bodyCPDetermining the rigidity K of the virtual spring according to the position relation between the heel HeelX of the human body supporting leg and the toe ToeX of the human body supporting legV：
Figure FDA0002452617940000031
Moment determination module for determiningDetermining virtual moment tauvAnd applying the virtual moment tauVTarget torque tau set as exoskeleton drive systemdWherein, τv＝KVΔCPMh；
The tracking control module is used for tracking and controlling the target torque based on proportional-derivative control: tau isd＝τv+ Δ τ, where Δ τ is the torque control increment.
5. The hip powered exoskeleton active assisted walking control device of claim 4, wherein the state determination module comprises:
a nominal state submodule for determining a nominal motion state of a human body centroid according to a joint angle of the human body when walking based on the human body motion model
Figure FDA0002452617940000032
Wherein the content of the first and second substances,
Figure FDA0002452617940000033
respectively is the nominal position and the nominal speed of the mass center of the human body when the human body walks;
a filtering truth-seeking submodule for fusing the acceleration of the human body during walking and the nominal motion state of the human body mass center based on Kalman filtering
Figure FDA0002452617940000034
Determining the true motion state of the human body's mass center
Figure FDA0002452617940000035
6. A terminal, comprising a memory for storing a computer program and a processor executing the computer program to cause the terminal to implement the hip powered exoskeleton active assisted walking control method of any one of claims 1 to 3.
7. Computer readable storage medium, characterized in that it stores said computer program executed by the terminal of claim 6.
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