CN112140094A - Exoskeleton control method and device, electronic equipment and storage medium - Google Patents
Exoskeleton control method and device, electronic equipment and storage medium Download PDFInfo
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- CN112140094A CN112140094A CN202010994857.5A CN202010994857A CN112140094A CN 112140094 A CN112140094 A CN 112140094A CN 202010994857 A CN202010994857 A CN 202010994857A CN 112140094 A CN112140094 A CN 112140094A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/16—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
Abstract
The invention discloses an exoskeleton control method, an exoskeleton control device, electronic equipment and a storage medium, wherein the exoskeleton control method comprises the following steps: acquiring characteristic information corresponding to a target joint in a current motion mode; acquiring a first switching requirement; controlling mode switching based on the characteristic information, and switching the current motion mode into a one-way blocking mode if the characteristic information meets the first switching requirement; and changing the mechanism form of the exoskeleton according to the one-way blocking mode, and carrying out support assistance according to the changed exoskeleton. By the exoskeleton control method, exoskeleton assistance can be simply provided for a wearer, the use safety of the exoskeleton is enhanced, the movement of the wearer is not limited too much, and the freedom of movement of the wearer is greatly provided.
Description
Technical Field
The present invention relates to the field of automatic control, and in particular, to an exoskeleton control method, an exoskeleton control apparatus, an electronic device, and a storage medium.
Background
An exoskeleton is a rigid external structure that provides the configuration, construction and protection of biologically soft internal organs. The exoskeleton can be used for integrating sensing, control, information, integration and mobile calculation and providing a wearable mechanical mechanism for an operator, so that the exoskeleton is often used in scenes of long-distance walking, standing, squatting and the like to assist a human body to walk with heavy load, and the load mobility of the user is effectively improved.
The exoskeleton can provide extra assistance for people, but the existing exoskeleton is too heavy in form and difficult to use in daily life, and the existing exoskeleton is more mechanized in mechanism form, lacks flexibility and has defects in the aspects of detection accuracy, human body comfort and the like.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the embodiment of the invention provides an exoskeleton control method, which can simply provide exoskeleton assistance for a wearer, enhance the safety of exoskeleton use, simultaneously do not limit the movement of the wearer too much, and greatly give the wearer freedom of movement.
The embodiment of the invention also provides an exoskeleton control device.
The embodiment of the invention also provides the electronic equipment.
The embodiment of the invention also provides a computer readable storage medium.
A method of exoskeleton control according to an embodiment of the first aspect of the invention, comprising:
acquiring characteristic information corresponding to a target joint in a current motion mode;
acquiring a first switching requirement;
controlling mode switching based on the characteristic information, and switching the current motion mode into a one-way blocking mode if the characteristic information meets the first switching requirement;
and changing the mechanism form of the exoskeleton according to the one-way blocking mode, and carrying out support assistance according to the changed exoskeleton.
The exoskeleton control method according to the embodiment of the first aspect of the invention has at least the following beneficial effects: the method comprises the steps of firstly obtaining characteristic information corresponding to a target joint in a current movement mode, secondly obtaining a first switching requirement, then judging whether the characteristic information meets the first switching requirement, if the characteristic information meets the first switching requirement, switching the current movement mode into a one-way blocking mode, finally changing the mechanism form of an exoskeleton according to the one-way blocking mode, and carrying out support assistance according to the changed exoskeleton, so that exoskeleton assistance can be simply provided for a wearer, the use safety of the exoskeleton is enhanced, the movement of the wearer is not limited too much, and the freedom of movement of the wearer is greatly given.
According to some embodiments of the invention, the determining if the characteristic information meets the first handover requirement comprises: acquiring a first preset threshold; and if the characteristic information is greater than the first preset threshold value, the characteristic information meets the first switching requirement.
According to some embodiments of the invention, the controlling mode switching based on the characteristic information comprises: acquiring a second switching requirement; if the characteristic information meets the second switching requirement, switching the current motion mode into an automatic locking mode; and changing the mechanism form of the exoskeleton according to the automatic locking mode, and carrying out support assistance according to the changed exoskeleton.
According to some embodiments of the invention, the determining, if the characteristic information meets the second handover requirement, includes: acquiring a second preset threshold; and if the characteristic information is greater than the second preset threshold, the characteristic information meets a second switching requirement.
According to some embodiments of the invention, the controlling mode switching based on the characteristic information further comprises: acquiring a third switching requirement; if the characteristic information meets the third switching requirement, switching the current motion mode into a free mode; and changing the mechanism form of the exoskeleton according to the free mode, and carrying out support assistance according to the changed exoskeleton.
According to some embodiments of the present invention, if the feature information meets the third handover requirement, the method includes: acquiring a third preset threshold; and if the characteristic information is greater than the third preset threshold, the characteristic information meets a third switching requirement.
According to some embodiments of the invention, the supporting assistance from the modified exoskeleton comprises: acquiring a first preset direction and a second preset direction; and according to the changed exoskeleton, the target joint is prevented from bending to a first preset direction, and the target joint is supported to move to a second preset direction.
An exoskeleton control device according to an embodiment of a second aspect of the invention comprises:
the first acquisition module is used for acquiring the characteristic information corresponding to the target joint in the current motion mode;
the second acquisition module is used for acquiring the first switching requirement;
the control module is used for controlling mode switching based on the characteristic information, and switching the current motion mode into a one-way blocking mode if the characteristic information meets the first switching requirement;
and the auxiliary module is used for changing the mechanism form of the exoskeleton according to the one-way blocking mode and carrying out support assistance according to the changed exoskeleton.
The exoskeleton control device according to the embodiment of the second aspect of the invention has at least the following advantages: by implementing the exoskeleton control method according to the embodiment of the first aspect of the present invention, exoskeleton assistance can be provided to a wearer simply, and the wearer can be given great freedom of movement without restricting the movement of the wearer too much while safety of exoskeleton use is enhanced.
An electronic device according to an embodiment of the third aspect of the invention includes: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions that are executable by the at least one processor to cause the at least one processor to implement the exoskeleton control method of the first aspect when executing the instructions.
The exoskeleton control electronic device according to the embodiment of the third aspect of the invention has at least the following beneficial effects: by implementing the exoskeleton control method according to the embodiment of the first aspect of the present invention, exoskeleton assistance can be provided to a wearer simply, and the wearer can be given great freedom of movement without restricting the movement of the wearer too much while safety of exoskeleton use is enhanced.
A computer-readable storage medium according to an embodiment of the fourth aspect of the present invention, the storage medium having stored thereon computer-executable instructions for causing a computer to perform the exoskeleton control method of the first aspect.
The computer-readable storage medium according to the fourth aspect of the present invention has at least the following advantages: by implementing the exoskeleton control method according to the embodiment of the first aspect of the present invention, exoskeleton assistance can be provided to a wearer simply, and the wearer can be given great freedom of movement without restricting the movement of the wearer too much while safety of exoskeleton use is enhanced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow diagram of a method for exoskeleton control according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an exoskeleton control device according to an embodiment of the present invention;
fig. 3 is a functional block diagram of an electronic device according to an embodiment of the invention.
Reference numerals:
the system comprises a first acquisition module 200, a second acquisition module 210, a control module 220, an auxiliary module 230, a processor 300, a memory 310, a data transmission module 320, a camera 330 and a display screen 340.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1, a method for exoskeleton control according to an embodiment of a first aspect of the present invention includes:
and S100, acquiring characteristic information corresponding to the target joint in the current motion mode.
Wherein the current movement mode may be a movement mode in which the user is using the exoskeleton, such as a free mode or a locked mode; the target joint may be a human joint that needs to be detected, for example: joints of lower limbs of a human body, such as ankle joints, knee joints, hip joints and the like, and joints of other parts of the human body, such as elbow joints, can be adopted, and one or more target joints can be adopted; the characteristic information may be a specific signal characteristic detected, such as joint angle, velocity, etc. Optionally, the current motion mode may be identified by an IMU (Inertial measurement unit, which is a device for measuring a three-axis attitude angle and an acceleration of an object), the current motion mode may also be identified by obtaining a manually input instruction (for example, by obtaining an instruction of a user pressing a button), the current motion mode may also be obtained by identifying a contact switch, an electroencephalogram sensor, an electromyogram sensor, and the like on a sole of the user, for example, if the current motion mode is obtained by identification of the IMU as a free mode, feature information corresponding to a target joint in the free mode may be obtained, for example, a joint angle corresponding to a knee joint in the free mode may be obtained, or joint speeds corresponding to an ankle joint and a knee joint in the locked mode may be obtained at the same time, so that feature information corresponding to the target joint in the current motion mode may be obtained.
Step S110, a first switching request is acquired.
The first switching requirement may be a specific condition for determining whether the current motion mode needs to be switched to another mode, for example, a specific condition for switching the current motion mode to the unidirectional blocking mode. Alternatively, the first switching requirement may be set according to requirements, for example, the first switching requirement may be a threshold requirement for switching the current motion mode to the unidirectional obstruction mode.
And step S120, controlling mode switching based on the characteristic information, and switching the current motion mode into a one-way blocking mode if the characteristic information meets the first switching requirement.
Wherein the control mode switching may be switching between control motion modes; the unidirectional blocking mode may be an exoskeleton motion mode that blocks a single direction of joint motion, giving the person sufficient freedom of motion in the other direction. Optionally, whether the first switching requirement is met may be determined based on the characteristic information, and then the mode switching may be controlled. For example, if the first switching requirement is a threshold requirement for switching the current movement mode to the unidirectional obstruction mode, and if the characteristic information is a joint angle, and if the joint angle meets the threshold requirement, it may be determined that the first switching requirement is met, that is, the current movement mode may be switched to the unidirectional obstruction mode, so as to meet the movement requirement of the user.
And S130, changing the mechanism form of the exoskeleton according to the one-way blocking mode, and performing support assistance according to the changed exoskeleton.
The mechanism form of the exoskeleton can be the form of the exoskeleton. After the current movement mode is switched to the one-way blocking mode, the shape of the exoskeleton needs to be changed correspondingly, so that the exoskeleton can achieve the effect of one-way blocking. Optionally, the mechanism form of the exoskeleton can be changed in an electric mode, so that the form of the exoskeleton is adapted to a one-way blocking mode, for example, the altered exoskeleton blocks backward movement of the knee joint and forward movement of the knee joint, and the altered exoskeleton blocks backward movement of the knee joint and the hip joint and forward movement of the knee joint and the hip joint, so that a supporting force can be provided for a target joint according to the altered exoskeleton to assist the joint. In some specific embodiments, the exoskeleton can consume energy through forms of friction energy consumption and the like to play a role in supporting joints, and can also store the energy into the elastic element, namely, the energy is absorbed and accumulated into elastic potential energy, and after the leg stretching is finished, the elastic element can help to bend the legs.
According to the exoskeleton control method, the characteristic information corresponding to the target joint in the current motion mode is firstly acquired, the first switching requirement is secondly acquired, whether the characteristic information meets the first switching requirement or not is judged, if the characteristic information meets the first switching requirement, the current motion mode can be switched to the one-way blocking mode, finally the mechanism form of the exoskeleton is changed according to the one-way blocking mode, and the support assistance is carried out according to the changed exoskeleton, so that the exoskeleton assistance can be simply provided for a wearer, the use safety of the exoskeleton is enhanced, the movement of the wearer is not limited too much, and the freedom of movement of the wearer is greatly given.
In some embodiments of the present invention, if the feature information meets the first handover requirement, the method includes:
and acquiring a first preset threshold. The first preset threshold may be a critical value corresponding to preset feature information. Optionally, the characteristic information is assumed to be the joint velocity v of the hip joint1Then the joint velocity v can be set1Corresponding first preset threshold value is v0Thereby obtaining a first preset threshold value; assuming that the characteristic information is the movement duration t of the hip joint1Then, the first preset threshold corresponding to the movement time period t1 may be set as t0Thereby obtaining a first preset threshold.
If the characteristic information is larger than a first preset threshold value, the characteristic information meets the first switching requirement. Optionally, the first switching requirement is a threshold requirement for switching the current motion mode to the unidirectional obstruction mode, and the characteristic information is joint velocity v of the hip joint1Let v be the first predetermined threshold0If v is1＞v0Then v is1The threshold requirement is met, namely the characteristic information meets the first switching requirement; if v is1＜v0I.e. the characteristic information is less than the first preset threshold, then v is1The threshold requirement is not met, i.e. the characteristic information does not meet the first handover requirement. When the characteristic information does not meet the first switching requirement, the current motion mode does not need to be switched to the one-way blocking mode.
In some casesIn a specific embodiment, for some stroke groups, when the knee joint and the ankle joint have insufficient strength, the exoskeleton assistance can be performed by combining the knee joint and the ankle joint, for example, assuming that the knee joint has a joint velocity v corresponding to the knee joint2Let the ankle joint correspond to a joint velocity v3Then v can be set2、v3Corresponding to a smaller first preset threshold value v4When v is2＞v4,And/or v3＞v4I.e. the characteristic information is greater than the first preset threshold, then v is2The threshold requirement is met, i.e. the characteristic information meets the first handover requirement. When the characteristic information meets the first switching requirement, the current movement mode is switched to a one-way blocking mode, the effect of supporting knee joints and ankle joints is achieved, and the exoskeleton can assist the stroke group to move.
By judging the size relationship between the first preset threshold and the characteristic information, whether the current motion mode needs to be switched to the one-way blocking mode can be judged, if and only if the characteristic information is larger than the first preset threshold, the characteristic information is determined to meet the first switching requirement, and if not, the characteristic information is determined not to meet the first switching requirement. By setting a strict judgment condition for switching the motion mode, the problem of joint damage caused by frequent switching of the motion mode can be solved, the exoskeleton loss can be reduced, and the use experience of a user is improved.
In some embodiments of the invention, controlling the mode switching based on the characteristic information comprises:
and acquiring a second switching requirement. The second switching requirement may be a specific condition for determining whether the current motion mode needs to be switched to another mode, for example, may be a specific condition for switching the current motion mode to the automatic locking mode. Optionally, the second switching requirement may be set according to a requirement, for example, the second switching requirement may be a threshold requirement for switching the current motion mode to the automatic locking mode.
And if the characteristic information meets the second switching requirement, switching the current motion mode into an automatic locking mode. The automatic locking mode can be an exoskeleton motion mode for locking the joints to be in a motionless state. Optionally, it may be determined whether the second switching requirement is met based on the characteristic information, and then the mode switching may be controlled. For example, if the second switching requirement is a threshold requirement for switching the current movement mode to the automatic locking mode, if the characteristic information is a joint speed of the knee joint, and if the joint speed meets the threshold requirement, it may be determined that the characteristic information meets the second switching requirement, that is, the current movement mode may be switched to the automatic locking mode to lock the movement of the knee joint, for example, when it is detected that the human body squats quickly, the free mode may be switched to the automatic locking mode to prevent the joint from being damaged due to the fact that the user squats too quickly.
And changing the mechanism form of the exoskeleton according to the automatic locking mode, and carrying out support assistance according to the changed exoskeleton. Alternatively, the mechanism form of the exoskeleton can be changed in an electric form, so that the form of the exoskeleton is adapted to the automatic locking mode, for example, the mechanism form of the exoskeleton is changed in the electric form, so that the changed exoskeleton locks the knee joint, and the knee joint cannot move. The exoskeleton can be formed by combining the motion input part, the brake assembly, the unidirectional motion assembly, the energy storage element and the motion output part in series, namely the motion input part → the brake assembly → the unidirectional motion assembly → the energy storage element → the motion output part are connected in series, the series connection sequence among the brake assembly, the unidirectional motion assembly and the energy storage element can be changed, for example, the series connection sequence is changed into the motion input part → the brake assembly → the energy storage element → the unidirectional motion assembly → the motion output part, and the exoskeleton can be used by matching with the force of a main motor, so that the exoskeleton can provide supporting force for the knee joint according to the changed exoskeleton, lock the motion direction of the knee joint and realize joint assistance. By judging whether the characteristic information meets the second switching requirement or not, whether the current motion mode needs to be switched to the automatic locking mode or not can be judged, the switching of the motion mode can be accurately controlled, and the use safety of the exoskeleton is enhanced.
In some embodiments of the present invention, if the characteristic information meets the second handover requirement, the method includes:
and acquiring a second preset threshold. Wherein the second predetermined thresholdThe value may be a critical value corresponding to the preset characteristic information. Optionally, the characteristic information is assumed to be a joint angle θ of the ankle joint1And the joint angle theta of the knee joint2Then the joint angle theta can be set1And theta2The corresponding threshold value is theta0Thereby obtaining a second preset threshold value theta0。
And if the characteristic information is greater than a second preset threshold value, the characteristic information meets a second switching requirement. Optionally, the second switching requirement is a threshold requirement for switching the current motion mode to the automatic locking mode, and the characteristic information is a joint angle θ of the ankle joint1,And the joint angle theta of the knee joint2Let the second predetermined threshold be θ0If theta1＞θ0Then theta is equal to1Meets the threshold requirement if theta2＞θ0Then theta is equal to2The threshold requirement is met, i.e. the characteristic information meets the second handover requirement.
In some embodiments, if θ1＜θ0、θ2＜θ0If the characteristic information is less than the second preset threshold value, then theta is determined1And theta2The threshold requirement is not met, i.e. the characteristic information does not meet the second handover requirement. When the characteristic information does not meet the second switching requirement, the current motion mode does not need to be switched to the automatic locking mode.
By judging the size relationship between the second preset threshold and the characteristic information, whether the current motion mode needs to be switched to the automatic locking mode can be judged, if and only if the characteristic information is larger than the second preset threshold, the characteristic information is determined to meet the second switching requirement, and if not, the characteristic information is determined not to meet the second switching requirement. By setting a strict judgment condition for switching the motion mode, the exoskeleton loss can be reduced, the use safety of a user is ensured, and the use experience of the user is improved.
In some embodiments of the present invention, controlling the mode switching based on the characteristic information further comprises:
and acquiring a third switching requirement. The third switching requirement may be a specific condition for determining whether the current motion mode needs to be switched to another mode, for example, may be a specific condition for switching the current motion mode to the free mode. Optionally, the third switching requirement may be set according to a requirement, for example, the third switching requirement may be a threshold requirement for switching the current motion mode to the free mode.
And if the characteristic information meets the third switching requirement, switching the current motion mode into a free mode. Wherein the free mode may be an exoskeleton movement mode that does not restrict joint movement at all. Optionally, it may be determined whether the third switching requirement is met based on the feature information, and then the mode switching may be controlled. For example, if the third switching requirement is a threshold requirement for switching the current exercise mode to the free mode, and if the characteristic information is a joint angle, and if the joint angle meets the threshold requirement, it may be determined that the characteristic information meets the third switching requirement, and the current exercise mode is switched to the free mode, for example, when it is detected that the lower limb bends or lifts off, the one-way blocking mode is switched to the free mode, so as to meet the exercise requirement of the user.
And the mechanism form of the exoskeleton is changed according to the free mode, and the support assistance is carried out according to the changed exoskeleton. Alternatively, the form of the mechanism of the exoskeleton can be changed in an electric form, so that the form of the exoskeleton is adapted to a free mode, namely, the exoskeleton does not limit free movement of the joints. For example, the mechanism form of the exoskeleton after being changed can enable the ankle joint to be in an unobstructed state, so that the ankle joint can freely move in any direction. The series sequence among the brake component, the unidirectional motion component and the energy storage element can be changed, for example, the series sequence is changed into the motion input part → the energy storage element → the unidirectional motion component → the brake component → the motion output part, and the ankle joint assisting device can be used by matching with the force of the main motor, so that the ankle joint assisting device can assist the ankle joint according to the changed exoskeleton. By judging whether the characteristic information meets the third switching requirement or not, whether the current motion mode needs to be switched to the free mode or not can be judged, the switching of the motion mode can be accurately controlled, and the use safety of the exoskeleton is enhanced.
In some embodiments of the present invention, if the feature information meets the third handover requirement, the method further includes:
and acquiring a third preset threshold. The third preset threshold may be a critical value corresponding to the preset feature information. Optionally, the characteristic information is assumed to be a joint angle θ3Then the joint angle theta can be set4The corresponding third preset threshold is theta5Thereby obtaining a third preset threshold.
And if the characteristic information is greater than a third preset threshold value, the characteristic information meets a third switching requirement. Optionally, the third switching requirement is a threshold requirement for switching the current motion mode to the free mode, and the characteristic information is a joint angle θ3Let the second predetermined threshold be θ5If theta3＞θ5Then theta is equal to3The threshold requirement is met, i.e. the characteristic information meets the third handover requirement.
In some embodiments, if θ3＜θ5If the characteristic information is less than the third preset threshold value, then theta is determined3The threshold requirement is not met, i.e. the characteristic information does not meet the third handover requirement. When the feature information does not meet the third switching requirement, the current motion mode does not need to be switched to the free mode.
By judging the magnitude relation between the third preset threshold and the feature information, whether the current motion mode needs to be switched to the free mode can be judged, if and only if the feature information is larger than the third preset threshold, the feature information is determined to meet the third switching requirement, and if not, the feature information is determined not to meet the third switching requirement. By setting a strict judgment condition for switching the motion mode, the exoskeleton loss can be reduced, the safety of a user is ensured, and the use experience of the user is improved.
In some embodiments of the invention, supporting assistance from the modified exoskeleton comprises:
and acquiring a first preset direction and a second preset direction. The first preset direction may be a preset moving direction of the target joint, for example, the first preset direction is a moving direction in which the ankle joint bends backwards; the second preset direction may be a direction opposite to the first preset direction, for example, assuming that the first preset direction is a moving direction in which the ankle is bent backward, the second preset direction may be a moving direction in which the ankle is extended forward.
And according to the changed exoskeleton, the target joint is prevented from bending to the first preset direction, and the target joint is supported to move to the second preset direction. Optionally, if the target joint is an ankle joint, if the first preset direction is a moving direction in which the ankle joint bends backward, and if the second preset direction is a moving direction in which the ankle joint extends forward, the mechanism form of the exoskeleton can be changed in an electric manner, so that the altered exoskeleton can prevent the ankle joint from bending backward and can pass through the elastic element, the process absorbed energy is accumulated into elastic potential energy, and therefore the ankle joint can be supported to extend forward by using the elastic potential energy, and the leg bending can be facilitated after the leg stretching is finished. By preventing the target joint from bending towards the first preset direction and supporting the target joint to move towards the second preset direction, the plantar flexion of the human body can be assisted in time, and the free movement of a wearer is ensured.
Referring to fig. 2, an exoskeleton control apparatus according to an embodiment of a second aspect of the present invention includes:
a first obtaining module 200, configured to obtain feature information corresponding to a target joint in a current motion mode;
a second obtaining module 210, configured to obtain the first handover request;
the control module 220 is configured to control mode switching based on the feature information, and switch the current motion mode to the unidirectional blocking mode if the feature information meets the first switching requirement;
and the auxiliary module 230 is used for changing the mechanism form of the exoskeleton according to the one-way blocking mode and carrying out support assistance according to the changed exoskeleton.
By implementing the exoskeleton control method provided by the embodiment of the first aspect of the present invention, the exoskeleton control apparatus can simply provide exoskeleton assistance to the wearer, enhance the safety of the use of the exoskeleton, and simultaneously, not limit the movement of the wearer too much, thereby greatly giving the wearer freedom of movement.
Referring to fig. 3, an embodiment of the third aspect of the present invention further provides an internal structure diagram of an exoskeleton control electronic device, including: at least one processor 300, and a memory 310 communicatively coupled to the at least one processor 300; the system also comprises a data transmission module 320, a camera 330 and a display screen 340.
Wherein the processor 300 is adapted to perform the exoskeleton control method in the first embodiment by invoking a computer program stored in the memory 310.
The memory, as a non-transitory storage medium, may be used to store non-transitory software programs and non-transitory computer-executable programs, such as the exoskeleton control method in an embodiment of the first aspect of the invention. The processor implements the exoskeleton control method in the first embodiment described above by executing the non-transitory software program and instructions stored in the memory.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data for performing the exoskeleton control method in the embodiment of the first aspect described above. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Non-transitory software programs and instructions required to implement the exoskeleton control method in the first embodiment described above are stored in a memory and, when executed by one or more processors, perform the exoskeleton control method in the first embodiment described above.
Embodiments of the fourth aspect of the present invention also provide a computer-readable storage medium storing computer-executable instructions for: the exoskeleton control method in the first aspect embodiment is performed.
In some embodiments, the storage medium stores computer-executable instructions, which when executed by one or more control processors, for example, by one of the processors in the electronic device of the third aspect, may cause the one or more processors to perform the exoskeleton control method of the first aspect.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An exoskeleton control method, comprising:
acquiring characteristic information corresponding to a target joint in a current motion mode;
acquiring a first switching requirement;
controlling mode switching based on the characteristic information, and switching the current motion mode into a one-way blocking mode if the characteristic information meets the first switching requirement;
and changing the mechanism form of the exoskeleton according to the one-way blocking mode, and carrying out support assistance according to the changed exoskeleton.
2. The method of claim 1, wherein the determining if the characteristic information meets the first handover requirement comprises:
acquiring a first preset threshold;
and if the characteristic information is greater than the first preset threshold value, the characteristic information meets the first switching requirement.
3. The method of claim 1, wherein the controlling mode switching based on the characteristic information comprises:
acquiring a second switching requirement;
if the characteristic information meets the second switching requirement, switching the current motion mode into an automatic locking mode;
and changing the mechanism form of the exoskeleton according to the automatic locking mode, and carrying out support assistance according to the changed exoskeleton.
4. The method of claim 3, wherein the determining if the characteristic information meets the second handover requirement comprises:
acquiring a second preset threshold;
and if the characteristic information is greater than the second preset threshold, the characteristic information meets a second switching requirement.
5. The method of claim 3, wherein the controlling mode switching based on the characteristic information further comprises:
acquiring a third switching requirement;
if the characteristic information meets the third switching requirement, switching the current motion mode into a free mode;
and changing the mechanism form of the exoskeleton according to the free mode, and carrying out support assistance according to the changed exoskeleton.
6. The method of claim 5, wherein the determining if the characteristic information meets the third handover requirement comprises:
acquiring a third preset threshold;
and if the characteristic information is greater than the third preset threshold, the characteristic information meets a third switching requirement.
7. The method of claim 1, wherein the supporting assistance from the modified exoskeleton comprises:
acquiring a first preset direction and a second preset direction;
and according to the changed exoskeleton, the target joint is prevented from bending to a first preset direction, and the target joint is supported to move to a second preset direction.
8. An exoskeleton control device, comprising:
the first acquisition module is used for acquiring the characteristic information corresponding to the target joint in the current motion mode;
the second acquisition module is used for acquiring the first switching requirement;
the control module is used for controlling mode switching based on the characteristic information, and switching the current motion mode into a one-way blocking mode if the characteristic information meets the first switching requirement;
and the auxiliary module is used for changing the mechanism form of the exoskeleton according to the one-way blocking mode and carrying out support assistance according to the changed exoskeleton.
9. An electronic device, comprising:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions for execution by the at least one processor to cause the at least one processor, when executing the instructions, to implement the exoskeleton control method of any of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the exoskeleton control method as recited in any one of claims 1 to 7.
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