CN113244090A - Hip joint lower limb exoskeleton control method and device, electronic equipment and storage medium - Google Patents

Hip joint lower limb exoskeleton control method and device, electronic equipment and storage medium Download PDF

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Publication number
CN113244090A
CN113244090A CN202110803848.8A CN202110803848A CN113244090A CN 113244090 A CN113244090 A CN 113244090A CN 202110803848 A CN202110803848 A CN 202110803848A CN 113244090 A CN113244090 A CN 113244090A
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motion
moment
movement
hip joint
single foot
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CN113244090B (en
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王云宽
张兴轩
胡建华
郑军
王欣波
张好剑
邓杰仁
韩健伟
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Institute of Automation of Chinese Academy of Science
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Institute of Automation of Chinese Academy of Science
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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
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/5069—Angle 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

Abstract

The invention provides a hip joint lower limb exoskeleton control method, a hip joint lower limb exoskeleton control device, electronic equipment and a storage medium, wherein the method comprises the following steps: collecting inertial sensor data of hip joints and feet of a human body; determining the state of a single foot at each moment based on inertial sensor data of the foot; after the current movement period of the single foot starts, determining the movement phase of the hip joint on the same side of the single foot at each moment in the current movement period based on the inertial sensor data of the hip joint; wherein, one motion cycle is the duration from the state of the single foot to the state of the motion from the static state to the next time; and determining the assistance torque applied at each moment in the current movement period based on the movement mode in the previous movement period and the movement phase of the unilateral hip joint of the single foot at each moment in the current movement period. The invention improves the control precision of the hip joint lower limb exoskeleton equipment and improves the effect of auxiliary movement.

Description

Hip joint lower limb exoskeleton control method and device, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of robot control, in particular to a hip joint lower limb exoskeleton control method, a hip joint lower limb exoskeleton control device, electronic equipment and a storage medium.
Background
With the increasing aging of population and the increasing number of patients with dyskinesia, the number of patients with lower limb motor function impairment is increasing, and the problem of helping them to complete normal living activities becomes urgent to be solved. The hip joint lower limb exoskeleton robot can sense human body movement intention through the mounted sensor and apply correct auxiliary torque.
However, the existing products have insufficient intelligence, cannot cope with complex use scenes in daily life, and are difficult to meet the daily requirements of the old and the people with dyskinesia.
Disclosure of Invention
The invention provides a hip joint lower limb exoskeleton control method, a hip joint lower limb exoskeleton control device, electronic equipment and a storage medium, which are used for solving the defect of poor control effect of an external skeleton in the prior art.
The invention provides a hip joint lower limb exoskeleton control method, which comprises the following steps:
collecting inertial sensor data of hip joints and feet of a human body;
determining a state of a single foot at each time based on inertial sensor data of the foot;
after the current movement period of the single foot is started, determining the movement phase of the hip joint on the same side of the single foot at each moment in the current movement period based on the inertial sensor data of the hip joint; wherein, one movement cycle is the duration from the state of the single foot to the next state to the state of the single foot;
determining an auxiliary moment applied at each moment in the current movement cycle based on the movement mode in the previous movement cycle and the movement phase of the hip joint on the same side of the single foot at each moment in the current movement cycle, so that the hip joint lower limb exoskeleton equipment can assist the human body to move; the movement pattern in the last movement period is determined based on the movement pattern of the single feet in the last movement period.
According to the hip joint lower limb exoskeleton control method provided by the invention, the state of a single foot at each moment is determined based on the inertial sensor data of the foot, and the method specifically comprises the following steps:
determining the overall acceleration of the single foot at each moment based on the three-dimensional acceleration value of the single foot at each moment in the inertial sensor data of the foot;
carrying out low-pass filtering and high-pass filtering on the integral acceleration of the single foot at each moment to obtain the motion acceleration of the single foot at each moment;
and determining the state of the single foot at each moment based on a preset threshold and the motion acceleration of the single foot at each moment.
According to the hip joint lower limb exoskeleton control method provided by the invention, the movement phase of the unilateral hip joint of the single foot at each moment in the current movement cycle is determined based on the inertial sensor data of the hip joint, and the method specifically comprises the following steps:
identifying the motion phase of the unilateral hip joint at each moment by utilizing an adaptive frequency oscillator based on the inertial sensor data of the hip joint;
correcting the motion phase of the hip joint at each moment in the current motion cycle based on the difference between the starting moment of the current motion cycle and the zero-phase moment of the hip joint at the same side and the recent gait frequency average value learned by the adaptive frequency oscillator;
and the zero phase moment is the moment when the motion phase corresponding to the starting moment of the current motion cycle is 0.
According to the hip joint lower limb exoskeleton control method provided by the invention, the motion phase of the unilateral hip joint of the single foot at each moment is identified by using the adaptive frequency oscillator based on the inertial sensor data of the hip joint, and the method specifically comprises the following steps:
and calculating the motion phase of the unilateral hip joint at each moment by using the self-adaptive frequency oscillator according to the following formula:
Figure 769203DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 779272DEST_PATH_IMAGE002
representing the phase of the ith frequency component at time k,
Figure 521969DEST_PATH_IMAGE003
representing the motion phase of the ipsilateral hip joint at the time k;
Figure 589151DEST_PATH_IMAGE004
representing the main frequency at the time k;
Figure 417298DEST_PATH_IMAGE005
representing the frequency of the ith frequency component at time k; angle (k) is the true angle value of the hip joint measured at time k,
Figure 983057DEST_PATH_IMAGE006
an angle estimation value of the adaptive frequency oscillator at the moment k, err (k) is a difference value between a real angle value and the angle estimation value, N represents the number of frequency components contained in the adaptive frequency oscillator, and the value range of i is 1, 2, … and N;
Figure 845839DEST_PATH_IMAGE007
representing the magnitude of the ith frequency component at time k,
Figure 349502DEST_PATH_IMAGE008
is a constant term of the signal at time k;
Figure 664946DEST_PATH_IMAGE009
a learning coefficient representing a frequency and a phase,
Figure 16817DEST_PATH_IMAGE010
a learning coefficient representing an amplitude;
Figure 468527DEST_PATH_IMAGE011
are time intervals.
According to the hip joint lower limb exoskeleton control method provided by the invention, the motion mode of the single foot in any motion cycle is determined based on the following steps:
determining motion position change information of the monopod in any motion cycle based on inertial sensor data of the foot;
determining a displacement change angle of the single foot in any motion cycle based on motion position change information of the single foot in any motion cycle;
and determining the motion mode of the single foot in any motion cycle based on a preset angle threshold value and the displacement change angle of the single foot in any motion cycle.
According to the hip joint lower limb exoskeleton control method provided by the invention, the step of determining the movement position change information of the single foot in any movement cycle based on the inertial sensor data of the foot specifically comprises the following steps:
filtering to obtain the three-dimensional motion acceleration of the single foot in any motion period based on the inertial sensor data of the foot;
performing double integration on the three-dimensional motion acceleration of the single foot in the motion state in any motion period to obtain the position information of the single foot at the end time of any motion period;
and determining the movement position change information of the single foot in any movement period based on the position information of the single foot at the starting time and the ending time of any movement period.
According to the hip joint lower limb exoskeleton control method provided by the invention, the assistance torque applied at each moment in the current movement cycle is determined based on the movement mode in the previous movement cycle and the movement phase of the unilateral hip joint of the single foot at each moment in the current movement cycle, and the method specifically comprises the following steps:
selecting a corresponding auxiliary force curve from a preset auxiliary force plan based on a motion mode in a previous motion period;
interpolating the auxiliary force curve based on the motion phase of the hip joint on the same side at each moment in the current motion period;
and determining the auxiliary torque applied at each moment in the current movement period based on the movement phase of the hip joint on the same side at each moment in the current movement period and the auxiliary force curve after interpolation.
The invention also provides a hip joint lower limb exoskeleton control device, which comprises:
the human body motion information acquisition module is used for acquiring the data of the inertial sensors of the hip joint and the foot of the human body;
the zero-speed detection module is used for determining the state of a single foot at each moment based on the inertial sensor data of the foot;
the motion phase identification module is used for determining the motion phase of the hip joint on the same side of the single foot at each moment in the current motion cycle based on the inertial sensor data of the hip joint after the current motion cycle of the single foot starts; wherein, one movement cycle is the duration from the state of the single foot to the next state to the state of the single foot;
the auxiliary torque generation module is used for determining an auxiliary torque applied at each moment in the current movement cycle based on the movement mode in the previous movement cycle and the movement phase of the hip joint on the same side of the single foot at each moment in the current movement cycle so as to assist the hip joint lower limb exoskeleton equipment in the human body movement; the movement pattern in the last movement period is determined based on the movement pattern of the single feet in the last movement period.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the hip joint lower limb exoskeleton control method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the hip lower extremity exoskeleton control method as described in any one of the above.
According to the hip joint lower limb exoskeleton control method, the device, the electronic device and the storage medium, the state of a single foot at each moment is determined based on the inertial sensor data of the foot, and after the current movement period of the single foot starts, the movement phase of the same-side hip joint of the single foot at each moment in the current movement period is determined based on the inertial sensor data of the hip joint, so that the auxiliary moment applied at each moment in the current movement period is determined based on the movement mode in the previous movement period and the movement phase of the same-side hip joint of the single foot at each moment in the current movement period, the hip joint lower limb exoskeleton device is controlled to assist the human body movement, the control precision of the hip joint lower limb exoskeleton device is improved, and the effect of assisting the movement is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a hip joint lower extremity exoskeleton control method provided by the present invention;
FIG. 2 is a schematic diagram of an IMU sensor mounting location provided by the present invention;
FIG. 3 is a schematic view of a foot IMU installation location provided by the present invention;
FIG. 4 is a schematic view of a monopod condition provided by the present invention;
FIG. 5 is a schematic diagram of the position relationship before and after a single-foot stride during a level road walking according to the present invention;
FIG. 6 is a schematic view of the position relationship before and after a single-foot stride while ascending stairs according to the present invention;
FIG. 7 is a general flow chart of a hip lower extremity exoskeleton control method provided by the present invention;
FIG. 8 is a schematic structural diagram of a hip exoskeleton control device;
fig. 9 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
Fig. 1 is a schematic flow chart of a hip joint lower extremity exoskeleton control method according to an embodiment of the present invention, as shown in fig. 1, the method includes:
step 110, collecting inertial sensor data of the hip joint and the foot of the human body.
Specifically, the hip exoskeleton robot collects Inertial sensor data (IMU) on the hip and instep of a human body. In the embodiment of the invention, the hip joint exoskeleton robot comprises a belt assembly, a back support, a waist connecting bracket, a driving mechanism, a thigh bracket assembly and a control mechanism. The main control unit and the two servo drives are placed on the back support, while the battery is also placed on the back support. The back support piece is fixedly arranged on the waistband component, the two waist connecting brackets are respectively hinged on two sides of the back support piece, and the two waist connecting brackets are respectively and fixedly connected with the two driving mechanisms. The two thigh support assemblies are respectively connected with two driving mechanisms, each driving mechanism comprises a motor, and the motors are used for driving the thigh support assemblies to rotate.
The main control unit mainly collects data from the IMU sensor. Wherein, as shown in fig. 2 and 3, 5 IMUs can be arranged, respectively placed above two feet, above two thighs and at waist, and can return to angular velocity values ω at corresponding positionsrawAnd acceleration value araw. The data from the IMU may be filtered because of the presence of noise. For example, a first-order Butterworth filter is used for filtering, and then the data of the accelerometer and the gyroscope are fused by using a monhony algorithm to obtain a fused attitude angle.
Based on the inertial sensor data of the foot, the state of the individual foot at each moment is determined, step 120.
Specifically, from the inertial sensor data of the foot, the state of the individual foot at each moment can be determined. Here, the embodiment of the present invention separately assists both legs of the wearer, so that the state information of the two monopoles can be separately acquired, and the gait events of the two monopoles can be recognized, thereby providing a suitable assist moment when the monopoles have a gait event. And the filtered foot IMU data obtained in the last step can judge that the current foot is in a static state or a motion state, and further can conclude that the current leg is in a supporting phase or a swinging phase. Assuming that the static state corresponds to the state 0 and the moving state corresponds to the state 1, as shown in fig. 4, when the state is changed from 0 to 1, the gait event occurs corresponding to the heel of the human body rising, and when the state is changed from 1 to 0, the gait event is finished corresponding to the toe of the human body landing.
Step 130, after the current movement period of the single foot starts, determining the movement phase of the hip joint on the same side of the single foot at each moment in the current movement period based on the inertial sensor data of the hip joint; wherein, one movement cycle is the time for the state of the single foot to be switched from the static state to the movement state and then from the static state to the movement state.
Specifically, the time for switching the state of the single foot from the static state to the moving state to the next switching from the static state to the moving state is taken as one moving period of the single foot, that is, the single foot completes one complete movement from heel lift to the next heel lift, as shown in fig. 4. From the state of the single foot, the event of its heel lift, i.e. the start of the current movement cycle, can be identified. Subsequently, the motion phase of the unilateral hip joint of the single foot at each moment in the current motion cycle can be determined in real time based on the inertial sensor data of the hip joint.
Step 140, determining an assistance torque applied at each moment in the current movement cycle based on the movement mode in the previous movement cycle and the movement phase of the hip joint on the same side of the single foot at each moment in the current movement cycle, so that the hip joint lower limb exoskeleton equipment can assist the human body to move; the movement pattern in the last movement period is determined based on the movement pattern of the single feet in the last movement period.
Specifically, considering that the movement mode of the human body during movement is not frequently switched, a proper and compliant assistance torque can be generated according to the movement mode of the single foot in the previous movement cycle and the movement phase of the hip joint on the same side at each moment in the current movement cycle so as to control the hip joint lower limb exoskeleton device to assist the human body in movement. Wherein, the motion mode in any motion period can be determined based on the motion mode of the single feet of the two single feet in the motion period. For example, if it is detected that continuous right and left leg motions (which may be considered as stepping motions occurring in the same motion cycle time) have simultaneously reached the condition of mode transition, the motion mode of the human body may be switched. For example, the single-foot movement modes of the left foot and the right foot are changed from ascending stairs to descending stairs, and the movement mode of the human body can be changed from the previous ascending stairs to descending stairs.
According to the method provided by the embodiment of the invention, the state of the single foot at each moment is determined based on the inertial sensor data of the foot, and after the current movement period of the single foot starts, the movement phase of the hip joint on the same side of the single foot at each moment in the current movement period is determined based on the inertial sensor data of the hip joint, so that the auxiliary torque applied at each moment in the current movement period is determined based on the movement mode in the previous movement period and the movement phase of the hip joint on the same side of the single foot at each moment in the current movement period, so that the hip joint lower limb exoskeleton equipment is controlled to assist the movement of the human body, the control precision of the hip joint lower limb exoskeleton equipment is improved, and the effect of assisting the movement is improved.
Based on the above embodiment, step 120 specifically includes:
determining the integral acceleration of the single foot at each moment based on the three-dimensional acceleration value of the single foot at each moment in the inertial sensor data of the foot;
carrying out low-pass filtering and high-pass filtering on the integral acceleration of the single foot at each moment to obtain the motion acceleration of the single foot at each moment;
and determining the state of the single foot at each moment based on a preset threshold and the motion acceleration of the single foot at each moment.
Specifically, the overall acceleration of the single foot at each time is determined based on the three-dimensional acceleration value of the single foot at each time in the inertial sensor data of the foot. For example, the overall acceleration may be calculated using the following formula:
Figure 893823DEST_PATH_IMAGE012
wherein, ax、ay、azAcceleration values of the accelerometer along the x, y, z axes, aaccelIs the global acceleration.
When the IMU is in a quiescent state, aaccelIs equal to the local gravitational acceleration g. A actually measured when the IMU is in motionaccelThe acceleration amplitude value is obtained by the superposition of the gravity acceleration and the actual motion acceleration. Therefore, the actually measured a can be comparedaccelLow-pass filtering is carried out to filter out the measurement noise, and then the gravity acceleration component is removed by high-pass filtering to obtain the motion acceleration a 'of the single foot'accel. When it is less than a certain threshold, it is said to be in a static state, and when it is greater than this threshold, it is said to be in a moving state. Namely:
Figure 430984DEST_PATH_IMAGE013
based on any of the above embodiments, step 130 specifically includes:
identifying the motion phase of the hip joint on the same side of the single foot at each moment by utilizing an adaptive frequency oscillator based on the inertial sensor data of the hip joint;
correcting the motion phase of the hip joint at each moment in the same side in the current motion cycle based on the difference between the starting moment of the current motion cycle and the zero-phase moment of the hip joint at the same side and the recent gait frequency average value learned by the adaptive frequency oscillator;
the zero phase time is a time at which the motion phase corresponding to the start time of the current motion cycle is 0.
In particular, an adaptive frequency oscillator may be used to identify the motion phase of the human hip joint by fitting a plurality of oscillating signals to the actual hip joint angle values. Specifically, the measured real angle value of the hip joint on the same side can be obtained based on the inertial sensor data of the hip joint, and the motion phase of the hip joint on the same side at each moment is identified by using the adaptive frequency oscillator based on the real angle value of the hip joint on the same side at each moment.
Motion phase identified by adaptive frequency oscillator
Figure 849196DEST_PATH_IMAGE014
Continuously from 0 to 2 pi and the moment corresponding to its starting point 0 should coincide with the moment of the beginning of the current movement cycle, i.e. the moment of heel lift. However, considering that there may be a certain deviation in the actual calculation, the following formula may be adopted according to the starting time t of the current motion cyclekZero phase time with ipsilateral hip joint
Figure 418062DEST_PATH_IMAGE015
Difference between them, and recent gait frequency average learned by adaptive frequency oscillator
Figure 997948DEST_PATH_IMAGE016
To pair
Figure 22404DEST_PATH_IMAGE017
And (5) correcting:
Figure 978728DEST_PATH_IMAGE018
wherein, the zero phase moment is the moment that the motion phase corresponding to the starting moment of the current motion cycle is 0;
Figure 407960DEST_PATH_IMAGE016
the gait frequency average value learned by the adaptive frequency oscillator in a certain period of time before the correction time can be used. The above-described correction step may be performed once after detecting the occurrence of a gait event, i.e. the start of the current movement cycle.
Based on any of the above embodiments, identifying the motion phase of the hip joint on the same side of the single foot at each moment by using the adaptive frequency oscillator based on the inertial sensor data of the hip joint specifically includes:
calculating the motion phase of the unilateral hip joint at each moment by using an adaptive frequency oscillator according to the following formula:
Figure 158747DEST_PATH_IMAGE019
wherein the content of the first and second substances,
Figure 936079DEST_PATH_IMAGE002
representing the phase of the ith frequency component at time k,
Figure 430514DEST_PATH_IMAGE003
representing the motion phase of the hip joint on the same side at the k moment;
Figure 708393DEST_PATH_IMAGE004
representing the main frequency at the time k;
Figure 630082DEST_PATH_IMAGE005
representing the frequency of the ith frequency component at time k; angle (k) is the true angle value of the hip joint measured at time k,
Figure 379863DEST_PATH_IMAGE006
is an angle estimation value of the adaptive frequency oscillator at the moment k, err (k) is a difference value between a real angle value and the angle estimation value, N represents the number of frequency components contained in the adaptive frequency oscillator, and the value range of i is 1, 2, …, N;
Figure 943568DEST_PATH_IMAGE007
representing the magnitude of the ith frequency component at time k,
Figure 344463DEST_PATH_IMAGE008
is a constant term of the signal at time k;
Figure 439982DEST_PATH_IMAGE009
a learning coefficient representing a frequency and a phase,
Figure 926327DEST_PATH_IMAGE010
a learning coefficient representing an amplitude;
Figure 28144DEST_PATH_IMAGE011
are time intervals.
Specifically, the discretization of the adaptive frequency oscillator is as follows:
Figure 17966DEST_PATH_IMAGE019
wherein the content of the first and second substances,
Figure 544106DEST_PATH_IMAGE002
representing the phase of the ith frequency component at time k,
Figure 517747DEST_PATH_IMAGE003
representing the motion phase of the hip joint on the same side at the k moment;
Figure 157676DEST_PATH_IMAGE004
representing the main frequency at the time k;
Figure 267584DEST_PATH_IMAGE005
representing the frequency of the ith frequency component at time k; angle (k) is the true angle value of the hip joint measured at time k,
Figure 718288DEST_PATH_IMAGE006
is an angle estimation value of the adaptive frequency oscillator at the moment k, err (k) is a difference value between a real angle value and the angle estimation value, N represents the number of frequency components contained in the adaptive frequency oscillator, and the value range of i is 1, 2, …, N;
Figure 182154DEST_PATH_IMAGE007
representing the magnitude of the ith frequency component at time k,
Figure 360195DEST_PATH_IMAGE008
is a constant term of the signal at time k;
Figure 590188DEST_PATH_IMAGE009
a learning coefficient representing a frequency and a phase,
Figure 461061DEST_PATH_IMAGE010
a learning coefficient representing an amplitude;
Figure 711144DEST_PATH_IMAGE011
are time intervals.
According to any of the above embodiments, the motion pattern of the single foot in any motion cycle is determined based on the following steps:
determining motion position change information of the single foot in the motion period based on the inertial sensor data of the foot;
determining a displacement change angle of the single foot in the motion period based on the motion position change information of the single foot in the motion period;
and determining the motion mode of the single foot in the motion period based on a preset angle threshold and the displacement change angle of the single foot in the motion period.
Specifically, from the IMU data of the foot, the movement position change information of the monopod in the movement cycle can be determined. Wherein, the position when the single-foot heel is lifted is assumed to be LstepThe position of the toe when the toe touches the ground after stepping forward one step is Lstep+1That is, after the process from rest to movement to rest is completed, the movement position change information of the single foot in the step can be expressed as
Figure 958454DEST_PATH_IMAGE020
According to the movement position change information, the displacement change angle of the single foot in the movement period can be determined
Figure 42954DEST_PATH_IMAGE021
。
As shown in fig. 5 and 6, the single foot has different displacement change angles in different motion patterns, for example, when walking on a flat road, the displacement change angle before and after the single foot step is small, but when walking up and down stairs, the displacement change angle before and after the single foot step is large, and when walking up stairs, the displacement change angle is larger than a certain positive threshold, and when walking down stairs, the displacement change angle is smaller than a certain negative threshold. Therefore, the monopod movement pattern of the monopod in the movement period can be determined based on the preset angle threshold value and the displacement change angle of the monopod in the movement period, for example, the monopod movement pattern of the monopod in the movement period can be determined in the following way:
Figure 84728DEST_PATH_IMAGE022
based on any embodiment, the determining the movement position change information of the monopod in the movement cycle based on the inertial sensor data of the foot specifically comprises:
filtering to obtain the three-dimensional motion acceleration of the single foot in the motion period based on the inertial sensor data of the foot;
performing double integration on the three-dimensional motion acceleration of the single foot in the motion state in the motion period to obtain the position information of the single foot at the end time of the motion period;
and determining the movement position change information of the single foot in the movement period based on the position information of the single foot at the starting time and the ending time of the movement period.
Specifically, based on the inertial sensor data of the foot, after the gravity component is filtered and removed, the three-dimensional motion acceleration of the single foot in the motion period can be obtained. To obtain the position information, the three-dimensional motion acceleration may be double integrated. Here, since the double integration may have an accumulated error, it is possible to perform the double integration only when the single foot is in the motion state, that is, the three-dimensional motion acceleration of the single foot in the motion state in the motion period, thereby eliminating the integrated accumulated error in the stationary state and improving the accuracy of the position information. For example, the following formula can be used to calculate the position information of the single foot at any time:
Figure 523187DEST_PATH_IMAGE023
Figure 43030DEST_PATH_IMAGE024
Figure 732768DEST_PATH_IMAGE025
wherein the content of the first and second substances,
Figure 211023DEST_PATH_IMAGE026
for the acceleration measured by the IMU,
Figure 868270DEST_PATH_IMAGE027
in order to be the acceleration of the gravity,
Figure 454453DEST_PATH_IMAGE028
is the three-dimensional motion acceleration;
Figure 982386DEST_PATH_IMAGE029
in the form of a time interval,
Figure 897122DEST_PATH_IMAGE030
is the three-dimensional velocity information at time t,
Figure 776085DEST_PATH_IMAGE031
is t +
Figure 906239DEST_PATH_IMAGE032
Three-dimensional velocity information of a moment;
Figure 819838DEST_PATH_IMAGE033
is the position information at the time of t,
Figure 390627DEST_PATH_IMAGE034
is t +
Figure 491307DEST_PATH_IMAGE032
Location information of the time of day.
Based on the position information of the single foot at the starting time and the ending time of the movement period, the movement position change information of the single foot in the movement period can be determined.
Based on any of the above embodiments, step 140 specifically includes:
selecting a corresponding auxiliary force curve from a preset auxiliary force plan based on a motion mode in a previous motion period;
interpolating an assistance force curve based on the motion phase of the hip joint on the same side at each moment in the current motion period;
and determining the assistance torque applied at each moment in the current movement period based on the movement phase of the hip joint on the same side at each moment in the current movement period and the assistance force curve after interpolation.
Specifically, the assistance torque to be applied is different in different motion modes, so that the assistance force curve in the corresponding mode can be selected from the preset assistance force plan according to the motion mode in the previous motion cycle. Since the actually recognized movement phase of the ipsilateral hip joint is continuous, and the preset assisting force curve has a numerical value only at 50 points which are evenly distributed from 0 to 2 pi, the interpolation is needed.
Figure 422223DEST_PATH_IMAGE035
Where y represents the assistance torque that should actually be applied,
Figure 452977DEST_PATH_IMAGE036
and
Figure 178357DEST_PATH_IMAGE037
are two adjacent points in the auxiliary force curve,
Figure 297491DEST_PATH_IMAGE038
is a point which actually needs to be interpolated.
Based on the motion phase of the hip joint on the same side at each moment in the current motion cycle and the interpolated assistance force curve, the assistance torque applied at each moment in the current motion cycle can be determined.
Based on any of the above embodiments, fig. 7 is a general flowchart of a hip joint lower extremity exoskeleton control method according to an embodiment of the present invention, as shown in fig. 7, the method includes:
collecting multi-sensor data in real time, wherein the multi-sensor data comprises IMU data of hip joints and feet of a human body;
preprocessing the raw data, for example, filtering the raw data using a first order Butterworth filter;
performing zero-speed detection on the single foot, and judging whether the current state of the single foot is a static state or a motion state, so as to identify a gait event of the single foot, namely the starting moment of the current motion cycle;
the motion mode identification is carried out by utilizing the IMU data of the foot, and the motion mode of the single foot in any motion cycle can be identified; carrying out trajectory correction according to IMU inertial navigation data to obtain motion trajectories of the two feet so as to determine respective single-foot motion modes of the two single feet;
the self-adaptive frequency oscillator is used for carrying out phase identification to obtain the gait motion phase of the hip joint on the same side of the single foot, and the phase alignment can be carried out according to the starting moment and the zero phase moment of the current motion cycle, so that the gait motion phase is corrected;
and generating an auxiliary moment at each moment in the current movement period by combining a preset auxiliary force curve according to the movement mode of the single foot in the previous movement period and the corrected gait movement phase of the hip joint on the same side so as to control the hip joint lower limb exoskeleton equipment to assist the human body to move.
Based on any of the above embodiments, fig. 8 is a schematic structural diagram of a hip joint lower extremity exoskeleton control device according to an embodiment of the present invention, as shown in fig. 8, the device includes: the human body motion information acquisition module 810, the zero-speed detection module 820, the motion phase identification module 830 and the auxiliary moment generation module 840.
The human motion information acquisition module 810 is used for acquiring data of inertial sensors of hip joints and feet of a human body;
the zero-speed detection module 820 is used for determining the state of a single foot at each moment based on the inertial sensor data of the foot;
the motion phase identification module 830 is configured to determine, based on the inertial sensor data of the hip joint, a motion phase of the hip joint on the same side of the single foot at each moment in the current motion cycle after the current motion cycle of the single foot starts; wherein, one movement cycle is the duration from the state of the single foot to the next state to the state of the single foot;
the auxiliary torque generation module 840 is configured to determine an auxiliary torque applied at each time in the current movement cycle based on the movement mode in the previous movement cycle and the movement phase of the hip joint on the same side of the single foot at each time in the current movement cycle, so that the hip joint lower limb exoskeleton device can assist the human body to move; the movement pattern in the last movement period is determined based on the movement pattern of the single feet in the last movement period.
The device provided by the embodiment of the invention determines the state of the single foot at each moment based on the inertial sensor data of the foot, and determines the motion phase of the hip joint on the same side of the single foot at each moment in the current motion cycle based on the inertial sensor data of the hip joint after the current motion cycle of the single foot starts, so that the auxiliary torque applied at each moment in the current motion cycle is determined based on the motion mode in the previous motion cycle and the motion phase of the hip joint on the same side of the single foot at each moment in the current motion cycle to control the hip joint lower limb exoskeleton equipment to assist the human body motion, the control precision of the hip joint lower limb exoskeleton equipment is improved, and the effect of assisting the motion is improved.
Based on any of the above embodiments, the zero-speed detection module 820 is specifically configured to:
determining the integral acceleration of the single foot at each moment based on the three-dimensional acceleration value of the single foot at each moment in the inertial sensor data of the foot;
carrying out low-pass filtering and high-pass filtering on the integral acceleration of the single foot at each moment to obtain the motion acceleration of the single foot at each moment;
and determining the state of the single foot at each moment based on a preset threshold and the motion acceleration of the single foot at each moment.
Based on any of the above embodiments, the motion phase identifying module 830 is specifically configured to:
identifying the motion phase of the hip joint on the same side of the single foot at each moment by utilizing an adaptive frequency oscillator based on the inertial sensor data of the hip joint;
correcting the motion phase of the hip joint at each moment in the same side in the current motion cycle based on the difference between the starting moment of the current motion cycle and the zero-phase moment of the hip joint at the same side and the recent gait frequency average value learned by the adaptive frequency oscillator;
the zero phase time is a time at which the motion phase corresponding to the start time of the current motion cycle is 0.
Based on any of the above embodiments, identifying the motion phase of the hip joint on the same side of the single foot at each moment by using the adaptive frequency oscillator based on the inertial sensor data of the hip joint specifically includes:
calculating the motion phase of the unilateral hip joint at each moment by using an adaptive frequency oscillator according to the following formula:
Figure 766519DEST_PATH_IMAGE019
wherein the content of the first and second substances,
Figure 657639DEST_PATH_IMAGE002
representing the phase of the ith frequency component at time k,
Figure 553920DEST_PATH_IMAGE003
representing the motion phase of the hip joint on the same side at the k moment;
Figure 894771DEST_PATH_IMAGE004
representing the main frequency at the time k;
Figure 918222DEST_PATH_IMAGE005
representing the frequency of the ith frequency component at time k; angle (k) is the true angle value of the hip joint measured at time k,
Figure 660919DEST_PATH_IMAGE006
is an angle estimation value of the adaptive frequency oscillator at the moment k, err (k) is a difference value between a real angle value and the angle estimation value, N represents the number of frequency components contained in the adaptive frequency oscillator, and the value range of i is 1, 2, …, N;
Figure 990750DEST_PATH_IMAGE007
representing the magnitude of the ith frequency component at time k,
Figure 553319DEST_PATH_IMAGE008
is a constant term of the signal at time k;
Figure 364149DEST_PATH_IMAGE009
a learning coefficient representing a frequency and a phase,
Figure 226932DEST_PATH_IMAGE010
a learning coefficient representing an amplitude;
Figure 467945DEST_PATH_IMAGE011
are time intervals.
Based on any embodiment, the device further comprises a motion pattern recognition module for determining the motion pattern of the single foot in any motion cycle based on the following steps:
determining motion position change information of the single foot in the motion period based on the inertial sensor data of the foot;
determining a displacement change angle of the single foot in the motion period based on the motion position change information of the single foot in the motion period;
and determining the motion mode of the single foot in the motion period based on a preset angle threshold and the displacement change angle of the single foot in the motion period.
Based on any embodiment, the determining the movement position change information of the monopod in the movement cycle based on the inertial sensor data of the foot specifically comprises:
filtering to obtain the three-dimensional motion acceleration of the single foot in the motion period based on the inertial sensor data of the foot;
performing double integration on the three-dimensional motion acceleration of the single foot in the motion state in the motion period to obtain the position information of the single foot at the end time of the motion period;
and determining the movement position change information of the single foot in the movement period based on the position information of the single foot at the starting time and the ending time of the movement period.
Based on any of the embodiments, the assist torque generation module 840 is specifically configured to:
selecting a corresponding auxiliary force curve from a preset auxiliary force plan based on a motion mode in a previous motion period;
interpolating an assistance force curve based on the motion phase of the hip joint on the same side at each moment in the current motion period;
and determining the assistance torque applied at each moment in the current movement period based on the movement phase of the hip joint on the same side at each moment in the current movement period and the assistance force curve after interpolation.
Fig. 9 illustrates a physical structure diagram of an electronic device, and as shown in fig. 9, the electronic device may include: a processor (processor)910, a communication Interface (Communications Interface)920, a memory (memory)930, and a communication bus 940, wherein the processor 910, the communication Interface 920, and the memory 930 communicate with each other via the communication bus 940. Processor 910 may invoke logic instructions in memory 930 to perform a hip lower extremity exoskeleton control method comprising: collecting inertial sensor data of hip joints and feet of a human body; determining a state of a single foot at each time based on inertial sensor data of the foot; after the current movement period of the single foot is started, determining the movement phase of the hip joint on the same side of the single foot at each moment in the current movement period based on the inertial sensor data of the hip joint; wherein, one movement cycle is the duration from the state of the single foot to the next state to the state of the single foot; determining an auxiliary moment applied at each moment in the current movement cycle based on the movement mode in the previous movement cycle and the movement phase of the hip joint on the same side of the single foot at each moment in the current movement cycle, so that the hip joint lower limb exoskeleton equipment can assist the human body to move; the movement pattern in the last movement period is determined based on the movement pattern of the single feet in the last movement period.
Furthermore, the logic instructions in the memory 930 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may 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 personal computer, a server, or a network device) 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.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the hip-joint lower extremity exoskeleton control method provided by the above methods, the method comprising: collecting inertial sensor data of hip joints and feet of a human body; determining a state of a single foot at each time based on inertial sensor data of the foot; after the current movement period of the single foot is started, determining the movement phase of the hip joint on the same side of the single foot at each moment in the current movement period based on the inertial sensor data of the hip joint; wherein, one movement cycle is the duration from the state of the single foot to the next state to the state of the single foot; determining an auxiliary moment applied at each moment in the current movement cycle based on the movement mode in the previous movement cycle and the movement phase of the hip joint on the same side of the single foot at each moment in the current movement cycle, so that the hip joint lower limb exoskeleton equipment can assist the human body to move; the movement pattern in the last movement period is determined based on the movement pattern of the single feet in the last movement period.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that when executed by a processor is implemented to perform the hip exoskeleton control method provided above, the method comprising: collecting inertial sensor data of hip joints and feet of a human body; determining a state of a single foot at each time based on inertial sensor data of the foot; after the current movement period of the single foot is started, determining the movement phase of the hip joint on the same side of the single foot at each moment in the current movement period based on the inertial sensor data of the hip joint; wherein, one movement cycle is the duration from the state of the single foot to the next state to the state of the single foot; determining an auxiliary moment applied at each moment in the current movement cycle based on the movement mode in the previous movement cycle and the movement phase of the hip joint on the same side of the single foot at each moment in the current movement cycle, so that the hip joint lower limb exoskeleton equipment can assist the human body to move; the movement pattern in the last movement period is determined based on the movement pattern of the single feet in the last movement period.
The above-described embodiments of the apparatus are merely illustrative, and 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 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 can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A hip joint lower limb exoskeleton control method is characterized by comprising the following steps:
collecting inertial sensor data of hip joints and feet of a human body;
determining a state of a single foot at each time based on inertial sensor data of the foot;
after the current movement period of the single foot is started, determining the movement phase of the hip joint on the same side of the single foot at each moment in the current movement period based on the inertial sensor data of the hip joint; wherein, one movement cycle is the duration from the state of the single foot to the next state to the state of the single foot;
determining an auxiliary moment applied at each moment in the current movement cycle based on the movement mode in the previous movement cycle and the movement phase of the hip joint on the same side of the single foot at each moment in the current movement cycle, so that the hip joint lower limb exoskeleton equipment can assist the human body to move; the movement pattern in the last movement period is determined based on the movement pattern of the single feet in the last movement period.
2. The method for hip-joint lower extremity exoskeleton control as claimed in claim 1 wherein said determining the state of a single foot at each moment based on inertial sensor data of said foot comprises:
determining the overall acceleration of the single foot at each moment based on the three-dimensional acceleration value of the single foot at each moment in the inertial sensor data of the foot;
carrying out low-pass filtering and high-pass filtering on the integral acceleration of the single foot at each moment to obtain the motion acceleration of the single foot at each moment;
and determining the state of the single foot at each moment based on a preset threshold and the motion acceleration of the single foot at each moment.
3. The method as claimed in claim 1, wherein the determining the motion phase of the hip joint of the single foot at the same side of the single foot at each moment in the current motion cycle based on the inertial sensor data of the hip joint comprises:
identifying the motion phase of the unilateral hip joint at each moment by utilizing an adaptive frequency oscillator based on the inertial sensor data of the hip joint;
correcting the motion phase of the hip joint at each moment in the current motion cycle based on the difference between the starting moment of the current motion cycle and the zero-phase moment of the hip joint at the same side and the recent gait frequency average value learned by the adaptive frequency oscillator;
and the zero phase moment is the moment when the motion phase corresponding to the starting moment of the current motion cycle is 0.
4. The method as claimed in claim 3, wherein the identifying the phase of movement of the hip joint of the single foot at the same side of each moment using an adaptive frequency oscillator based on the inertial sensor data of the hip joint comprises:
and calculating the motion phase of the unilateral hip joint at each moment by using the self-adaptive frequency oscillator according to the following formula:
Figure 808305DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 456324DEST_PATH_IMAGE002
representing the phase of the ith frequency component at time k,
Figure 27113DEST_PATH_IMAGE003
representing the motion phase of the ipsilateral hip joint at the time k;
Figure 661882DEST_PATH_IMAGE004
representing the main frequency at the time k;
Figure 327218DEST_PATH_IMAGE005
representing the frequency of the ith frequency component at time k; angle (k) is the true angle value of the hip joint measured at time k,
Figure 360902DEST_PATH_IMAGE006
an angle estimation value of the adaptive frequency oscillator at the moment k, err (k) is a difference value between a real angle value and the angle estimation value, N represents the number of frequency components contained in the adaptive frequency oscillator, and the value range of i is 1, 2, … and N;
Figure 820702DEST_PATH_IMAGE007
representing the magnitude of the ith frequency component at time k,
Figure 960345DEST_PATH_IMAGE008
is a constant term of the signal at time k;
Figure 429372DEST_PATH_IMAGE009
a learning coefficient representing a frequency and a phase,
Figure 317563DEST_PATH_IMAGE010
a learning coefficient representing an amplitude;
Figure 479422DEST_PATH_IMAGE011
are time intervals.
5. The hip-joint lower extremity exoskeleton control method of claim 1, wherein the monopod motion pattern of the monopod in any motion cycle is determined based on the steps of:
determining motion position change information of the monopod in any motion cycle based on inertial sensor data of the foot;
determining a displacement change angle of the single foot in any motion cycle based on motion position change information of the single foot in any motion cycle;
and determining the motion mode of the single foot in any motion cycle based on a preset angle threshold value and the displacement change angle of the single foot in any motion cycle.
6. The hip-joint lower extremity exoskeleton control method according to claim 5, wherein the determining motion position change information of the monopod in any motion cycle based on the inertial sensor data of the foot specifically comprises:
filtering to obtain the three-dimensional motion acceleration of the single foot in any motion period based on the inertial sensor data of the foot;
performing double integration on the three-dimensional motion acceleration of the single foot in the motion state in any motion period to obtain the position information of the single foot at the end time of any motion period;
and determining the movement position change information of the single foot in any movement period based on the position information of the single foot at the starting time and the ending time of any movement period.
7. The method as claimed in any one of claims 1 to 6, wherein the determining the assistance torque applied at each moment in the current movement cycle based on the movement pattern of the previous movement cycle and the movement phase of the hip joint of the single foot at each moment in the current movement cycle comprises:
selecting a corresponding auxiliary force curve from a preset auxiliary force plan based on a motion mode in a previous motion period;
interpolating the auxiliary force curve based on the motion phase of the hip joint on the same side at each moment in the current motion period;
and determining the auxiliary torque applied at each moment in the current movement period based on the movement phase of the hip joint on the same side at each moment in the current movement period and the auxiliary force curve after interpolation.
8. A hip joint lower extremity exoskeleton control device, comprising:
the human body motion information acquisition module is used for acquiring the data of the inertial sensors of the hip joint and the foot of the human body;
the zero-speed detection module is used for determining the state of a single foot at each moment based on the inertial sensor data of the foot;
the motion phase identification module is used for determining the motion phase of the hip joint on the same side of the single foot at each moment in the current motion cycle based on the inertial sensor data of the hip joint after the current motion cycle of the single foot starts; wherein, one movement cycle is the duration from the state of the single foot to the next state to the state of the single foot;
the auxiliary torque generation module is used for determining an auxiliary torque applied at each moment in the current movement cycle based on the movement mode in the previous movement cycle and the movement phase of the hip joint on the same side of the single foot at each moment in the current movement cycle so as to assist the hip joint lower limb exoskeleton equipment in the human body movement; the movement pattern in the last movement period is determined based on the movement pattern of the single feet in the last movement period.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the hip lower extremity exoskeleton control method according to any one of claims 1 to 7.
10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the hip exoskeleton control method according to any one of claims 1 to 7.
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