CN113599781B - Wearable walking fitness system based on exoskeleton, control method and storage medium - Google Patents

Wearable walking fitness system based on exoskeleton, control method and storage medium Download PDF

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CN113599781B
CN113599781B CN202110710185.5A CN202110710185A CN113599781B CN 113599781 B CN113599781 B CN 113599781B CN 202110710185 A CN202110710185 A CN 202110710185A CN 113599781 B CN113599781 B CN 113599781B
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walking
hip joint
resistance
thigh rod
swing
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CN113599781A (en
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张晟
曾俊彦
杨巍
夏庆超
杨灿军
金波
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Zhejiang University ZJU
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Zhejiang University ZJU
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
    • A63B23/0464—Walk exercisers without moving parts
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00058—Mechanical means for varying the resistance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors

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  • Orthopedic Medicine & Surgery (AREA)
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Abstract

The invention relates to a wearable walking fitness system based on an exoskeleton, a control method and a storage medium, and belongs to the specific application field of wearable robots. The system is worn on the body of a walking fitness person and specifically comprises a control unit, and a waist wearing unit, a hip joint unit and a thigh rod unit which are sequentially connected from top to bottom; the hip joint unit comprises a joint motor for connecting the thigh rod with the waist wearing unit and a monitoring sensor for acquiring the swinging angular speed and the swinging angle of the thigh rod; the joint driving motor is used for driving the thigh rod to swing relative to the waist wearing unit; the control unit is used for controlling the joint motor to apply swing resistance to the thigh rod according to the monitoring data output by the monitoring sensor, and the swing resistance is in positive correlation with the swing amplitude and the swing angle speed change rate of the thigh rod. The energy consumption of the exercise can be improved within the limited walking steps, so that the exercise and fitness effects are improved on the premise of ensuring the exercise safety, and the energy consumption exercise machine can be widely applied to the field of exercise assistance.

Description

Wearable walking fitness system based on exoskeleton, control method and storage medium
Technical Field
The invention relates to the specific application field of a wearable robot, in particular to a wearable walking fitness system based on an exoskeleton, a control method thereof and a readable computer storage medium.
Background
Walking and walking are increasingly favored as a more effective and healthy exercise mode, and for this reason, people develop equipment suitable for indoor walking and fitness to better meet the requirements of exercisers, for example, a full-function in-situ walking machine is disclosed in patent document CN 108066939A.
In addition, the structure of the walking machine is improved to better protect the exercising person, for example, in patent document with publication number CN108057211A, an in-situ walking machine support is disclosed, which can effectively meet the indoor walking fitness requirements of the first-to-be-cured people and the old people by arranging the support. Also, the structure of the walking board is improved to achieve better shock absorption, so that knees and ankles are protected, and the landing buffer pressure is reduced.
As mentioned above, although the prior art can effectively meet the indoor walking requirements of walking fitness personnel, and it is easy for the training personnel to easily walk a large number of walking steps, it is usually too many thousands of walking steps; however, if the user walks too many steps, the joint is easily damaged, and it is usually preferable to walk six thousand steps to ten thousand steps, but the number of the steps is too small, the requirements of some fat-reducing people are difficult to meet, and the exercise effect on leg muscles is broken; in addition, there is a problem that the walking posture is not correct.
Disclosure of Invention
The invention mainly aims to provide a control method of a wearable walking fitness system based on an exoskeleton, which can improve the consumption of exercise energy within a limited walking step number so as to improve the exercise fitness effect on the premise of ensuring the exercise safety;
another object of the present invention is to provide a computer-readable storage medium storing a computer program for implementing the above-described control method;
it is still another object of the present invention to provide a wearable walking fitness system based on exoskeleton, so that the wearer can increase the consumption of exercise energy within a limited number of walking steps, thereby improving the exercise fitness effect while ensuring the safety of the exercise.
In order to achieve the above main object, the present invention provides a control method for a walking fitness system worn on the body of a walking fitness person, and the walking fitness system is based on a wearable exoskeleton, the exoskeleton comprises a waist wearing unit, a thigh rod unit and a hip joint unit for connecting the waist wearing unit and the thigh rod unit; the thigh rod unit comprises a thigh rod and a thigh binding belt; the hip joint unit comprises a joint driving motor, and the joint driving motor is used for driving the thigh rod to swing relative to the waist wearing unit; the control method specifically comprises the following steps:
receiving monitoring data, namely receiving the monitoring data output by a joint monitoring sensor in the walking and body building process of a walking body builder, wherein the monitoring data comprises a hip joint angle theta (t) and a hip joint angular velocity omega (t) of a thigh rod in the walking and body building process;
a data preprocessing step of converting the hip joint angle theta (t) and the hip joint angular velocity omega (t) based on the time series into a phase angle ratio based on the time series according to the following formula
Figure BDA0003133329060000021
Based on the phase angle ratio
Figure BDA0003133329060000022
In the periodic variation characteristic of the range of [0,2 pi), carrying out segmentation processing on hip joint angles and hip joint angular velocity data with different strides and different pace speeds so as to obtain a swing phase interval and a support phase interval of the thigh rod in each period of gait;
Figure BDA0003133329060000031
a step resistance applying step, in which a step resistance and phase angle ratio relation curve is constructed according to a corresponding time sequence according to the setting that the step resistance is positively correlated with the swing amplitude of the thigh rod and the change rate of the swing angle speed in the swing phase interval; and controlling the joint driving motor to apply reverse walking resistance to the swinging process of the thigh rod in the swinging phase interval according to the relation curve.
In the technical scheme, after the swing phase and the support phase are distinguished by setting, the resistance is set, so that the consumption of motion energy can be improved within a limited walking step number, and the motion body-building effect is improved on the premise of ensuring the motion safety.
The specific scheme is that the walking resistance, the swing amplitude of the thigh rod and the swing angle speed change rate are set as follows:
τi＝λ·k·τpre
wherein, tauiIs the phase angle ratio
Figure BDA0003133329060000032
Desired moment of resistance, τ, of a stagepreIn order to preset the maximum resistance moment of walking of the human body, lambda is the hip joint flexion and extension angular velocity correction coefficient, k is the hip joint angle correction coefficient, and the coefficients are respectively as follows:
Figure BDA0003133329060000033
Figure BDA0003133329060000034
wherein, ω ismin，ωmOmega respectively sets a minimum value, a set average value and an actual acquisition value for the hip joint flexion-extension angular speed in one period of the body in the walking body-building process; thetamin，θmAnd theta is a set minimum value, a set average value and an actual acquisition value of the hip joint angle in one period of the human body in the walking fitness process respectively. According to the technical scheme, the walking resistance, the swing amplitude of the thigh rod and the change rate of the swing angle speed are set to be in a front type, so that the exercise and fitness effects can be further improved.
More specifically, the preset resisting moment tau at different phase angle ratiospreThe normalized values are obtained in a table look-up manner according to the following table:
Figure BDA0003133329060000041
wherein the resistance torque tau is presetpreThe actual preset resisting moment is calculated according to the weights of different walking body-building personnel after the values are subjected to the normalization processing according to the moment/weight and are subjected to table lookup. The technical scheme can effectively improve the calculation speed.
In order to achieve the above another object, the present invention provides a computer-readable storage medium storing a computer program for controlling a wearable walking exercise system, wherein the computer program can implement the control method described in any of the above technical solutions when the computer program is executed.
In order to achieve the above another object, the wearable walking fitness system provided by the invention is based on an exoskeleton, wherein the exoskeleton is worn on a walking fitness person and comprises a power supply battery, a control unit, and a waist wearing unit, a hip joint unit and a thigh rod unit which are sequentially connected from top to bottom; the thigh rod unit comprises a thigh rod and a thigh binding belt; the hip joint unit comprises a joint driving motor used for connecting the thigh rod with the waist wearing unit, and is used for acquiring a hip joint angle theta (t) and a hip joint angular velocity omega (t) of the thigh rod in the walking body-building process of a wearer; the joint driving motor is used for driving the thigh rod to swing relative to the waist wearing unit; the control unit is used for controlling the joint driving motor to apply reverse walking resistance to the swinging process of the thigh rod in the swinging phase interval at least according to the monitoring data output by the monitoring sensor, and the swinging resistance is in positive correlation with the swinging amplitude and the swinging angle speed change rate of the thigh rod.
The control unit is used for converting the hip joint angle theta (t) and the hip joint angular velocity omega (t) based on the time series into the phase angle ratio based on the time series according to the following formula
Figure BDA0003133329060000051
Based on the phase angle ratio
Figure BDA0003133329060000052
In the periodic variation characteristic of the range of [0,2 pi), carrying out segmentation processing on hip joint angles and hip joint angular velocity data with different strides and different pace speeds so as to obtain a swing phase interval and a support phase interval of the thigh rod in each period of gait;
Figure BDA0003133329060000053
in the swing phase interval, according to the setting that the walking resistance is in positive correlation with the swing amplitude of the thigh rod and the change rate of the swing angle speed, constructing a relation curve of the walking resistance and the phase angle ratio according to the corresponding time sequence; and controlling the joint driving motor to apply reverse walking resistance to the swinging process of the thigh rod in the swinging phase interval according to the relation curve.
More specifically, the walking resistance, the swing amplitude of the thigh rod and the change rate of the swing angle speed are set as follows:
τi＝λ·k·τpre
wherein, tauiIs the phase angle ratio
Figure BDA0003133329060000061
Desired moment of resistance, τ, of a stagepreIn order to preset the maximum resistance moment of walking of the human body, lambda is the hip joint flexion and extension angular velocity correction coefficient, k is the hip joint angle correction coefficient, and the coefficients are respectively as follows:
Figure BDA0003133329060000062
Figure BDA0003133329060000063
wherein, ω ismin，ωmOmega respectively sets a minimum value, a set average value and an actual acquisition value for the hip joint flexion-extension angular speed in one period of the body in the walking body-building process; thetamin，θmAnd theta is a set minimum value, a set average value and an actual acquisition value of the hip joint angle in one period of the human body in the walking fitness process respectively.
A further alternative is to preset the resistive torque tau at different phase angle fractionspreThe normalized values are obtained in a table look-up manner according to the following table:
Figure BDA0003133329060000064
Figure BDA0003133329060000071
wherein the resistance torque tau is presetpreThe actual preset resisting moment is calculated according to the weights of different walking body-building personnel after the values are subjected to table lookup according to the normalized values of the moment/weight.
Drawings
FIG. 1 is a block diagram of an exoskeleton in an embodiment of the present invention;
FIG. 2 is a schematic illustration of the exoskeleton exerting a moment of resistance to swinging on a wearer during walking in an embodiment of the present invention;
FIG. 3 is a graph of hip angle versus hip angular velocity monitored for an embodiment of the present invention;
FIG. 4 is a phase angle plot constructed in accordance with an embodiment of the present invention;
fig. 5 is a resistance curve constructed in an example of the present invention.
Detailed Description
The invention is further illustrated by the following examples and figures.
In the following embodiments, the walking fitness system worn by the exerciser is mainly constructed by the wearable exoskeleton, namely, the exoskeleton system originally providing the assistance to the exerciser is modified to provide resistance during the swing phase, so that the walking exerciser can achieve more physical exercise consumption in safe walking steps.
Examples
The wearable walking fitness system is based on an exoskeleton 1 shown in figure 1, wherein the exoskeleton 1 comprises a power supply battery module 10, a control module, a waist wearing unit, a thigh binding unit and a hip joint flexion/extension driving unit for connecting the waist wearing unit and the thigh binding unit; the thigh binding unit comprises a thigh rod 30 and a thigh binding belt 31, a pose sensor 11 is arranged on the lower end part of the thigh rod 30, and the pose sensor 11 outputs pose detection data to the control module in the boosting process, wherein the pose detection data specifically comprise hip joint angle data and hip joint angular velocity data; the hip flexion/extension drive unit comprises a swing drive motor 4 for driving the thigh rod 30 to swing back and forth relative to the waist wearing unit, thereby providing a swing resistance for the wearer's walking, so that more energy can be consumed in a limited number of steps, thereby achieving a better exercise effect.
The waist wearing unit comprises a back support with a plate structure, and a chest bandage 21 and a waist bandage 22 fixedly connected with the back support, the power supply battery module 10 is fixedly arranged between the chest bandage and the waist bandage and is positioned at the front side of the abdomen area of a wearer, and a circuit board of the control unit and the like are arranged on the back support.
On both side end portions of the back support, an L-shaped link arm 53 and an L-shaped link arm 54 are hinged correspondingly through a hip adduction/abduction joint mechanism and a hip adduction/abduction joint mechanism, respectively. As for the specific structure of the L-shaped connecting arm, when it is opposite to the main structure of the back frame 20, the L-shaped connecting arm extends outward first and then bends forward to have the fixing connection parts 530 and 540 located on both sides of the waist wearing unit 2; the thigh rod 30 is fixed to the fixing link 530 and the fixing link 540 by the hip flexion/extension driving unit such that the joint axis of the hip flexion/extension driving unit and the joint axis of the hip adduction/abduction joint mechanism intersect at the human hip joint center position.
In operation, the joint driving motor 4 is used for driving the thigh rod 30 to swing, and is bound on the thigh of the wearer by the thigh strap 31 to provide swing assisting power or swing resistance, namely, the hip joint unit comprises a joint motor for connecting the thigh rod 30 and the waist wearing unit, the joint driving motor 4 is at least used for driving the thigh rod 30 to swing relative to the waist wearing unit, and the specific control method of the joint motor in the process of walking exercise of the wearer comprises the following steps:
a monitoring data preprocessing step S1, during the walking exercise of the walking exerciser, receiving monitoring data output by the joint monitoring sensors on the exoskeleton system, wherein the monitoring data comprises a hip joint angle theta (t) and a hip joint angular velocity omega (t) of the thigh rod 30 during the walking exercise; in this embodiment, the data tested based on the existing equipment is shown in fig. 3.
A data preprocessing step S2 for converting the hip angle theta (t) and the hip angular velocity omega (t) into a time-series phase angle ratio
Figure BDA0003133329060000091
Based on the phase angle ratio
Figure BDA0003133329060000092
And (3) in the periodic variation characteristic of the range of [0,2 pi), carrying out segmentation processing on hip joint angles and hip joint angular velocity data with different strides and different pace speeds so as to obtain a swing phase interval and a support phase interval of the thigh rod in each period of gait.
Figure BDA0003133329060000093
Namely, the hip joint angle and the hip joint angular velocity based on time are converted into a phase angle ratio space, time nodes with different steps and different pace speeds are segmented based on the periodic variation characteristics of a joint angular velocity curve in the phase angle ratio space to obtain a swing phase interval of a thigh rod in a walking cycle, and the phase angle curve obtained after processing based on the detection data shown in fig. 3 is shown in fig. 4, from which the boundary point of the swing phase space and the support phase space can be found to be 40%.
And a step resistance calculation step S3, in the swing phase, constructing a relation curve of the resistance and the percentage of the phase angle according to the setting that the resistance is positively correlated with the swing amplitude of the thigh rod and the change rate of the swing angle speed.
In the step, specifically, in the swing phase interval, a relation curve of the ratio of the walking resistance to the phase angle is constructed according to the setting that the walking resistance is in positive correlation with the swing amplitude of the thigh rod and the change rate of the swing angular velocity, and the corresponding time sequence.
In this step, the walking resistance, the swing amplitude of the thigh link, and the change rate of the swing angular velocity are set to:
τi＝λ·k·τpre
wherein, tiIs the phase angle ratio
Figure BDA0003133329060000101
Desired moment of resistance, τ, of a stagepreIn order to preset the maximum resistance moment of walking of the human body, lambda is the hip joint flexion and extension angular velocity correction coefficient, k is the hip joint angle correction coefficient, and the coefficients are respectively as follows:
Figure BDA0003133329060000102
Figure BDA0003133329060000103
wherein, tauiIs a phase angle value
Figure BDA0003133329060000104
Desired moment of resistance, ω, of a stagemin，ωmOmega is the set minimum value, the set average value and the actual collection value tau of the hip joint flexion-extension angular speed in the walking process of the human body respectivelymaxThe maximum resistance moment of the human body walking is preset. Thetamin，θmTheta is a set minimum value, a set average value and an actual acquisition value of the hip joint angle in one period in the walking process of the human body respectively, tau is a preset walking resistance moment of the human body, lambda is a hip joint flexion-extension angular velocity correction coefficient, and k is a hip joint angle correction coefficient.
When the actual collection value of the hip joint flexion and extension angular velocity is smaller in the walking process of the human body, the correction coefficient lambda of the hip joint flexion and extension angular velocity is smaller, so that the phase angle value is smaller
Figure BDA0003133329060000105
Desired moment of resistance τ of a stageiThe hip joint flexion and extension angular speed is reduced, so that the actual acquisition value of the hip joint flexion and extension angular speed is increased in the walking process of the human body, and finally balance is achieved; when the human body walks, the hipWhen the actual collection value of the hip flexion-extension angular velocity is larger, the correction coefficient lambda of the hip flexion-extension angular velocity is also larger, so that the phase angle value is larger
Figure BDA0003133329060000106
Desired moment of resistance τ of a stageiThe actual collection value of the hip joint flexion and extension angular speed is reduced in the walking process of the human body, and finally balance is achieved. Similarly, when the actual collection value of the hip joint angle in one period is smaller in the walking process of the human body, the correction coefficient k of the hip joint angle is smaller, so that the phase angle value is enabled to be smaller
Figure BDA0003133329060000107
Desired moment of resistance τ of a phaseiThe angle of the hip joint is reduced, so that the actual acquisition value of the angle of the hip joint in the next period of the walking process of the human body is increased, and finally, the balance is achieved; when the actual collection value of the hip joint angle in one period is larger in the walking process of the human body, the correction coefficient k of the hip joint angle is larger at the moment, so that the phase angle value is larger
Figure BDA0003133329060000111
Desired moment of resistance τ of a stageiThe angle of the hip joint is increased, so that the actual acquisition value of the angle of the hip joint in the next period of the walking process of the human body is reduced, and finally, the balance is achieved.
In this embodiment, the preset resistive torque τ at different phase angle fractionspreThe normalized values were obtained in a table look-up manner as shown in table 1 below:
TABLE 1 Preset moment of resistance parameter look-up table
Figure BDA0003133329060000112
As shown in table 1 above, the preset moment of resistance parameter lookup table is shown, and the preset moment of resistance parameter shown in fig. 5 is obtained according to the table. The moment required for flexion and extension of the hip joint of a human during normal walking is also given in table 1 (normalized as moment/body weight). Comparing the parameters of the moment and the resisting moment required by walking, the thigh forward swing and flexion is taken as the positive direction, in the first 40% gait period, namely the swing phase interval, the lower limb muscle exerts force to output the moment for swinging the thigh forward to realize swinging forward stepping, so the moment is positive, and the resisting moment corresponding to the phase is used for preventing the thigh from stepping forward, so the moment is negative; in the last 60% gait cycle, namely the support phase interval, the moment of the lower limb muscle exerting force to output backward swing thigh realizes that the support leg kicks the ground backward, so the moment is negative, and the resisting moment corresponding to the stage is used for resisting the thigh to kick the ground, so the moment is positive. Therefore, when the thigh is stepped forward, the action direction of the resistance moment is backward to block stepping, and when the thigh is stepped backward, the action direction of the resistance moment is forward to block stepping, so that the resistance action can be kept in the whole walking process.
A step S4 of applying walking resistance based on the resistance curve T calculated at presentiThe control joint motor applies reverse resistance to the swinging process of the thigh rod, and the schematic diagram of the walking process is shown in fig. 2.

Claims (7)

1. A control method of a wearable walking fitness system based on an exoskeleton, wherein the exoskeleton is worn on the body of a walking fitness person and comprises a waist wearing unit, a thigh rod unit and a hip joint unit for connecting the waist wearing unit and the thigh rod unit; the thigh rod unit comprises a thigh rod and a thigh binding band; the hip joint unit comprises a joint driving motor, and the joint driving motor is used for driving the thigh rod to swing relative to the waist wearing unit; the control method is characterized by comprising the following steps:
receiving monitoring data, namely receiving the monitoring data output by a joint monitoring sensor in the walking and body building process of the walking and body building personnel, wherein the monitoring data comprises a hip joint angle theta (t) and a hip joint angular velocity omega (t) of a thigh rod in the walking and body building process;
a data preprocessing step of converting the hip joint angle theta (t) and the hip joint angular velocity omega (t) based on the time series into a phase angle ratio based on the time series according to the following formula
Figure FDA0003486738070000011
Based on the phase angle ratio
Figure FDA0003486738070000012
In the periodic variation characteristic of the range of [0,2 pi), carrying out segmentation processing on hip joint angles and hip joint angular velocity data with different strides and different pace speeds so as to obtain a swing phase interval and a support phase interval of the thigh rod in each period of gait;
Figure FDA0003486738070000013
a step resistance applying step, in which a step resistance and phase angle ratio relation curve is constructed according to a corresponding time sequence according to the setting that the step resistance is in positive correlation with the swing amplitude of the thigh rod and the change rate of the swing angle speed in the swing phase interval; and controlling the joint driving motor to apply reverse walking resistance to the swinging process of the thigh rod within the swinging phase interval according to the relation curve.
2. The control method according to claim 1, wherein the walking resistance and the swing amplitude and swing angular velocity change rate of the thigh link are set to:
τi＝λ·k·τpre
wherein, tauiIs the phase angle ratio
Figure FDA0003486738070000021
Desired moment of resistance, τ, of a stagepreIn order to preset the maximum resistance moment of walking of the human body, lambda is the hip joint flexion and extension angular velocity correction coefficient, k is the hip joint angle correction coefficient, and the coefficients are respectively as follows:
Figure FDA0003486738070000022
Figure FDA0003486738070000023
wherein, ω ismin，ωmOmega respectively sets a minimum value, a set average value and an actual acquisition value for the hip joint flexion-extension angular speed in one period of the body in the walking body-building process; thetamin，θmAnd theta is a set minimum value, a set average value and an actual acquisition value of the hip joint angle in one period of the human body in the walking fitness process respectively.
3. Control method according to claim 2, characterized in that the preset resistive torque τ is different for the phase angle fractionspreThe normalized values are obtained in a table look-up manner according to the following table:
Figure FDA0003486738070000024
Figure FDA0003486738070000031
wherein the resistance torque tau is presetpreThe actual preset resisting moment is calculated according to the weights of different walking body-building personnel after the values are subjected to table lookup according to the normalized values of the moment/weight.
4. A computer-readable storage medium, storing a computer program for controlling a wearable walking fitness system, characterized in that the computer program is capable of implementing the control method of any one of claims 1 to 3 when executed.
5. A wearable walking fitness system based on an exoskeleton is characterized in that the exoskeleton is worn on a body of a walking fitness person and comprises a power supply battery, a control unit, a waist wearing unit, a hip joint unit and a thigh rod unit which are sequentially connected from top to bottom; the thigh rod unit comprises a thigh rod and a thigh binding band; the hip joint unit comprises a joint driving motor and a joint monitoring sensor, wherein the joint driving motor is used for connecting the thigh rod with the waist wearing unit; the joint monitoring sensor is used for acquiring a hip joint angle theta (t) and a hip joint angular velocity omega (t) of the thigh rod in the walking and body building process of a wearer; the joint driving motor is used for driving the thigh rod to swing relative to the waist wearing unit; the method is characterized in that:
the control unit is used for controlling the joint driving motor to apply reverse walking resistance to the swinging process of the thigh rod in a swinging phase interval according to the monitoring data output by the joint monitoring sensor, and the walking resistance is in positive correlation with the swinging amplitude and the swinging angle speed change rate of the thigh rod;
the control unit is used for converting the hip joint angle theta (t) and the hip joint angular speed omega (t) based on the time sequence into the phase angle proportion based on the time sequence according to the following formula
Figure FDA0003486738070000032
Based on the phase angle ratio
Figure FDA0003486738070000033
In the periodic variation characteristic of the range of [0,2 pi), carrying out segmentation processing on hip joint angles and hip joint angular velocity data with different strides and different pace speeds so as to obtain a swing phase interval and a support phase interval of the thigh rod in each period of gait;
Figure FDA0003486738070000041
in the swing phase interval, according to the setting that the walking resistance is in positive correlation with the swing amplitude of the thigh rod and the change rate of the swing angle speed, constructing a relation curve of the walking resistance and the phase angle ratio according to a corresponding time sequence; and controlling the joint driving motor to apply reverse walking resistance to the swinging process of the thigh rod within the swinging phase interval according to the relation curve.
6. The wearable walking fitness system of claim 5, wherein the walking resistance and the rate of change of amplitude and angular velocity of oscillation of the thigh bar are set to:
τi＝λ·k·τpre
wherein, tauiIs the phase angle ratio
Figure FDA0003486738070000042
Desired moment of resistance, τ, of a stagepreIn order to preset the maximum resistance moment of walking of the human body, lambda is the hip joint flexion and extension angular velocity correction coefficient, k is the hip joint angle correction coefficient, and the coefficients are respectively as follows:
Figure FDA0003486738070000043
Figure FDA0003486738070000044
wherein, ω ismin，ωmOmega respectively sets a minimum value, a set average value and an actual acquisition value for the hip joint flexion-extension angular speed in one period of the body in the walking body-building process; thetamin，θmAnd theta is a set minimum value, a set average value and an actual acquisition value of the hip joint angle in one period of the human body in the walking fitness process respectively.
7. The wearable walking fitness system of claim 6, wherein the preset resistance moments τ at different phase angle fractionspreThe normalized values are obtained in a table look-up manner according to the following table:
Figure FDA0003486738070000051
wherein the resistance torque tau is presetpreThe actual preset resisting moment is calculated according to the weights of different walking body-building personnel after the values are subjected to the normalization processing according to the moment/weight and are subjected to table lookup.
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