CN114073631B

CN114073631B - Self-adaptive control method and device for power-assisted exoskeleton

Info

Publication number: CN114073631B
Application number: CN202010814597.9A
Authority: CN
Inventors: 邱培
Original assignee: Shenzhen Yingyinsi Power Technology Co ltd
Current assignee: Shenzhen Yingyinsi Power Technology Co ltd
Priority date: 2020-08-13
Filing date: 2020-08-13
Publication date: 2024-06-25
Anticipated expiration: 2040-08-13
Also published as: CN114073631A

Abstract

The invention discloses a self-adaptive control method and a self-adaptive control device for a power-assisted exoskeleton, wherein the method comprises the steps of detecting and recording real-time hip joint angles of all time nodes, calculating the change angle of a hip joint according to the real-time hip joint angles of front and rear time nodes, determining self-adaptive parameters of the power-assisted exoskeleton according to the real-time hip joint angles, generating real-time torque instructions according to the change angle and the self-adaptive parameters, and finally driving corresponding joints according to the torque instructions; according to the invention, the self-adaptive assistance exoskeleton control method is adopted, in the use process, the assistance exoskeleton assistance parameter can be self-adaptively adjusted according to the hip joint angle of the user, the assistance exoskeleton can be self-adaptively controlled according to the real-time change angle of the hip joint without manual adjustment of the user, the optimal assistance effect is further achieved, the problem that the use experience is poor due to the fact that the user needs to manually participate in adjustment when the assistance exoskeleton is used in the prior art is solved, and the use experience of the user is increased.

Description

Self-adaptive control method and device for power-assisted exoskeleton

Technical Field

The invention relates to the field of wearable robots, in particular to a self-adaptive control method and device for a power-assisted exoskeleton.

Background

With the increase of the aging degree of society, service robots for daily assistance of old people are increasingly used. The wearable assistance exoskeleton device provides assistance for limbs of a wearer through a robot device worn outside the body, so as to assist the wearer to more conveniently complete daily life.

In the prior art, the control technology of the power-assisted exoskeleton mainly comprises position control, namely the exoskeleton moves along a track which is planned and programmed in advance, the technology is usually carried out according to the sequence of intention recognition, gait recognition and motion control, a user using the power-assisted exoskeleton needs to move along the track which is set by the power-assisted exoskeleton, so that the user is slow and low in efficiency, and for the user with mobility, the freedom of autonomous movement of the user is severely limited, and the degree of intelligence is low.

Because the intelligent degree of the existing power-assisted exoskeleton and the corresponding control technology is low, the power-assisted exoskeleton is difficult to adapt to complex daily life scenes, for example, under multiple scenes such as irregular gait or going up and down stairs, users still need to manually participate in adjustment when using the power-assisted exoskeleton, the daily life of the users is affected, and the use experience of the users is poor.

Disclosure of Invention

The invention provides a self-adaptive control method and device for a power-assisted exoskeleton, which are used for solving the problem of poor use experience caused by manual participation and adjustment of a user when the power-assisted exoskeleton is used in the prior art.

A power-assisted exoskeleton adaptive control method, comprising:

Detecting and recording real-time hip joint angles of all time nodes;

calculating the change angle of the hip joint according to the real-time hip joint angles of the front and rear time nodes;

determining adaptive parameters of the power-assisted exoskeleton according to the real-time hip joint angle;

Generating a real-time torque instruction according to the change angle and the self-adaptive parameter;

And driving the corresponding joint according to the torque command.

Further, the determining the adaptive parameters of the assisting exoskeleton according to the real-time hip joint angle includes:

Determining a walking frequency of the user according to the real-time hip joint angle;

And determining the self-adaptive parameters according to the walking frequency and preset self-adaptive parameter data, wherein the preset self-adaptive parameter data are self-adaptive parameter data obtained according to experiments under different walking frequencies.

Further, the generating a real-time torque command according to the change angle and the adaptive parameter includes:

Smoothing the change angle to obtain a smooth angle value;

determining a power-assisting coefficient according to the smooth angle value and the self-adaptive parameter;

Calculating an auxiliary torque value according to the smooth angle value and the assistance coefficient;

And generating the torque command in real time according to the auxiliary torque value.

Further, the smoothing the changing angle to obtain a smoothed angle value includes:

performing mean value filtering processing on the real-time joint angles at the time T and N node moments before the time T so as to obtain a smooth angle value;

the mean value filtering processing formula is as follows: ，/> For the joint angle,/> For the angle of change of the T moment,/>Is the smoothed angle value.

Further, the assist torque value is calculated according to the following formula:

；

for comfort parameters of the adaptive parameters,/> For left hip angle,/>For right hip angle,/>For the assistance coefficient of the left hip joint,/>For the assistance coefficient of the right hip joint,/>For the assistance torque value of the left hip joint,/>Is the assist torque value for the right hip joint.

Further, the determining the assistance coefficient according to the smooth angle value and the adaptive parameter includes:

determining a derivative of the smoothed angle value;

determining whether the derivative of the smoothed angle value is greater than a preset value;

if the derivative of the smoothed angle value is greater than the preset value ，/>For the assistance factor,/>For the initial assistance factor,/>The self-adaptive assistance coefficient in the self-adaptive parameters is used;

If the derivative of the smoothed angle value is not greater than the preset value ，/>And a gravity compensation coefficient.

Further, before the detecting and recording the real-time hip joint angles of each time node, the method further comprises:

after the power-assisted exoskeleton is electrified, initializing a system of the power-assisted exoskeleton so as to initialize and zero the hip joint angle.

Further, after initializing the system of the power-assisted exoskeleton, the method further comprises:

determining whether a starting assistance mode instruction is received;

If the starting assistance mode instruction is received, entering an assistance mode to generate the torque instruction according to the change angles of front and rear nodes and the self-adaptive parameters;

and if the starting assistance mode instruction is not received, controlling the torque of the assistance exoskeleton to be zero all the time.

A power-assisted exoskeleton adaptive control device, comprising:

The detection module is used for detecting and recording real-time hip joint angles of all time nodes;

The calculation module is used for calculating the change angle of the hip joint according to the real-time hip joint angle of the front-back time node;

the determining module is used for determining the self-adaptive parameters of the power-assisted exoskeleton according to the real-time hip joint angle;

The generating module is used for generating a real-time torque instruction according to the change angle and the self-adaptive parameter;

And the driving module is used for driving the corresponding joints according to the torque command.

The self-adaptive control device for the power-assisted exoskeleton comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the steps of the self-adaptive control method for the power-assisted exoskeleton are realized when the processor executes the computer program.

A readable storage medium storing a computer program which, when executed by a processor, implements the steps of the power assisted exoskeleton adaptive control method described above.

In one scheme provided by the self-adaptive control method and device for the power-assisted exoskeleton, real-time hip joint angles of all time nodes are detected and recorded, the change angle of the hip joint is calculated according to the real-time hip joint angles of the front time node and the rear time node, self-adaptive parameters of the power-assisted exoskeleton are determined according to the real-time hip joint angles, then a real-time torque instruction is generated according to the change angle and the self-adaptive parameters, and finally corresponding joints are driven according to the torque instruction; according to the invention, the self-adaptive assistance exoskeleton control method is adopted, in the use process, the assistance exoskeleton assistance parameter can be self-adaptively adjusted according to the hip joint angle of the user, the assistance exoskeleton can be self-adaptively controlled according to the real-time change angle of the hip joint without manual adjustment of the user, the optimal assistance effect is further achieved, the problem that the use experience is poor due to the fact that the user needs to manually participate in adjustment when the assistance exoskeleton is used in the prior art is solved, and the use experience of the user is increased.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method for adaptively controlling a booster exoskeleton according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart showing an implementation of step S30 of the self-adaptive control method for a power-assisted exoskeleton according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart showing an implementation of step S40 of the self-adaptive control method for the power-assisted exoskeleton according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a power assisted exoskeleton adaptive control device according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of another embodiment of a self-adaptive control device for a power-assisted exoskeleton.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The self-adaptive control method for the power-assisted exoskeleton, provided by the embodiment of the invention, is applied to the exoskeleton used by a customer, the exoskeleton measures and records the real-time joint angle data of the customer, the joint is driven according to the calculated auxiliary torque, the data is transmitted to the customer end, and the customer end communicates with the exoskeleton through a network. Clients may be, but are not limited to, various personal computers, notebook computers, smartphones, tablet computers, and portable wearable devices.

In one embodiment, as shown in fig. 1, a method for adaptively controlling a power-assisted exoskeleton is provided, and the method is applied to the exoskeleton in fig. 1, and includes the following steps:

S10: real-time hip joint angles at each time node are detected and recorded.

During movement, different hip joint angles are generated according to the change of the posture, and at different time points, the exoskeleton detects and records the hip joint in real time through the sensor, so that different hip joint angles can be obtained, and the walking situation of a user can be judged according to the hip joint angles. Specifically, when walking, the hip joint forms different angles when the leg is lifted or when the leg is dropped.

Because the joint angle of the hip joint is better detected and the data are less, the movement mode of the leg can be determined by adopting a mode of measuring the angle change trend of the hip joint, the detection is better than the joint angle of the ankle joint and the knee joint, the data are less, the data detection amount and the calculation amount are reduced, the cost is saved, and the wearing experience of a user is improved.

The hip joint angles measured and recorded in this embodiment include a left hip joint angle and a right hip joint angle.

S20: and calculating the change angle of the hip joint according to the real-time hip joint angles of the front and back time nodes.

After the hip joint angles at different time points are detected and recorded in real time, the hip joint angles at different time points in front and back are calculated to obtain the changing angle of the hip joint. For example, inAt time 0, the joint angle of the left hip joint is/>0, At/>At time 1, the joint angle of the left hip joint is/>1, The change angle of the hip joint is/>1/>0, When/>When the value is greater than 0, namely the left hip joint angle is positive, the leg is in a lifted state, and when/>When the value is less than or equal to 0, namely the left hip joint angle is negative, the leg is in a falling state.

S30: and determining self-adaptive parameters of the power-assisted exoskeleton according to the real-time hip joint angle.

After the hip joint angles of different time points are detected and recorded in real time, the self-adaptive parameters of the power-assisted exoskeleton are determined according to the obtained real-time hip joint angles, wherein the self-adaptive parameters are the power-assisted exoskeleton power-assisted parameters which are self-adaptively adjusted according to the hip joint angles of the user, the comfort level of the user using the power-assisted exoskeleton is determined by the self-adaptive parameters, the walking situation and habit of the user can be relatively attached through the self-adaptive parameters which are determined according to the real-time hip joint angles of the user, the comfort and the self-adaptation of the power-assisted exoskeleton are improved, and the use experience of the user is further improved.

Wherein, the self-adaptation parameter includes self-adaptation helping hand coefficient and comfortable parameter, and comfortable parameter decides the comfort level of helping hand exoskeleton that provides helping hand, even decides to improve the travelling comfort that the user used helping hand exoskeleton.

For example, the walking frequency of the user is determined according to the acquired real-time hip joint angle, the self-adaptive assistance coefficient and the comfort parameter are determined according to the walking frequency, wherein different walking frequencies correspond to different comfort parameters, and after the comfort parameter is adjusted according to the unsynchronized walking frequency, the assistance exoskeleton can be automatically adapted to various walking frequencies of the user, so that the user obtains smooth and comfortable assistance exoskeleton using experience.

S40: and generating a real-time torque command according to the change angle and the adaptive parameter.

After the changing angle of the hip joint is determined and the adaptive parameters are determined, real-time auxiliary torque values are generated according to the real-time calculated changing angles of the left and right hip joints and the determined adaptive parametersThen the generated assist torque value/>And generating and outputting a torque command in real time so that the subsequent exoskeleton drives the hip joint to move according to the torque command, and further realizing the assistance function of the assistance exoskeleton.

For example, initial data at power-up of the power-assisted exoskeleton is: the angles of the left leg hip joint and the right leg hip joint are respectively theta 10 and theta 20, the angles of the left leg hip joint and the right leg hip joint at the moment T are respectively theta 1 and theta 2 which are detected and recorded by an absolute angle sensor for the first time, the changing angles of the left leg hip joint and the right leg hip joint at the moment T are respectively theta 1 (T) =theta 1-theta 10 and theta 2 (T) =theta 2-theta 20 which are calculated, the forward lifting direction of the leg is defined as the positive direction of the leg rotation, and the corresponding hip joint angles are also positive.

S50: the corresponding joint is driven according to the torque command.

After a real-time torque command is generated according to the change angle and the self-adaptive parameter, the corresponding hip joint is driven according to the real-time output torque command, and the left leg and the right leg of the power-assisted exoskeleton are driven to move.

In the embodiment, real-time hip joint angles of all time nodes are detected and recorded, the change angle of the hip joint is calculated according to the real-time hip joint angles of the front time node and the rear time node, the self-adaptive parameters of the power-assisted exoskeleton are determined according to the real-time hip joint angles, then a real-time torque instruction is generated according to the change angle and the self-adaptive parameters, and finally corresponding joints are driven according to the torque instruction; according to the invention, the self-adaptive assistance exoskeleton control method is adopted, in the use process, the assistance exoskeleton assistance parameter can be self-adaptively adjusted according to the hip joint angle of the user, the assistance exoskeleton can be self-adaptively controlled according to the real-time change angle of the hip joint without manual adjustment of the user, the optimal assistance effect is further achieved, the problem that the use experience is poor due to the fact that the user needs to manually participate in adjustment when the assistance exoskeleton is used in the prior art is solved, and the use experience of the user is increased.

In an embodiment, before detecting and recording the real-time hip joint angles of the time nodes, i.e. before step S10, the method further comprises: after the power-assisted exoskeleton is powered on, initializing a system of the power-assisted exoskeleton to initialize the hip joint angle to zero.

After the user wears the physical body of the assisting exoskeleton, the user keeps the standing and static state of the two legs, and the assisting exoskeleton power supply is started to electrify the assisting exoskeleton system, at this time, the data recorded in the system may be the data left in the last use, if the data are not cleared, the calculation of the subsequent change angle is affected, and the accuracy of the assisting torque is further affected. Therefore, after power-up of the power-assisted exoskeleton, the system needs to be initialized, and the initialization includes state initialization of the power-assisted exoskeleton control circuit and initialization of the hip joint angle to zero. The initialization zero setting of the hip joint angle is specifically realized as follows: and an absolute angle sensor is used for recording that the angles of the hip joints of the left leg and the right leg are respectively theta 10 and theta 20 when the power-assisted exoskeleton is electrified, and the angles are regarded as zero points of the hip joint angles.

Initializing the hip joint angle, namely clearing the last left data to set the hip joint angle to zero, and then detecting and recording the cleared hip joint angle in real time through a sensor to obtain initial data of the hip joint in a standing and resting state of the two legs, so that the accuracy of the detected hip joint angle data is ensured, and an accurate data basis is provided for generating a torque instruction according to the change angle obtained by calculation and the self-adaptive parameter.

In the embodiment, by initializing the power-assisted exoskeleton system, the last left data is cleared, the initial data of the hip joint in the standing and resting state of the two legs is obtained, the influence of the last use data on the calculation result is eliminated, and the accuracy of the data is improved.

In one embodiment, after initializing the system of the power-assisted exoskeleton, the method further specifically includes the steps of:

s01: it is determined whether a start assist mode command is received.

After initializing a system of the assistance exoskeleton to initialize and zero the hip joint angle, before detecting and recording the real-time hip joint angle of each time node, determining whether an assistance starting mode instruction is received or not to determine whether a user needs the assistance exoskeleton to provide self-adaptive assistance.

The user can send a command whether to start the power assisting mode to the power assisting exoskeleton through a power assisting exoskeleton button or a client.

S02: and if a starting assistance mode instruction is received, entering an assistance mode to generate a torque instruction according to the change angle of the front node and the rear node and the self-adaptive parameter.

After determining whether a starting assistance mode instruction is received, if the starting assistance mode instruction is received, the assistance exoskeleton is indicated to receive the starting assistance mode instruction sent by the client, the user needs the assistance exoskeleton to provide assistance, the assistance exoskeleton is controlled to enter an assistance mode so as to detect and record real-time hip joint angles of all time nodes, an assistance torque value is generated according to the changing angles of the front and rear nodes of the hip joint and the self-adaptive parameters, and further a torque instruction is generated and output, so that the assistance exoskeleton provides assistance for the movement of the user.

S03: if the starting assistance mode command is not received, controlling the torque of the assistance exoskeleton to be zero all the time.

After determining whether a start assist mode command is received, if the assist exoskeleton does not receive the start assist mode command sent by the client, the assist exoskeleton does not start the assist mode, and then the torque output by the assist exoskeleton is always zero.

In this embodiment, after initializing the system of the assistance exoskeleton, whether to execute corresponding torque output control is determined by determining whether to receive a start assistance mode instruction, if the start assistance mode instruction is received, the assistance mode is entered, so that a torque instruction is generated according to the change angle of the front and rear nodes and the adaptive parameter, if the start assistance mode instruction is not received, the torque of the assistance exoskeleton is controlled to be zero all the time, and the user sends the instruction whether to start the assistance mode to the assistance exoskeleton through the client to select whether to enter the mode, so that the selectivity of using the assistance exoskeleton by the user is increased, and the use experience of the user is further improved.

In one embodiment, as shown in fig. 2, in step S30, the adaptive parameters of the assisting exoskeleton are determined according to the real-time hip joint angle, and specifically include the following steps:

S31: the walking frequency of the user is determined based on the real-time hip angle.

After detecting and recording the real-time hip joint angles of each time node, determining the walking frequency of the user according to the real-time acquired hip joint angles.

The calculation formula of the walking frequency is as follows: Wherein T1 and T2 are the last two time nodes of the hip joint angle agreement.

For example, the left leg hip joint angle, the right leg hip joint angle are respectively θ1 (t) and θ2 (t), whenThe time at this point is recorded as T1, and when it appears again/>When the time at this point is recorded as T2, the walking frequency/>; Or detecting that the angles of the hip joints of the left leg at the front and back time nodes are respectively theta 1 (t-1) and theta 1 (t), and the detection frequency of the hip joint angles, namely the data sampling frequency, is n, so that the angular speed of the hip joint of the left leg can be obtainedWhen/>And/>At this time, the left leg hip joint is changed from backward swing to forward swing (forward swing is positive speed direction), the time is recorded as T1, and the time appears again/>And/>When the time is recorded as T2, the walking frequency/>。

In this embodiment, the method of acquiring the walking frequency is merely an exemplary illustration, and in other embodiments, the method of acquiring the walking frequency may also be other methods, which are not described herein.

S32: and determining the self-adaptive parameters according to the walking frequency and preset self-adaptive parameter data, wherein the preset self-adaptive parameter data are self-adaptive parameter data obtained according to tests under different walking frequencies.

After the walking frequency of the user is acquired according to the hip joint angle acquired in real time, acquiring preset self-adaptive parameter data, and determining the self-adaptive parameters according to the walking frequency and the preset self-adaptive parameter data, wherein the preset self-adaptive parameter data are the self-adaptive parameter data acquired according to experiments under different walking frequencies.

For example, a large number of test tests are performed on the power-assisted exoskeleton to test the power-assisted parameter data of the user at different frequencies, then the optimal parameter combination (including the self-adaptive power-assisted coefficient and the comfort parameter) at different walking frequencies is determined from the power-assisted parameter data to serve as preset self-adaptive parameter data, and then the preset self-adaptive parameter data which is preset is queried according to the walking frequency of the user in the process of using the power-assisted exoskeleton by the user so as to obtain the self-adaptive parameter, so that the real-time update of the self-adaptive parameter is realized.

In this embodiment, after detecting and recording the real-time hip joint angle of each time node, the walking frequency of the user is determined according to the real-time hip joint angle, and then the adaptive parameter is determined according to the walking frequency and the preset adaptive parameter data, so that the step of determining the adaptive parameter of the power-assisted exoskeleton according to the real-time hip joint angle is refined, the accuracy of the preset adaptive parameter data is ensured, the power-assisted exoskeleton can adjust the parameter in real time according to the step frequency of the user, and the acquired adaptive parameter is closer to the habit of the user, thereby providing a basis for generating a torque instruction according to the adaptive parameter, avoiding the problems of reduced power-assisted feeling and uncomfortable caused by different walking speeds of the user in different scenes, and avoiding the defect that the parameter needs to be manually adjusted after the walking speed is changed.

In an embodiment, after the preset adaptive parameter data is obtained, the preset adaptive parameter data may be made into an adaptive parameter map or an adaptive parameter table, and after the walking frequency of the user is obtained according to the hip joint angle obtained in real time, adaptive parameters km and Δt corresponding to the walking frequency may be queried in the adaptive parameter map or the adaptive parameter table, so as to improve the speed of determining the adaptive parameter, thereby improving the reaction speed of the power-assisted exoskeleton, and further improving the use experience of the user.

In one embodiment, as shown in fig. 3, in step S40, a real-time torque command is generated according to the changing angle and the adaptive parameter, which specifically includes the following steps:

S41: and carrying out smoothing treatment on the change angle to obtain a smoothed angle value.

After detecting and recording the real-time hip joint angle at each time node, by varying the angle of the hip joint at a certain time pointSmoothing to obtain smoothed angle value/>The changing angles are smoothed, so that the difference between the angles of the front and back changes of the hip joint is smaller, and the gradual obtaining of the gradual assisting torque value is realized, so that the hip joint action is gradual.

Wherein the angle change can be smoothed by a low-pass filter to obtain smoothed angle value, so as to make the angle curve of the hip joint smoother, for example, the hip joint angle change at the time of obtaining TThereafter, the smoothed angle value at time T/>The method is obtained by the following formula: /(I)Where a is a filter factor (0.02 may be taken),/>Is a smoothed angle value at time T-1.

In this embodiment, the filtering factor is taken as 0.02 and is merely exemplary, and the manner of obtaining the smoothed angle value is merely exemplary, and in other embodiments, the filtering factor may be other values, and the manner of obtaining the smoothed angle value may be other manners, which are not described herein.

S42: and determining a power assisting coefficient according to the smooth angle value and the adaptive parameter.

And determining the assistance coefficients of different hip joints according to the obtained smooth angle values and the adaptive parameters.

For example, the assisting exoskeleton has an initial set assisting coefficient when powered on, the assisting coefficient of the hip joint is different in different postures, and the assisting exoskeleton has a smooth angle valueWhen the force is positive, namely the leg is lifted, the force assistance coefficient of the force assistance exoskeleton is determined by the self-adaptive force assistance coefficient in the self-adaptive parameters and the initially set force assistance coefficient, and when the angle value is smoothed/>And when the leg is put down, the assistance coefficient of the assistance exoskeleton is determined by the self-adaptive assistance coefficient, the initial set assistance coefficient and the gravity compensation coefficient in the self-adaptive parameters based on the action of gravity.

S43: and calculating an auxiliary torque value according to the smooth angle value and the assistance coefficient.

After the assist coefficient is determined from the smoothed angle value and the adaptive parameter, an assist torque value is calculated from the comfort parameter of the smoothed angle value, the assist coefficient, and the adaptive parameter.

S43: and generating a torque command in real time according to the auxiliary torque value.

After calculating the auxiliary torque value according to the smooth angle value and the assistance coefficient, generating the torque command in real time according to the auxiliary torque value is outputting in real time so as to output the auxiliary torque to the corresponding joint to assist the corresponding joint movement through the assistance exoskeleton driving motor according to the torque command.

In this embodiment, after detecting and recording the real-time hip joint angle of each time node, smoothing the change angle to obtain a smoothed angle value, determining an assist coefficient according to the smoothed angle value and the adaptive parameter, calculating an assist torque value according to the smoothed angle value and the assist coefficient, and finally generating a torque command in real time according to the assist torque value, thereby refining the specific step of generating the real-time torque command according to the change angle and the adaptive parameter.

In one embodiment, in step S41, the changing angle is smoothed to obtain a smoothed angle value, which specifically includes the following steps:

S411: and carrying out mean value filtering processing on the real-time joint angles of the T moment and N node moments before the T moment so as to obtain a smooth angle value.

After detecting and recording the real-time hip joint angles of all the time nodes, carrying out mean value filtering processing on the real-time joint angles of the T moment and N node moments before the T moment so as to obtain a smooth angle value.

S412: the mean value filtering processing formula is as follows:

Wherein/> For joint angle,/>For the change angle of T time,/>Is a smoothed angle value.

For example, the real-time hip joint angle at time T (8:00:04) is 50 °, and the real-time joint angles at the previous 4 node times are respectively: the hip joint angle at 8:00:03 was 36 °, the hip joint angle at 8:00:02 was 23 °, the hip joint angle at 8:00:01 was 11 °, and the hip joint angle at 8:00:00 was 11The hip joint change angle at 8:00:04 is 11 °, the hip joint change angle at 8:00:03 is 12 °, the hip joint change angle at 8:00:02 is 13 °, and the hip joint change angle at 8:00:01 is 14 °, then at this time, the hip joint smoothing angle at time T (8:00:04) is:。

in the implementation, after the real-time hip joint angles of each time node are detected and recorded, the real-time joint angles of N node moments before the T moment are subjected to mean value filtering treatment to obtain a smooth angle value, and the change angles of the joints are subjected to the smooth treatment in a mean value filtering mode, so that the method is simple and has small fluctuation, errors possibly occurring in the hip joint change angles are reduced, and the smoothness of the hip joint change angles is improved. In other embodiments, other low pass filtering approaches may also be employed.

In one embodiment, in step S42, the power assisting coefficient is determined according to the smoothed angle value and the set rule, and the method specifically includes the following steps:

S421: the derivative of the smoothed angle value is determined.

Smoothing the changed angle to obtain a smoothed angle valueThereafter, a smoothed angle value/>, is determinedDerivative/>。

S422: it is determined whether the derivative of the smoothed angle value is greater than a preset value.

In determining the smooth angle valueDerivative/>Thereafter, a smoothed angle value/>, is determinedDerivative/>Whether or not is greater than a preset value, wherein the preset value is 0, i.e. a smooth angle value/>, is determinedDerivative/>Whether or not is greater than 0, to execute different assist force coefficient determination methods according to the determination.

S423: if the derivative of the smoothed angle value is greater than the preset value，/>For the assistance factor,/>For the initial assistance factor,/>Is an adaptive assistance coefficient in the adaptive parameters.

S424: if the derivative of the smoothed angle value is not greater than the preset value，/>And a gravity compensation coefficient.

In particular, whenWhen the angle change trend of the hip joint is larger than 0 and before the moment T, the angle change trend of the hip joint is increased, the leg is lifted upwards, the leg lifting needs assistance which is needed to resist gravity and help the leg to lift, and the assistance coefficient K is the product of the initial assistance coefficient K and the self-adaptive assistance coefficient km, wherein km is the self-adaptive assistance coefficient determined according to the step frequency of a user and can be set through an assistance exoskeleton knob or a client or modified according to actual needs; k is an initially set boosting coefficient, and cannot be changed; when/>If the angle change trend of the hip joint is reduced before the time T, the leg falls downwards, and when the leg falls, a gravity compensation coefficient is needed in addition to the assistance assisting the leg to fall, so that the leg cannot fall too quickly to influence comfort and stability, and the assistance coefficient K is the product of an initial assistance coefficient K, an adaptive assistance coefficient km and a gravity compensation coefficient kg.

In this embodiment, after the smooth angle value is obtained, whether the derivative of the smooth angle value is greater than a preset value is determined to determine the gesture of the user movement, if the derivative of the smooth angle value is greater than the preset value, the leg is lifted upwards, the assistance coefficient of the assistance exoskeleton is the product of the adaptive assistance coefficient and the initial assistance coefficient, if the derivative of the smooth angle value is not greater than the preset value, the leg falls downwards, and at this time, the assistance coefficient of the assistance exoskeleton is the product of the adaptive assistance coefficient, the initial assistance coefficient and the gravity compensation coefficient due to the action of gravity, assistance is increased for the action change of the assistance exoskeleton by setting the initial assistance coefficient k according to the adaptive assistance coefficient km and the gravity compensation coefficient kg, so that the action change of the assistance exoskeleton is more gentle, and the comfort and stability during movement are improved.

In this embodiment, the assistance coefficient of the assistance exoskeleton is determined by determining the adaptive assistance coefficient according to the step frequency of the user, setting the initial assistance coefficient and the gravity compensation coefficient, and in other embodiments, other methods may be used to determine the assistance coefficient, which will not be described herein.

In one embodiment, in step S43, the calculation formula of the assist torque value in calculating the output assist torque value according to the smoothed angle value and the assist coefficient is as follows:

；

Wherein, Is a comfort parameter in the adaptive parameters,/>For left hip angle,/>For right hip angle,/>Is the assistance coefficient of the left hip joint,/>Is the assistance coefficient of the right hip joint,/>Is the auxiliary torque value of the left hip joint,/>Is the assistance torque value of the right hip joint.

The comfort parameter delta t is mainly negative in the process of using the power-assisted exoskeleton, and represents the hip joint angle of the current output tau 1 (t) at the moment of t-delta t; if Δt is positive, it means that the angle value at the time of using t+Δt is outputted (but the angle data at the future time is not obtained at this time, and only the data is analyzed after all the data are obtained), and therefore, the calculation formula of the assist torque value is as follows when the assist exoskeleton is normally used:

；

。

for example, the initial assistance coefficient k is 1, the gravity compensation coefficient kg is 0.2, and the self-adaptive assistance coefficient km is 2 and the comfort parameter is obtained according to the step frequency of the user For 0.1 second, performing mean value filtering processing on the real-time hip joint angles at the T moment and N+1 node moments before the T moment, wherein the smooth angle value/>Smooth angle value of right hip jointAnd storing the smooth angle values of the left hip joint and the right hip joint into a memory of the power-assisted exoskeleton for subsequent use. At the same time, fetch/>, in memoryAnterior left and right hip smoothing angle/> (0.1 seconds)、If T time/>, is determinedThe derivative of (i.e. the angular velocity is positive), the left leg of the user is in a lifted state at time T, the assistance coefficient/>Is the product of k and km, i.e./>The method comprises the following steps: /(I)So the assistance torque value of the left hip joint at time T/>; If T moment/>, is determinedThe derivative of (i.e. the angular velocity is negative), then the user's right leg is in a dropped state at time T, the coefficient of assistance/>Is the product of k, km and kg, i.e./>The method comprises the following steps: So the right hip joint has an assistance torque value at time T/> 。

In the embodiment, a process of calculating and outputting an auxiliary torque value according to the smooth angle value and the assistance coefficient is clarified through a calculation formula, and the hip joint motion is more gentle by small change of the hip joint angle according to the self-adaptive comfort parameter, so that the comfort and stability during movement are further improved.

In other embodiments, other methods may be employed to calculate the assist torque value, which will not be described in detail herein.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.

In one embodiment, a power-assisted exoskeleton adaptive control device is provided, where the power-assisted exoskeleton adaptive control device corresponds to the power-assisted exoskeleton adaptive control method in the above embodiment one by one. As shown in fig. 4, the power-assisted exoskeleton adaptive control device includes a detection module 401, a calculation module 402, a determination module 403, a generation module 404, and a driving module 405. The functional modules are described in detail as follows:

The detection module 401 is used for detecting and recording real-time hip joint angles of all time nodes;

A calculation module 402, configured to calculate a hip joint change angle according to the real-time hip joint angles of the front-back time nodes;

A determining module 403, configured to determine adaptive parameters of the power-assisted exoskeleton according to the real-time hip joint angle;

A generating module 404, configured to generate a real-time torque command according to the change angle and the adaptive parameter;

a driving module 405, configured to drive the corresponding joint according to the torque command.

Further, the determining module 403 is specifically configured to:

Further, the generating module 404 is specifically configured to:

Smoothing the change angle to obtain a smooth angle value;

Further, the generating module 404 is specifically further configured to:

Further, the generating module 404 is further specifically configured to calculate the assist torque value according to the following formula:

；

Further, the generating module 404 is specifically further configured to:

determining a derivative of the smoothed angle value;

Further, before the detecting and recording the real-time hip joint angles of each time node, the detecting module 401 is specifically further configured to:

Further, after initializing the system of the assisting exoskeleton, the detection module 401 is further specifically configured to:

determining whether a starting assistance mode instruction is received;

For specific limitations of the power assisted exoskeleton adaptive control device, reference may be made to the above limitation of the power assisted exoskeleton adaptive control method, and no further description is given here. The modules in the self-adaptive control device of the power-assisted exoskeleton can be fully or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a power assisted exoskeleton adaptive control device is provided, as shown in fig. 5. The meter-assisted exoskeleton adaptive control device comprises a memory 501, a processor 502 and a transceiver 503 which are connected through a system bus, wherein the memory 501, the processor 502 and the transceiver 503 are connected through a bus 504. Wherein the processor 502 of the power-assisted exoskeleton adaptive control device is configured to provide computing and control capabilities. The transceiver 503 of the power assisted exoskeleton adaptive control device is configured to transmit and receive data/instructions, and the memory 501 of the power assisted exoskeleton adaptive control device includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory 501 provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. Illustratively, the power-assisted exoskeleton adaptive control device employs an embedded system, which when executed by the processor 502, implements the power-assisted exoskeleton adaptive control method described above.

In one embodiment, a readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the power assisted exoskeleton adaptive control method described in the above embodiment.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.

The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.

Claims

1. The self-adaptive control method for the power-assisted exoskeleton is characterized by comprising the following steps of:

Detecting and recording real-time hip joint angles of all time nodes;

determining self-adaptive parameters of the assisting exoskeleton according to the real-time hip joint angles, wherein the self-adaptive parameters are assisting exoskeleton assisting parameters which are self-adaptively adjusted according to the hip joint angles of users;

Generating a real-time torque instruction according to the change angle and the self-adaptive parameter, wherein the torque instruction is used for controlling the power-assisted exoskeleton to realize a power-assisted function;

Driving the corresponding joints according to the torque command so that the power-assisted exoskeleton provides power for the movement of the user;

Wherein the generating a real-time torque command according to the change angle and the adaptive parameter includes:

Smoothing the change angle to obtain a smooth angle value;

Generating the torque command in real time according to the auxiliary torque value;

The determining the assistance coefficient according to the smooth angle value and the adaptive parameter comprises the following steps:

determining a derivative of the smoothed angle value;

2. The method of self-adaptive control of a power-assisted exoskeleton of claim 1, wherein said determining the self-adaptive parameters of the power-assisted exoskeleton according to the real-time hip joint angle comprises:

3. The method for adaptively controlling a booster exoskeleton of claim 1, wherein said smoothing said changing angle to obtain a smoothed angle value comprises:

performing mean value filtering processing on the real-time hip joint angles at the time T and N node moments before the time T so as to obtain a smooth angle value;

4. The power assisted exoskeleton adaptive control method of claim 1 wherein the assist torque value is calculated according to the formula:

；

5. The method of self-adaptive control of a booster exoskeleton of any one of claims 1 to 4, wherein prior to said detecting and recording real-time hip joint angles at each time node, said method further comprises:

6. The method of self-adaptive control of a power-assisted exoskeleton of claim 5, wherein after initializing the system of power-assisted exoskeleton, the method further comprises:

determining whether a starting assistance mode instruction is received;

7. An assisted exoskeleton adaptive control device, comprising:

the determining module is used for determining self-adaptive parameters of the assisting exoskeleton according to the real-time hip joint angles, wherein the self-adaptive parameters are assisting exoskeleton assisting parameters which are self-adaptively adjusted according to the hip joint angles of users;

The generating module is used for generating a real-time torque instruction according to the change angle and the self-adaptive parameter, and the torque instruction is used for controlling the power-assisted exoskeleton to realize a power-assisted function;

The driving module is used for driving the corresponding joints according to the torque command so that the power-assisted exoskeleton provides power for the movement of the user;

Smoothing the change angle to obtain a smooth angle value;

determining a derivative of the smoothed angle value;

8. A power assisted exoskeleton adaptive control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the power assisted exoskeleton adaptive control method of any one of claims 1 to 6.