CN115016561A - Control method of walking assisting device and related equipment thereof - Google Patents
Control method of walking assisting device and related equipment thereof Download PDFInfo
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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Abstract
The embodiment of the application discloses a control method of a walking assisting device, which comprises the following steps: acquiring historical use information of a target user on the walking assisting device; determining standard gait information of a target user based on historical usage information; acquiring current use information of a walking assistance device by a target user; determining a control strategy based on a gap between current usage information and a standard gait; adjusting the output torque of the walking assistance device according to a control strategy; and outputting the output torque. Based on the scheme, the control method of the walking assistance device provided by the application compares the standard gait information of the user with the current use state information to determine the use state of the user, determines the corresponding control strategy based on the use state, and adjusts the due output torque of the walking assistance device through the control strategy, so that the output condition of the walking assistance device conforms to the actual use requirement of the user, and the usability of the walking assistance device is improved.
Description
Technical Field
The present application relates to the field of device control, and in particular, to a method for controlling a walking assistance device and related devices.
Background
The walking assisting device is an intelligent mechanical device which imitates the physiological structure of a human body, can be worn by a person, and assists the wearer while being cooperated with the movement of the wearer. The walking assisting device can provide external force support for the human body, further achieve the purposes of reducing the human body load, improving the human body movement capacity and the like, and has wide application prospect in the aspect of medical treatment and assistance for the disabled.
For the walking assistance device, the control mode is generally fixed, that is, a specific torque calculation formula is input based on parameters obtained by the sensor, so as to obtain and output the torque which should be provided currently, and then the external force support for the user is completed.
The control mode of the existing walking assisting device is completed only based on a specific torque providing formula in the control process, however, a user often faces different use environments when using the walking assisting device, such as walking in a flat ground environment, walking in an uphill or upstairs environment and walking in a downhill or downstairs environment, the walking posture of the user is changed to a certain degree, however, the change of the walking environment cannot be well recognized in the control mode of the existing walking assisting device, the control is mechanical, the walking state of the user cannot be well matched, and the use experience of the user is poor.
Disclosure of Invention
A first aspect of an embodiment of the present application provides a method for controlling a walking assistance device, including:
acquiring historical use information of a target user on the walking assisting device;
determining standard gait information of the target user based on the historical usage information;
acquiring current use information of the walking assisting device by a target user;
determining a control strategy based on a gap between the current usage information and the standard gait;
adjusting the output torque of the walking assistance device according to the control strategy;
and outputting the output torque.
Based on the control method of the walking assistance device provided in the first aspect of the embodiment of the present application, optionally, the standard gait information includes: a standard stride and a standard maximum hip flexion angle, the current usage information including: current stride and current maximum hip flexion angle.
Based on the control method for a walking assistance device provided by the first aspect of the embodiment of the present application, optionally, the acquiring current usage information of the walking assistance device by the target user includes:
acquiring a current hip joint angle;
and calculating the current stride and the current maximum hip flexion angle according to the current hip joint angle.
Based on the control method of the walking assistance device provided by the first aspect of the embodiment of the present application, optionally, the determining a control strategy based on the difference between the current usage information and the standard gait information includes:
determining a first numerical relationship between the current stride and the standard stride;
determining a second numerical relationship between the current maximum hip flexion angle and the standard maximum hip flexion angle;
and determining the control strategy according to the first numerical relation and the second numerical relation.
Based on the control method of the walking assistance device provided in the first aspect of the embodiment of the present application, optionally, the first numerical relationship is: the current stride is less than the nominal coefficient multiplied by the standard stride;
the control strategy is to convert the direction of the output torque into the hip extension direction and reduce the magnitude of the output torque.
Based on the control method of the walking assistance device provided in the first aspect of the embodiment of the present application, optionally, the first numerical relationship is: the current stride is larger than the rated coefficient multiplied by the standard stride, and the second numerical relationship is that the current maximum hip flexion angle is larger than the rated coefficient multiplied by the standard maximum hip flexion angle;
the control strategy is to convert the direction of the output torque into the hip extension direction and improve the magnitude of the output torque.
Based on the control method of the walking assistance device provided in the first aspect of the embodiment of the present application, optionally, the first numerical relationship is: the current stride is larger than the nominal coefficient multiplied by the standard stride, and the second numerical relationship is as follows: the current maximum hip flexion angle is smaller than a rated coefficient multiplied by a standard maximum hip flexion angle;
the control strategy is to convert the direction of the output torque into a hip flexion direction and adjust the output torque according to a preset requirement.
A second aspect of embodiments of the present application provides a walking assistance device control apparatus including:
a history use information acquisition unit configured to acquire history use information of the walking assistance device by a target user;
a standard gait information determination unit for determining standard gait information of the target user based on the historical usage information;
a current usage information acquisition unit for acquiring current usage information of the walking assistance device by a target user;
a control strategy determination unit for determining a control strategy based on a gap between the current usage information and the standard gait;
an output torque adjusting unit for adjusting the output torque of the walking assistance device according to the control strategy;
and the output unit is used for outputting the output torque.
A third aspect of the embodiments of the present application provides a walking assistance device, including:
a controller configured to perform: acquiring historical use information of a target user on the walking assisting device; determining standard gait information of the target user based on the historical usage information; acquiring current use information of the walking assisting device by a target user; determining a control strategy based on a gap between the current usage information and the standard gait; adjusting the output torque of the walking assistance device according to the control strategy;
and the motor is used for outputting the output torque.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, including instructions, which, when executed on a computer, cause the computer to perform the method according to any one of the first aspects of embodiments of the present application.
A fifth aspect of embodiments of the present application provides a computer program product containing instructions, which when executed on a computer, cause the computer to perform the method according to any one of the first aspect of embodiments of the present application.
According to the technical scheme, the embodiment of the application has the following advantages: the present application provides a walking assistance device control method including: acquiring historical use information of a target user on the walking assisting device; determining standard gait information of the target user based on the historical usage information; acquiring current use information of the walking assisting device by a target user; determining a control strategy based on a gap between the current usage information and the standard gait; adjusting the output torque of the walking assistance device according to the control strategy; and outputting the output torque. Based on the scheme, the control method of the walking assistance device provided by the application compares the standard gait information of the user with the current use state information to determine the use state of the user, determines the corresponding control strategy based on the use state, and adjusts the due output torque of the walking assistance device through the control strategy, so that the output condition of the walking assistance device conforms to the actual use requirement of the user, and the usability of the walking assistance device is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts. It is to be understood that the drawings provided in this section are only for the purpose of better understanding the present solution and are not to be construed as limiting the present application.
FIG. 1 is a flowchart illustrating an embodiment of a control method for a walking assistance device according to the present application;
FIG. 2 is a schematic flow chart illustrating an embodiment of a method for controlling a walking assistance device according to the present application;
FIG. 3 is a schematic structural diagram of an embodiment of a control apparatus for a walking assistance device provided in the present application;
fig. 4 is a schematic structural diagram of an embodiment of a walking assistance device provided by the present application.
Detailed Description
In order to make the technical solutions in the embodiments of the present application better understood, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. 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 application. Meanwhile, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness of description.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The walking assisting device is an intelligent mechanical device which imitates the physiological structure of a human body, can be worn by a person, and assists the wearer while being cooperated with the movement of the wearer. The walking assisting device can provide external force support for the human body, further achieve the purposes of reducing the human body load, improving the human body movement capacity and the like, and has wide application prospect in the aspect of medical treatment and assistance for the disabled.
For the walking assistance device, the control mode is generally fixed, that is, a specific torque calculation formula is input based on parameters obtained by the sensor, so as to obtain and output the torque which should be provided currently, and then the external force support for the user is completed.
The control mode of the existing walking assisting device is completed only based on a specific torque providing formula in the control process, however, a user often faces different use environments when using the walking assisting device, such as walking in a flat ground environment, walking in an uphill or upstairs environment and walking in a downhill or downstairs environment, the walking posture of the user is changed to a certain degree, however, the change of the walking environment cannot be well recognized in the control mode of the existing walking assisting device, the control is mechanical, the walking state of the user cannot be well matched, and the use experience of the user is poor.
In order to solve the above problem, a first aspect of the embodiments of the present application provides a new method for controlling a walking assistance device, and specifically, referring to fig. 1, an embodiment of the present application includes: step 101-step 106.
101. Historical usage information of the walking assistance device by a target user is acquired.
Specifically, historical usage information of the walking assistance device by the target user is acquired. The historical usage information is information collected by the user in the previous usage process of the walking assistance device, the information type of the historical usage information may be determined according to actual needs, the specific collected information type may include the stride and the maximum hip flexion angle of the user, and such information may be obtained by calculating hip joint angles corresponding to both legs of the user at various times during the usage process of the walking assistance device, it may be understood that other types of historical usage information may also be obtained, such as information about the average usage speed of the user, and the like, and the specific information may be determined according to actual situations, and is not limited herein.
102. Determining standard gait information for the target user based on the historical usage information.
Specifically, the standard gait information of the target user is determined based on the historical usage information. Specifically, the standard gait information may include standard stride and standard maximum hip flexion angle, and specifically, the stride information and the maximum hip flexion angle information corresponding to each walking behavior of the user within a certain time may be collected, and the information such as the standard stride and the standard maximum hip flexion angle may be determined by calculating an average value or taking a median value, and the specific calculation method may be determined according to an actual situation, and is not limited herein. It can be understood that, in the actual implementation process, the information analogy included in the standard gait information can also be adjusted according to the actual situation, and is not limited herein.
103. Obtaining current usage information of the walking assistance device by a target user.
Specifically, current usage information of the walking assistance device by the target user is acquired. The current usage information may be real-time hip joint angles of the two legs read from the corresponding sensors, and stride information and maximum hip flexion angle information of the current user are calculated based on the hip joint angles, which may be determined according to actual conditions, and are not limited herein.
104. Determining a control strategy based on a gap between the current usage information and the standard gait.
Specifically, a control strategy is determined based on the difference between the current usage information and the standard gait, wherein the current usage information represents the current usage state of the user, the standard gait represents various attributes of the user in a normal condition, namely, a walking state on a flat ground, the difference between the current usage state of the user and the standard gait can be determined according to the difference between the current usage information and the standard gait, different control strategies can be set for different usage states respectively, such as a usage strategy corresponding to an uphill or upstairs state of the user, a usage strategy corresponding to a downhill or downstairs state of the user, a difference exists between the current usage information and the standard gait in different usage states, and a stride is smaller than a standard stride if the user is in the uphill or upstairs state, and a usage state for the user can be determined based on the difference, and setting a corresponding control strategy, wherein the correspondingly set control strategy is used for adjusting the output torque, so that the output torque output by the walking assisting device is more in line with the current use requirement of the user. Specifically, the setting of the control strategy may be determined according to actual situations, and is not limited herein.
105. And adjusting the output torque of the walking assisting device according to the control strategy.
Specifically, the output torque of the walking assistance device is adjusted according to the control strategy. The output torque is a torque to be output, which is calculated and obtained according to an original algorithm of the walking assistance device, the output torque has a certain magnitude and direction, the output torque is a walking assistance torque provided by the walking assistance device for a user, and an obtaining manner of the output torque may be determined according to an actual situation, and generally, the obtaining manner of the output torque may include: pressure data generated by pressure sensors arranged on soles of users in the walking assistance device are obtained, and output torque to be provided by the current walking assistance device is obtained through corresponding calculation based on the pressure data. Another way to obtain the output torque is to calculate the angle difference between the hip joints of the left leg and the hip joint of the right leg of the user at the current moment through hip joint angle detection, and calculate the output torque based on the angle difference.
The original output torque is calculated by walking on the flat ground of the user under a general condition, and for the user in other environments, the original output torque may not meet the use requirements of the user, so that corresponding adjustment needs to be performed based on a control strategy. The specific control strategy can set adjustment modes such as direction adjustment and strength adjustment of the output torque, the adjustment aims to enable the output torque to meet the use requirements of users in the current environment, the specific control strategy setting can be determined according to the actual situation, and the setting is not limited here.
106. And outputting the output torque.
Specifically, the output torque is output. And outputting the corrected output torque to the motor, so that the walking assistance device provides walking assistance for the user according to the output torque, and the walking assistance process is completed.
According to the technical scheme, the embodiment of the application has the following advantages: the present application provides a walking assistance device control method including: acquiring historical use information of a target user on the walking assisting device; determining standard gait information of the target user based on the historical usage information; acquiring current use information of the walking assisting device by a target user; determining a control strategy based on a gap between the current usage information and the standard gait; adjusting the output torque of the walking assistance device according to the control strategy; and outputting the output torque. Based on the scheme, the control method of the walking assistance device provided by the application compares the standard gait information of the user with the current use state information to determine the use state of the user, determines the corresponding control strategy based on the use state, and adjusts the due output torque of the walking assistance device through the control strategy, so that the output condition of the walking assistance device conforms to the actual use requirement of the user, and the usability of the walking assistance device is improved.
To facilitate the use of the method in practice, the present application also provides a more detailed embodiment of an alternative implementation, and referring to fig. 2, an embodiment of the present application includes: step 201-step 210.
201. Historical usage information of the walking assistance device by a target user is acquired.
202. Determining standard gait information for the target user based on the historical usage information.
The standard gait information includes a standard stride (stStep) and a standard maximum hip flexion angle (stMaxAngle), and the specific steps 201 to 202 are similar to the steps 101 to 102 in the embodiment corresponding to fig. 1, and are not described herein again.
203. And acquiring the current hip joint angle.
Specifically, the real-time hip joint angles of the legs are read from the sensors.
204. And calculating the current stride and the current maximum hip flexion angle according to the current hip joint angle.
Specifically, the current stride (step) and the current maximum hip flexion angle (maxngle) are calculated according to the current hip joint angle. It should be noted that the types of the current usage information and the standard gait information used in the actual implementation process may be adjusted according to the actual situation, for example, the types of information such as knee joint angle information may be used, and the specific type may be determined according to the actual situation, which is not limited herein.
205. A first numerical relationship between the current stride and the standard stride is determined.
Specifically, a first numerical relationship between a current stride and a standard stride is determined. A rated coefficient for measuring a difference between the current stride and the standard stride may be preset, a value of the rated coefficient may be determined according to an actual situation, and is not limited herein, and the first value relationship between the current stride and the standard stride in the actual implementation process may include: and the current stride is smaller than the rated coefficient multiplied by the standard stride or the current stride is larger than the rated coefficient multiplied by the standard stride. Generally, the nominal factor may be a value of about 1 for measuring whether the current stride is greater than the standard stride or less than the standard stride.
206. A second numerical relationship between the current maximum hip flexion angle and the standard maximum hip flexion angle is determined.
Specifically, a second numerical relationship between the current maximum hip flexion angle and the standard maximum hip flexion angle is determined. In an actual implementation process, a rated coefficient for measuring a difference between the current maximum hip flexion angle and the standard maximum hip flexion angle may be preset, a numerical value of the rated coefficient may be determined according to an actual situation, and is not limited herein, and a second numerical relationship between the current maximum hip flexion angle and the standard maximum hip flexion angle in the actual implementation process may include: the current maximum hip flexion angle is larger than a rated coefficient multiplied by a standard maximum hip flexion angle or the current maximum hip flexion angle is smaller than a rated coefficient multiplied by a standard maximum hip flexion angle. In general, the nominal factor may be a value of about 1 for measuring whether the current maximum hip flexion angle is greater than or less than the standard maximum hip flexion angle.
207. The direction of the output torque is converted into the hip extension direction, and the magnitude of the output torque is reduced.
Specifically, if the first numerical relationship is: if the current stride is less than the nominal factor multiplied by the standard stride, the second numerical relationship need not be determined. It is assumed that the user is currently on the upstairs or uphill, and specifically, the rated coefficient may be 0.7, i.e., step <0.7 × stStep, where the direction of the output torque is converted into the hip extension direction, and the magnitude of the output torque is reduced. So as to provide the assistance required by the upstairs or uphill process for the user.
208. The direction of the output torque is converted into the hip extension direction, and the magnitude of the output torque is improved.
Specifically, if the first numerical relationship is: the current stride is larger than the rated coefficient multiplied by the standard stride, and the second numerical relationship is that the current maximum hip flexion angle is larger than the rated coefficient multiplied by the standard maximum hip flexion angle. Specifically, the rated coefficient in the first numerical relationship may be 0.7, that is, step > is 0.7 × stStep, and the rated coefficient in the second numerical relationship may be 1.2, that is, maxalle >1.2 × stmaxle, and both conditions are met, the user is determined to be in the downstairs or downhill state, and the determined control strategy is to convert the direction of the output torque into the hip extending direction and increase the magnitude of the output torque. In order to provide the user with the assistance required for the downstairs or downhill processes.
209. And converting the direction of the output torque into a hip bending direction, and adjusting the output torque according to a preset requirement.
Specifically, if the first numerical relationship is: the current stride is greater than the nominal coefficient multiplied by the standard stride, and the second numerical relationship is: the current maximum hip flexion angle is smaller than a rated coefficient multiplied by a standard maximum hip flexion angle; the user can be determined to be converted back to the normal walking state from the upstairs or downstairs state, specifically, the rated coefficient in the first numerical relationship can be 0.7, i.e., step > is 0.7 × stStep, the rated coefficient in the second numerical relationship can be 0.8, i.e., maxngle <0.7 × stmaxgle, and both conditions are met, the user is determined to be converted back to the normal walking state from the upstairs or downstairs state, the determined control strategy is to convert the direction of the output torque to the hip flexion direction, and the output torque is adjusted according to the preset requirement, so as to meet the requirement of the user for normal walking.
210. And outputting the output torque.
And outputting the output torque. And outputting the corrected output torque to the motor, so that the walking assistance device provides walking assistance for the user according to the output torque, and the walking assistance process is completed.
According to the technical scheme, the embodiment of the application has the following advantages: the present application provides a walking assistance device control method including: acquiring historical use information of the walking assisting device by a target user; determining standard gait information of the target user based on the historical usage information; acquiring current use information of the walking assisting device by a target user; determining a control strategy based on a gap between the current usage information and the standard gait; adjusting the output torque of the walking assistance device according to the control strategy; and outputting the output torque. Based on the scheme, the control method of the walking assistance device provided by the application compares the standard gait information of the user with the current use state information to determine the use state of the user, determines the corresponding control strategy based on the use state, and adjusts the due output torque of the walking assistance device through the control strategy, so that the output condition of the walking assistance device conforms to the actual use requirement of the user, and the usability of the walking assistance device is improved.
The method provided by the present application is described above, and in order to support the implementation of the above embodiment, the present application further provides a control apparatus for a walking assistance device, please refer to fig. 3, and an embodiment of the present application includes:
a historical usage information acquisition unit 301 for acquiring historical usage information of the walking assistance device by a target user;
a standard gait information determination unit 302, configured to determine standard gait information of the target user based on the historical usage information;
a current usage information acquiring unit 303 for acquiring current usage information of the walking assistance device by a target user;
a control strategy determination unit 304 for determining a control strategy based on a gap between the current usage information and the standard gait;
an output torque adjusting unit 305 for adjusting the output torque of the walking assistance device according to the control strategy;
an output unit 306 for outputting the output torque.
In this embodiment, the flow executed by each unit in the walking assistance device control apparatus is similar to the method flow described in the embodiment corresponding to fig. 1 or fig. 2, and is not repeated here.
Fig. 4 is a schematic structural diagram of a powered exoskeleton device, according to an embodiment of the present application, wherein the powered exoskeleton device 400 comprises:
the controller 401 may be implemented in processing circuitry (such as hardware including logic circuitry), a hardware/software combination (such as a processor executing software), or a combination thereof and memory. For example, the processing circuitry may more specifically include, but is not limited to: a Central Processing Unit (CPU), an Arithmetic Logic Unit (ALU), a digital signal processor, a microcomputer, a Field Programmable Gate Array (FPGA), a programmable logic unit, a microprocessor, an Application Specific Integrated Circuit (ASIC), etc. The controller is configured to execute the method flow corresponding to fig. 1 or fig. 2, that is, configured to determine the stride frequency information of the user based on the historical usage information of the user; determining a lag time according to the step frequency information of the user; calculating a lag speed according to the lag duration, wherein the lag speed is the speed information of the power exoskeleton corresponding to the moment after the lag duration is subtracted from the current moment; a drag torque is determined from the lag speed.
A motor 402 for outputting the resistance torque, wherein the direction of the resistance force is opposite to the movement direction of the user.
Optionally, powered exoskeleton device 400 further comprises a power source 403, a memory 404, wherein one or more applications or data are stored in memory 404. Memory 404 may be, among other things, volatile storage or persistent storage. The program stored in the memory 404 may include one or more modules, each of which may include a series of instruction operations. Still further, the central processor 401 may be arranged to communicate with the memory 404 and to perform a series of instruction operations in the memory 405.
An embodiment of the present application further provides a computer program product, which includes computer software instructions that can be loaded by a processor to implement the flow of the control method of the walking assistance device in any one of fig. 1 and fig. 2.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, equivalent circuit transformations, partitions of units, and logic functions may be merely one type of partitioning, and in actual implementation, there may be other partitioning manners, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
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 units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A walking assistance device control method comprising:
acquiring historical use information of the walking assisting device by a target user;
determining standard gait information of the target user based on the historical usage information;
acquiring current use information of the walking assisting device by a target user;
determining a control strategy based on a gap between the current usage information and the standard gait;
adjusting the output torque of the walking assistance device according to the control strategy;
and outputting the output torque.
2. The walking assistance device control method according to claim 1, wherein the standard gait information includes: a standard stride and a standard maximum hip flexion angle, the current usage information including: current stride and current maximum hip flexion angle.
3. The walking assistance device control method according to claim 1, wherein the acquiring current usage information of the walking assistance device by the target user includes:
acquiring a current hip joint angle;
and calculating the current stride and the current maximum hip flexion angle according to the current hip joint angle.
4. The walking assistance device control method according to claim 1, wherein the determining a control strategy based on a difference between the current usage information and the standard gait information includes:
determining a first numerical relationship between the current stride and the standard stride;
determining a second numerical relationship between the current maximum hip flexion angle and the standard maximum hip flexion angle;
and determining the control strategy according to the first numerical relation and the second numerical relation.
5. The walking assistance device control method according to claim 4, wherein the first numerical relationship is: the current stride is less than the nominal coefficient multiplied by the standard stride;
the control strategy is to convert the direction of the output torque into the hip extension direction and reduce the magnitude of the output torque.
6. The walking assistance device control method according to claim 4, wherein the first numerical relationship is: the current stride is larger than the rated coefficient multiplied by the standard stride, and the second numerical relationship is that the current maximum hip flexion angle is larger than the rated coefficient multiplied by the standard maximum hip flexion angle;
the control strategy is to convert the direction of the output torque into the hip extension direction and improve the magnitude of the output torque.
7. The walking assistance device control method according to claim 4, wherein the first numerical relationship is: the current stride is larger than the nominal coefficient multiplied by the standard stride, and the second numerical relationship is as follows: the current maximum hip flexion angle is smaller than a rated coefficient multiplied by a standard maximum hip flexion angle;
the control strategy is to convert the direction of the output torque into a hip flexion direction and adjust the output torque according to a preset requirement.
8. A walking assistance device control apparatus characterized by comprising:
a history use information acquisition unit configured to acquire history use information of the walking assistance device by a target user;
a standard gait information determination unit for determining standard gait information of the target user based on the historical usage information;
a current usage information acquisition unit for acquiring current usage information of the walking assistance device by a target user;
a control strategy determination unit for determining a control strategy based on a gap between the current usage information and the standard gait;
an output torque adjusting unit for adjusting the output torque of the walking assistance device according to the control strategy;
and the output unit is used for outputting the output torque.
9. A walking assistance device, comprising:
a controller configured to perform: acquiring historical use information of a target user on the walking assisting device; determining standard gait information of the target user based on the historical usage information; acquiring current use information of the walking assisting device by a target user; determining a control strategy based on a gap between the current usage information and the standard gait; adjusting the output torque of the walking assistance device according to the control strategy;
and the motor is used for outputting the output torque.
10. A computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 7.
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