CN115016561B - Walking auxiliary device control method and related equipment thereof - Google Patents
Walking auxiliary device control method and related equipment thereof Download PDFInfo
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- 210000004394 hip joint Anatomy 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 5
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
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Abstract
The embodiment of the application discloses a walking assistance device control method, which comprises the following steps: acquiring historical use information of a target user on the walking assistance device; determining standard gait information of the target user based on the historical usage information; acquiring current use information of a target user on the walking assistance device; determining a control strategy based on the gap between the current usage information and the standard gait; adjusting the output torque of the walking auxiliary device according to the control strategy; and outputting the output torque. Based on the scheme, the walking assistance device control method provided by the application determines the current use state of the user by comparing the standard gait information of the user with the current use state information, determines the corresponding control strategy based on the use state, and adjusts the due output moment of the walking assistance device through the control strategy, so that the output condition of the walking assistance device accords with the actual use requirement of the user, and the usability of the walking assistance device is improved.
Description
Technical Field
The application belongs to the field of equipment control, and particularly relates to a walking aid device control method and related equipment thereof.
Background
The walking aid is an intelligent mechanical device which imitates the physiological structure of a human body, can be worn by a person, and can assist the wearer while cooperating with the movement of the wearer. The walking auxiliary device can provide external force support for human bodies, further achieve the purposes of reducing the load of the human bodies, improving the movement capacity of the human bodies and the like, and has wide application prospects in the aspect of medical assistance.
For the walking auxiliary device, the control mode is generally fixed, namely, a specific moment calculation formula is input based on parameters obtained by the sensor, the moment which is required to be provided at present is obtained and output, and external force support to a user is completed.
The existing walking auxiliary device control mode is only completed based on a specific moment providing formula in the control process, however, users often face different use environments when using the walking auxiliary device, such as walking in a flat environment, walking in an uphill or upstairs environment and walking in a downhill or downstairs environment, at this time, the walking posture of the users can be changed to a certain extent, however, the situation that the walking environment is changed cannot be well recognized in the existing walking auxiliary device control mode, the control is relatively mechanical, the walking state of people cannot be well matched, and the user use experience is poor.
Disclosure of Invention
A first aspect of an embodiment of the present application provides a walking assistance device control method, including:
acquiring historical use information of a target user on the walking assistance device;
Determining standard gait information of the target user based on the historical usage information;
acquiring current use information of a target user on the walking assistance device;
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.
According to the method for controlling a walking assistance device provided in the first aspect of the embodiment of the present application, optionally, the standard gait information includes: standard stride and standard maximum flexion hip angle, the current usage information includes: current stride and current maximum flexion hip angle.
According to the method for controlling a walking assistance device provided in the first aspect of the embodiment of the present application, optionally, the obtaining 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 flexion hip angle according to the current hip joint angle.
According to the method for controlling a walking assistance device provided in the first aspect of the embodiment of the present application, optionally, the determining a control policy based on a gap 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 flexion hip angle and the standard maximum flexion hip angle;
And determining the control strategy according to the first numerical relation and the second numerical relation.
Based on the method for controlling a walking assistance device according to 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 stretching direction and reduce the magnitude of the output torque.
Based on the method for controlling a walking assistance device according to 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 relation is that the current maximum flexion hip angle is larger than the rated coefficient multiplied by the standard maximum flexion hip angle;
The control strategy is to convert the direction of the output torque into the hip stretching direction and improve the magnitude of the output torque.
Based on the method for controlling a walking assistance device according to the first aspect of the embodiment of the present application, optionally, the first numerical relationship is: the current stride is greater than the rated coefficient multiplied by the standard stride, and the second numerical relationship is: the current maximum flexion hip angle is smaller than the rated coefficient multiplied by the standard maximum flexion hip angle;
The control strategy is to convert the direction of the output torque into the hip bending direction and adjust the output torque according to preset requirements.
A second aspect of an embodiment of the present application provides a walking assist device control apparatus, including:
a history use information acquisition unit configured to acquire history use information of the walking assist device by a target user;
A standard gait information determination unit configured to determine standard gait information of the target user based on the history use information;
A current usage information acquisition unit configured to acquire current usage information of the walking assistance device by a target user;
a control strategy determining unit for determining a control strategy based on a gap between the current usage information and the standard gait;
An output torque adjustment unit for adjusting the output torque of the walking assist device according to the control strategy;
And the output unit is used for outputting the output torque.
A third aspect of an embodiment of the present application provides a walking assist device, including:
A controller configured to perform: acquiring historical use information of a target user on the walking assistance device; determining standard gait information of the target user based on the historical usage information; acquiring current use information of a target user on the walking assistance device; 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 the embodiments of the present application provides a computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform a method according to any one of the first aspect of the embodiments of the present application.
A fifth aspect of an embodiment of the application provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method according to any of the first aspect of the embodiment of the application.
From the above technical solutions, the embodiment of the present application has the following advantages: the application provides a walking assistance device control method, comprising the following steps: acquiring historical use information of a target user on the walking assistance device; determining standard gait information of the target user based on the historical usage information; acquiring current use information of a target user on the walking assistance device; 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 walking assistance device control method provided by the application determines the current use state of the user by comparing the standard gait information of the user with the current use state information, determines the corresponding control strategy based on the use state, and adjusts the due output moment of the walking assistance device through the control strategy, so that the output condition of the walking assistance device accords with 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 that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art. It is to be understood that the drawings provided in this section are for a better understanding of the present application only and are not to be construed as limiting the application.
FIG. 1 is a schematic flow chart of a control method of a walking assist device according to an embodiment of the present application;
FIG. 2 is a schematic diagram of another embodiment of a control method of a walking assist device according to the present application;
FIG. 3 is a schematic view showing a control apparatus for a walking assist device according to an embodiment of the present application;
fig. 4 is a schematic structural view of a walking assist device according to an embodiment of the application.
Detailed Description
In order to better understand the solution of the present application, the following description of the solution of the embodiment of the present application will be clear and complete, and it is obvious that the described embodiment is only a part of the embodiment of the present application, not all the embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application. Meanwhile, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness of the description.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise 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 aid is an intelligent mechanical device which imitates the physiological structure of a human body, can be worn by a person, and can assist the wearer while cooperating with the movement of the wearer. The walking auxiliary device can provide external force support for human bodies, further achieve the purposes of reducing the load of the human bodies, improving the movement capacity of the human bodies and the like, and has wide application prospects in the aspect of medical assistance.
For the walking auxiliary device, the control mode is generally fixed, namely, a specific moment calculation formula is input based on parameters obtained by the sensor, the moment which is required to be provided at present is obtained and output, and external force support to a user is completed.
The existing walking auxiliary device control mode is only completed based on a specific moment providing formula in the control process, however, users often face different use environments when using the walking auxiliary device, such as walking in a flat environment, walking in an uphill or upstairs environment and walking in a downhill or downstairs environment, at this time, the walking posture of the users can be changed to a certain extent, however, the situation that the walking environment is changed cannot be well recognized in the existing walking auxiliary device control mode, the control is relatively mechanical, the walking state of people cannot be well matched, and the user use experience is poor.
To solve the above problems, a first aspect of the present application provides a new walking assist device control method, and in particular, 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 the target user is acquired.
Specifically, historical usage information of the walking assistance device by the target user is obtained. The historical use information is information collected by the user in the previous use process of the walking assistance device, wherein the information type of the historical use information can be determined according to actual requirements, the specific collected information type can comprise information such as stride and maximum hip flexion angle of the user, the information can be obtained through calculation of hip joint angles corresponding to two legs at each moment in the use process of the walking assistance device, it can be understood that other types of historical use information can be obtained, such as average use speed of the user and the like, the information can be determined according to actual conditions, and the information is not limited herein.
102. Standard gait information of the target user is determined based on the historical usage information.
Specifically, standard gait information of the target user is determined based on the historical usage information. Specifically, the standard gait information may include information such as a standard stride and a standard maximum flexion hip angle, specifically, stride information and maximum flexion hip angle information corresponding to each walking behavior of the user in a certain time may be collected, and the information such as the standard stride and the standard maximum flexion hip angle may be determined by calculating an average value or taking a median value, and the specific calculation manner may be according to the actual situation, which is not limited herein. It will be appreciated that the analogy of the information included in the standard gait information in the actual implementation may also be adjusted according to the actual situation, and is not limited herein.
103. And acquiring current use information of the walking assistance device by the target user.
Specifically, current use information of the walking assistance device by the target user is obtained. The current usage information may be real-time hip joint angles of the two legs read from the corresponding sensors, and the stride information and the maximum flexion hip angle information of the current user are calculated based on the hip joint angles, which may be specific to the actual situation, and are not limited herein.
104. A control strategy is determined based on the 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 indicates the current usage state of the user, the standard gait indicates each attribute of the user in a normal condition, namely, in a level walking state, the difference between the current usage state of the user and the standard gait can be determined through the difference between the current usage information and the standard gait, different control strategies can be respectively set for different usage states, such as a usage strategy corresponding to an uphill or a downslope state of the user, a usage strategy corresponding to a downslope or a downslope state of the user, the current usage information in different usage states is different from the standard gait, such as that the stride of the user in the uphill or the upslope state is smaller than that of the standard stride, the usage state of the user can be determined based on the difference, and a corresponding control strategy is set, and the corresponding control strategy is used for adjusting the output torque so that the output torque output by the auxiliary device more accords with the current usage requirement of the user. Specifically, the setting of the control strategy may be determined according to the actual situation, which is not limited herein.
105. And adjusting the output torque of the walking auxiliary 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 the torque to be output obtained by calculation according to the original algorithm of the walking aid device, the output torque has a certain magnitude and direction, the output torque is the walking aid torque provided by the walking aid device for the user, the obtaining mode of the output torque can be determined according to the actual situation, and generally, the obtaining mode of the output torque can include: pressure data generated by a pressure sensor arranged on the sole of a user in the walking assistance device is acquired, and the output moment which is required to be provided by the current walking assistance device is acquired through corresponding calculation based on the pressure data. The other output torque obtaining mode is to calculate the angle difference of the hip joints of the left leg and 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, and the specific output torque calculating mode can be determined according to the actual situation and is not limited herein.
The original output moment is calculated aiming at the situation that the user walks on the flat ground under the general condition, and the original output moment can not meet the use requirement of the user when the user is in other environments, so that the user needs to correspondingly adjust based on a control strategy. The specific control strategy can set up the adjustment modes such as direction adjustment and intensity adjustment of the output torque, the adjustment aims at enabling the output torque to meet the use requirement of a user in the current environment, the specific control strategy can be set according to the actual situation, and the method is not limited.
106. And outputting the output torque.
Specifically, the output torque is output. And outputting the corrected output torque to a 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.
From the above technical solutions, the embodiment of the present application has the following advantages: the application provides a walking assistance device control method, comprising the following steps: acquiring historical use information of a target user on the walking assistance device; determining standard gait information of the target user based on the historical usage information; acquiring current use information of a target user on the walking assistance device; 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 walking assistance device control method provided by the application determines the current use state of the user by comparing the standard gait information of the user with the current use state information, determines the corresponding control strategy based on the use state, and adjusts the due output moment of the walking assistance device through the control strategy, so that the output condition of the walking assistance device accords with 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 a practical process, the application also provides an alternative implementation of a more detailed embodiment, referring to fig. 2, an embodiment of the application includes: step 201-step 210.
201. Historical usage information of the walking assistance device by the target user is acquired.
202. Standard gait information of the target user is determined based on the historical usage information.
The standard gait information includes a standard stride (stStep) and a standard maximum flexion hip angle (stMaxAngle), and the steps 201 to 202 are similar to the steps 101 to 102 in the corresponding embodiment of fig. 1, and are not repeated here.
203. The current hip joint angle is obtained.
Specifically, the real-time hip joint angle of the two legs is read from the sensor.
204. And calculating the current stride and the current maximum flexion hip angle according to the current hip joint angle.
Specifically, the current stride (step) and the current maximum flexion hip angle (maxAngle) are calculated from the current hip 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 information of the type such as knee joint angle information may be used, and the present invention 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 the current stride and the standard stride is determined. The rated coefficient for measuring the difference between the current stride and the standard stride may be preset, and the magnitude of the rated coefficient may be determined according to the actual situation, which is not limited herein, and the first numerical relationship between the current stride and the standard stride in the actual implementation process may include: the current stride is less than the nominal coefficient multiplied by the standard stride or the current stride is greater than the nominal coefficient multiplied by the standard stride. In general, the nominal factor may be a value of around 1, which is used to measure 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 flexion hip angle and the standard maximum flexion hip angle is determined.
Specifically, a second numerical relationship between the current maximum flexion hip angle and the standard maximum flexion hip angle is determined. In an actual implementation process, a rated coefficient for measuring a difference between the current maximum flexion hip angle and the standard maximum flexion hip angle may be preset, and a value of the rated coefficient may be determined according to an actual situation, which is not limited herein, and in the actual implementation process, a second numerical relationship between the current maximum flexion hip angle and the standard maximum flexion hip angle may include: the current maximum flexion hip angle is greater than the rated coefficient multiplied by the standard maximum flexion hip angle or the current maximum flexion hip angle is less than the rated coefficient multiplied by the standard maximum flexion hip angle. In general, the nominal factor may be a value of around 1, which is used to measure whether the current maximum flexion hip angle is greater than the standard maximum flexion hip angle or less than the standard maximum flexion hip angle.
207. The direction of the output moment is converted into the hip extending direction, and the magnitude of the output moment is reduced.
Specifically, if the first numerical relationship is: the current stride is less than the nominal coefficient multiplied by the standard stride, and the second numerical relationship need not be determined. It can be determined that the user is currently in an upstairs or uphill state, specifically, the rated coefficient may be 0.7, that is, step <0.7 ststep, and at this time, the direction of the output torque is converted into the hip extension direction, and the magnitude of the output torque is reduced. To provide the user with the assistance needed to go upstairs or uphill.
208. The direction of the output moment is converted into the hip extending direction, and the magnitude of the output moment is improved.
Specifically, if the first numerical relationship is: the current stride is greater than a nominal coefficient multiplied by a standard stride, and the second numerical relationship is that the current maximum flexion hip angle is greater than the nominal coefficient multiplied by the standard maximum flexion hip angle. The user can be considered to be in a downstairs or downhill state currently, specifically, the rated coefficient in the first numerical relationship may be 0.7, that is, step > =0.7×ststep, the rated coefficient in the second numerical relationship may be 1.2, that is, maxAngle >1.2×stmaxangle, and both conditions are met, the user is considered to be in a downstairs or downhill state currently, 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 needed for going downstairs or going downhill.
209. And converting the direction of the output moment into the hip bending direction, and adjusting the output moment according to the preset requirement.
Specifically, if the first numerical relationship is: the current stride is greater than a nominal coefficient multiplied by a standard stride, and the second numerical relationship is: the current maximum flexion hip angle is smaller than the rated coefficient multiplied by the standard maximum flexion hip angle; the user can be considered to be converted back to the normal walking state from the upstairs or downstairs state, specifically, the rated coefficient in the first numerical relationship may be 0.7, namely step > =0.7×ststep, the rated coefficient in the second numerical relationship may be 0.8, namely maxAngle < 0.7×stmaxangle, and both conditions are met, the user is considered 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 into the hip bending direction, and the output torque is adjusted according to the preset requirement so as to meet the requirement of normal walking of the user.
210. And outputting the output torque.
And outputting the output torque. And outputting the corrected output torque to a 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.
From the above technical solutions, the embodiment of the present application has the following advantages: the application provides a walking assistance device control method, comprising the following steps: acquiring historical use information of a target user on the walking assistance device; determining standard gait information of the target user based on the historical usage information; acquiring current use information of a target user on the walking assistance device; 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 walking assistance device control method provided by the application determines the current use state of the user by comparing the standard gait information of the user with the current use state information, determines the corresponding control strategy based on the use state, and adjusts the due output moment of the walking assistance device through the control strategy, so that the output condition of the walking assistance device accords with the actual use requirement of the user, and the usability of the walking assistance device is improved.
The foregoing describes a method provided by the present application, and in order to support implementation of the foregoing embodiment, the present application further provides a walking assistance device control apparatus, referring to fig. 3, and one embodiment of the present application includes:
a history use information acquiring unit 301 for acquiring history use information of the walking assist device by a target user;
a standard gait information determination unit 302 for determining standard gait information of the target user based on the history use information;
A current usage information obtaining unit 303, configured to obtain 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 adjustment unit 305 for adjusting an output torque of the walking assist device according to the control strategy;
And 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 flow of the method described in the foregoing embodiment corresponding to fig. 1 or fig. 2, and will not be repeated here.
Fig. 4 is a schematic structural diagram of a powered exoskeleton device according to an embodiment of the present application, where the powered exoskeleton device 400 includes:
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 step frequency information of the user based on the historical usage information of the user; determining a hysteresis time length according to the step frequency information of the user; calculating a hysteresis speed according to the hysteresis time, wherein the hysteresis speed is the speed information of the dynamic exoskeleton corresponding to the moment after the hysteresis time is subtracted from the current moment; and determining the resistance moment according to the hysteresis speed.
And a motor 402 for outputting the resistance moment, wherein the direction of the resistance moment is opposite to the movement direction of the user.
Optionally, powered exoskeleton device 400 further comprises a power source 403, a memory 404, and one or more applications or data stored in memory 404. Wherein the memory 404 may be volatile storage or persistent storage. The program stored in 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 execute a series of instruction operations in the memory 405.
Embodiments of the present application also provide a computer program product comprising computer software instructions that can be loaded by a processor to implement the flow of the walking assistance device control method of any one of fig. 1-2.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., equivalent transformations of circuitry, partitioning of elements is merely one logical functional partitioning, and there may be additional partitioning aspects in actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not implemented. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (6)
1. A walking assist device control method, comprising:
acquiring historical use information of a target user on the walking assistance device;
Determining standard gait information of the target user based on the historical usage information;
acquiring current use information of a target user on the walking assistance device;
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;
Outputting the output torque;
the determining a control strategy based on the gap 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 flexion hip angle and the standard maximum flexion hip angle;
Determining the control strategy according to the first numerical relation and the second numerical relation;
If 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 stretching direction and reduce the magnitude of the output torque;
and/or if the first numerical relationship is: the current stride is larger than the rated coefficient multiplied by the standard stride, and the second numerical relation is that the current maximum flexion hip angle is larger than the rated coefficient multiplied by the standard maximum flexion hip angle;
the control strategy is to convert the direction of the output torque into the hip stretching direction and improve the magnitude of the output torque;
and/or if the first numerical relationship is: the current stride is greater than the rated coefficient multiplied by the standard stride, and the second numerical relationship is: the current maximum flexion hip angle is smaller than the rated coefficient multiplied by the standard maximum flexion hip angle;
the control strategy is to convert the direction of the output torque into the hip bending direction and adjust the output torque according to the preset requirement.
2. The walking assist device control method of claim 1, wherein said standard gait information comprises: standard stride and standard maximum flexion hip angle, the current usage information includes: current stride and current maximum flexion hip angle.
3. The walking assist device control method of claim 1, wherein said obtaining current usage information of said walking assist device by a target user comprises:
Acquiring a current hip joint angle;
and calculating according to the current hip joint angle to obtain the current stride and the current maximum flexion hip angle.
4. A walking assist device control apparatus for performing the method of any one of claims 1 to 3, comprising:
a history use information acquisition unit configured to acquire history use information of the walking assist device by a target user;
A standard gait information determination unit configured to determine standard gait information of the target user based on the history use information;
A current usage information acquisition unit configured to acquire current usage information of the walking assistance device by a target user;
a control strategy determining unit for determining a control strategy based on a gap between the current usage information and the standard gait;
An output torque adjustment unit for adjusting the output torque of the walking assist device according to the control strategy;
An output unit configured to output the output torque;
the control strategy determining unit is specifically configured to:
Determining a first numerical relationship between the current stride and the standard stride;
determining a second numerical relationship between the current maximum flexion hip angle and the standard maximum flexion hip angle;
Determining the control strategy according to the first numerical relation and the second numerical relation;
If 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 stretching direction and reduce the magnitude of the output torque;
and/or if the first numerical relationship is: the current stride is larger than the rated coefficient multiplied by the standard stride, and the second numerical relation is that the current maximum flexion hip angle is larger than the rated coefficient multiplied by the standard maximum flexion hip angle;
the control strategy is to convert the direction of the output torque into the hip stretching direction and improve the magnitude of the output torque;
and/or if the first numerical relationship is: the current stride is greater than the rated coefficient multiplied by the standard stride, and the second numerical relationship is: the current maximum flexion hip angle is smaller than the rated coefficient multiplied by the standard maximum flexion hip angle;
the control strategy is to convert the direction of the output torque into the hip bending direction and adjust the output torque according to the preset requirement.
5. A walking assist device, comprising:
a controller configured to perform the method of any one of claims 1 to 3;
And the motor is used for outputting the output torque.
6. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1 to 3.
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