CN115778763A - Unilateral hip joint walking-assistant robot and control method - Google Patents

Abstract

The application provides a unilateral hip joint walking-assistant robot and a control method, relating to the technical field of walking-assistant robots; the waist fixing component comprises a backpack, and a control system is arranged in the backpack; the healthy side wearing component comprises a healthy side encoder for acquiring the healthy side thigh movement information, the healthy side encoder is correspondingly arranged at the position of the healthy side hip joint, and the healthy side encoder is electrically connected with the control system; the affected side power assembly comprises a power unit and an affected side encoder for collecting motion information of thighs of the affected side, the power unit and the affected side encoder are arranged on a leg connecting rod of the affected side and correspond to the affected side hip joint, and the power unit and the affected side encoder are respectively electrically connected with the control system. Aiming at the hemiplegic user, a single-joint power scheme is adopted, so that the weight is further reduced, and the burden of equipment on the patient is reduced; the movement intention is simply and accurately identified; and (4) self-adaptive adjustment of the boosting torque.

Description

Unilateral hip joint walking-assistant robot and control method

Technical Field

The application relates to the technical field of walking-aid robots, in particular to a unilateral hip joint walking-aid robot and a control method.

Background

With the development of society, the aging problem of population is more and more severe, the number of stroke patients is gradually increased every year, and stroke hemiplegia patients have the standing balance ability and a certain degree of walking ability in the later stage of rehabilitation, but lack the professional rehabilitation equipment of hospitals in the home process, and cannot continuously carry out effective rehabilitation treatment.

Aiming at cerebral apoplexy hemiplegia patients with gait deformity and walking ability reduction caused by the atrophy of muscles at the affected side, the patients can carry out gait rehabilitation training through lower limb rehabilitation exoskeleton equipment in a hospital in the early stage, and in the later stage of rehabilitation, the patients cannot continuously carry out effective rehabilitation treatment at home because the traditional lower limb rehabilitation exoskeleton equipment is heavy, large and expensive. Actually, the patient has the standing balance ability and a certain degree of walking ability in the later period of rehabilitation, but the walking ability is weak, and the main reason is that the hip bending muscle strength is insufficient due to the influence of the muscle strength of the lower limbs, so that the patient cannot continuously or well lift the thighs for taking a step. To perform muscle rehabilitation, the patient must adhere to walking training, and then falls into a vicious circle where the patient cannot recover effectively.

However, in the prior art, the hip joint assisted walking aid is basically focused on the hip joint assisted walking aid of normal people or old people, the assisted walking aid of hemiplegic patients is rarely involved, the weight of the equipment still has certain burden for the hemiplegic patients, and the equipment is designed without considering the specific situation of the hemiplegic patients from the aspects of the whole design and the functional requirements of the equipment. Therefore, for such patients, an effective and portable rehabilitation device is needed to assist the patients to walk and rehabilitate at home continuously by providing assistance for the movement of the lower limbs, so as to improve the muscle strength of the lower limbs.

Disclosure of Invention

In view of the above, the present application is directed to providing a unilateral hip joint walker robot and method of control that overcomes or at least partially addresses the above-mentioned problems, comprising:

a unilateral hip joint walker robot comprising: the waist fixing component, the side-exercising wearing component and the affected side power component are respectively arranged on two sides of the waist fixing component;

the waist fixing component comprises a backpack, and a control system is arranged in the backpack;

the side-exercising wearing component comprises a side-exercising encoder used for collecting motion information of thighs on the side-exercising, the side-exercising encoder is correspondingly arranged at the position of a hip joint on the side-exercising, and the side-exercising encoder is electrically connected with the control system;

the affected side power assembly comprises a power unit and an affected side encoder for collecting motion information of an affected side thigh, and the power unit and the affected side encoder are correspondingly arranged at the affected side hip joint position; the power unit and the affected side encoder are respectively electrically connected with the control system;

the waist fixing component is arranged at a position corresponding to the waist of the patient when the patient wears the walking robot; the side-welling wearing component corresponds to a side-welling lower limb of the patient; the affected side power assembly corresponds to an affected side lower limb of the patient; the control system is fixed at the back position of the patient through the backpack, wherein the healthy-side encoder corresponds to the healthy-side hip joint position of the patient, and the affected-side encoder corresponds to the affected-side hip joint position of the patient.

Preferably, control system includes main control unit, bluetooth unit, power management unit and lithium cell, the main control unit the bluetooth unit with electric connection each other between the power management unit, the power management unit with the lithium cell electricity is connected, bluetooth unit and external equipment end communication connection.

Preferably, the waist fixing component further comprises a waist connecting rod and a waistband, the waistband is bonded on the inner side of the waist connecting rod, and the open end of the waist connecting rod is provided with a buckle which is matched with the open end of the waist connecting rod; the backpack and the waist fixing component are connected with adjustable shoulder straps.

Preferably, the subassembly is dressed to healthy side still includes healthy side shank connecting rod, it still includes the affected side shank connecting rod to suffer from the side power component, healthy side shank connecting rod with the bottom of suffering from side shank connecting rod all is equipped with the shank bandage.

Preferably, the side-care wearing component and the affected side power component further comprise fixing brackets, the fixing brackets are arranged on connecting parts extending downwards on two sides of the waistband, and connecting belts are arranged on the fixing brackets and connected to the buckles; the side-care encoder, the power unit and the affected side encoder are respectively connected to the fixed support.

Preferably, the fixed bolster is provided with a rotating arm, and the rotating arm on the healthy side and the rotating arm on the affected side are respectively hinged with the top ends of the healthy side leg connecting rod and the affected side leg connecting rod.

A control method applied to the unilateral hip joint walking aid robot of any one of the above items, wherein the control method is used for aiming at the exoskeleton walking aid robot; the method comprises the following steps:

acquiring a side-exercising motion parameter of a side-exercising hip joint of a wearer;

determining the movement intention of the leg of the wearer according to the side-exercising movement parameters;

acquiring affected side motion parameters of affected side hip joints of a wearer;

and determining the output torque of the affected side according to the movement intention and the motion parameters of the affected side, and sending the output torque to the control system.

Preferably, the exercise parameters of the healthy side comprise the angle of the healthy side hip joint, the angular velocity of the healthy side hip joint and the angular acceleration of the healthy side hip joint; the step of determining the movement intention of the leg of the wearer according to the side-exercising parameter comprises the following steps:

recording and processing the exercise parameters of the exercise side, and extracting the exercise characteristic information of the exercise parameters of the exercise side;

determining the movement intention of the leg of the wearer according to the extracted movement characteristic information; wherein the movement intention comprises a leg lifting and stepping intention and a landing intention.

Preferably, the step of determining the movement intention of the leg of the wearer according to the extracted movement characteristic information comprises:

determining the leg lifting and stepping intention or the landing intention according to the angular speed of the hip joint on the side of the user;

when the hip joint angular speed is greater than a preset angular speed threshold value, determining that the movement intention is a leg lifting and stepping intention;

determining the movement intent as a landing intent at the instant when the hip joint angular velocity changes from a positive value to a negative value.

Preferably, the affected side movement parameters include an affected side hip joint angle, an affected side hip joint angular velocity and an affected side hip joint angular acceleration, and the step of determining the affected side output torque according to the movement intention and the affected side movement parameters includes:

generating an output power-assisted curve according to the movement intention;

and adjusting the output torque value and the assistance time of the output assistance curve according to the angle of the hip joint on the affected side, the angular speed of the hip joint on the affected side and the angular acceleration of the hip joint on the affected side, and determining the output torque on the affected side.

The application has the following advantages:

in the embodiment of the application, the waist fixing component, the healthy side wearing component and the sick side power component are respectively arranged at two sides of the waist fixing component; the waist fixing component comprises a backpack, and a control system is arranged in the backpack; the side-exercising wearing component comprises a side-exercising encoder used for collecting the motion information of the thigh at the side-exercising, the side-exercising encoder is correspondingly arranged at the position of the hip joint at the side-exercising, and the side-exercising encoder is electrically connected with the control system; the affected side power assembly comprises a power unit and an affected side encoder for collecting motion information of an affected side thigh, and the power unit and the affected side encoder are correspondingly arranged at the affected side hip joint position; the power unit and the affected side encoder are respectively electrically connected with the control system; the waist fixing component is arranged at a position corresponding to the waist of the patient when the patient wears the walking-assisting robot; the side-welling wearing component corresponds to a side-welling lower limb of the patient; the affected side power assembly corresponds to an affected side lower limb of the patient; the control system is fixed at the back position of the patient through the backpack, wherein the healthy-side encoder corresponds to the healthy-side hip joint position of the patient, and the affected-side encoder corresponds to the affected-side hip joint position of the patient. By adopting the backpack type structure, a person can wear the hemiplegic patient under the condition of standing or sitting, the weight is light, the wearing is convenient, the unilateral joint power design is adopted specially aiming at the hemiplegic patient, the healthy side adopts the portable magnetic knitting structure to obtain the healthy side movement information, and meanwhile, the healthy side movement information is fixed on the hip joint of the patient, so that the healthy side movement information can be obtained visually and effectively; in terms of software and control schemes, the power-assisted grade is adjusted in a personalized way according to the user condition; the motion intention detection, gait analysis and the like of the wearer are carried out only through the encoder sensors at the two ends of the hip joint motor, so that the method is simple, effective and accurate in identification, and meanwhile, the cost for adding an external sensor is reduced. According to the movement intention and gait information of the wearer, the output curve of the control moment can be adjusted in real time, the power-assisted experience is adjusted in real time, the wearer is assisted to walk, and the universality is high.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the present application will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.

FIG. 1 is a schematic overall structure diagram of a unilateral hip joint walker robot and a control method thereof according to an embodiment of the present disclosure;

FIG. 2 is a flowchart illustrating steps of a control method according to an embodiment of the present application;

FIG. 3 is a graph of the lateral assist force provided by an embodiment of the present application;

FIG. 4 is a block diagram of a control device of the unilateral hip joint walker robot and the control method thereof according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present application.

The reference numbers in the drawings of the specification are as follows:

100. a backpack; 110. a waist connecting rod; 120. a waistband; 130. buckling; 200. adjustable shoulder straps; 310. a side-healthy leg connecting rod; 320. a side health encoder; 410. an affected side leg connecting bar; 420. an affected encoder; 500. fixing a bracket; 510. a connecting belt; 520. a rotating arm; 530. a leg strap; 12. a computer device; 14. an external device; 16. a processing unit; 18. a bus; 20. a network adapter; 22. an I/O interface; 24. a display; 28. a memory; 30. a random access memory; 32. a cache memory; 34. a storage system; 40. a program/utility tool; 42. and (4) program modules.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and detailed description. It is to be understood that the embodiments described are only a few embodiments of the present application and 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.

The inventor discovers by analyzing the prior art that: the invention patent disclosed in patent number CN114642572a "a unilateral lower limb exoskeleton walking-aid robot and a power-aid control method thereof" discloses unilateral hip joint power-aid for a hemiplegic patient, but the information effect is poor due to noise and wearing influence caused by collecting joint movement information by adopting an inertial sensor at the thigh end; the waist is simple and crude in fixation, so that the waist and equipment of a patient cannot be effectively fixed, and the machine is complex in wearing, heavy in weight and poor in wearing experience; the freedom of movement of the side-healthy joint is not enough, which affects the normal walking of the side-healthy leg; no optimization is made for the specificity of the hemiplegia user; gait intention recognition is inaccurate, false triggering is easy to occur, and more sensors are required to be added for capturing intentions; the helping hand moment is less, and the helping hand is experienced more vividly.

Aiming at the defects, the invention aims to provide a hip joint exoskeleton walking aid system which is convenient to wear, accurate in intention identification and good in assistance effect and helps a patient to carry out home rehabilitation training for patients in the later stage of hemiplegia.

Referring to fig. 1, a unilateral hip joint walking aid robot and a control method thereof according to an embodiment of the present application are shown, including: the waist fixing component, the healthy side wearing component and the affected side power component are respectively arranged on two sides of the waist fixing component;

the waist fixing component comprises a backpack 100, and a control system is arranged in the backpack 100;

the side-exercising wearing component comprises a side-exercising encoder 320 for collecting the motion information of the thigh at the side-exercising part, the side-exercising encoder 320 is correspondingly arranged at the position of the hip joint at the side-exercising part, and the side-exercising encoder 320 is electrically connected with the control system;

the affected side power assembly comprises a power unit and an affected side encoder 420 for collecting motion information of an affected side thigh, and the power unit and the affected side encoder 420 are correspondingly arranged at the affected side hip joint position; the power unit and the affected side encoder 420 are respectively electrically connected with the control system;

the waist fixing component is arranged at a position corresponding to the waist of the patient when the patient wears the walking-assisting robot; the side-welling wearing component corresponds to a side-welling lower limb of the patient; the affected side power assembly corresponds to an affected side lower limb of the patient; the control system is fixed to the back of the patient by the backpack 100, wherein the healthy-side encoder 320 corresponds to the healthy-side hip joint position of the patient, and the affected-side encoder 420 corresponds to the affected-side hip joint position of the patient.

In the embodiment of the application, the waist fixing component, the healthy side wearing component and the sick side power component are respectively arranged at two sides of the waist fixing component; the waist fixing component comprises a backpack 100, and a control system is arranged in the backpack 100; the side-exercising wearing component comprises a side-exercising encoder 320 for collecting the motion information of the thigh at the side-exercising part, the side-exercising encoder 320 is correspondingly arranged at the position of the hip joint at the side-exercising part, and the side-exercising encoder 320 is electrically connected with the control system; the affected side power assembly comprises a power unit and an affected side encoder 420 for collecting motion information of an affected side thigh, and the power unit and the affected side encoder 420 are correspondingly arranged at the affected side hip joint position; the power unit and the affected side encoder 420 are respectively electrically connected with the control system; the waist fixing component is arranged at a position corresponding to the waist of the patient when the patient wears the walking-assisting robot; the side-welling wearing component corresponds to a side-welling lower limb of the patient; the affected side power assembly corresponds to an affected side lower limb of the patient; the control system is fixed to the back of the patient by the backpack 100, wherein the healthy-side encoder 320 corresponds to the healthy-side hip joint position of the patient, and the affected-side encoder 420 corresponds to the affected-side hip joint position of the patient. By adopting the backpack 100 type structure, an individual can wear the hemiplegic patient under the condition of standing or sitting, the weight is light, the wearing is convenient, the unilateral joint power design is adopted specially aiming at the hemiplegic patient, the healthy side adopts the portable magnetic knitting structure to obtain the healthy side movement information, and meanwhile, the healthy side movement information is fixed on the hip joint of the patient, so that the healthy side movement information can be intuitively and effectively obtained; in terms of software and control schemes, the power-assisted grade and the like are adjusted in a personalized manner according to the user condition; the motion intention detection, gait analysis and the like of the wearer are carried out only through the encoder sensors at the two ends of the hip joint motor, so that the method is simple, effective and accurate in identification, and meanwhile, the cost of adding an external sensor is reduced. According to the movement intention and gait information of the wearer, the output curve of the control moment can be adjusted in real time, the power-assisted experience is adjusted in real time, the wearer is assisted to walk, and the universality is high.

Hereinafter, a unilateral hip joint walker robot and a control method thereof according to the exemplary embodiment will be further described.

In this embodiment, the waist fixing component includes a backpack 100, the backpack 100 is disposed at the rear side of the waist fixing component, which is convenient for a wearer to walk and sit, a control system is disposed in the backpack 100, that is, the backpack 100 includes various electronic modules, each electronic module constitutes the control system of the device, the backpack 100 and the waist fixing component are connected with an adjustable shoulder strap 200, the adjustable shoulder strap 200 is provided with an adjusting buckle for adjusting the length of the adjustable shoulder strap 200, which is suitable for different users to wear, and by adopting the backpack 100 and the shoulder strap combination to form a backpack 100 type structure which is easy to wear, an individual can wear the backpack 100 under standing or sitting conditions by himself, and the weight is light, and the wearing is convenient; still include waist connecting rod 110 and waistband 120, waistband 120 bond in the inboard of waist connecting rod 110 adopts the mode of bonding to be convenient for dismantle waistband 120 and wash or change, the open end of waist connecting rod 110 is equipped with mutually supporting buckle 130, adopts buckle 130's form to be fixed in user's waist with waistband 120, convenient dismantlement and installation.

In this embodiment, the exercise side wearing assembly includes an exercise side leg connecting rod 310 and an exercise side encoder 320 for collecting exercise information of an exercise side thigh, the exercise side encoder 320 is disposed at a position of the exercise side leg connecting rod 310 corresponding to an exercise side hip joint, and the exercise side encoder 320 is electrically connected with the control system; the affected side power assembly comprises an affected side leg connecting rod 410, a power unit and an affected side encoder 420 for collecting motion information of an affected side thigh, wherein the power unit and the affected side encoder 420 are arranged at the position, corresponding to the affected side hip joint, of the affected side leg connecting rod 410; the power unit and the affected side encoder 420 are electrically connected to the control system, respectively, and specifically, the power unit may be a driving motor, which is driven by the control system to generate an output torque to the leg connecting rod on the affected side, so as to provide a desired control torque according to the control frequency.

Aiming at the particularity of the hemiplegic patient, the power unit is added only at the affected side of the patient, the power unit is not added at the healthy side, and the encoder is added only at the hip joint, so that the weight of the equipment can be further reduced. Meanwhile, an encoder is directly added at the hip joint to directly measure the hip joint motion information of the healthy side, so that the information noise can be reduced, and the motion intention can be reflected more directly, wherein the encoder is used for acquiring the angle, the angular velocity, the angular acceleration and other information of the hip joint when the user takes a step and transmitting the motion information to the control system.

In this embodiment, the control system includes a main control unit, a bluetooth unit, a power management unit and a lithium battery, the main control unit, the bluetooth unit and the power management unit are electrically connected to each other, the power management unit with the lithium battery electricity is connected. The main control unit is used for acquiring the exercise information of the healthy side collected by the healthy side encoder 320 so as to identify the exercise intention of the wearer, and the power unit of the affected side is controlled to output the optimal output torque by combining the exercise information of the affected side collected by the affected side encoder 420 so as to provide assistance for the affected side of the hemiplegic patient; the Bluetooth unit at the end of the device can be externally connected with a mobile phone APP, so that a wearer can conveniently carry the mobile phone APP, or the mobile phone APP is connected with a physical button on a walking-aid robot, so that the assistant grade can be adjusted; the lithium battery and the power management unit are used for supplying power and managing the power of each electronic module, so that the equipment can be used for a long time in a standby mode.

As an example, the backpack 100 with the control system is a detachable case, and the backpack 100 can be disassembled to take off the lithium battery for replacement and charging, so as to maintain the power of the device.

In this embodiment, the side-care wearing assembly and the affected side power assembly further include a fixing bracket 500, the fixing bracket 500 is disposed on the connecting portions extending downward on the two sides of the waist belt 120, the fixing bracket 500 is provided with a connecting band 510, the connecting band 510 is connected to the buckle 130, and the stability of the leg power-assisting assemblies on the two sides is further improved; the healthy-side encoder 320, the power unit and the affected-side encoder 420 are respectively connected to the fixing bracket 500. The fixed bracket 500 is provided with a rotating arm 520, the rotating arms 520 on the healthy side and the affected side are respectively hinged with the top ends of the healthy side leg connecting rod 310 and the affected side leg connecting rod 410, and particularly, the rotating arms can be connected through a pin shaft, so that the assembly and disassembly are convenient, the swinging of the leg connecting rods is more flexible, and the leg connecting rods are more adaptive to leg shapes of different users; the bottom ends of the healthy side leg connecting rod 310 and the affected side leg connecting rod 410 are both provided with leg straps 530 for fixing the leg connecting rods to the legs of the patient.

Referring to fig. 2-3, a control method applied to the unilateral hip joint walking-assisted robot of any one of the above embodiments is shown, and the control method is used for aiming at the exoskeleton walking-assisted robot and comprises the following steps:

s110, acquiring a side-exercising motion parameter of the side-exercising hip joint of the wearer;

s120, determining the movement intention of the leg of the wearer according to the side-exercising movement parameters;

s130, obtaining the affected side movement parameters of the affected side hip joint of the wearer;

and S140, determining the affected side output torque according to the movement intention and the affected side movement parameters, and sending the output torque to the control system.

Next, a rapid gait assessment method in the present exemplary embodiment will be further described.

As stated in step S110, the hip joint exercise parameters of the hip joint of the user are obtained.

Acquiring real-time exercise side motion parameters acquired by an exercise side encoder 320 arranged at an exercise side hip joint; the real-time side-exercising motion parameters comprise a real-time side-exercising hip joint angle, a real-time side-exercising hip joint angular velocity and a real-time side-exercising hip joint angular acceleration, the motion state of a wearer can be obtained by obtaining the real-time side-exercising motion parameters, for example, the walking speed of the wearer can be obtained through information such as the real-time side-exercising hip joint angle, the real-time side-exercising hip joint angular velocity and the real-time side-exercising hip joint angular acceleration, so that information such as step frequency, step length, leg lifting, stepping and the like can be obtained, the information is sent to a control system, and the control system carries out analysis processing.

In step S120, determining the exercise intention of the leg of the wearer according to the side-welling exercise parameters specifically includes:

recording and processing the exercise side motion parameters, namely recording real-time exercise side hip joint angle, real-time exercise side hip joint angular velocity, real-time exercise side hip joint angular acceleration and other motion data acquired from the exercise side encoder 320, extracting the motion characteristic information of the exercise side motion parameters, specifically, reducing the influence of noise on the motion information through low-order filtering operation, and extracting the motion characteristic information through the operation; determining the movement intention of the leg of the wearer according to the extracted movement characteristic information; wherein the movement intention comprises a leg lifting and stepping intention and a landing intention;

as an example, the leg lifting and stepping intention or the landing intention is determined according to the angular speed of the hip joint on the side; when the hip joint angular speed is greater than a preset angular speed threshold value, determining that the movement intention is a leg lifting and stepping intention; and when the angular velocity of the hip joint at the healthy side changes from a positive value to a negative value, confirming that the leg is lifted to the highest point at the healthy side, wherein the healthy side can complete the leg lifting and stepping actions, namely, the hip joint falls to the ground from the highest point, and the movement intention is determined as the landing intention, and is used as the moment when the assistance of the affected side starts.

And S130, acquiring the affected side movement parameters of the affected side hip joint of the wearer.

Acquiring real-time affected side motion parameters acquired by an affected side encoder 420 arranged at the affected side hip joint; the real-time affected side motion parameters comprise a real-time affected side hip joint angle, a real-time affected side hip joint angular velocity and a real-time affected side hip joint angular acceleration, the motion state of the affected side leg of the wearer can be obtained by obtaining the real-time affected side motion parameters, the information is sent to the control system, the time of the moment output by the power unit of the affected side can be driven according to the motion state of the affected side, and if the encoder of the affected side detects that the affected side is lifted at the highest point and falls on the trend, the power unit of the affected side stops assisting power.

In step S140, determining a patient side output torque according to the exercise intention and the patient side exercise parameter, and sending the output torque to the control system, specifically including:

generating an output power-assisted curve according to the exercise intention, as shown in fig. 3, adjusting a power-assisted strategy in real time according to the acquired exercise information such as the angle of the affected hip joint, the angular speed of the affected hip joint, the angular acceleration of the affected hip joint and the like, namely, according to the current walking state information of the wearer, adjusting an output torque value and power-assisted time of the output power-assisted curve, and determining the output torque of the affected side, wherein the maximum peak torque Npeak can be adjusted according to the power-assisted grade adjusted by the external device 14 terminal mobile phone app, the continuous power-assisted time Ts changes in real time according to the leg lifting condition of the affected side each time, and according to the power-assisted curve set by the output strategy, a desired control torque is provided according to the control frequency to help the wearer walk.

In a specific embodiment, the patient suffering from hemiplegia due to cerebral apoplexy can walk on his own stand, but the walking speed is slow, the walking step is small, the walking time is short, foot drop can exist, and the tiptoe is dragged to the ground to cause a fall. Aiming at the crowds, the unilateral hip joint walking aid robot can be used for training, the proper assistance level is adjusted through the mobile phone app, and the robot is worn. Firstly, the healthy side is judged to lift and fall on the ground by the healthy side encoder 320, when the detected fall on the ground is detected, the affected side joint provides continuous assistance to help the affected side lift the leg, and when the affected side encoder 420 detects that the affected side is lifted at the highest point and falls on the falling trend, the affected side joint stops assisting. The moment output time can be determined according to the walking speed of a wearer, when the wearer walks slowly, the time for providing the power assistance can be prolonged, and on the contrary, when the walking speed is high, the power assistance time is correspondingly shortened. Through foretell helping hand scheme, can realize unilateral helping hand for the affected side of wearing person, supplementary wearing person improves to lift the leg height and increases to take a step, improves walking speed, can alleviate wearing person's hip joint burden of walking simultaneously, improves the time of walking, avoids falling down the condition because of the drop of foot leads to.

The application has the beneficial effects that:

aiming at a hemiplegic user, a single-joint power scheme can be adopted, so that the weight is further reduced, and the burden of equipment on a patient is reduced; the movement intention is simply and accurately identified; and (4) self-adaptive adjustment of the boosting torque.

For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.

Referring to fig. 4, there is shown a control device for a unilateral hip joint walker robot according to one embodiment of the present application, the control device including:

the exercise side parameter acquiring module 210 is configured to acquire exercise side parameters of a hip joint of a wearer;

an exercise intention determining module 220 for determining an exercise intention of the leg of the wearer according to the side-exercising parameter;

and obtaining 230 the affected side motion parameter for obtaining the affected side motion parameter of the affected side hip joint of the wearer.

And the torque output module 240 is configured to determine an affected side output torque according to the exercise intention and the affected side exercise parameter, and send the output torque to the control system.

Referring to fig. 5, a computer device 12 of the present application is shown, which may specifically include the following:

the computer device 1212 is represented as a general purpose computing device, and the components of the computer device 1212 may include, but are not limited to: one or more processors or processing units 1616, a memory 2828, and a bus 1818 that couples the various system components including the memory 2828 and the processing unit 1616.

Bus 1818 represents one or more of any of several types of bus 18 structures, including a memory bus 18 or memory controller, a peripheral bus 18, an accelerated graphics port, a processor, or a local bus 18 using any of a variety of bus 18 structures. By way of example, such architectures include, but are not limited to, industry Standard Architecture (ISA) bus 18, micro-channel architecture (MAC) bus 18, enhanced ISA bus 18, audio Video Electronics Standards Association (VESA) local bus 18, and Peripheral Component Interconnect (PCI) bus 18.

Computer device 1212 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 1212 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 2828 can include computer-system-readable media in the form of volatile memory, such as random access memory 3030 and/or cache memory 3232. Computer device 1212 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, the storage system 3434 may be used to read from and write to non-removable, nonvolatile magnetic media (commonly referred to as "hard disk drives"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be connected to bus 1818 by one or more data media interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules 4242, the program modules 4242 configured to perform the functions of embodiments of the present application.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules 42, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally perform the functions and/or methodologies of the embodiments described herein.

The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, camera, etc.), with one or more devices that enable an operator to interact with the computer device 12, and/or with any device (e.g., network card, modem, etc.) that enables the computer device 12 to communicate with one or more other computing devices. Such communication may be through the I/O interface 22. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN)), a Wide Area Network (WAN), and/or a public network (e.g., the Internet) via network adapter 20. As shown in FIG. 5, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be appreciated that although not shown in FIG. 5, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units 16, external disk drive arrays, RAID systems, tape drives, and data backup storage systems 34, among others.

The processing unit 16 executes various functional applications and data processing by running programs stored in the memory 28, for example, implementing a unilateral hip joint walking robot and a control method provided by the embodiment of the present application.

That is, the processing unit 16 implements, when executing the program,: acquiring a side-exercising motion parameter of a side-exercising hip joint of a wearer; determining the movement intention of the leg of the wearer according to the side-exercising movement parameters; acquiring the affected side movement parameters of the affected side hip joint of the wearer; and determining the output torque of the affected side according to the movement intention and the motion parameters of the affected side, and sending the output torque to the control system.

In an embodiment of the present application, there is further provided a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements a unilateral hip joint walker robot and a control method as provided in all embodiments of the present application.

That is, the program when executed by the processor implements: acquiring a side-exercising motion parameter of a side-exercising hip joint of a wearer; determining the movement intention of the leg of the wearer according to the side-exercising movement parameters; acquiring affected side motion parameters of affected side hip joints of a wearer; and determining the output torque of the affected side according to the movement intention and the motion parameters of the affected side, and sending the output torque to the control system.

Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the operator's computer, partly on the operator's computer, as a stand-alone software package, partly on the operator's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the operator's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or terminal apparatus that comprises the element.

The unilateral hip joint walking-assistant robot and the control method thereof provided by the application are introduced in detail, the principle and the implementation mode of the application are explained by applying specific examples, and the description of the examples is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific implementation manner and the application scope may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (10)

1. A unilateral hip joint walking aid robot is characterized by comprising: the waist fixing component, the healthy side wearing component and the affected side power component are respectively arranged on two sides of the waist fixing component;

the waist fixing component comprises a backpack, and a control system is arranged in the backpack;

the side-exercising wearing component comprises a side-exercising encoder used for collecting the motion information of the thigh at the side-exercising, the side-exercising encoder is correspondingly arranged at the position of the hip joint at the side-exercising, and the side-exercising encoder is electrically connected with the control system;

the affected side power assembly comprises a power unit and an affected side encoder for collecting motion information of an affected side thigh, and the power unit and the affected side encoder are correspondingly arranged at the affected side hip joint position; the power unit and the affected side encoder are respectively electrically connected with the control system;

the waist fixing component is arranged at a position corresponding to the waist of the patient when the patient wears the walking-assisting robot; the side-welling wearing component corresponds to a side-welling lower limb of the patient; the affected side power assembly corresponds to an affected side lower limb of the patient; the control system is fixed at the back position of the patient through the backpack, wherein the healthy-side encoder corresponds to the healthy-side hip joint position of the patient, and the affected-side encoder corresponds to the affected-side hip joint position of the patient.

2. The unilateral hip joint walking aid robot according to claim 1, wherein the control system comprises a main control unit, a Bluetooth unit, a power management unit and a lithium battery, the main control unit, the Bluetooth unit and the power management unit are electrically connected with each other, the power management unit is electrically connected with the lithium battery, and the Bluetooth unit is in communication connection with an external device.

3. The unilateral hip joint walker robot of claim 1, wherein the waist fixation assembly further comprises a waist connecting rod and a waist belt, the waist belt is adhered to the inner side of the waist connecting rod, and the open end of the waist connecting rod is provided with a mutually matched buckle; the backpack and the waist fixing component are connected with adjustable shoulder straps.

4. The unilateral hip joint walking aid robot according to claim 3, wherein the healthy side wearing assembly further comprises a healthy side leg connecting rod, the affected side power assembly further comprises an affected side leg connecting rod, and leg bands are arranged at the bottom ends of the healthy side leg connecting rod and the affected side leg connecting rod.

5. The unilateral hip joint walker robot as claimed in claim 4, wherein the side-care wearing component and the power component on the affected side further comprise fixing brackets, the fixing brackets are arranged on connecting parts extending downwards on two sides of the waist belt, and connecting belts are arranged on the fixing brackets and connected to the buckles; the side-care encoder, the power unit and the affected side encoder are respectively connected to the fixed support.

6. The unilateral hip joint walker robot of claim 5, wherein the fixed support is provided with a rotating arm, and the rotating arms on the healthy side and the affected side are respectively hinged with the top ends of the healthy side leg connecting rod and the affected side leg connecting rod.

7. A control method applied to the unilateral hip joint walking aid robot of any one of claims 1-6, wherein the control method is used for aiming at the exoskeleton walking aid robot; it is characterized by comprising the following steps:

acquiring a side-exercising motion parameter of a side-exercising hip joint of a wearer;

determining the movement intention of the leg of the wearer according to the side-exercising movement parameters;

acquiring affected side motion parameters of affected side hip joints of a wearer;

and determining the output torque of the affected side according to the movement intention and the motion parameters of the affected side, and sending the output torque to the control system.

8. The control method of claim 7, wherein the exercise parameters include a hip joint angle, a hip joint angular velocity, and a hip joint angular acceleration; the step of determining the movement intention of the leg of the wearer according to the side-exercising parameter comprises the following steps:

recording and processing the exercise parameters of the exercise side, and extracting the exercise characteristic information of the exercise parameters of the exercise side;

determining the movement intention of the leg of the wearer according to the extracted movement characteristic information; wherein the movement intention comprises a leg lifting and stepping intention and a landing intention.

9. The control method of claim 8, wherein the step of determining the movement intention of the wearer's leg from the extracted movement characteristic information comprises:

determining the leg lifting and stepping intention or the landing intention according to the angular speed of the hip joint with the strong side;

when the angular speed of the hip joint at the side of the user is larger than a preset angular speed threshold value, determining that the movement intention is an intention for lifting legs and taking steps;

and determining the movement intention as a landing intention at the moment when the hip joint angular velocity changes from a positive value to a negative value.

10. The control method as claimed in claim 7, wherein the affected side motion parameters include an affected side hip joint angle, an affected side hip joint angular velocity and an affected side hip joint angular acceleration, and the step of determining the affected side output torque according to the motion intention and the affected side motion parameters comprises:

generating an output power-assisted curve according to the movement intention;

and adjusting the output torque value and the assistance time of the output assistance curve according to the angle of the hip joint on the affected side, the angular speed of the hip joint on the affected side and the angular acceleration of the hip joint on the affected side, and determining the output torque on the affected side.

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