CN115869161A - Gait recognition-based walking assisting device control method - Google Patents
Gait recognition-based walking assisting device control method Download PDFInfo
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Abstract
The embodiment of the application discloses a walking assisting device control method based on gait recognition, which is applied to a walking assisting device and comprises the following steps: acquiring initial moment corresponding to the walking assisting device, carrying out gait recognition on the use information of the walking assisting device based on a user, and determining the gait cycle and the information of the double supporting phases of the user; adjusting the initial moment based on the gait cycle and the information of the double supporting phases to obtain an adjusted moment; and outputting the adjusting torque. According to the technical scheme, the double-support phase state in the walking process of the user is recognized, the torque output by the walking assisting device when the user is in the double-support phase state is adjusted, the output torque of the walking assisting device when the user is in the double-support phase state is reduced, the output torque of the walking assisting device is reduced, the mechanical feeling of the walking assisting device in the using process can be avoided by reducing the output torque of the walking assisting device at the moment, the gait is more natural, and the use experience of the user is improved.
Description
Technical Field
The present application relates to the field of walking assistance devices, and in particular, to a method for controlling a walking assistance device based on gait recognition.
Background
The walking assisting device is an intelligent mechanical device which imitates the physiological structure of a human body, can be worn by a person, and assists the wearer while being cooperated with the movement of the wearer. The walking assisting device can provide external force support for the human body, further achieve the purposes of reducing the human body load, improving the human body movement capacity and the like, and has wide application prospect in the aspect of medical treatment and assistance for the disabled.
For the walking assistance device, the control mode is generally fixed, that is, a specific torque calculation formula is input based on parameters obtained by the sensor, so as to obtain and output the torque which should be provided currently, and further, the external force support for the user is completed.
The existing walking assisting device has the advantages that the gait of a user is simply distinguished in the control process in the control mode, the used torque output rule is rough, the control mode is mechanical, and the user feels poor.
Disclosure of Invention
The invention aims to provide a control method of a walking assistance device based on gait recognition, and aims to solve the problems that the existing walking assistance device is mechanical in control mode and poor in user use feeling.
A first aspect of an embodiment of the present application provides a walking assistance device control method based on gait recognition, which is applied to a walking assistance device, and includes:
acquiring an initial moment corresponding to the walking assistance device, wherein the initial moment is a moment to be output by the walking assistance device at the current moment;
performing gait recognition on the use information of the walking assisting device based on a user, and determining the gait cycle and the dual-support phase information of the user;
adjusting the initial moment based on the gait cycle and the information of the double-support phase to obtain an adjusting moment;
and outputting the adjusting torque.
Based on the control method for a walking assistance device provided in the first aspect of the embodiment of the present application, optionally, the correcting the initial moment based on the gait cycle and the information of the two support phases to obtain an adjustment moment includes:
judging whether the user is in a double-support phase state currently or not according to the gait cycle and the double-support phase information;
if the user is in the double-support-phase state at present, the adjusting moment is a constant value smaller than the initial moment;
and if the user is not in the double-support-phase state currently, the adjusting moment is equal to the initial moment.
Based on the control method for a walking assistance device provided in the first aspect of the embodiment of the present application, optionally, the determining whether the user is currently in the dual-support phase state includes:
acquiring the proportion information of the state of the double supporting phases in the gait cycle;
determining a double-support-phase moment range of the user in the double support phases based on the proportion information and the initial moment output curve;
judging whether the initial moment is in a double-support-phase moment range or not;
if the initial moment is within the double-support-phase moment range, judging that the user is in a double-support-phase state currently;
and if the initial moment is outside the double-support-phase moment range, judging that the user is not in a double-support-phase state currently.
Based on the control method of the walking assistance device provided by the first aspect of the embodiment of the present application, optionally, the initial moment is calculated according to a hip joint angle, or the initial moment is calculated according to a sensor parameter.
Based on the control method for a walking assistance device provided by the first aspect of the embodiments of the present application, optionally, the method further includes:
acquiring historical adjusting torque corresponding to the previous moment;
adjusting the adjusting torque based on the difference between the historical adjusting torque and the adjusting torque to obtain a second adjusting torque;
the outputting the adjustment torque includes:
and outputting the second adjusting torque.
Based on the control method for a walking assistance device provided by the first aspect of the embodiments of the present application, optionally, the outputting the adjustment torque includes:
and outputting the power value of the adjusting moment.
A second aspect of the embodiments of the present application provides a walking assistance device control apparatus based on gait recognition, for use with a walking assistance device, including:
an acquisition unit configured to acquire an initial torque corresponding to the walking assistance device, the initial torque being a torque that the walking assistance device should output at a current time;
a determination unit configured to perform gait recognition based on usage information of the walking assistance device by a user, and determine a gait cycle and dual-support phase information of the user;
the adjusting unit is used for adjusting the initial moment based on the gait cycle and the double-support phase information to obtain an adjusting moment;
and the output unit is used for outputting the adjusting torque.
A third aspect of the embodiments of the present application provides a walking assistance device, including:
a processor configured to obtain an initial torque corresponding to the walking assistance device, where the initial torque is a torque that the walking assistance device should output at a current time; performing gait recognition on the use information of the walking assisting device based on a user, and determining the gait cycle and the dual-support phase information of the user; adjusting the initial moment based on the gait cycle and the information of the double-support phase to obtain an adjusting moment; outputting the adjusting torque
A motor for outputting the adjustment torque based on control of the processor.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, including instructions, which, when executed on a computer, cause the computer to perform the method according to any one of the first aspect of embodiments of the present application.
A fifth aspect of embodiments of the present application provides a computer program product containing instructions, which when executed on a computer, cause the computer to perform the method according to any one of the first aspect of embodiments of the present application.
According to the technical scheme, the embodiment of the application has the following advantages: according to the scheme, the double-support phase state of the walking assisting device used by the user in the walking process is identified, the torque output by the walking assisting device when the user is in the double-support phase state is adjusted, the torque output by the walking assisting device when the user is in the double-support phase state is reduced, the torque output by the walking assisting device is reduced, the mechanical feeling of the walking assisting device in the using process can be avoided due to the fact that the user is in the double-support phase state, the walking assisting device pushes the walking person to walk is avoided, the gait is more natural, and the use experience of the user is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart of an embodiment of a gait recognition-based walking assistance device control method provided by the present application;
FIG. 2 is a schematic flow chart illustrating an embodiment of a method for controlling a walking assistance device based on gait recognition according to the present application;
FIG. 3 is a schematic structural diagram of an embodiment of a walking assistance device control apparatus based on gait recognition provided in the present application;
fig. 4 is a schematic structural diagram of an embodiment of a walking assistance device control apparatus based on gait recognition according to the present application.
Detailed Description
The embodiment of the application provides a walking assisting device control method based on gait recognition, and aims to solve the problems that an existing walking assisting device is mechanical in control mode and poor in user use body feeling.
In order to make the technical solutions in the embodiments of the present application better understood, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The walking assisting device is an intelligent mechanical device which imitates the physiological structure of a human body, can be worn by a person, and assists the wearer while being cooperated with the movement of the wearer. The walking assisting device can provide external force support for the human body, further achieve the purposes of reducing the human body load, improving the human body movement capacity and the like, and has wide application prospect in the aspect of medical treatment and assistance for the disabled. For the walking assisting device, the control mode of the walking assisting device is generally fixed, namely, a specific moment calculation formula is input based on parameters obtained by the sensor, the moment which should be provided at present is obtained and output, and then the external force support for the user is completed. Specifically, the moment that the walking assistance device should output can be obtained from the hip joint angle of the user, that is: y0 (t) = a (Angle 1-Angle 2).
Where y0 (t) is the moment to be provided by the walking assistance device, angle1, angle2 are the hip joint angles of the left and right legs, and a is an assistance constant set according to actual conditions. The control mode is mechanical, and the user feels poor when using the device.
Based on the foregoing background, the present application provides a walking assistance device control method based on gait recognition, and in particular, referring to fig. 1, an embodiment of the walking assistance device control method based on gait recognition of the present application includes: step 101-step 104.
101. And acquiring initial moment corresponding to the walking assisting device.
Specifically, an initial torque corresponding to the walking assistance device is acquired, where the initial torque is a torque that the walking assistance device should output at the current time, and the torque that should be output is a torque that has been calculated but has not yet been executed. The initial moment is the moment for assisting walking provided by the walking assistance device for the user, and the initial moment can be obtained according to the actual situation, and generally, the obtaining of the initial moment can include: pressure data generated by pressure sensors arranged on soles of users in the walking assistance device are obtained, and initial moment to be provided by the current walking assistance device is obtained through corresponding calculation based on the pressure data. Another way to obtain the initial moment is to calculate the angle difference between the hip joints of the left leg and the hip joint of the right leg of the user at the current moment through hip joint angle detection, and calculate the initial moment based on the angle difference.
102. And carrying out gait recognition based on the use information of the walking assisting device by the user, and determining the gait cycle and the dual-support phase information of the user.
Specifically, gait recognition is performed based on the use information of the walking assistance device by the user, and the gait cycle and the dual-support phase information of the user are determined. The gait cycle refers to a process from heel-off to heel-on in the walking process, the use information is information generated in the process that the user uses the walking assisting device, for example, for a device provided with a sole pressure sensor, the use information can comprise the numerical value of the pressure sensor corresponding to each moment, in the practical implementation process, the gait cycle of the user can be determined based on the sensor information when the user walks, for example, the gait cycle duration of the user is obtained through the pressure sensor, the gait cycle comprises a support phase and a swing phase, the dual-support phase refers to the state of both feet on the ground in the walking process, the dual-support phase is the most stable period in the gait cycle, generally speaking, the slower the walking speed of the user, the larger the occupation ratio of the dual-support phase in the gait cycle, two dual-support phases exist in each walking cycle, the determination of the dual-support phase can also be determined through the pressure sensors arranged on the soles, when the pressure sensors corresponding to the left leg and the right leg have parameters, the dual-support phase state can be determined, and the positions in the walking cycle can be determined. The information of the two support phases can also be determined by adopting a hip joint angle identification mode, which can be determined according to the actual situation and is not limited herein.
It can be understood that there is no logical relationship in time sequence between step 101 and step 102, and in the actual implementation process of the present disclosure, the execution sequence of the two steps may be adjusted according to the situation, or may be performed simultaneously, and the specific implementation is not limited herein.
103. And adjusting the initial moment based on the gait cycle and the information of the double-support phase to obtain an adjusting moment.
Specifically, the initial moment is adjusted based on the gait cycle and the dual-support phase information to obtain an adjustment moment, which includes adjusting the initial moment when the user is in the dual-support phase state, wherein the initial moment is obtained based on a specific algorithm, only the support phase and the swing phase are identified, and the moment is provided according to a uniform rule, but the dual-support phase state of the user cannot be identified, so that a moment providing strategy is relatively stiff, the initial moment is generated according to a force providing mode in the support phase state when the user is in the dual-support phase state, so that an output moment to the user is too large and does not accord with a movement habit of the user, and therefore the initial moment needs to be adjusted based on the dual-support phase information. The non-double support phase part of the gait cycle may not be adjusted, and is not limited herein.
104. And outputting the adjusting torque.
And outputting the adjusting torque. Specifically, an electric signal corresponding to the adjustment torque can be generated and transmitted to the motor, and the motor outputs the adjusted adjustment torque, so that the walking assistance device provides walking assistance for the user according to the adjustment torque, and the walking assistance process is completed.
According to the technical scheme, the embodiment of the application has the following advantages: according to the scheme, the double-support phase state of the walking assisting device used by the user in the walking process is identified, the torque output by the walking assisting device when the user is in the double-support phase state is adjusted, the torque output by the walking assisting device when the user is in the double-support phase state is reduced, the torque output by the walking assisting device is reduced, the mechanical feeling of the walking assisting device in the using process can be avoided due to the fact that the user is in the double-support phase state, the walking assisting device pushes the walking person to walk is avoided, the gait is more natural, and the use experience of the user is improved.
Based on the control method of the walking assistance device provided in fig. 1, optionally, the present application provides a more detailed implementation method, please refer to fig. 2, an embodiment of the control method of the walking assistance device of the present application includes: step 201-step 210.
201. And acquiring the initial moment corresponding to the walking assisting device.
202. Gait recognition is performed based on the use information of the walking assistance device by the user, and the gait cycle and the dual-support phase information of the user are determined.
The steps 201 to 202 are similar to the steps 101 to 102 in the embodiment corresponding to fig. 1, and are not described herein again.
203. And acquiring the proportion information of the double-support phase state in the gait cycle.
Specifically, the occupied time of the part of the dual-support phase state in the gait cycle and the total time of the gait cycle are obtained and divided, and then the occupied ratio information of the dual-support phase state in the gait cycle is obtained.
204. And determining the double-support-phase moment range of the user in the double-support-phase state based on the proportion information and the initial moment output curve.
Specifically, the initial torque output curve is a curve of the initial torque changing along with time, wherein the size of the initial torque is changed because the user is in different gaits at different moments, the double-support phase is the most stable period in a gait period, both feet of the user are in a ground contact state at the moment, and the size of the required torque is a smaller value.
205. And judging whether the initial moment is in the double-support-phase moment range.
And judging whether the initial moment is in the double-support-phase moment range, if the initial moment corresponding to the current moment is smaller than the moment corresponding to the double-support-phase moment range demarcation point, determining that the user is in the double-support-phase state at present, and executing the step 206. If the initial moment corresponding to the current moment is greater than the moment corresponding to the dual-support-phase moment range boundary point, it is determined that the user is not currently in the dual-support-phase state, and step 207 is executed.
206. And judging that the user is in a double-support-phase state at present, and adjusting the moment to a constant value smaller than the initial moment.
And if the initial moment is in the double-support-phase moment range, judging that the user is in a double-support-phase state at present, and adjusting the moment to a constant value smaller than the initial moment. Specifically, the constant value may be zero, that is, the user is not provided with the assist torque when the user is in the dual-support phase state, or may be any other constant value smaller than the initial torque, which may be determined according to the actual situation, and is not limited herein.
207. And judging that the user is not in the double-support-phase state currently, wherein the adjusting moment is equal to the initial moment.
And if the initial moment is in the double-support-phase moment range, judging that the user is in a double-support-phase state at present, and adjusting the moment to be equal to the initial moment. If the user is not in the double-support phase state, the current initial moment of the user does not need to be adjusted, and the adjusting moment is equal to the initial moment.
208. And acquiring a historical adjusting torque corresponding to the previous moment.
When the adjusting torque is used, the change between the previous moment and the next moment of the adjusting torque is possibly overlarge, so that the problem that the user feels poor when using the adjusting torque is easily caused.
209. And adjusting the adjusting torque based on the difference between the historical adjusting torque and the adjusting torque to obtain a second adjusting torque.
Adjusting the adjusting torque based on the difference between the historical adjusting torque and the adjusting torque to obtain a second adjusting torque, specifically, the difference between the historical adjusting torque and the adjusting torque is the variation of the initial torque at the current moment relative to the previous moment, if the difference is too large, the difference is not in line with the exercise habit of the human body, and the adjustment is correspondingly performed, the specifically selected adjusting mode can be determined according to the actual situation, and is not limited here, and an optional mode is to reduce the variation of a certain percentage, and the formula expression is as follows:
R＝B*A*(y1(t)-y1(t-dt))；
y2(t)＝C*y1(t)–R；
wherein y1 (t) is an adjusting torque corresponding to the current moment, y1 (t-dt) is a historical adjusting torque corresponding to the previous dt moment, y2 (t) is a second adjusting torque, R is an intermediate quantity for correcting the adjusting torque, which is simply referred to as a damping coefficient herein, A, B and C are constant values used for correcting the torque, and A, B and C can be adjusted according to actual conditions, which is not limited herein. Based on the above formula, the magnitude of the damping coefficient is associated with the difference between the historical adjustment torque and the adjustment torque, and the larger the difference is, the larger the amount of corresponding reduction of the second adjustment torque is, so that the variation of the second adjustment torque relative to the historical adjustment torque at the previous moment is reduced, the torque provided by the walking assistance device further meets the user requirements, and the feasibility of the scheme is improved.
210. And outputting the power value of the second adjusting torque.
And outputting a power value of the second adjusting torque. In particular, in the process of the user changing from the walking state to the stop state, the algorithm cannot accurately determine when to stop, and a situation that the user stops and the device is still exerting force may occur. Based on this, when outputting the torque, the power value of the second adjusting torque can be output, and the formula can be expressed as: y3 (t) = D x y2 (t) × y2 (t).
Wherein Torque3 is the actual output Torque, torque2 is the second adjustment Torque, D is the constant that is used for adjusting the output range, its numerical value size can be according to actual conditions and can be decided, because the moment that the equipment output before the user stops is too big, through this kind of mode, make output Torque under the condition less than 1 then the moment of actual output will sharply reduce, and then can not push the user forward when the user has the intention of stopping, the feasibility of this scheme has been improved. Meanwhile, corresponding compensation is provided for the part larger than 1 so as to ensure that the output power is unchanged in one gait cycle, and it can be understood that the step can also be selectively executed, namely, the size of the second adjusting torque is judged, if the second adjusting torque is smaller than 1, the step is executed, and otherwise, the step is not executed.
The above description introduces the part of the walking assistance device control method based on gait recognition provided in the present application, and the following description introduces the walking assistance device control apparatus based on gait phase recognition provided in the present application, please refer to fig. 3, where an embodiment of the walking assistance device control apparatus based on gait recognition of the present application includes:
an obtaining unit 301 configured to obtain an initial torque corresponding to the walking assistance device, where the initial torque is a torque that the walking assistance device should output at a current time;
a determining unit 302, configured to perform gait recognition based on usage information of the walking assistance device by a user, and determine a gait cycle and dual-support phase information of the user;
an adjusting unit 303, configured to adjust the initial moment based on the gait cycle and the information of the two support phases, so as to obtain an adjusting moment;
an output unit 304 for outputting the adjustment torque.
In this embodiment, the flow executed by each unit in the walking assistance device control apparatus based on gait recognition is similar to the method flow described in the embodiment corresponding to fig. 1, and is not described herein again.
Fig. 4 is a schematic structural diagram of a walking assistance device according to an embodiment of the present application, where the walking assistance 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 process corresponding to fig. 1 or fig. 2, that is, configured to obtain an initial torque corresponding to the walking assistance device, where the initial torque is a torque that the walking assistance device should output at the current time; performing gait recognition on the use information of the walking assisting device based on a user, and determining the gait cycle and the dual-support phase information of the user; adjusting the initial moment based on the gait cycle and the information of the double-support phase to obtain an adjusting moment; outputting the adjusting torque
A motor 402 for outputting the adjustment torque based on the control of the processor 401.
Optionally, the walking assistance device control apparatus 400 based on gait recognition further includes a power supply 403 and a memory 404, and one or more applications or data are stored in the memory 404. Memory 404 may be, among other things, volatile storage or persistent storage. The program stored in the memory 404 may include one or more modules, each of which may include a series of instruction operations. Still further, the central processor 401 may be arranged to communicate with the memory 404 and to perform a series of instruction operations in the memory 405.
Embodiments of the present application also provide a computer storage medium for storing computer software instructions for the gait recognition based walking assistance device control apparatus, which includes a program for executing a program designed for the gait recognition based walking assistance device control apparatus.
The gait recognition-based walking assistance device control method may be the gait recognition-based walking assistance device control method described in the aforementioned fig. 1 or fig. 2.
An embodiment of the present application further provides a computer program product, where the computer program product includes computer software instructions, and the computer software instructions can be loaded by a processor to implement a flow of a control method for a walking assistance device based on gait recognition in any one of the embodiments corresponding to fig. 1 and fig. 2 described above.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, equivalent circuit transformations, partitions of units, and logic functions may be merely one type of partitioning, and in actual implementation, there may be other partitioning manners, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A walking assistance device control method based on gait recognition is applied to a walking assistance device, and includes:
acquiring an initial moment corresponding to the walking assistance device, wherein the initial moment is a moment to be output by the walking assistance device at the current moment;
performing gait recognition on the use information of the walking assisting device based on a user, and determining the gait cycle and the dual-support phase information of the user;
adjusting the initial moment based on the gait cycle and the information of the double-support phase to obtain an adjusting moment;
and outputting the adjusting torque.
2. The walking assistance device control method according to claim 1, wherein the adjusting the initial moment based on the gait cycle and the dual bracing phase information to obtain an adjusted moment comprises:
judging whether the user is in a double-support phase state currently or not according to the gait cycle and the double-support phase information;
if the user is in the double-support-phase state at present, the adjusting moment is a constant value smaller than the initial moment;
and if the user is not in the double-support-phase state currently, the adjusting moment is equal to the initial moment.
3. The control method of a walking assistance device according to claim 2, wherein said determining whether the user is currently in the dual stance phase state according to the gait cycle and the dual stance phase information comprises:
acquiring the proportion information of the state of the double supporting phases in the gait cycle;
determining a double-support-phase moment range of the user in a double-support-phase state based on the proportion information and the initial moment output curve;
judging whether the initial moment is in the double-support-phase moment range or not;
if the initial moment is within the double-support-phase moment range, judging that the user is in a double-support-phase state at present;
and if the initial moment is outside the double-support-phase moment range, judging that the user is not in a double-support-phase state currently.
4. The walking assistance device control method according to claim 1, wherein the initial moment is calculated from a hip joint angle or the initial moment is calculated from a sensor parameter.
5. The walking assist device control method according to claim 1, wherein before the step of outputting the adjustment torque, the method further comprises:
acquiring a historical adjusting torque corresponding to the previous moment, wherein the historical adjusting torque is an output adjusting torque;
adjusting the adjusting torque based on a difference value between the historical adjusting torque and the adjusting torque to obtain a second adjusting torque;
the outputting the adjustment torque includes:
and outputting the second adjusting torque.
6. The walking assistance device control method according to claim 1, wherein the outputting the adjustment torque includes:
and outputting the power value of the adjusting moment.
7. A walking assistance device control apparatus based on gait recognition, used in cooperation with a walking assistance device, comprising:
an acquisition unit configured to acquire an initial torque corresponding to the walking assistance device, the initial torque being a torque that the walking assistance device should output at a current time;
a determination unit configured to perform gait recognition based on usage information of the walking assistance device by a user, and determine a gait cycle and dual-support phase information of the user;
the adjusting unit is used for adjusting the initial moment based on the gait cycle and the information of the double supporting phases to obtain an adjusting moment;
and the output unit is used for outputting the adjusting torque.
8. A walking assistance device, comprising:
a processor configured to obtain an initial moment corresponding to the walking assistance device, where the initial moment is a moment that the walking assistance device should output at a current time; performing gait recognition on the use information of the walking assisting device based on a user, and determining the gait cycle and the dual-support phase information of the user; adjusting the initial moment based on the gait cycle and the information of the double-support phase to obtain an adjusting moment; outputting the adjusting torque
A motor for outputting the adjustment torque based on control of the processor.
9. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 6.
10. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111131601.2A CN115869161A (en) | 2021-09-26 | 2021-09-26 | Gait recognition-based walking assisting device control method |
| PCT/CN2021/124465 WO2023044996A1 (en) | 2021-09-26 | 2021-10-18 | Walking assistance apparatus control method based on gait recognition |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111131601.2A CN115869161A (en) | 2021-09-26 | 2021-09-26 | Gait recognition-based walking assisting device control method |
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| CN115869161A true CN115869161A (en) | 2023-03-31 |
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| CN202111131601.2A Pending CN115869161A (en) | 2021-09-26 | 2021-09-26 | Gait recognition-based walking assisting device control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117442398A (en) * | 2023-12-22 | 2024-01-26 | 浙江强脑科技有限公司 | Intelligent artificial limb adjusting method, device, terminal and medium based on gait difference |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012100250A1 (en) * | 2011-01-21 | 2012-07-26 | Iwalk, Inc. | Terrain adaptive powered joint orthosis |
| KR102161310B1 (en) * | 2014-11-26 | 2020-09-29 | 삼성전자주식회사 | Method and apparatus for setting assistant torque |
| US10576619B2 (en) * | 2014-12-26 | 2020-03-03 | Samsung Electronics Co., Ltd. | Assisting torque setting method and apparatus |
| KR20200085083A (en) * | 2019-01-04 | 2020-07-14 | 삼성전자주식회사 | Method and apparatus for controlling walking assist device |
| KR20210054086A (en) * | 2019-11-04 | 2021-05-13 | 삼성전자주식회사 | Wearable deivce and exercise support method perfomred by the wearable device |
| CN112192570B (en) * | 2020-10-09 | 2021-09-28 | 中国船舶重工集团公司第七0七研究所九江分部 | Lower limb joint assistance exoskeleton system sensing and control system and method |
-
2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117442398A (en) * | 2023-12-22 | 2024-01-26 | 浙江强脑科技有限公司 | Intelligent artificial limb adjusting method, device, terminal and medium based on gait difference |
| CN117442398B (en) * | 2023-12-22 | 2024-04-09 | 浙江强脑科技有限公司 | Intelligent artificial limb adjusting method, device, terminal and medium based on gait difference |
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| WO2023044996A1 (en) | 2023-03-30 |
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