CN115877881A - Walking assisting device control method based on speed information and related equipment thereof - Google Patents
Walking assisting device control method based on speed information and related equipment thereof Download PDFInfo
- Publication number
- CN115877881A CN115877881A CN202111129978.4A CN202111129978A CN115877881A CN 115877881 A CN115877881 A CN 115877881A CN 202111129978 A CN202111129978 A CN 202111129978A CN 115877881 A CN115877881 A CN 115877881A
- Authority
- CN
- China
- Prior art keywords
- torque
- assistance device
- walking assistance
- speed information
- initial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Health & Medical Sciences (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Epidemiology (AREA)
- Physics & Mathematics (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The embodiment of the application discloses a walking assisting device control method based on speed information, which is applied to a walking assisting device and comprises the following steps: acquiring an initial torque corresponding to the walking assistance device, wherein the initial torque is a torque which is required to be output by the walking assistance device at the current moment; acquiring the use speed information of a target user; determining an influence factor based on the use speed information, wherein the influence factor is a parameter influencing the initial moment; correcting the initial torque based on the influence factor to obtain a corrected torque; and outputting the correction torque. The scheme corrects the initial torque based on the speed information so as to obtain the corrected torque. The actual output torque can be better matched with the walking state of a person, and better use experience is provided for a user.
Description
Technical Field
The present application relates to the field of walking assistance devices, and more particularly, to a method for controlling a walking assistance device based on speed information and related apparatus.
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, can assist the wearer in moving in coordination with the wearer and meanwhile assists the wearer. The walking assisting device can provide external force assistance for the human body, further achieve the purposes of reducing the load of the human body, improving the motion capability of the human body and the like, and has wide application prospect in the aspect of medical health.
For the walking assistance device, the control mode is generally fixed, that is, a specific moment calculation formula is input based on parameters obtained by the sensor, so that the moment which should be provided at present is obtained and output, and then the external force assistance to the user is completed.
The existing walking assisting device control mode only adopts a specific moment providing formula to determine the moment to be output based on single information provided by certain sensors in the control process, other related information of a user in the walking process cannot be well used, the control is mechanical, the walking state of the user cannot be well matched, and the user experience is poor.
Disclosure of Invention
The invention aims to provide a walking assisting device control method based on speed information, and aims to solve the problems that the existing walking assisting device cannot be well matched with the walking state of a person and the user experience is poor, and the method comprises the following steps:
a first aspect of the embodiments of the present application provides a method for controlling a walking assistance device based on speed information, the method being applied to the walking assistance device, and including:
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;
acquiring the use speed information of a target user;
determining an influence factor based on the usage speed information, wherein the influence factor is a parameter having influence on the initial moment;
correcting the initial torque based on the influence factor to obtain a corrected torque;
and outputting the correction torque.
Based on the control method of the walking assistance device provided by the first aspect of the embodiment of the present application, optionally, the influence factor includes a power assisting coefficient and/or a lag time, the usage speed and the power assisting coefficient have a positive correlation, and the usage speed and the lag time have a negative correlation.
Based on the control method for a walking assistance device provided in the first aspect of the embodiments of the present application, optionally, the usage speed information of the target user is step frequency information of the target user.
Based on the control method for a walking assistance device provided by the first aspect of the embodiments of the present application, optionally, the determining an influence factor based on the usage speed information includes:
determining the lag time according to a first regression equation and the use speed of the target user, wherein the first regression equation is obtained by performing regression analysis based on lag time historical data, and the lag time historical data is the use data of the lag time corresponding to a plurality of historical users using the walking assistance device at different use speeds.
Based on the control method of the walking assistance device provided in the first aspect of the embodiment of the present application, optionally, the determining the assistance coefficient based on the usage speed information includes:
determining the power assisting coefficient according to a second regression equation and the using speed of the target user, wherein the second regression equation is obtained by performing regression analysis based on historical power assisting coefficient data, and the historical power assisting coefficient data are the using data of the power assisting coefficient corresponding to a plurality of historical users using the walking assisting device at different using speeds;
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 influence factor to obtain a corrected moment includes:
determining a first correction time based on a difference between a current time and the lag time;
and determining the initial torque corresponding to the first correction moment as the correction 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 influence factor to obtain a corrected moment includes:
and multiplying the initial torque by the assistance coefficient to obtain the correction torque.
Based on the walking assistance device control method provided in the first aspect of the embodiment of the present application, optionally, the determining an influence factor based on the usage speed information includes:
determining an influence factor by means of machine learning based on the usage speed information.
Based on the control method for a walking assistance device provided by the first aspect of the embodiments of the present application, before the outputting the correction torque, optionally, the method further includes:
acquiring historical correction torque corresponding to the previous moment;
adjusting the correction torque based on the difference between the historical correction torque and the correction torque to obtain a second correction torque;
the outputting the correction torque includes:
and outputting the second correction torque.
Based on the control method for a walking assistance device provided by the first aspect of the embodiments of the present application, before the outputting the correction torque, optionally, the method includes:
and outputting the square value of the correction torque.
A second aspect of the embodiments of the present application provides a walking assistance device control apparatus based on speed information, for use with a walking assistance device, including:
a first acquisition unit configured to acquire an initial torque corresponding to the walking assistance device, the initial torque being a torque to be output by the walking assistance device at a current time;
the second acquisition unit is used for acquiring the use speed of the target user;
a determining unit, configured to determine an influence factor based on the usage speed information, where the influence factor is a parameter that has an influence on the initial torque;
the correction unit is used for correcting the initial torque based on the influence factor to obtain a correction torque;
and an output unit for outputting the correction torque.
A third aspect of embodiments of the present application provides a walking assistance device, including:
a controller 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; acquiring the use speed of a target user; determining an influence factor based on the usage speed information, wherein the influence factor is a parameter having influence on the initial moment; correcting the initial torque based on the influence factor to obtain a corrected torque;
a motor for outputting the correction 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.
According to the technical scheme, the embodiment of the application has the following advantages: according to the scheme, initial torque corresponding to the walking assisting device and using speed information of a target user are obtained, the initial torque is torque which is output by the walking assisting device at the current moment, and an influence factor is determined based on the using speed information and is a parameter which influences the initial torque; and correcting the initial torque based on the influence factor so as to obtain a correction torque and output the correction torque. Therefore, the moment output by the walking assisting device is further adjusted by using the speed information of the user on the basis of the initial moment, the actually output moment is further corrected by using the speed information of the user on the basis of the initial moment, and the self-adaptive control of the lag time and the power assisting coefficient is realized, so that the actually output moment can be better matched with the walking state of a person, and better use experience is provided for the user.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only the 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 flowchart illustrating an embodiment of a method for controlling a walking assistance device based on speed information according to the present application;
FIG. 2 is another schematic flow chart of an embodiment of a method for controlling a walking assistance device based on speed information provided herein;
FIG. 3 is a schematic structural diagram of an embodiment of a walking assistance device control apparatus based on speed information according to the present application;
fig. 4 is a schematic structural diagram of an embodiment of the walking assistance device provided in the present application.
Detailed Description
The embodiment of the application provides a walking auxiliary control method based on speed information, and is used for solving the problems that an existing control method is mechanical, cannot well match the walking state of a person, and is poor in user experience.
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 implemented in other sequences than those 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, that is, a specific moment calculation formula is input based on parameters obtained by the sensor, so that 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 initial moment that the walking assistance device should output can be obtained from the hip joint angle of the user, that is:
y＝A*(Angle1-Angle2)。
where y is the initial 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 the assistance constant set according to the actual situation. The control mode only utilizes hip joint information, does not well use other related information of the user in the walking process, is relatively mechanical in control, cannot well match the walking state of the user, and is poor in user experience.
Referring to fig. 1, an embodiment of a method for controlling a walking assistance device based on speed information according to the present application includes: step 101-step 105.
101. And acquiring the initial moment corresponding to the walking assisting device.
The method includes the steps of obtaining 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, and the moment to be output is a calculated moment which is not executed yet. 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 acquiring the use speed information of the target user.
Specifically, the obtained usage speed information of the target user is the speed information of the user using the walking assistance device at the current time, the usage speed information can be obtained by determining the motion condition of the target user within a previous period of time, and the torque provided by the walking assistance device at different usage speeds is different, wherein the usage speed information can be speed information using distance/time as a unit or step frequency information using step number/time as a unit, that is, the usage speed information of the target user is represented by the frequency of the steps of the user, the step frequency information can be obtained by using the change process of the hip joint angle, the mode of obtaining the usage speed information of the target user can be completed by using a corresponding sensor, the specific obtaining mode can be determined according to the actual situation, and is not limited herein.
103. An impact factor is determined based on the usage speed information.
Specifically, the influence factor determined by determining the influence factor based on the speed information may include two different types of parameters, namely a lag time and a power assisting coefficient, and the difference of the parameters of the influence factor determined based on the different speeds also has a difference in the correction magnitude of the subsequent initial torque. The lag time is the embodiment of the lag control algorithm, the lag times determined for different use speeds are different, generally speaking, the lag time is smaller as the use speed of the user is faster, namely, the relationship between the use speed and the lag time is negative correlation, while the power assisting coefficient is opposite to the lag time, the power assisting coefficient is larger as the use speed of the user is faster, and the relationship between the use speed and the lag time is positive correlation, and the specific values of the lag time and the power assisting coefficient can be determined according to the actual situation, which is not limited herein. It is understood that the kind of the influence factor determined based on the speed information may also be other data kinds related to the output torque, which may be determined according to the actual situation, and is not limited herein.
It is understood that there is no sequential logic relationship between the steps 101 and the steps 102 to 103, and the execution sequence may be adjusted according to the actual situation in the actual implementation process, or the two may be executed simultaneously, which may be determined according to the actual situation and is not limited herein.
104. And correcting the initial torque based on the influence factor to obtain a corrected torque.
And correcting the initial torque according to the obtained influence factor parameters to obtain a correction torque so as to enable the obtained correction torque to be more in line with the use condition of a user. Specifically, for the case where the obtained kind of the influencing factor parameter is the lag time, the formula of the adopted correction method can be expressed as follows:
y1(t)＝y0(t-dt)
wherein y1 (t) is a correction torque, y0 is a calculation rule of an initial torque, t is a current time, dt is a lag time, that is, a time corresponding to a period of time before the current time is selected to calculate the initial torque corresponding to the time, and the initial torque corresponding to the time is used as the correction torque, if the current time is 4s, and the lag time determined based on the use speed is 200ms, the initial torque determined when the obtained correction torque is 3.8s is actually determined, and then the torque provided by the walking assistance device better conforms to the actual walking posture of the user through a lag control mode, on the other hand, if the influence factor is the assistance coefficient, the formula expression of the adopted correction mode can be:
y2(t)＝B*y1(t)
wherein y2 (t) is correction moment, y1 (t) is initial moment, B is helping hand coefficient, and the helping hand coefficient size that can obtain based on current use speed difference is also different, and the service speed is big more the helping hand coefficient is big more, and then guarantees that the user can provide the moment that accords with the current motion condition when the user moves at a fast speed, and then more accords with user's user demand.
105. And outputting the correction torque.
And outputting the correction torque. Specifically, the electric signal corresponding to the correction torque is output to the motor, so that the motor outputs the corrected correction torque, and the walking assistance device provides walking assistance for the user according to the correction torque, thereby completing the walking assistance process.
According to the technical scheme, the embodiment of the application has the following advantages: according to the scheme, initial torque corresponding to the walking assistance device and use speed information of a target user are obtained, the initial torque is torque which the walking assistance device should output at the current moment, and an influence factor is determined based on the use speed information and is a parameter which influences the initial torque; and correcting the initial torque based on the influence factor, further obtaining a correction torque and outputting the correction torque. Therefore, the moment output by the walking assisting device is further adjusted by using the speed information of the user on the basis of the initial moment, and the influence factors can comprise the lag time and the power assisting coefficient, so that the self-adaptive control of the lag time and the power assisting coefficient based on the use speed is realized, the actually output moment can be better matched with the walking state of the user, and better use experience is provided for the user.
Based on the embodiment provided in fig. 1, optionally, a more detailed embodiment that can be used in the practical implementation process is also provided in the present application, and specifically referring to fig. 2, the method for controlling a walking assistance device based on speed information in the present application includes steps 201 to 207.
201. And acquiring initial moment corresponding to the walking assisting device.
This step is similar to step 101 in the embodiment corresponding to fig. 1, and is not described herein again.
202. And acquiring the use speed information of the target user.
Specifically, the usage speed information of the target user may be step frequency information of the target user, where the step frequency information may be calculated in a variety of ways, including:
(1) Calculating the step frequency according to the time of a complete gait, namely: freq1=1/T1; wherein: freq1 is the step frequency and T1 is the time of a complete gait (which is understood to be the duration from the left leg to the next left leg), which can be calculated from the left and right leg intersections or from the angle extremes.
(2) The step frequency is calculated from the time of half gait, i.e. Freq2=1/T2, where: freq2 is the step frequency, T2 is the time of half a gait (it can be understood as the duration from the left leg to the right leg from the left leg step), and this event can be calculated from the left and right leg intersections, or from the extreme points of the angle.
(3) The hip joint angle is calculated according to the change of the hip joint angle along with time, and the formula is expressed as follows: freq3= a (Angle (t) -Angle (t-1)), where Freq3 is the stride frequency, angle (t) is the hip joint Angle at the moment, angle (t-1) is the hip joint Angle at the previous moment, and a is the adjustment factor.
Among the three step frequency calculation modes, freq1 is the most accurate, but the response speed is the slowest; freq3 is least accurate but responds most quickly to changes in the user's walking speed. In order to obtain accurate and responsive fast frequency data, the data from Freq1 to Freq3 are used for weighting calculation, so that the step frequency information more meeting the use requirement is obtained, and the formula is expressed as follows: freq = A1 × Freq1+ A2 × Freq2+ A3 × Freq3
Wherein Freq is the obtained weighted step frequency data, A1, A2, and A3 are weighting coefficients, and the magnitude thereof can be adjusted according to the actual situation, which is not limited herein.
203. Determining the lag time according to a first regression equation and the usage speed of the target user.
Specifically, the lag time is determined according to a first regression equation and the usage speed of the target user, the first regression equation is obtained by performing regression analysis based on lag time historical data, and the lag time historical data is usage data of optimal lag time corresponding to a plurality of historical users using the walking assistance device at different usage speeds. The first regression equation is based on the use data of a plurality of users to perform tests, the optimal lag time corresponding to the users at different use speeds is obtained, namely the lag time with the best body feeling when the users use the users at different speeds is obtained, the obtained data is lag time historical data, regression analysis is performed based on the data, the numerical relationship between the use speed and the lag time of the target user can be determined, and if unitary regression equation analysis is performed, the obtained regression equation between the lag time and the step frequency can be expressed as follows:
dt＝A*Freq+B；
where dt is the lag time, freq is the step frequency information, and A and B are regression parameters, the values of A and B can be determined based on regression analysis. A <0 because a higher stride frequency indicates a faster walk and a smaller lag time, which are inversely related. The normal step frequency ranges from approximately 0-5 (steps/second) and the lag time ranges from 0-500 ms.
204. A first correction time is determined based on a difference between the current time and the lag time.
205. And determining the initial torque corresponding to the first correction moment as the initial correction torque.
Specifically, the formula for determining the initial correction torque is expressed as y1 (t) = y0 (t-dt), where y1 (t) is the correction torque, y0 is the calculation rule of the initial torque, t is the current time, and dt is the lag time, that is, the time corresponding to a period of time before the current time is selected to calculate the initial torque corresponding to the time, and the initial torque corresponding to the time is used as the correction torque, so that the torque provided by the walking assistance device better conforms to the actual walking posture of the user by a lag control method.
206. And determining the assistance coefficient according to a second regression equation and the using speed of the target user.
Specifically, the assist coefficient is determined according to a second regression equation and the usage speed of the target user, where the second regression equation is obtained by performing regression analysis based on assist coefficient historical data, and the assist coefficient historical data is usage data of an optimal assist coefficient corresponding to a plurality of historical users using the walking assistance device at different usage speeds. The second regression equation is obtained in a manner similar to that of the first regression equation described above. The method comprises the steps of carrying out a test based on using data of a plurality of users to obtain the optimal power assisting coefficients corresponding to the users at different using speeds, namely the power assisting coefficients with the best body feeling when the users use the users at different speeds, wherein the obtained data are historical power assisting coefficient data, carrying out regression analysis based on the data to determine the numerical relationship between the using speed and the power assisting coefficients of a target user, and if unitary regression equation analysis is carried out, expressing the obtained regression equation between the power assisting coefficients and step frequency as follows:
c = a × Freq + B. Wherein C is a power assisting coefficient, freq is a step frequency, A and B are regression parameters, values of A and B can be determined based on regression analysis, the larger the step frequency is, the faster the walking is indicated, the larger the moment required to be provided by the walking assisting device is, the absolute value of the power assisting coefficient needs to be increased along with the increase of the step frequency, when A is greater than 0, the provided moment is represented as power assisting, and when A is less than 0, the provided moment is represented as resistance. The normal step frequency range is approximately 0-5 (steps/second), and the range of a needs to be determined according to the corresponding range of the torque output of the motor of the device.
207. And multiplying the preliminary correction torque by the assistance coefficient to obtain the correction torque.
Specifically, the formula expression of the correction mode used for obtaining the correction torque by multiplying the preliminary correction torque by the assist coefficient may be:
y2(t)＝C*y1(t)；
wherein y2 (t) is correction moment, y1 (t) is initial moment, C is helping hand coefficient, and the helping hand coefficient size that can obtain based on current use speed difference is also different, and the service speed is big more the helping hand coefficient is big more, and then guarantees that the user can provide the moment that accords with current motion condition when the user moves at a fast speed, and then more accords with user's user demand.
It should be noted that there is no logical relationship between the above steps 203 to 205 (i.e. the correction process based on the lag time) and 206 to 207 (i.e. the correction mode based on the assist coefficient), and the order may be determined according to the actual situation in the actual implementation process, or may be executed simultaneously, that is, the formula followed by the correction mode of the initial torque is expressed as: y2 (t) = C x y1 (t-dt).
It can be understood that the determination method of the impact factor may also be performed by a machine learning method, that is, a large amount of data is collected to perform training learning, generally speaking, the method is that a user walks for a period of time without assistance or with little assistance, so as to obtain data of the user, obtain walking parameters of multiple users under different conditions, and calculate corresponding impact factors through corresponding machine learning algorithms. This way, the use habit of the user can be more closely fitted.
208. And acquiring the historical correction torque corresponding to the previous moment.
When the correction torque is used, the change of the correction torque is possibly overlarge, so that the user use body feeling is poor, the correction torque can be further adjusted on the basis, and the problem that the user use body feeling is influenced due to the fact that the torque change speed is too fast is avoided. It can be understood that, before the subsequent processing, the torque result obtained in the foregoing steps may be filtered, and the specific filtering manner may be low-frequency filtering, so as to filter out high-frequency interference therein, and improve stability and usability of the torque data.
209. The correction torque is adjusted based on a difference between the historical correction torque and the correction torque.
The correction torque is adjusted based on a difference between the historical correction torque and the correction torque to obtain a second correction torque, specifically, the difference between the historical correction torque and the correction torque is a variation of the correction torque at the current time relative to the previous time, if the difference is too large, the movement habit of the human body is not met, the movement habit is correspondingly adjusted, the specifically selected adjustment mode can be determined according to actual conditions, and is not limited here, an optional mode is to reduce the variation by a certain percentage, and a formula thereof is expressed as:
R＝B*A*(y1(t)-y1(t-dt))；
y2(t)＝C*y1(t))-R；
wherein y1 (t) is an initial moment corresponding to the current moment, y1 (t-dt) is a historical initial moment corresponding to the previous moment, y2 (t) is a second adjusting moment, R is an intermediate quantity for calculating and correcting the adjusting moment, and is herein referred to as a damping coefficient for short, a, B, and C are constant values used for correcting the moment, and the values of a, B, and C can be adjusted according to the actual situation, and are not limited herein. Based on the formula, the magnitude of the damping coefficient is associated with the difference between the historical initial moment and the initial moment, and the larger the difference is, the larger the corresponding reduction amount of the second correction moment is, so that the variation amount of the second correction moment relative to the historical initial moment at the previous moment is reduced, the moment provided by the walking assisting device is enabled to better meet the user requirements, and the feasibility of the scheme is improved.
210. And outputting the power value of the second correction torque.
And outputting the power value of the second correction torque. Specifically, in the process that the user is in the state of being turned from the walking state to the stopped state, the algorithm cannot accurately determine when the user stops, and a situation that the user stops and the equipment is still applying force may occur, based on the situation, when the torque is output, a power value of the second correction torque may be output, and the formula is expressed as: y3 (t) = y2 (t) × D;
wherein y3 (t) is the actual output torque, y2 (t) is the second correction torque, D is the coefficient for adjusting the actual output torque, and the specific value can be determined according to the actual situation.
Because the torque output by the equipment is not too large before the user stops, the torque output actually will be sharply reduced if the output torque is smaller than 1 in the mode, and then the user cannot be reduced to move forwards or backwards when the user has the intention of stopping, and the feasibility of the scheme is improved. It can be understood that a constant coefficient for correction is additionally added at the actual output moment to control the magnitude of the actual output torque, so that the actual output torque is prevented from being too large.
According to the technical scheme, the embodiment of the application has the following advantages: according to the scheme, the initial torque corresponding to the walking assisting device and the use speed information of the target user are obtained, the initial torque is the torque which the walking assisting device should output at the current moment, the lag time and the power assisting coefficient are determined based on the use speed information, the initial torque is corrected based on the lag time and the power assisting coefficient, then the correction torque is obtained, and the correction torque is output. Therefore, the moment output by the walking assisting device is further adjusted by using the speed information of the user on the basis of the initial moment, and then the self-adaptive control of the lag time and the power assisting coefficient is realized, so that the actually output moment can be better matched with the walking state of a person, and better use experience is provided for the user.
The above description describes a portion of a method for controlling a walking assistance device based on speed information provided in the present application, and referring to fig. 3, a control apparatus for a walking assistance device based on speed information provided in the present application is described, and an embodiment of the control apparatus for a walking assistance device based on speed information of the present application includes:
a first 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 second obtaining unit 302, configured to obtain a usage speed of the target user;
a determining unit 303, configured to determine an influence factor based on the usage speed information, where the influence factor is a parameter that has an influence on the initial torque;
a correction unit 304, configured to correct the initial torque based on the influence factor, and obtain a corrected torque;
an output unit 305 for outputting the correction torque.
In this embodiment, the flow executed by each unit in the walking assistance device control apparatus based on the speed information 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 a 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 moment; acquiring the use speed of a target user; determining an influence factor based on the usage speed information, wherein the influence factor is a parameter having influence on the initial moment; and correcting the initial torque based on the influence factor to obtain a corrected 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.
An embodiment of the present application also provides a computer storage medium for storing computer software instructions for the control method of the above-described walking assistance device, which includes a program for executing the program designed for the control method of the walking assistance device.
The walking assistance device control method may be as described in the embodiments corresponding to fig. 1 or fig. 2.
Embodiments of the present application further provide 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 the flow of the control method for a walking assistance device according to any one of the embodiments of fig. 1 and fig. 2.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, equivalent circuit transformations, partitions of units, and logic functions may be merely one type of partitioning, and in actual implementation, there may be other partitioning manners, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the invention is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (13)
1. A method for controlling a walking assistance device based on speed information, the method being applied to the walking assistance device and comprising:
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;
acquiring the use speed information of a target user;
determining an influence factor based on the usage speed information, wherein the influence factor is a parameter having influence on the initial moment;
correcting the initial torque based on the influence factor to obtain a corrected torque;
and outputting the correction torque.
2. The walking assistance device control method according to claim 1, wherein the influence factor includes a power assist coefficient and/or a lag time, and wherein the usage speed information and the power assist coefficient are in a positive correlation, and the usage speed information and the lag time are in a negative correlation.
3. The walking assistance device control method according to claim 1, wherein the usage speed information of the target user is step frequency information of the target user.
4. The walking assistance device control method according to claim 2, wherein the determining an influence factor based on the usage speed information includes:
determining the lag time according to a first regression equation and the use speed of the target user, wherein the first regression equation is obtained by performing regression analysis based on lag time historical data, and the lag time historical data is the use data of the lag time corresponding to a plurality of historical users using the walking assistance device at different use speeds.
5. The walking assistance device control method according to claim 2, wherein the determining an influence factor based on the usage speed information includes:
determining the power assisting coefficient according to a second regression equation and the using speed of the target user, wherein the second regression equation is obtained by performing regression analysis based on power assisting coefficient historical data, and the power assisting coefficient historical data is the using data of the power assisting coefficient corresponding to the walking assisting device used by a plurality of historical users at different using speeds.
6. The walking assistance device control method according to claim 4, wherein the correcting the initial torque based on the influence factor to obtain a correction torque includes:
determining a first correction time based on a difference between a current time and the lag time;
and determining the initial torque corresponding to the first correction moment as the correction torque.
7. The walking assistance device control method according to claim 5, wherein the correcting the initial moment based on the influence factor to obtain a corrected moment comprises:
and multiplying the initial torque by the assistance coefficient to obtain the correction torque.
8. The walking assistance device control method according to claim 1, wherein the determining an influence factor based on the usage speed information includes:
determining an influence factor by means of machine learning based on the usage speed information.
9. The walking assist device control method according to claim 1, wherein before the outputting the correction torque, the method further comprises:
acquiring historical correction torque corresponding to the previous moment;
adjusting the correction torque based on the difference between the historical correction torque and the correction torque to obtain a second correction torque;
the outputting the correction torque includes:
and outputting the second correction torque.
10. The walking assist device control method according to claim 1, wherein before the outputting the correction torque, the method includes:
and outputting the square value of the correction torque.
11. A walking assistance device control apparatus based on speed information, used in cooperation with a walking assistance device, comprising:
a first acquisition unit configured to acquire an initial torque corresponding to the walking assistance device, the initial torque being a torque to be output by the walking assistance device at a current time;
the second acquisition unit is used for acquiring the use speed of the target user;
a determining unit, configured to determine an influence factor based on the usage speed information, where the influence factor is a parameter that has an influence on the initial torque;
the correction unit is used for correcting the initial torque based on the influence factor to obtain a correction torque;
and an output unit for outputting the correction torque.
12. A walking assistance device, comprising:
a controller 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; acquiring the use speed of a target user; determining an influence factor based on the usage speed information, wherein the influence factor is a parameter having influence on the initial moment; correcting the initial torque based on the influence factor to obtain a corrected torque;
a motor for outputting the correction torque based on control of the processor.
13. 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 10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111129978.4A CN115877881A (en) | 2021-09-26 | 2021-09-26 | Walking assisting device control method based on speed information and related equipment thereof |
| PCT/CN2021/124467 WO2023044997A1 (en) | 2021-09-26 | 2021-10-18 | Method for controlling walking assistance apparatus on the basis of speed information, and related device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111129978.4A CN115877881A (en) | 2021-09-26 | 2021-09-26 | Walking assisting device control method based on speed information and related equipment thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115877881A true CN115877881A (en) | 2023-03-31 |
Family
ID=85719944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111129978.4A Pending CN115877881A (en) | 2021-09-26 | 2021-09-26 | Walking assisting device control method based on speed information and related equipment thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115877881A (en) |
| WO (1) | WO2023044997A1 (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6782086B2 (en) * | 2016-03-25 | 2020-11-11 | 株式会社安川電機 | Operation assist device control device, operation assist device, operation assist device control method, and operation assist device control program |
| CN106826830B (en) * | 2017-02-23 | 2019-11-08 | 重庆交通大学 | A kind of robot control method and device |
| JP7142254B2 (en) * | 2017-10-31 | 2022-09-27 | パナソニックＩｐマネジメント株式会社 | Assist device, operating method and program for assist device |
| KR102566114B1 (en) * | 2017-11-10 | 2023-08-14 | 삼성전자주식회사 | Control method and control apparatus for turning walking |
| US20190240103A1 (en) * | 2018-02-02 | 2019-08-08 | Bionic Power Inc. | Exoskeletal gait rehabilitation device |
| CN109350459A (en) * | 2018-10-25 | 2019-02-19 | 宁波杰曼智能科技有限公司 | A kind of auxiliary walking devices and its walk help control method |
| KR20200085083A (en) * | 2019-01-04 | 2020-07-14 | 삼성전자주식회사 | Method and apparatus for controlling walking assist device |
| KR20210035958A (en) * | 2019-09-24 | 2021-04-02 | 삼성전자주식회사 | Wearable apparatus and operating method thereof |
-
2021
- 2021-09-26 CN CN202111129978.4A patent/CN115877881A/en active Pending
- 2021-10-18 WO PCT/CN2021/124467 patent/WO2023044997A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023044997A1 (en) | 2023-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106419925B (en) | Method and apparatus for calculating torque of walking assistance device | |
| JP6884526B2 (en) | Standing assistance method and equipment | |
| CN109195565B (en) | Walking movement assisting device | |
| KR100904937B1 (en) | Wearing -type motion assistance device | |
| US20190083002A1 (en) | Method and apparatus for updating personalized gait policy | |
| CN110812127B (en) | Lower limb exoskeleton control method and device | |
| US10449106B2 (en) | Method and apparatus for walking assistance | |
| US20210059889A1 (en) | Method and apparatus for controlling balance | |
| US11744764B2 (en) | Method and device for assisting walking | |
| CN109124998B (en) | Power exoskeleton control method and device, computer equipment and storage medium | |
| CN112263246B (en) | Self-adaptive gait phase identification method and device based on thigh angle | |
| CN112774115A (en) | Wearable device and exercise support method performed by wearable device | |
| US11633320B2 (en) | Method of controlling walking assistance device and electronic device performing the method | |
| EP3300710B1 (en) | Walking training apparatus and its control method | |
| CN112405504A (en) | Exoskeleton robot | |
| CN112809651B (en) | Power-assisted exoskeleton control method, power-assisted exoskeleton control system and computer equipment | |
| CN115877881A (en) | Walking assisting device control method based on speed information and related equipment thereof | |
| CN115869161A (en) | Gait recognition-based walking assisting device control method | |
| CN111360815B (en) | Human-computer interaction motion control method based on electromyographic signals and joint stress | |
| CN211300970U (en) | Exoskeleton rehabilitation robot control system | |
| CN113910206A (en) | Exoskeleton assistance system combined with multiple sensors and assistance detection method thereof | |
| WO2024029606A1 (en) | Model generation method, model generation device, phase estimation method, control method, and control device | |
| CN115016561B (en) | Walking auxiliary device control method and related equipment thereof | |
| CN115284277A (en) | Power exoskeleton control method and related equipment thereof | |
| CN114012742B (en) | Control system of hip joint power assisting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication |